Vehicle-mounted six-degree-of-freedom hedge trimming robot

Abstract

The utility model discloses a vehicle-mounted six-degree-of-freedom hedge trimming robot which comprises a wheel type moving trolley, a six-degree-of-freedom mechanical arm and a hedge shearing tool. The six-degree-of-freedom mechanical arm is fixedly installed on the wheel type moving trolley, and the hedge shearing tool is fixedly installed on the six-degree-of-freedom mechanical arm. Through mutual cooperation of the wheel type moving trolley, the lead screw, the large arm plate, the small arm plate, the transverse rolling support, the yaw support and the tool frame, the six-degree-of-freedom pruning requirement is met, horizontal or vertical pruning of tall green plants in gardens and roads can be carried out, inclined pruning at various complex angles can be carried out, pruning of various garden shapes can also be carried out, and the pruning efficiency is greatly improved. And hedge trimming under various conditions can be met.

Description

Technical Field

[0001] The utility model relates to the technical field of garden machinery, in particular to a vehicle-mounted six-degree-of-freedom hedge trimming robot. Background Art

[0002] The construction of ecological garden cities has gradually become an important goal of urban development. Common hedge plants in urban gardening are generally composed of evergreen shrubs and small trees. As seasonal plants, they need to be pruned and maintained regularly. Hedges are mainly trimmed by hand with hedge shears. Manual work has great defects, including: environmental problems, safety problems, efficiency problems, trimming effect problems, etc.

[0003] In recent years, in order to improve the efficiency of hedge trimming and reduce labor costs and fatigue intensity, some hedge trimming related trimming equipment has appeared. As described in patent CN202322278959.9, a hedge trimmer is mainly composed of a reciprocating cutter, an excavator connector and a mounting bolt pair, wherein the excavator connector is connected to the reciprocating cutter through the mounting bolt pair; the reciprocating cutter includes a fixed plate connected to the mounting bolt pair, a hydraulic motor is arranged on the front of the fixed plate, an eccentric wheel is arranged on the output shaft of the hydraulic motor, a fixed knife beam is arranged transversely at the lower end of the fixed plate, a plurality of fixed knife assemblies 1 are arranged on both sides of the fixed knife beam, a plurality of fixed knife assemblies 2 are arranged in the middle of the fixed knife beam, the fixed knife assemblies 1 and 2 are staggered and distributed up and down, and a friction plate is arranged between the two, a moving knife rod is arranged on the friction plate, a moving knife assembly is arranged on the moving knife rod, a connecting rod is hingedly arranged between the eccentric wheel and the moving knife rod, the connecting rod drives the moving knife rod to perform reciprocating linear motion in the fixed knife assemblies 1 and 2, and limit plates are also arranged on the left and right sides of the fixed knife beam. The portable hedge trimming device can be matched with various types of excavators. The hydraulic output of the excavator is used to rotate the hydraulic motor on the reciprocating cutter, thereby driving the eccentric wheel and the connecting rod to drive the moving knife bar to make reciprocating linear motion in the fixed knife, thereby cutting the hedge. Utility Model Content

[0004] The utility model aims to provide a vehicle-mounted six-degree-of-freedom hedge trimmer device in view of the defects and shortcomings of the existing hedge trimmers.

[0005] In order to solve the above technical problems, the utility model provides a vehicle-mounted six-degree-of-freedom hedge trimming robot to implement the technical solution comprising: a wheeled mobile trolley, a six-degree-of-freedom mechanical arm, and a hedge shearing tool; the six-degree-of-freedom mechanical arm is fixedly mounted on the wheeled mobile trolley, and the hedge shearing tool is fixedly mounted on the six-degree-of-freedom mechanical arm.

[0006] The wheeled mobile vehicle comprises a vehicle frame, a rubber wheel connected to the vehicle frame, and a hub motor connected to the rubber wheel.

