Gesture and manual dual-mode control electric high branch scissors

Abstract

The invention relates to the technical field of gardening tools, and discloses a pair of gesture and manual dual-mode control electric high branch scissors which comprises a fixed shell, a sliding shell capable of relatively rotating, a cutting assembly and a wearable manipulator. A main controller, a bevel gear set, an angle adjusting disc, a shear switch and a main switch are sequentially arranged in the long rod from top to bottom. A lithium battery is located at the bottom of the long rod. The sliding shell is coaxially connected with the worm gear in the upper semi-arc-shaped shell so as to realize sliding rotation; the cutting assembly comprises a fixed blade and a sliding blade coaxially connected with the permanent magnet direct current motor. The wearable manipulator communicates with the main controller through the wireless module so as to remotely control pitching and fitting actions; the main controller drives the servo motor or the permanent magnet direct current motor to complete pitching adjustment and blade opening and closing according to received gesture signals or manual input from the angle adjusting disc. The high branch pruning efficiency and convenience are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of garden tools, in particular to an electric high pruner with gesture and manual dual-mode control. BACKGROUND

[0002] As a key tool in garden maintenance work, high pruner is mainly used for pruning high branches and plays an important role in the field of garden tool technology. At present, existing high pruners are mainly divided into two types: manual and electric.

[0003] The manual high pruner completely relies on human power for driving operation, which not only has high labor intensity and low work efficiency, but also is difficult to achieve precise operation for high branches or scenes requiring fine pruning, greatly limiting its application in modern garden fine maintenance.

[0004] Although the electric high pruner reduces the labor burden through electric driving, it still has significant technical limitations: first, the operator needs to hold the control rod for close-range operation, which still has the problem of inconvenient operation for pruning branches at high positions or in complex environments; second, it lacks precise angle adjustment capability, making it difficult to meet the high-precision requirement of angle control for fine pruning; third, the control mode is single, mainly being pure electric or pure manual control, which cannot meet the dual requirements of wireless remote precise control and emergency manual operation, resulting in poor adaptability in complex operating environments.

[0005] In summary, the existing high pruner has deficiencies in operation flexibility, control precision and mode adaptability, and it is difficult to meet the technical requirements of modern garden fine maintenance and emergency operation. Therefore, it is a technical problem to be solved in the field to develop a high pruner device with gesture wireless control, multi-degree-of-freedom adjustment function and manual direct control capability. SUMMARY

[0006] Therefore, the present application provides an electric high pruner with gesture and manual dual-mode control to solve the above problems.

[0007] The present application provides an electric high pruner with gesture and manual dual-mode control, comprising:

[0008] A fixed shell composed of a longitudinal rod and an upper semi-arc shell, the rod is sequentially provided from top to bottom with a main controller, a bevel gear set, an angle adjustment disc, a shearing switch and a master switch, and a lithium battery is located at the bottom of the rod;

[0009] A relatively rotatable sliding shell coaxially connected with the worm gear in the upper semi-arc shell to realize sliding rotation;

[0010] A cutting assembly including a fixed blade and a sliding blade coaxially connected with a permanent magnet DC motor;

[0011] The wearable mechanical hand communicates with the main controller through a wireless module to remotely control the pitch and cutting action; the main controller drives the servo motor or permanent magnet DC motor to complete the pitch adjustment and blade opening and closing according to the received gesture signal or manual input from the angle adjusting disc.

[0012] The gesture and manual dual-mode controlled electric high branch pruner realizes flexible and efficient high branch pruning operation through the cooperation of the fixed shell, the sliding shell, the cutting assembly and the wearable mechanical hand.

[0013] In the overall structure, the longitudinal long rod of the fixed shell provides a stable mounting base for each component, and the upper semi-arc shell provides space for the rotational adjustment of the sliding shell. The main controller in the long rod serves as the core control component, receives wireless signals from the wearable mechanical hand or manual input signals from the angle adjusting disc, and then coordinates the operation of each motor; the lithium battery is located at the bottom of the long rod, providing continuous power for the entire device to ensure that the operation process will not be interrupted due to power supply problems; the bevel gear set converts the horizontal rotational power of the angle adjusting disc into vertical power, providing a power transmission path for the pitch adjustment in manual mode.

[0014] The sliding shell is coaxially connected with the worm gear, allowing it to rotate flexibly within the upper semi-arc shell of the fixed shell, thereby driving the cutting assembly to adjust the pitch angle and meet the needs of different pruning positions.

[0015] In the cutting assembly, the fixed blade is connected to the sliding shell and remains fixed in position, while the sliding blade is coaxially connected with the permanent magnet DC motor and performs opening and closing actions under the drive of the motor to complete the shearing of branches.

[0016] When using the gesture control mode, the wearable mechanical hand establishes communication with the main controller through a wireless module. The user's hand movements are captured by the wearable mechanical hand and converted into signals, which are transmitted wirelessly to the main controller. After analyzing the signals, the main controller drives the servo motor to operate, rotates the sliding shell through the related transmission structure, and adjusts the pitch angle; at the same time, the permanent magnet DC motor is controlled according to the gesture signal to rotate and open and close the sliding blade to complete the shearing action.

