Green belt pruning device capable of automatically avoiding obstacles

Abstract

The utility model relates to the technical field of road maintenance, and provides an automatic obstacle-avoiding green belt trimming device which comprises a base arranged on a movable vehicle body, a forward moving assembly arranged on the base, a rotating table rotationally arranged on the forward moving assembly, a main telescopic arm rotationally arranged on the rotating table, and an auxiliary telescopic arm rotationally arranged at one end, away from the rotating table, of the main telescopic arm. An angle adjusting seat is rotatably arranged at the end, away from the main telescopic arm, of the auxiliary telescopic arm, a translation assembly is rotatably arranged on the angle adjusting seat and connected with a trimming frame, a turnover plate is rotatably arranged on the inner side of the trimming frame, a plurality of trimming parts are arranged on the turnover plate, and a sensing assembly surrounds the outer side of the trimming frame. The green belt pruning device can automatically detect and avoid obstacles in the green belt pruning process, meanwhile, facilities around a green belt can be prevented from being damaged, and the green belt pruning efficiency and safety are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of road maintenance, in particular to an automatic obstacle-avoiding green belt trimming device. Background Art

[0002] Green belt pruning is an important part of road maintenance, which aims to keep the green belts clean and beautiful, promote the healthy growth of plants, and ensure the safety of pedestrians and traffic.

[0003] The commonly used green belt pruning device is installed on the body of an ordinary truck. The pruning blade is driven by a mechanical arm to move to prune the green belt. However, when there are obstacles such as trees or road sign poles in front of the pruned green belt, the truck needs to stop for manual intervention, lift the pruning blade out of the pruning area, then drive around the obstacle and stop again, control the pruning blade back to the pruning area and drive again. The efficiency is low. At the same time, manual control of the movement of the pruning blade requires the staff to concentrate highly to avoid damaging the obstacles or the side guardrails of the green belt, which is not conducive to long-term work and has poor safety.

[0004] Therefore, in view of the above problems, an automatic obstacle avoidance green belt pruning device is proposed to solve the above problems. Utility Model Content

[0005] In response to the deficiencies in the existing technology, the utility model develops an automatic obstacle-avoiding green belt pruning device, which can automatically detect and avoid obstacles during the green belt pruning process, while avoiding damage to facilities around the green belt, and has higher pruning efficiency and safety.

[0006] In order to achieve the above-mentioned purpose, the present invention is realized through the following technical solutions:

[0007] An automatic obstacle-avoiding green belt pruning device comprises a base, which is arranged on a mobile vehicle body; a forward moving component is arranged on the base; a rotating platform is rotatably arranged on the forward moving component; a main telescopic arm is rotatably arranged on the rotating platform; a secondary telescopic arm is rotatably arranged on the end of the main telescopic arm away from the rotating platform; an angle adjustment seat is rotatably arranged on the end of the secondary telescopic arm away from the main telescopic arm; a translation component is rotatably arranged on the angle adjustment seat; the translation component is connected to a pruning frame; a flip plate is rotatably arranged on the inner side of the pruning frame; a plurality of pruning pieces are arranged on the flip plate; and a sensing component is arranged around the outer side of the pruning frame.

[0008] Preferably, the forward moving assembly includes a forward moving seat, which is slidably set on the base, and the sliding direction is parallel to the forward direction of the moving vehicle body. The forward moving seat is threadedly connected to the screw rod, and the screw rod is rotatably set on the base. One end of the screw rod is connected to the forward moving force member for driving the screw rod to rotate.

[0009] Preferably, a rotating table is rotatably arranged on the forward moving seat, the axis of the rotating table is perpendicular to the ground, a worm gear is coaxially arranged on the rotating table, the worm gear is meshed with the worm, the worm is rotatably arranged on the forward moving seat, and one end of the worm is connected to a rotating power part for driving the rotating table to rotate.

