Expressway hedge pruning cutter

Abstract

The invention belongs to the field of mechanical design, and discloses an expressway hedge pruning cutter. The trimming tool is mainly composed of a positioning mechanical arm and a trimming mechanical arm. The positioning mechanical arm is connected with the bearing vehicle through a rotating base, the trimming mechanical arm is moved to a target area, and a rotating main shaft of the trimming mechanical arm coincides with the center of a crown of a hedge to be trimmed. The trimming mechanical arm comprises a rotating main shaft, a large arm, a middle arm, a small arm, a driving motor, a rotating shearing saw blade and the like, and a target is trimmed into a three-dimensional shape. In the trimming work process, the PC sets moving track parameters and trimming task requirements, the tail end of the trimming mechanical arm moves according to a target contour curve, and the target is trimmed into a rotary three-dimensional shape in cooperation with the rotating main shaft. According to the highway hedge trimming cutter, the trimming flexibility is improved, the defects of a traditional hedge trimming cutter are effectively overcome, and most importantly, the problem that the trimming shape of the traditional cutter is single is solved.

Description

Technical Field

[0001] This invention belongs to the field of mechanical design, specifically relating to a tool for trimming hedges along highways, and more particularly to a lightweight new type of hedge trimming tool that can conveniently and efficiently trim various types of rotating and wall-shaped hedges. Background Technology

[0002] Hedge trimming is a common task in highway maintenance, aimed at maintaining the shape and health of hedges. However, traditional shears have several drawbacks, such as low efficiency, high labor costs, long processing time, and a cumbersome process. Furthermore, traditional shears are limited in their application, for example, they can only trim hedges into one shape, and sometimes even pose safety hazards. Therefore, there is a need for a hedge trimming tool that can adapt to various applications and produce multiple shapes. To address these problems, this invention provides a feasible solution. Summary of the Invention

[0003] The main drawback of traditional hedge trimmers is that they can generally only trim hedges into one shape. To overcome this limitation, this invention provides a highway hedge trimmer, comprising a positioning robotic arm, a trimming robotic arm, a rotating base, and a rotating shearing saw blade. By controlling the movement of the trimming blade at the end of the robotic arm in space, and through the overall rotational motion of the robotic arm, hedges can be trimmed into different shapes, primarily cylindrical, conical, and spherical, as well as other rotating bodies. It can also be used in conjunction with the movement of a carrier vehicle to trim wall-shaped hedges. This highway hedge trimmer improves operational flexibility by introducing a new motion device that allows for adjustable position of the rotating shearing saw blade, effectively addressing the shortcomings of traditional hedge trimmers, and most importantly, solving the problem of the limited shape range of traditional trimmers.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A highway hedge trimming tool includes a carrier that can move in conjunction with a trimming robotic arm; a rotating base for positioning the robotic arm is connected to the carrier, supporting the positioning and trimming robotic arm sections and providing rotational motion; the main arm hydraulic cylinder and the main arm of the positioning robotic arm are connected to the rotating base via pins, providing pitch motion for the main arm; the secondary arm hydraulic cylinder and the secondary arm are connected via pins, and the main arm and the secondary arm are connected via pins, providing pitch motion for the secondary arm; a spindle rotary motor is mounted at the end of the secondary arm, driving the rotational motion of the trimming robotic arm by rotating the spindle; the trimming robotic arm consists of a main arm, middle arm, secondary arm, rotary shearing saw blade, and drive motor, used to complete the target trimming tasks on the top and sides of the hedge. Furthermore, a control system and a PC are included to integrate all components and realize the function.

[0006] The supporting rotating base is located at the root of the positioning robotic arm and connected to the carrier vehicle. It supports the entire cutting tool section and is connected to the positioning robotic arm via a connecting pin and a hydraulic cylinder. The rotating base can drive the positioning robotic arm to rotate, positioning it in the direction of the target to be trimmed, and is an indispensable part of the trimming operation.

[0007] The positioning robotic arm includes a large arm, a small arm, and a driving hydraulic cylinder. After the rotating base rotates to the target position, the positioning robotic arm begins to operate. The driving hydraulic cylinder drives the large and small arms to pitch, positioning the rotating spindle at the end of the robotic arm directly above the target, aligning the axis of the rotating spindle with the center of the hedge crown to complete the positioning. Simultaneously, the positioning robotic arm provides stable support and fixation, allowing the pruning blades to work stably. It is typically made of robust and durable materials to ensure stability and reliability during pruning operations.