[0017] In manual control mode, the angle adjusting disc is rotated, the power is transmitted through the bevel gear set, the worm gear and the sliding shell are rotated, and the manual adjustment of the pitch angle is realized; after pressing the shearing switch, the signal is transmitted to the main controller, the main controller drives the permanent magnet DC motor to work, and the sliding blade opens and closes to shear. The master switch is used to control the start and stop of the entire device to ensure operation safety.

[0018] This design makes the electric high branch shears can be controlled by gestures to achieve remote flexible operation, and can be manually controlled when needed to ensure the stability and reliability of the operation, effectively improving the efficiency and convenience of high branch pruning.

[0019] In an alternative embodiment, an electric module is arranged in the upper semi-arc-shaped housing, which includes a servo motor, a first worm, a worm gear, a slip ring and a bearing; the output shaft of the servo motor is coaxially connected with the first worm through an electromagnetic clutch, the first worm is engaged with the worm gear, and the worm gear is fixedly connected or coaxially connected with the sliding housing, so that when the servo motor drives the first worm to rotate, the sliding housing rotates coaxially around the worm gear.

[0020] In an alternative embodiment, the manual module includes a second worm, a bevel gear set, an angle adjustment disc and a one-way clutch; the angle adjustment disc is mechanically connected and drives the second worm through the bevel gear set, and the second worm is coupled with the worm gear through the one-way clutch located on the shaft thereof.

[0021] In an alternative embodiment, an opening and closing motor driver, a permanent magnet DC motor and a bearing are installed inside the sliding housing, the output shaft of the permanent magnet DC motor is coaxially connected with the sliding blade, and the opening and closing movement of the sliding blade relative to the fixed blade is completed through the rotation of the permanent magnet DC motor; mechanical limiters are arranged between the sliding housing and the fixed housing to limit the pitch rotation range of the sliding housing.

[0022] In an alternative embodiment, the fixed blade is connected with the fixed housing through a double fixing mechanism of magnetic attraction plus buckle, and the sliding blade is quickly connected or detached with the shaft end of the permanent magnet DC motor through the same magnetic attraction plus buckle mechanism.

[0023] In an alternative embodiment, the wearable mechanical hand includes a button cell, a master control chip, a wireless module, an inertial measurement unit, a bending sensor and a mechanical hand switch, wherein the button cell, the master control chip and the wireless module are arranged at the palm of the wearer, and the inertial measurement unit and the mechanical hand switch are arranged at the back of the hand; the bending sensors are embedded at the knuckles of the four fingers respectively, the master control chip collects the data of the inertial measurement unit and the bending sensors and sends gesture control signals to the main controller through the wireless module.

[0024] In an alternative embodiment, the main controller is electrically connected with the lithium battery, the pitch motor driver, the opening-closing motor driver, the electromagnetic clutch, the signal indicator light and the shear switch; the main controller controls the electromagnetic clutch to be energized and attracted to couple the servo motor with the first worm after receiving the connection confirmation signal of the wearable robot arm through the wireless module, thereby enabling the electric pitch control; when the main controller does not receive the connection signal or the connection is interrupted, the main controller controls the electromagnetic clutch to be de-energized and disengaged to allow the manual mode to be realized by the angle adjustment disc driving the worm gear through the bevel gear set-second worm.

[0025] In an alternative embodiment, the slip ring is fixed between the upper half-arc-shaped shell and the end of the servo motor, and is used to keep the electrical connection between the lithium battery, the main controller and the opening-closing motor driver stable and unaffected by rotation when the sliding shell rotates relative to the fixed shell.

[0026] In an alternative embodiment, the one-way clutch is arranged on the second worm shaft and connected with the fixed shell through axial positioning, and the one-way clutch allows the torque to be transmitted from the second worm to the worm gear during manual adjustment, and prevents the worm gear from driving the second worm in reverse in the electric mode; the bevel gear set is fixed between the angle adjustment disc and the second worm and is connected mechanically through meshing from the angle adjustment disc to the second worm.

[0027] In an alternative embodiment, the main controller is further configured to: in response to receiving a specific emergency gesture sent by the wearable robot arm or detecting high acceleration reported by the inertial measurement unit, drive the opening-closing motor driver and the pitch motor driver to cut off the power supply of the motor and trigger the motor locking signal to realize emergency braking; and the signal indicator light displays different indication states according to the electric or manual mode and the low power state. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0029] Figure 1 A schematic diagram of the overall structure of a gesture and manual dual-mode controlled electric high pruning shears according to an embodiment of the present application;

[0030] Figure 2 A main cross-sectional view of a gesture and manual dual-mode controlled electric high pruning shears according to an embodiment of the present application;

[0031] Figure 3 A side sectional view of a gesture and hand dual-mode controlled electric long-reach pruner according to an embodiment of the present application;

[0032] Figure 4 A front view of a wearable robot according to an embodiment of the present application;

[0033] Figure 5 A side view of a wearable robot according to an embodiment of the present application.