[0007] The six-degree-of-freedom mechanical arm includes: a frame; a screw installed on the frame; a motor six connected to the screw through a coupling six; an arm support seat installed on the screw; a bearing seat one fixedly installed on the arm support seat; an arm rotating shaft connected to the arm support seat through the bearing seat one; a motor one connected to the arm rotating shaft through a coupling one; an arm sleeve connected to the arm rotating shaft through a conical pin one; an arm plate fixedly installed on the arm sleeve; a support sleeve fixedly installed between two arm plates; a bearing seat two fixedly installed on the arm plate; an arm rotating shaft connected to the arm plate through the bearing seat two; a motor five connected to the arm rotating shaft through a coupling five; a motor five connected to the arm rotating shaft through a conical pin two connected forearm sleeves; forearm plates fixedly mounted on the forearm sleeves; support plates fixedly mounted between the forearm plates; motor two fixedly mounted on the support plates; a roll shaft connected to motor two via coupling two; a bearing sleeve fixedly mounted on the support plate; a roll shaft connected to the bearing sleeve via a bearing; a roll bracket fixedly mounted on the roll shaft; shaft two hingedly mounted on the roll bracket; motor three connected to shaft two via coupling three; a yaw bracket connected to shaft two via conical pin three; shaft one hingedly mounted on the yaw bracket; motor four connected to shaft one via coupling four; a tool holder connected to shaft one via conical pin four; a tool support plate and ribs fixedly mounted on the tool holder.

[0008] The hedge cutting tool comprises: a hedge cutting tool fixedly mounted on a tool supporting plate.

[0009] The utility model provides a vehicle-mounted six-degree-of-freedom hedge trimming robot with the following beneficial effects:

[0010] (1) This equipment achieves the pruning requirements of six degrees of freedom through the cooperation between the wheeled mobile trolley, the lead screw, the big arm plate, the small arm plate, the roll bracket, the yaw bracket, and the tool holder. It can perform horizontal or vertical pruning of tall green plants in gardens and roads, can perform inclined pruning at various complex angles, and can also perform pruning of various garden shapes to meet the hedge pruning needs in various situations.

[0011] (2) The equipment is powered by an electric motor and uses hedge cutting tools to achieve smooth cutting of the hedge. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the overall structure of a vehicle-mounted six-degree-of-freedom hedge trimming robot of the utility model;

[0013] Figure 2 This is a schematic diagram of the connection between the upper arm support seat and the upper arm plate of a vehicle-mounted six-degree-of-freedom hedge trimming robot of the utility model;

[0014] Figure 3This is a schematic diagram of the connection between the large arm plate and the small arm plate of a vehicle-mounted six-degree-of-freedom hedge trimming robot of the utility model;

[0015] Figure 4 This is a schematic diagram of the connection between the small arm plate and the rolling bracket of a vehicle-mounted six-degree-of-freedom hedge trimming robot of the utility model;

[0016] Figure 5 This is a schematic diagram of the connection between the roll support, the yaw support and the tool holder of a vehicle-mounted six-degree-of-freedom hedge trimming robot of the utility model;

[0017] Reference numerals:

[0018] 1-frame 2-stand 3-screw

[0019] 4- Big arm support seat 5- Big arm sleeve 6- Coupling 1

[0020] 7-motor 8-taper pin 9-support sleeve

[0021] 10-big arm plate 11-big arm rotating shaft 12-bearing seat 1

[0022] 13- Motor 2 14- Small arm plate 15- Support plate

[0023] 16-bearing sleeve 17-rolling shaft 18-shaft bearing

[0024] 19-Coupling 2 20-Roll bracket 21-Yaw bracket

[0025] 22- coupling three 23- motor three 24- axis one

[0026] 25- tool holder 26- rib plate 27- rubber wheel

[0027] 28-Hedge cutting tool 29-Motor 4 30-Coupling 4

[0028] 31-axis 2 32-arm rotation axis 33-arm shaft sleeve

[0029] 34-Motor 5 35-Coupling 5 36-Bearing seat 2

[0030] 37- Motor 6 38- Coupling 6 39- Hub Motor

[0031] 40- tool support plate 41- wheeled mobile car 42- six degrees of freedom mechanical arm

[0032] 43-conical pin 244-conical pin 345-conical pin 4 DETAILED DESCRIPTION

[0033] The following is a detailed description of a vehicle-mounted six-degree-of-freedom hedge trimming robot according to the utility model in conjunction with the embodiments.