[0008] The rotating spindle is one of the core components of the highway hedge trimmer. It provides the rotational motion for the entire trimming arm, which is essential for achieving three-dimensional trimming. This rotating spindle allows the trimming arm to rotate 360 ​​degrees, making the two-dimensional curved trajectory of the trimming arm form a rotating body, adapting to the diverse shape requirements of the hedge trimming process.

[0009] The pruning robotic arm comprises a rotating spindle, a large arm, a middle arm, a small arm, a drive motor, and a rotating shearing saw blade, and is used to complete the target pruning tasks on the top and sides of the hedge. After the positioning robotic arm is positioned, the pruning robotic arm begins to work. The drive motor drives each arm to work, causing the end of the pruning robotic arm to begin pruning. The end-effector's movement trajectory follows the contour curve of the target shape, while the top rotating spindle rotates, thereby pruning the hedge into the target three-dimensional shape to meet the requirements of different pruning tasks.

[0010] The end-of-line trimming section is located at the end of the trimming robotic arm and is moved by the arm. It is primarily used for trimming and cutting hedges and includes a rotary adjustment mechanism, a trimming motor, and a saw blade. The trimming motor is connected to the end-of-line mounting bracket, and the rotary shearing saw blade is mounted on the motor. To improve trimming efficiency, multiple trimming motors operate simultaneously. The rotary adjustment mechanism can rotate the mounting bracket to adapt to different trimming tasks.

[0011] The rotary shearing saw blade consists of a fixed circular saw blade and a rotating circular saw blade, located on the trimming motor at the end of the trimming robotic arm, and is used for cutting for specific trimming tasks. By converting the cutting function of a single saw blade into the shearing function of two saw blades, the hedge trimming task can be completed with higher efficiency, and it can cut and trim thicker parts of the hedge.

[0012] The control system is primarily used to control the movement of the positioning and trimming robotic arms. It can precisely control the position and shape of the trimming blades based on the operator's needs and the actual trimming conditions. This is one of the core components for achieving diverse hedge trimming shapes.

[0013] The PC serves as the control center for the entire new hedge trimmer, controlling and monitoring the system's operation. Through the PC, the operator can easily adjust the motion parameters and operating status of each component to achieve hedge trimming tasks of different shapes and precise trimming results.

[0014] The above describes the functions of each part of a highway hedge trimming tool. First, the tool is positioned using a positioning robotic arm and a rotating base. Then, through the rotation of the main shaft at the top of the trimming robotic arm, the coordination between the arms, and the synergistic effect of the end trimming saw blade, the trimming robotic arm can perform precise trimming operations in different directions to achieve neatness and trimming effect for the hedges.

[0015] In this solution, highway hedge trimmers can be mounted on the carrier vehicle 1 and moved next to the target hedge to begin operation. First, connect all components to the PC, including the rotating base, positioning robotic arm drive, rotating spindle, and trimming robotic arm drive. Through the PC interface, the movement of the positioning robotic arm can be controlled to position the trimming robotic arm above the hedge to be trimmed, ensuring the axis of the rotating spindle 14 coincides with the center of the hedge's crown. Set the end-effector's trajectory and trimming task requirements, ensuring the correct configuration of each component before starting the trimming process.

[0016] The technical effects and advantages of this invention based on the hedge trimming process are as follows:

[0017] The highway hedge trimmer of this invention improves trimming efficiency, flexibility, and ease of operation by introducing a new motion device that allows for adjustable position of the rotary shearing saw blade. It can adapt to different trimming tasks and application scenarios, and features a simple structure and low cost. Through the coordinated action of the positioning robotic arm and trimming robotic arm, it can effectively achieve precise, fast, and efficient trimming of hedges of different shapes and heights, improving both trimming efficiency and quality, and providing gardeners with a more convenient and efficient hedge trimming tool. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a highway hedge trimmer.

[0019] Figure 2 This is a structural schematic diagram of a positioning robotic arm;

[0020] Figure 3This is a schematic diagram of the pruning robotic arm;

[0021] Figure 4 This is a schematic diagram of the end-trimmed section;