[0034] BRIEF DESCRIPTION OF DRAWINGS

[0035] 1, fixed housing; 11, lithium battery; 12, main controller; 13, pitch motor driver; 14, servo motor; 15, electromagnetic clutch; 16, first worm; 17, worm gear; 18, bearing; 19, master switch; 2, sliding housing; 21, opening and closing motor driver; 22, permanent magnet DC motor; 23, slip ring; 31, second worm; 32, one-way clutch; 33, bevel gear set; 34, angle adjustment disc; 35, shearing switch; 36, signal indicator; 41, fixed blade; 42, sliding blade; 51, wireless module; 52, button battery; 53, main control chip; 54, bending sensor; 55, inertial measurement unit; 56, robot switch. DETAILED DESCRIPTION

[0036] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0037] As a key tool in garden maintenance work, long-reach pruners are mainly used for pruning high branches and play an important role in the field of garden tool technology. At present, existing long-reach pruners are mainly divided into two categories: manual and electric.

[0038] Manual long-reach pruners completely rely on manual driving operation, which not only has high labor intensity and low work efficiency, but also is difficult to achieve precise operation for high branches or scenes requiring fine pruning, greatly limiting its application in modern garden fine maintenance.

[0039] Although the electric high branch shears reduce the labor burden through electric driving, there are still significant technical limitations: first, the operator needs to hold the control lever for close-range operation, which is inconvenient for pruning branches at high positions or in complex environments; second, the electric high branch shears lack precise angle adjustment capability, making it difficult to meet the high-precision requirement of angle control for fine pruning; third, the control mode is single, mostly pure electric or pure manual control, which cannot meet the dual requirements of wireless remote precise control and emergency manual operation, resulting in poor adaptability in complex operating environments.

[0040] In summary, the existing high branch shears have deficiencies in operation flexibility, control precision and mode adaptability, which cannot meet the technical requirements of modern garden fine maintenance and emergency operation. Therefore, it is a technical problem to be solved in the field to develop a high branch shear device with gesture wireless control, multi-degree-of-freedom adjustment function and manual direct control capability.

[0041] The embodiments of the present application will be described below in conjunction with Figures 1 to 5 .

[0042] According to the embodiments of the present application, a gesture and manual dual-mode control electric high branch shear is provided, which comprises a fixed shell 1, a relatively rotatable sliding shell 2, a cutting assembly and a wearable mechanical hand. The fixed shell 1 is composed of a longitudinal rod and an upper semi-arc shell. A main controller 12, a bevel gear set 33, an angle adjustment disc 34, a shearing switch 35 and a master switch 19 are sequentially arranged in the rod from top to bottom. A lithium battery 11 is located at the bottom of the rod. The sliding shell 2 is coaxially connected with a worm gear 17 in the upper semi-arc shell to realize sliding rotation. The cutting assembly comprises a fixed blade 41 and a sliding blade 42 coaxially connected with a permanent magnet DC motor 22. The wearable mechanical hand communicates with the main controller 12 through a wireless module 51 to remotely control the pitch and shearing actions. The main controller 12 drives the servo motor 14 or the permanent magnet DC motor 22 to complete the pitch adjustment and blade opening and closing according to the received gesture signal or manual input from the angle adjustment disc 34.

[0043] The gesture and manual dual-mode control electric high branch shear realizes flexible and efficient high branch pruning operation through the coordinated cooperation of the fixed shell 1, the sliding shell 2, the cutting assembly and the wearable mechanical hand.

[0044] In terms of overall structure, the longitudinal rod of the fixed outer shell 1 provides a stable mounting base for each component, while the upper semi-circular outer shell provides space for the rotational adjustment of the sliding outer shell 2. The main controller 12 inside the rod serves as the core control component, receiving wireless signals from the wearable robotic arm or manual input signals from the angle adjustment disc 34, thereby coordinating the operation of each motor. The lithium battery 11 is located at the bottom of the rod, providing continuous power to the entire device and ensuring that the operation process is not interrupted due to power supply issues. The bevel gear set 33 is responsible for converting the horizontal rotational power of the angle adjustment disc 34 into vertical power, providing a power transmission path for pitch adjustment in manual mode.

[0045] The sliding housing 2 is coaxially connected to the worm gear 17, allowing it to rotate flexibly within the upper semi-circular housing of the fixed housing 1, thereby driving the cutting assembly to adjust the pitch angle and meet the needs of different trimming positions.

[0046] In the cutting assembly, the fixed blade 41 is connected to the sliding housing 2 to keep its position fixed, while the sliding blade 42 is coaxially connected to the permanent magnet DC motor 22. Driven by the motor, it performs opening and closing actions to complete the cutting of the branches.