[0034] like Figure 1 As shown, the overall structure of a vehicle-mounted six-degree-of-freedom hedge trimming robot includes: a wheeled mobile cart 41, a six-degree-of-freedom mechanical arm 42, and a hedge cutting tool 28; it is characterized in that the six-degree-of-freedom mechanical arm 42 is fixedly mounted on the wheeled mobile cart 41, and the hedge cutting tool 28 is fixedly mounted on the six-degree-of-freedom mechanical arm 42.

[0035] like Figure 1 The wheeled mobile vehicle 41 includes: a frame 1, a rubber wheel 27 connected to the frame 1, and a hub motor 39 connected to the rubber wheel 27.

[0036] like Figure 1-5 As shown, the six-degree-of-freedom mechanical arm 42 includes: a stand 2; a screw 3 installed on the stand 2; a motor 6 37 connected to the screw 3 through a coupling 6 38; a large arm support seat 4 installed on the screw 3; a bearing seat 12 fixedly installed on the large arm support seat 4; a large arm rotating shaft 11 connected to the large arm support seat 4 through a bearing seat 12; a motor 7 connected to the large arm rotating shaft 11 through a coupling 6; a large arm sleeve 5 connected to the large arm rotating shaft 11 through a conical pin 8; a large arm plate 10 fixedly installed on the large arm sleeve 5; a support sleeve 9 fixedly installed between two large arm plates 10; a bearing seat 2 36 fixedly installed on the large arm plate 10; a small arm rotating shaft 32 connected to the large arm plate 10 through a bearing seat 2 36; a motor 5 34 connected to the small arm rotating shaft 32 through a coupling 5 35; a small arm rotating shaft 32 connected to the small arm rotating shaft 32 through a conical pin 2 43 Arm sleeve 33; forearm plate 14 fixedly mounted on forearm sleeve 33; support plate 15 fixedly mounted between forearm plates 14; motor 2 13 fixedly mounted on support plate 15; roll shaft 17 connected to motor 2 13 via coupling 2 19; bearing sleeve 16 fixedly mounted on support plate 15; roll shaft 17 connected to bearing sleeve 16 via bearing; roll bracket 20 fixedly mounted on roll shaft 17; shaft 2 31 hingedly mounted on roll bracket 20; motor 3 23 connected to shaft 2 31 via coupling 3 22; yaw bracket 21 connected to shaft 2 31 via conical pin 3 44; shaft 1 24 hingedly mounted on yaw bracket 21; motor 4 29 connected to shaft 1 24 via coupling 4 30; tool holder 25 connected to shaft 1 24 via conical pin 4 45; tool support plate 40 and rib plate 26 fixedly mounted on tool holder 25.

[0037] like Figure 4 As shown, the hedge cutting tool 28 comprises: a hedge cutting tool 28 fixedly mounted on a tool support plate 40 .

[0038] The following will describe the operation process of the six-degree-of-freedom hedge trimming robot of the utility model. 1. Movement process of the wheeled mobile vehicle 41

[0039] Four rubber wheels 27 are fixedly mounted on the vehicle frame 1 , and four wheel hub motors 39 are mounted on the four rubber wheels 27 . The four wheel hub motors 39 drive the four rubber wheels 27 to rotate at different speeds, so that the vehicle can move along the edge of the hedge.

[0040] 2. The six-degree-of-freedom robot arm 42 adjusts the position and posture of the hedge cutting tool 28

[0041] The motor 6 37 drives the lead screw 3 through the coupling 6 38 to realize the vertical movement of the six-degree-of-freedom mechanical arm 42; the motor 1 7 drives the upper arm rotating shaft 11, and the upper arm rotating shaft 11 is connected with the upper arm shaft sleeve 5 through the engagement of the conical pin 1 8, so that the power is transmitted to the upper arm shaft sleeve 5, and the upper arm plate 10 is fixedly installed on the upper arm shaft sleeve 5, so as to realize the movement of the upper arm plate 10 in the horizontal plane; the motor 5 34 drives the small arm rotating shaft 32 through the coupling 5 35, and the small arm rotating shaft 32 is connected with the small arm shaft sleeve 33 through the engagement of the conical pin 2 43, so that the power is transmitted to the small arm shaft sleeve 33, and the small arm plate 14 is fixedly installed on the small arm shaft sleeve 33, so as to realize the small arm plate 14 in the horizontal plane Movement; Motor 2 13 drives the roll axis 17 and the six-degree-of-freedom mechanical arm 42 to rotate in the roll direction through coupling 2 19; Motor 3 23 drives axis 2 31 through coupling 3 22, and axis 2 31 is connected to the yaw bracket 21 through the engagement of conical pin 3 44, and the power is transmitted to the yaw bracket 21, thereby driving the yaw bracket 21 and the six-degree-of-freedom mechanical arm 42 to rotate in the yaw direction; Motor 4 29 drives axis 1 24 through coupling 4 30, and axis 1 24 is connected to the tool holder 25 through the engagement of conical pin 4 45, and the power is transmitted to the tool holder 25, thereby driving the tool holder 25 and the six-degree-of-freedom mechanical arm 42 to rotate in the pitch direction;