[0022] In the diagram, the markings are: 1-Carrier vehicle, 2-Supporting rotating base, 3-Positioning robotic arm, 3-1-Main arm-base pin, 3-2-Main arm cylinder-base pin, 3-3-Main arm hydraulic cylinder, 3-4-Main arm cylinder-Main arm pin, 3-5-Positioning main arm, 3-6-Small arm cylinder-Main arm pin, 3-7-Small arm hydraulic cylinder, 3-8-Main arm-Small arm pin, 3-9-Small arm cylinder-Small arm pin, 3-10-Positioning small arm, 3-11-Spindle rotary motor mount, 4-Spindle rotary motor, 5-Rotating spindle, 6-Trimming robotic arm. 6-1-End trimming section, 6-2-End-forearm pin, 6-3-Trimming forearm, 6-4-Middle arm-forearm pin, 6-5-Trimming middle arm, 6-6-Up arm-middle arm pin, 6-7-Trimming up arm, 6-8-Top swivel seat-up arm pin, 6-9-Top swivel seat, 7-End trimming section, 7-1-Connecting pin, 7-2-Connecting seat, 7-3-Rotation adjustment mechanism, 7-4-Saw blade motor mounting seat, 7-5-Saw blade drive motor, 7-6-Fixed circular saw blade, 7-7-Rotating circular saw blade. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0025] like Figure 1As shown in the figure, as a specific embodiment of the present invention, an overall structural diagram of a highway hedge trimmer is disclosed. This device is a hedge trimmer that can adapt to various usage occasions and trim various shapes, including: a carrier vehicle 1, a supporting rotating base 2, a positioning robotic arm 3, a main arm-base pin 3-1, a main arm cylinder-base pin 3-2, a main arm hydraulic cylinder 3-3, a main arm cylinder-main arm pin 3-4, a positioning main arm 3-5, a secondary arm cylinder-main arm pin 3-6, a secondary arm hydraulic cylinder 3-7, a main arm-secondary arm pin 3-8, a secondary arm cylinder-secondary arm pin 3-9, and a positioning secondary arm 3- 10. Spindle rotary motor seat 3-11. Spindle rotary motor 4. Rotating spindle 5. Trimming robotic arm 6. End trimming part 6-1. End-forearm pin 6-2. Trimming forearm 6-3. Middle arm-forearm pin 6-4. Trimming middle arm 6-5. Upper arm-middle arm pin 6-6. Trimming upper arm 6-7. Top rotating seat-upper arm pin 6-8. Top rotating seat 6-9. End trimming part 7. Connecting pin 7-1. Connecting seat 7-2. Rotation adjustment mechanism 7-3. Saw blade motor fixing seat 7-4. Saw blade drive motor 7-5. Fixed circular saw blade 7-6. Rotating circular saw blade 7-7.

[0026] like Figure 1 The diagram shows the structure of a highway hedge trimmer. The carrier vehicle 1 supports the entire hedge trimmer and can move to adapt to different trimming targets. It is connected to the rotating base 2, which rotates and supports the positioning and trimming robotic arms. The positioning robotic arm 3 can be moved by the cooperation of the main arm hydraulic cylinder and the small arm hydraulic cylinder, so that the trimming robotic arm 6 is positioned at the target trimming position. The main spindle rotary motor and the main spindle on the positioning robotic arm 3 enable the trimming robotic arm 6 to perform rotational trimming motion. At the same time, the arms of the trimming robotic arm 6 cooperate with each other so that the end trimming part forms the target trimming trajectory, thereby completing the overall trimming task.

[0027] like Figure 2 The diagram shows the structure of the positioning robotic arm. After determining the position of the target to be pruned, the rotating base 2 rotates the positioning robotic arm 3 to the position of the target. Then, the positioning robotic arm 3 starts to operate, using the hydraulic cylinders 3-3 and 3-7 to drive the upper arm 3-5 and lower arm 3-10 to perform pitching movements, positioning the rotating spindle 5 at the end of the positioning robotic arm 3 directly above the target to be pruned, so that the axis of the rotating spindle coincides with the center of the canopy of the hedge to be pruned, thus completing the positioning. At the same time, the positioning robotic arm 3 provides stable support and fixation, allowing the pruning blades to work stably.

[0028] like Figure 3The diagram shows the structure of the trimming robotic arm 6. The trimming robotic arm 6 mainly consists of a rotating spindle 5, a large arm 6-7, a middle arm 6-5, a small arm 6-3, drive motors for each joint, and an end-effector trimming section 6-1. It is used to complete the target trimming tasks on the top and sides of the hedge. After the positioning robotic arm 3 completes its positioning, the trimming robotic arm 6 begins to work. The drive motors drive each arm to work, causing the end-effector trimming section 6-1 to begin trimming. Through the coordination of each joint, the end-effector's movement trajectory follows the contour curve of the target shape. Simultaneously, the top rotating spindle 5 rotates, thereby trimming the hedge into the target three-dimensional shape to meet the requirements of different trimming tasks.