[0047] When gesture control mode is used, the wearable robotic arm establishes communication with the main controller 12 via the wireless module 51. The user's hand movements are captured by the wearable robotic arm and converted into signals, which are then wirelessly transmitted to the main controller 12. After parsing the signals, the main controller 12 drives the servo motor 14 to operate, which in turn drives the sliding shell 2 to rotate through a related transmission structure, thereby adjusting the pitch angle. At the same time, it controls the permanent magnet DC motor 22 to rotate according to the gesture signals, causing the sliding blade 42 to open and close, completing the shearing action.

[0048] In manual control mode, power is transmitted via the bevel gear set 33 through the rotating angle adjustment disc 34, driving the worm gear 17 and the sliding housing 2 to rotate, thus achieving manual adjustment of the pitch angle. After pressing the shearing switch 35, the signal is transmitted to the main controller 12, which drives the permanent magnet DC motor 22 to work, causing the sliding blade 42 to open and close for shearing. The main switch 19 is used to control the start and stop of the entire device to ensure operational safety.

[0049] This design allows the electric high-branch pruner to be operated remotely and flexibly via gesture control, while also ensuring the stability and reliability of the operation through manual control when needed, effectively improving the efficiency and convenience of high-branch pruning.

[0050] In one embodiment, an electric module is arranged inside the upper semi-circular outer shell. The electric module includes a servo motor 14, a first worm gear 16, a worm wheel 17, a slip ring 23, and a bearing 18. The output shaft of the servo motor 14 is coaxially connected to the first worm gear 16 via an electromagnetic clutch 15. The first worm gear 16 meshes with the worm wheel 17, and the worm wheel 17 is fixed or coaxially connected to the sliding outer shell 2. Thus, when the servo motor 14 drives the first worm gear 16 to rotate, it causes the sliding outer shell 2 to rotate coaxially around the worm wheel 17.

[0051] In this embodiment, the servo motor 14 serves as the power source in electric mode, and its output shaft is coaxially connected to the first worm gear 16 via an electromagnetic clutch 15. When the electromagnetic clutch 15 is engaged, the power of the servo motor 14 can be transmitted to the first worm gear 16, driving the first worm gear 16 to rotate; and the first worm gear 16 meshes with the worm wheel 17, and this meshing relationship converts the rotational motion of the first worm gear 16 into the rotation of the worm wheel 17.

[0052] Since the worm gear 17 is fixedly connected to or coaxially arranged with the sliding housing 2, the rotation of the worm gear 17 will directly drive the sliding housing 2 to rotate synchronously around the axis of the worm gear 17, thereby realizing the pitch angle adjustment of the sliding housing 2 within the upper semi-circular housing of the fixed housing 1.

[0053] In addition, slip ring 23 is installed at the end of the arc-shaped housing and the servo motor 14. Its function is to ensure stable wiring connections between the lithium battery 11, the main controller 12, and internal components of the sliding housing 2, such as the opening and closing motor driver 21 and the permanent magnet DC motor 22, during the rotation of the sliding housing 2, preventing wiring entanglement or poor contact due to rotation. Bearing 18 is used to reduce friction between the output shaft of the servo motor 14 and related rotating parts and the housing, reduce component wear, ensure smoothness and stability of the rotation process, and improve the operational reliability of the entire electric module.

[0054] In one embodiment, the manual module includes a second worm gear 31, a bevel gear set 33, an angle adjustment disc 34, and a one-way clutch 32; the angle adjustment disc 34 is mechanically connected to and drives the second worm gear 31 through the bevel gear set 33, and the second worm gear 31 can be coupled to the worm wheel 17 through the one-way clutch 32 located on its shaft.

[0055] In the manual module, the components achieve manual drive of the sliding housing 2 through mechanical linkage. At the same time, the one-way transmission characteristic of the one-way clutch 32 is used to avoid power interference between the electric mode and the manual mode, as detailed below:

[0056] The angle adjustment disc 34 serves as the input component for manual operation. The torque generated by rotating the angle adjustment disc 34 is converted into direction and transmitted through the bevel gear set 33. The bevel gear set 33 converts the horizontal rotational power of the angle adjustment disc 34 into a vertical driving force, which in turn drives the second worm gear 31 to rotate.

[0057] Since the second worm 31 meshes with the worm wheel 17, and a one-way clutch 32 is provided on the shaft of the second worm 31, in manual mode, the one-way clutch 32 is locked, allowing the torque of the second worm 31 to be transmitted to the worm wheel 17 through the one-way clutch 32, causing the worm wheel 17 to drive the sliding housing 2, which is fixed to or coaxial with it, to rotate, thereby realizing the manual adjustment of the pitch angle.