[0042] The tool support plate 40 is fixedly mounted on the tool holder 25 and rotates along with the tool holder 25 . The hedge cutting tool 28 is fixedly mounted on the tool support plate 40 and rotates along with the tool support plate 40 .

[0043] 3. Pruning process

[0044] The tool support plate 40 is driven by the aforementioned six-degree-of-freedom robot arm 42 to approach the hedge, and the two blades of the hedge shearing tool 28 fixedly mounted on the tool support plate 40 reciprocate to shear the hedge it contacts.

Claims

1. A vehicle-mounted six-degree-of-freedom hedge trimming robot, characterized in that: It includes a wheeled mobile vehicle (41), a six-degree-of-freedom mechanical arm (42), and a hedge cutting tool (28); The wheeled mobile vehicle (41) comprises: a vehicle frame (1), a rubber wheel (27) connected to the vehicle frame (1), and a hub motor (39) connected to the rubber wheel (27); The six-degree-of-freedom mechanical arm (42) comprises: a stand (2); a lead screw (3) mounted on the stand (2); a motor (37) connected to the lead screw (3) via a coupling (38); a large arm support seat (4) mounted on the lead screw (3); a bearing seat (12) fixedly mounted on the large arm support seat (4); a large arm rotating shaft (11) connected to the large arm support seat (4) via a bearing seat (12); a motor (7) connected to the large arm rotating shaft (11) via a coupling (6); a conical pin (8 ) connected to the boom rotating shaft (11); a boom plate (10) fixedly mounted on the boom sleeve (5); a support sleeve (9) fixedly mounted between the two boom plates (10); a bearing seat (36) fixedly mounted on the boom plate (10); a small arm rotating shaft (32) connected to the boom plate (10) via the bearing seat (36); a motor (34) connected to the small arm rotating shaft (32) via a coupling (35); a small arm shaft connected to the small arm rotating shaft (32) via a conical pin (43) sleeve (33); a small arm plate (14) fixedly mounted on the small arm shaft sleeve (33); a support plate (15) fixedly mounted between the small arm plates (14); a second motor (13) fixedly mounted on the support plate (15); a roll shaft (17) connected to the second motor (13) via a second coupling (19); a bearing sleeve (16) fixedly mounted on the support plate (15); a roll shaft (17) connected to the bearing sleeve (16) via a bearing; a roll bracket (20) fixedly mounted on the roll shaft (17); a roll bracket (20) hingedly mounted on the roll bracket ( 20); a shaft two (31) on the shaft two (31); a motor three (23) connected to the shaft two (31) through a coupling three (22); a yaw bracket (21) connected to the shaft two (31) through a conical pin three (44); a shaft one (24) hingedly mounted on the yaw bracket (21); a motor four (29) connected to the shaft one (24) through a coupling four (30); a tool holder (25) connected to the shaft one (24) through a conical pin four (45); a tool support plate (40) and a rib plate (26) fixedly mounted on the tool holder (25); The hedge cutting tool (28) comprises: a hedge cutting tool (28) fixedly mounted on a tool support plate (40).

2. A vehicle-mounted six-degree-of-freedom hedge trimming robot according to claim 1, characterized in that: The hedge cutting tool (28) is fixedly mounted on a six-degree-of-freedom mechanical arm (42), and the six-degree-of-freedom mechanical arm (42) is fixedly mounted on a wheeled mobile trolley (41). The trolley can be moved along the roadside by driving four rubber wheels (27) through four wheel hub motors (39), so as to perform large-scale and long-distance pruning of hedges.

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