[0029] like Figure 4 The diagram shows the structure of the end-pruning section. Considering the softness and flexibility of hedge branches, the pruning saw blade consists of a fixed circular saw blade 7-6 and a rotating circular saw blade 7-7 to better accomplish the pruning task. This converts the rotational pruning function of a single saw blade into the shearing function of two saw blades, enabling more efficient pruning. The rotating circular saw blade 7-7 is powered by a saw blade drive motor 7-5, which is mounted on a saw blade motor mounting base 7-4. The saw blade's orientation can be adjusted via a rotation adjustment mechanism 7-3 to accommodate different pruning tasks for rotating hedges and wall-shaped hedges. The entire end-pruning section 7 is mounted at the end of the pruning robot arm 6 via a connecting pin 7-1 and a connecting base 7-2, and is driven by the robot arm to perform the pruning.

[0030] The operation of this embodiment is as follows: The highway hedge trimmer is installed on the carrier vehicle 1 and moved next to the target hedge before operation begins. First, all parts are connected to the PC. Through the PC interface, the movement of the rotating base 2 and the positioning robotic arm 3 can be controlled. After determining the position of the target to be trimmed, the rotating base 2 rotates the positioning robotic arm 3 to the position of the target to be trimmed. Then, the positioning robotic arm 3 starts to operate, and the upper arm hydraulic cylinder 3-3 and the lower arm hydraulic cylinder 3-7 drive the upper arm 3-5 and the lower arm 3-10 to perform pitching movements, positioning the rotating spindle 5 at the end of the positioning robotic arm 3 directly above the target to be trimmed, so that the axis of the rotating spindle coincides with the center of the hedge crown to be trimmed, thus completing the positioning. After the positioning robotic arm 3 completes its positioning, the trimming robotic arm 6 begins operation. The PC sets the end-effector trimming trajectory parameters and trimming task requirements, ensuring the correct configuration of each component. Then, the drive motor drives each trimming arm, causing the end-effector trimming section 6-1 to begin trimming. Through the coordination of the joints, the end-effector moves along the contour curve of the target shape, while the top rotating spindle 5 rotates, trimming the hedge into the target three-dimensional shape to meet the requirements of different trimming tasks. The end-effector trimming section 7 is adjusted via connecting pin 7-1, connecting seat 7-2, and rotating adjustment mechanism 7-3 to improve trimming efficiency. With continuous cutting and movement of the blades, the trimming task of the hedge is completed. The PC continuously monitors and adjusts the operating status and parameters of each component to ensure stable operation of the trimming blades and consistent trimming results. After trimming, the power and PC can be turned off, stopping the trimming blades. Necessary maintenance and cleaning should be performed to ensure the normal use and lifespan of the trimming blades.