[0058] In electric mode, when the servo motor 14 drives the first worm 16 to rotate the worm wheel 17, the one-way clutch 32 is in a free state, allowing torque to be transmitted from the second worm 31 to the worm wheel 17. Reversing the transmission locks the clutch. Therefore, the rotation of the worm wheel 17 cannot drive the second worm 31 to rotate in the opposite direction through the one-way clutch 32. This avoids manual components such as the angle adjustment disc 34 from moving in electric mode, ensuring the independence and stability of power transmission in both modes.

[0059] In one embodiment, the sliding housing 2 is equipped with an opening and closing motor driver 21, a permanent magnet DC motor 22 and a bearing 18. The output shaft of the permanent magnet DC motor 22 is coaxially connected to the sliding blade 42. The rotation of the permanent magnet DC motor 22 causes the sliding blade 42 to complete the opening and closing motion relative to the fixed blade 41. A mechanical limit is provided between the sliding housing 2 and the fixed housing 1 to limit the pitch and rotation range of the sliding housing 2.

[0060] After receiving the control signal from the main controller 12, the opening and closing motor driver 21 inside the sliding housing 2 drives the permanent magnet DC motor 22 to operate. Since the output shaft of the permanent magnet DC motor 22 is coaxially connected to the sliding blade 42, the rotational motion of the motor is directly converted into the mechanical action of the sliding blade 42, causing it to complete the opening and closing motion relative to the fixed blade 41 fixed on the sliding housing 2, thereby realizing the cutting of branches.

[0061] The bearing 18 is installed inside the sliding housing 2 to reduce the rotational friction between the output shaft of the permanent magnet DC motor 22 and the housing, reduce component wear, ensure the smoothness and stability of the opening and closing process of the sliding blade 42, and improve the accuracy of the shearing action.

[0062] Meanwhile, the mechanical limiter set between the sliding housing 2 and the fixed housing 1 strictly limits the pitch and rotation range of the sliding housing 2, preventing internal wiring from getting tangled, components from colliding, or cutting components from exceeding the safe operating angle due to excessive rotation, thus ensuring the safety and reliability of the device operation from a structural perspective.

[0063] In one embodiment, the fixed blade 41 is connected to the fixed housing 1 by a double fixing mechanism of magnetic attraction and buckle, and the sliding blade 42 is quickly connected to or disconnected from the shaft end of the permanent magnet DC motor 22 by the same magnetic attraction and buckle mechanism.

[0064] The fixed blade 41 is fixed to the fixed housing 1 by the dual action of magnetic attraction and snap-fit. Magnetic attraction can quickly achieve initial positioning and adsorption, while snap-fit ​​further enhances the stability of the connection and prevents the blade from loosening or falling off due to force during the cutting operation.

[0065] The sliding blade 42 is also connected to the shaft end of the permanent magnet DC motor 22 by a dual fixing mechanism of magnetic attraction and snap-fit. When the sliding blade 42 needs to be installed, the magnetic attraction allows the blade to quickly fit against the motor shaft end to complete the initial docking, and the snap-fit ​​then engages to achieve a firm fixation. When the blade is worn and needs to be replaced, or when a suitable blade needs to be replaced for hardwood trimming, simply release the snap-fit ​​lock to overcome the magnetic attraction and easily remove the sliding blade 42 from the motor shaft end. The whole process is convenient and can complete the blade replacement in a short time, effectively reducing the downtime caused by maintenance and improving work efficiency.

[0066] This dual-fixing mechanism balances connection stability with ease of replacement, ensuring reliable blade operation during high-intensity shearing tasks while meeting the need for rapid blade replacement in different trimming scenarios.

[0067] In one embodiment, the wearable robotic hand includes a button battery 52, a main control chip 53, a wireless module 51, an inertial measurement unit 55, a bending sensor 54, and a robotic hand switch 56. The button battery 52, the main control chip 53, and the wireless module 51 are arranged in the wearer's palm, while the inertial measurement unit 55 and the robotic hand switch 56 are arranged on the back of the hand. Bending sensors 54 are embedded in the knuckles of the four fingers. The main control chip 53 collects data from the inertial measurement unit 55 and the bending sensors 54 and sends gesture control signals to the main controller 12 through the wireless module 51.

[0068] In terms of layout, the button battery 52, main control chip 53, and wireless module 51 are positioned in the wearer's palm. This design not only makes it convenient to utilize the palm space to accommodate the core circuit components but also reduces interference with fingertip movements. The inertial measurement unit 55 and robotic hand switch 56 are located on the back of the hand. The relatively stable position on the back of the hand allows the inertial measurement unit 55 to accurately capture changes in the overall hand posture, while the robotic hand switch 56's placement on the back of the hand also facilitates quick start and stop operation for the user. Bending sensors 54 are embedded in the knuckles of each of the four fingers, which can directly sense the degree of finger bending, providing a basis for capturing fine gestures.

[0069] During operation, the button battery 52 powers all components of the wearable robotic hand. When the user turns on the robotic hand switch 56, the main control chip 53 starts working, collecting in real time the overall posture data of the hand, such as pitch and rotation, detected by the inertial measurement unit 55, as well as the bending degree information of the four fingers sensed by the bending sensor 54. After processing this data, the main control chip 53 converts it into corresponding gesture control signals, which are then sent to the main controller 12 of the high-pole shears via the wireless module 51. The main controller 12 drives the corresponding motor according to the received signals, realizing remote control of the high-pole shears' pitch angle and blade opening and closing.

[0070] This layout and working method enable the wearable robotic arm to accurately capture subtle hand movements, providing flexible and intuitive gesture control commands for high-branch pruning shears, thus improving the convenience and precision of operation.

[0071] In one embodiment, the main controller 12 is electrically connected to the lithium battery 11, the pitch motor driver 13, the opening / closing motor driver 21, the electromagnetic clutch 15, the signal indicator 36, and the shear switch 35. After receiving a connection confirmation signal from the wearable robotic arm via the wireless module 51, the main controller 12 controls the electromagnetic clutch 15 to be energized and engaged to couple the servo motor 14 with the first worm gear 16, thereby enabling electric pitch control. When the main controller 12 does not receive a connection signal or the connection is interrupted, it controls the electromagnetic clutch to be de-energized and disengaged to allow manual mode pitch adjustment by driving the worm wheel 17 via the angle adjustment disc 34 through the bevel gear set 33 and the second worm gear 31.

[0072] The main controller 12 is electrically connected to the lithium battery 11, receiving power to maintain its own and connected components' normal operation. Simultaneously, it is connected to the pitch motor driver 13 and the opening / closing motor driver 21, respectively, to send control commands to drive the servo motor 14 and the permanent magnet DC motor 22, thereby achieving pitch adjustment and blade opening / closing. Its connection to the electromagnetic clutch 15 provides crucial control for mode switching; by controlling the on / off state of the electromagnetic clutch 15, the coupling or disengagement of the servo motor 14 and the first worm gear 16 is achieved. Furthermore, the main controller 12 is also connected to a signal indicator light 36 and a shear switch 35. The former provides feedback on the current operating status of the device, such as mode switching and battery status, while the latter serves as the command input for shearing operations in manual mode.

[0073] When the main controller 12 receives a connection confirmation signal sent by the wearable robotic arm via the wireless module 51, it immediately controls the electromagnetic clutch 15 to be energized and engaged. This action couples the servo motor 14 to the first worm gear 16, allowing the power of the servo motor 14 to be transmitted to the first worm gear 16, thereby driving the worm wheel 17 and the sliding housing 2 to achieve electric pitch control. At this time, the device enters electric mode.

[0074] When the main controller 12 does not receive a connection signal, or when an established connection is interrupted (e.g., the wearable robotic arm shuts down or the signal is lost), it will control the electromagnetic clutch 15 to de-energize and disengage. At this time, the servo motor 14 separates from the first worm gear 16, the electric pitch control fails, and the device automatically switches to manual mode. The user can manually adjust the pitch angle by rotating the angle adjustment disc 34, which transmits power to the second worm gear 31 via the bevel gear set 33. The second worm gear 31 then drives the worm wheel 17 to move the sliding housing 2.

[0075] This design achieves seamless switching between electric and manual modes through precise control of the electromagnetic clutch 15 by the main controller 12. It ensures both the flexibility of gesture control and the reliability of manual operation when wireless control fails, thereby improving the adaptability of the equipment in different operating scenarios.

[0076] In one embodiment, the slip ring 23 is fixedly disposed between the upper semi-circular housing and the end of the servo motor 14. The slip ring 23 is used to keep the electrical connection between the lithium battery 11, the main controller 12 and the opening and closing motor driver 21 stable and unaffected by the rotation when the sliding housing 2 rotates relative to the fixed housing 1.

[0077] The slip ring 23 is fixedly disposed between the upper semi-circular housing and the end of the servo motor 14. This position is located in the area where the fixed part of the fixed housing 1 and the rotational movement of the sliding housing 2 are related. When the sliding housing 2 pitches and rotates relative to the fixed housing 1, the slip ring 23 can effectively eliminate the influence of the rotational movement on the electrical circuit.

[0078] Specifically, the lithium battery 11 and the main controller 12 are located inside the long rod of the fixed housing 1, and are fixed components; while the opening and closing motor driver 21 is installed inside the sliding housing 2 and rotates synchronously with the sliding housing 2. Through its special structural design, the slip ring 23 maintains the circuit continuity between the lithium battery 11, the main controller 12 and the opening and closing motor driver 21 during the rotation of the sliding housing 2, avoiding the circuit from getting tangled, pulled or broken due to rotation, ensuring the continuity and stability of power transmission and signal transmission, and providing reliable electrical support for the opening and closing action of the sliding blade 42.