Claims

1. A highway hedge trimmer characterized by comprising: The application relates to a highway hedge trimming device, which comprises a supporting rotating base (2) connected with a bearing vehicle (1) and supporting a positioning mechanical arm (3) and a trimming mechanical arm (6) and providing rotary motion; a positioning large arm hydraulic cylinder (3-3) and a positioning large arm (3-5) are connected with the rotating base (2) through pins (3-1) and (3-2), the positioning large arm hydraulic cylinder (3-3) and the positioning large arm (3-5) are connected through a pin (3-4) and can provide pitching motion of the positioning large arm (3-5); a positioning small arm hydraulic cylinder (3-7) and a positioning small arm (3-10) are connected through a pin (3-9), the positioning small arm hydraulic cylinder (3-7) and the positioning large arm (3-5) are connected through a pin (3-6), and the positioning large arm (3-5) and the positioning small arm (3-10) are connected through a pin (3-8) and can provide pitching motion of the positioning small arm (3-10); a main shaft rotating motor (4) is arranged at the tail end of the positioning small arm (3-10) and can drive rotary motion of the trimming mechanical arm (6) through a rotating main shaft (5); a trimming part (7) at the tail end completes a trimming task of a target hedge and is connected with the trimming small arm (6-3) through a connecting pin (7-1) and a connecting seat (7-2). In addition, a control system and a PC are integrated to realize control functions and meet different trimming tasks. The supporting rotating base (2) is located at the root of the positioning mechanical arm (3) and is connected with the bearing vehicle (1) and used for supporting the whole cutter part and connected with the positioning mechanical arm (3) through a large arm-base pin (3-1) and a large arm hydraulic cylinder (3-3). The rotating base (2) can drive the positioning mechanical arm (3) to rotate and position to the direction of a target to be trimmed, and is an indispensable part of trimming work. The positioning mechanical arm (3) comprises a large arm (3-5), a small arm (3-10) and driving hydraulic cylinders (3-3 and 3-7), etc. After the rotating base (2) rotates to the direction of a target to be trimmed, the positioning mechanical arm (3) starts to operate, drives the large arm (3-5) and the small arm (3-10) to pitch through the driving hydraulic cylinders (3-3 and 3-7), positions the rotating main shaft (5) at the tail end of the positioning mechanical arm (3) to the top of the target to be trimmed, makes the axis of the rotating main shaft (5) coincide with the center of the hedge to be trimmed, and thus the positioning is completed. Meanwhile, the positioning mechanical arm (3) provides stable support and fixing functions, so that the trimming cutter can stably work. The positioning mechanical arm (3) is usually made of a solid and durable material to ensure stability and reliability during trimming work. The rotating main shaft (5) is one of the core components of the highway hedge trimming cutter. It provides rotary motion of the whole trimming mechanical arm and is indispensable for realizing three-dimensional trimming. The rotating main shaft (5) can make the trimming mechanical arm realize 360-degree rotation, so that the two-dimensional curve track of the trimming mechanical arm forms a rotary body and meets the demand of shape diversification in the hedge trimming process. The trimming mechanical arm (6) includes a rotating main shaft (5), a large arm (6-7), a middle arm (6-5), a small arm (6-3), a driving motor and a terminal trimming part (7), etc., for completing the target trimming task of the top surface and side surface of the target hedge. After the positioning mechanical arm (3) is positioned, the trimming mechanical arm (6) starts to work, drives each arm to work through the driving motor, and makes the terminal trimming part (7) start to trim, the terminal moving track being the contour curve of the target shape, while the top rotating main shaft (5) rotates, so as to trim the hedge into the target three-dimensional shape to adapt to the requirements of different trimming tasks. The terminal trimming part (7) is located at the terminal of the trimming mechanical arm (6) and is driven to move by the trimming mechanical arm (6), is mainly used for completing the trimming and cutting task of the hedge, and includes a rotating adjusting mechanism (7-3), a saw blade driving motor (7-4) and circular saw blades (7-6, 7-7). The saw blade driving motor (7-4) is arranged on the saw blade motor fixing seat (7-4), the rotating circular saw blade (7-7) is installed on the saw blade driving motor (7-4), in order to improve the trimming efficiency, a plurality of driving motors work at the same time, and the rotating adjusting mechanism (7-3) can drive the saw blade motor fixing seat (7-4) to rotate, so as to adapt to different trimming tasks. The rotating shearing saw blade is composed of the fixed circular saw blade (7-6) and the rotating circular saw blade (7-7), is located on the saw blade driving motor (7-4) at the terminal of the trimming mechanical arm (6), and is used for cutting for a specific trimming task. The cutting function of the single saw blade is converted into the shearing function of the two saw blades, the trimming task of the hedge can be completed with higher efficiency, and the cutting and trimming of the thicker part of the hedge can be realized. The control system is mainly used for controlling the movement of the positioning mechanical arm (3) and the trimming mechanical arm (6). The control system can realize accurate control of the trimming tool position and the trimming shape according to the requirements of the operator and the actual trimming condition. This part is one of the core parts for realizing the diversity of the hedge trimming shape. The PC machine serves as the control center of the whole new hedge trimming tool and is used for controlling and monitoring the operation of the whole system. Through the PC machine, the operator can easily adjust the action parameters and the running state of each part to realize the trimming task of the hedge with different shapes and the accurate trimming effect of the hedge.

2. A highway hedge trimmer according to claim 1, characterised in that: The PC machine is installed on the bearing vehicle, is driven to move to the vicinity of the target to be trimmed by the bearing vehicle, is first driven to rotate to the central axis direction of the target hedge crown by the rotating base, is then driven to perform the pitching action of the large arm and the small arm by the large arm hydraulic cylinder and the small arm hydraulic cylinder on the positioning mechanical arm, the trimming mechanical arm rotating main shaft at the terminal of the small arm is positioned above the central axis of the hedge crown, and then the trimming task is performed.

3. A highway hedge trimmer tool as claimed in claim 1, characterised in that: After the positioning operation of the positioning mechanical arm is completed, the trimming mechanical arm starts to operate. The rotation of the main shaft rotation motor and the rotation of the rotating main shaft can make the trimming mechanical arm perform a rotating trimming motion. The PC sets the end trimming part trajectory parameters and trimming task requirements to ensure that the operation state of each component is correctly configured. The driving motor drives the trimming mechanical arm to work, and the end trimming part of the mechanical arm starts to trim. Through the cooperation of each joint, the end moving trajectory is the contour curve of the target shape, and the top rotating main shaft rotates, thereby trimming the hedge into the target rotary shape. In addition, the wall-shaped hedge can also be trimmed through the rotation adjustment mechanism of the end trimming part and the movement of the bearing vehicle.

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