[0079] In one embodiment, a one-way clutch 32 is mounted on the shaft of the second worm 31 and connected to the fixed housing 1 via axial positioning. When manually adjusted, the one-way clutch 32 allows torque to be transmitted from the second worm 31 to the worm wheel 17, while in electric mode, it prevents the worm wheel 17 from driving the second worm 31 in the reverse direction. A bevel gear set 33 is fixed between the angle adjusting disc 34 and the second worm 31 and achieves a mechanical transmission connection from the angle adjusting disc 34 to the second worm 31 through meshing.

[0080] The one-way clutch 32 is mounted on the shaft of the second worm 31 and connected to the fixed housing 1 via axial positioning. Its core function is to achieve unidirectional torque transmission. In manual adjustment, the torque generated by the user rotating the angle adjustment disc 34 is transmitted to the second worm 31 via the bevel gear set 33. At this time, the one-way clutch 32 is in the unlocked state, allowing the torque to be transmitted from the second worm 31 to the worm wheel 17, thereby driving the sliding housing 2 to complete the pitch angle adjustment. In electric mode, when the servo motor 14 drives the first worm 16 to rotate the worm wheel 17, the one-way clutch 32 automatically locks, preventing the reverse torque of the worm wheel 17 from being transmitted to the second worm 31. This prevents manual components such as the angle adjustment disc 34 from being passively rotated with the worm wheel 17, ensuring the independence of electric control.

[0081] A bevel gear set 33 is fixed between the angle adjustment disc 34 and the second worm gear 31, achieving mechanical transmission through gear meshing. When the user rotates the angle adjustment disc 34, its horizontal rotational motion is converted into vertical driving force by the bevel gear set 33, precisely transmitted to the second worm gear 31, giving the second worm gear 31 rotational power. This power, in turn, drives the sliding housing 2 to rotate through meshing with the worm wheel 17, thus achieving pitch angle adjustment in manual mode. This transmission structure ensures efficient transmission of manual operating force, improving the convenience and stability of manual adjustment.

[0082] In one embodiment, the main controller 12 is further configured to: upon receiving a specific emergency gesture from the wearable robotic arm or detecting a high acceleration anomaly reported by the inertial measurement unit 55, drive the opening / closing motor driver 21 and the pitch motor driver 13 to cut off the motor power supply and trigger a motor lock signal to achieve emergency braking; and the signal indicator 36 displays different indication states according to electric or manual mode and low battery status.

[0083] The main controller 12 receives signals transmitted by the wearable robotic arm in real time. When it detects a specific emergency gesture from the wearable robotic arm, such as holding an open hand for 3 seconds, or receives a high-acceleration anomaly reported by the inertial measurement unit 55 via wireless signal, such as an instantaneous abnormal movement caused by the robotic arm accidentally detaching, it immediately sends commands to the opening / closing motor driver 21 and the pitch motor driver 13 to cut off the power supply to the permanent magnet DC motor 22 and the servo motor 14, and triggers the motor lock signal. This process can quickly terminate the blade opening / closing and pitch adjustment actions, achieving emergency braking and avoiding equipment loss of control or safety risks due to unexpected situations.

[0084] Signal indicator 36 is electrically connected to the main controller 12, and its display status is dynamically adjusted by the main controller 12 according to the equipment operation status.

[0085] When the device is in manual mode, such as when the main controller 12 does not receive a connection signal from the wearable robotic arm, the signal indicator 36 displays the preset light color corresponding to the manual mode;

[0086] When the main controller 12 successfully establishes a connection with the wearable robotic arm and the device switches to electric mode, the signal indicator 36 turns green, indicating that the electric mode is ready.

[0087] When the lithium battery 11 or the button battery 52 of the wearable robotic arm is low in power, the indicator light 36 will flash red to remind the user to charge or replace the battery in time, so as to ensure that the operation is not affected by power interruption.

[0088] This design, through the overall management of the main controller 12, not only strengthens the equipment's safety protection capabilities but also provides intuitive feedback on the equipment's status, improving the convenience and reliability of operation.

[0089] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. An electric high-branch shears with dual-mode control (gesture and manual), characterized in that, include: The fixed housing (1) is composed of a longitudinal long rod and an upper semi-circular housing. The long rod is provided with a main controller (12), a bevel gear set (33), an angle adjustment disk (34), a shear switch (35) and a main switch (19) from top to bottom. The lithium battery (11) is located at the bottom of the long rod. A relatively rotatable sliding housing (2), wherein the sliding housing (2) is coaxially connected to the worm gear (17) within the upper semi-circular housing to achieve sliding rotation; The cutting assembly includes a fixed blade (41) and a sliding blade (42) coaxially connected to a permanent magnet DC motor (22); The wearable robotic hand communicates with the main controller (12) via a wireless module (51) to remotely control pitch and cut movements; the main controller (12) drives the servo motor (14) or permanent magnet DC motor (22) to complete pitch adjustment and blade opening and closing based on the received gesture signal or manual input from the angle adjustment disk (34).

2. The electric high-branch shears with gesture and manual dual-mode control according to claim 1, characterized in that, An electric module is arranged inside the upper semi-circular outer shell. The electric module includes a servo motor (14), a first worm (16), a worm wheel (17), a slip ring (23), and a bearing (18). The output shaft of the servo motor (14) is coaxially connected to the first worm (16) via an electromagnetic clutch (15). The first worm (16) meshes with the worm wheel (17). The worm wheel (17) is fixed or coaxially connected to the sliding outer shell (2), so that when the servo motor (14) drives the first worm (16) to rotate, it causes the sliding outer shell (2) to rotate coaxially around the worm wheel (17).

3. The electric high-branch shears with gesture and manual dual-mode control according to claim 1 or 2, characterized in that, The manual module includes a second worm (31), a bevel gear set (33), an angle adjustment disc (34), and a one-way clutch (32); the angle adjustment disc (34) is mechanically connected to and drives the second worm (31) through the bevel gear set (33), and the second worm (31) can be coupled to the worm wheel (17) through the one-way clutch (32) located on its shaft.

4. The electric high-branch shears with dual-mode control of gesture and manual operation according to claim 2 or 3, characterized in that, The sliding housing (2) is equipped with an opening and closing motor driver (21), a permanent magnet DC motor (22) and a bearing (18). The output shaft of the permanent magnet DC motor (22) is coaxially connected to the sliding blade (42). The rotation of the permanent magnet DC motor (22) causes the sliding blade (42) to complete the opening and closing motion relative to the fixed blade (41). A mechanical limit is set between the sliding housing (2) and the fixed housing (1) to limit the pitch and rotation range of the sliding housing (2).

5. The electric high-branch shears with gesture and manual dual-mode control according to any one of claims 1-4, characterized in that, The fixed blade (41) is connected to the fixed housing (1) by a double fixing mechanism of magnetic attraction and buckle, and the sliding blade (42) is quickly connected or disconnected from the shaft end of the permanent magnet DC motor (22) by the same magnetic attraction and buckle mechanism.

6. The electric high-branch shears with dual-mode control of gesture and manual operation according to any one of claims 1-5, characterized in that, The wearable robotic hand includes a button battery (52), a main control chip (53), a wireless module (51), an inertial measurement unit (55), a bending sensor (54), and a robotic hand switch (56). The button battery (52), the main control chip (53), and the wireless module (51) are arranged in the wearer's palm, while the inertial measurement unit (55) and the robotic hand switch (56) are arranged on the back of the hand. Bending sensors (54) are embedded in the knuckles of the four fingers. The main control chip (53) collects data from the inertial measurement unit (55) and the bending sensor (54) and sends gesture control signals to the main controller (12) through the wireless module (51).

7. The electric high-branch shears with gesture and manual dual-mode control according to any one of claims 1-6, characterized in that, The main controller (12) is electrically connected to the lithium battery (11), pitch motor driver (13), opening and closing motor driver (21), electromagnetic clutch (15), signal indicator (36) and shear switch (35). After receiving the connection confirmation signal from the wearable robotic arm via the wireless module (51), the main controller (12) controls the electromagnetic clutch (15) to be energized and engaged to couple the servo motor (14) with the first worm gear (16), thereby enabling electric pitch control. When the main controller (12) does not receive the connection signal or the connection is interrupted, it controls the electromagnetic clutch to be de-energized and disengaged to allow manual mode pitch adjustment by driving the worm wheel (17) via the angle adjustment disc (34) through the bevel gear set (33) and the second worm gear (31).

8. The electric high-branch shears with gesture and manual dual-mode control according to any one of claims 2-7, characterized in that, The slip ring (23) is fixedly disposed between the upper semi-circular outer shell and the end of the servo motor (14). The slip ring (23) is used to keep the electrical connection between the lithium battery (11), the main controller (12) and the opening and closing motor driver (21) stable and unaffected by rotation when the sliding outer shell (2) rotates relative to the fixed outer shell (1).

9. The electric high-branch shears with gesture and manual dual-mode control according to any one of claims 1-8, characterized in that, The one-way clutch (32) is mounted on the shaft of the second worm (31) and connected to the fixed housing (1) through axial positioning. When manually adjusted, the one-way clutch (32) allows torque to be transmitted from the second worm (31) to the worm wheel (17), while in electric mode, it prevents the worm wheel (17) from driving the second worm (31) in the reverse direction. The bevel gear set (33) is fixed between the angle adjustment disc (34) and the second worm (31) and achieves mechanical transmission connection from the angle adjustment disc (34) to the second worm (31) through meshing.

10. The electric high-branch shears with dual-mode control of gesture and manual operation according to any one of claims 1-9, characterized in that, The main controller (12) is also configured to: upon receiving a specific emergency gesture from the wearable robotic arm or detecting a high acceleration abnormality event reported by the inertial measurement unit (55), drive the opening and closing motor driver (21) and the pitch motor driver (13) to cut off the motor power supply and trigger a motor lock signal to achieve emergency braking; and the signal indicator (36) displays different indication states according to electric or manual mode and low battery status.

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