[0010] Preferably, a rotating arm seat is provided on the rotating platform, the rotating arm seat is rotatably connected to one end of the main telescopic arm, and the axis of rotation of the main telescopic arm is perpendicular to the axis of rotation of the rotating platform, and the main telescopic arm is connected to the rotating platform through a telescopic member; one end of the auxiliary telescopic arm is rotatably set at the telescopic end of the main telescopic arm, and the axis of rotation of the auxiliary telescopic arm is parallel to the axis of rotation of the main telescopic arm, and the auxiliary telescopic arm and the main telescopic arm are connected by an angle adjustment member for adjusting the angle between the auxiliary telescopic arm and the main telescopic arm.

[0011] Preferably, the telescopic end of the secondary telescopic arm is connected to the angle adjustment seat through a rotating shaft, and a second telescopic member is provided on the angle adjustment seat to connect to the secondary telescopic arm, so as to drive the angle adjustment seat to rotate around the axis of the rotating shaft.

[0012] Preferably, the translation assembly includes a translation seat, a large gear is provided on the translation seat, the large gear is rotatably connected to the angle adjustment seat, a gear power part 1 is provided on one side of the angle adjustment seat, a small gear is provided at the output end of the gear power part 1, and the small gear is meshed with the large gear to drive the large gear to rotate.

[0013] Preferably, the translation seat is slidably connected to the trimming frame, and a rack is provided on the trimming frame along the sliding direction. A second gear power component is provided on the translation seat, and a translation gear is provided at the output end of the second gear power component. The translation gear is meshed with the rack.

[0014] Preferably, the lower end of the front inner side of the pruning frame is rotatably connected to one side of the flip plate, and the rotation axis is parallel to the length direction of the rack; a flip power member is provided at the upper end of the front inner side of the pruning frame, and the flip power member is connected to the flip plate to drive the flip plate to rotate; landing plates are provided on the lower sides of both ends of the flip plate, and a support plate is provided at the bottom of the inner side of the pruning frame corresponding to the landing plate to assist in supporting the flip plate; the pruning member includes a blade and a motor, the motor is provided on the flip plate, and a blade is provided at the output end of the motor, the blade is located below the flip plate, and the bottom end of the blade is not lower than the bottom end of the landing plate.

[0015] Preferably, a mounting groove is provided circumferentially on the outer side of the trimming frame; the sensing component includes a pressure sensor and a contact belt, the pressure sensor is provided in the mounting groove, the contact belt is provided on the mounting groove, the contact belt is provided with a flexible material, and the contact belt can apply force to the pressure sensor.

[0016] The effects provided in the content of the utility model are only the effects of the embodiments, rather than all the effects of the utility model. The above technical solution has the following advantages:

[0017] The utility model provides a sensing component, and the sensing component is arranged around the outside of the pruning frame. When the device touches an obstacle during pruning, it can sense and avoid the obstacle in time, avoiding damage to the obstacle or damage to the device by the obstacle; by providing a flip plate and a flip power piece, when the sensing component detects an obstacle, the flip power piece can drive the flip plate to rotate, thereby lifting the pruning blade, avoiding possible damage to the guardrails around the green belt when the device moves, and further improving the safety of the device; through the contact belt of flexible material, the influence of plant branches on the sensing component can be avoided, so that the sensing component can detect more accurately, thereby improving the practicality and efficiency of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention.

[0019] Figure 1 The structure of the embodiment of the utility model is shown in FIG. Figure 1 ;

[0020] Figure 2 The structure of the embodiment of the utility model is shown in FIG. Figure 2 ;

[0021] Figure 3 Schematic diagram of the trimming frame and its connection after the flip plate is flipped over in the embodiment of the utility model Figure 1 ;

[0022] Figure 4 Schematic diagram of the trimming frame and its connection after the flip plate is flipped over in the embodiment of the utility model Figure 2 ;

[0023] Figure 5 A schematic diagram of the position of the pressure sensor according to an embodiment of the present utility model;

[0024] Figure 6 This is a schematic side cross-sectional view of the trimming frame after the flip plate of the embodiment of the utility model is flipped over;

[0025] Figure 7 for Figure 6 Enlarged view of point A in the middle;

[0026] Figure 8 Schematic diagram of the obstacle avoidance process of an embodiment of the present utility model.

[0027] In the figure, 1. base; 2. forward moving assembly; 3. rotating table; 4. main telescopic arm; 5. auxiliary telescopic arm; 6. angle adjustment seat; 7. translation assembly; 8. trimming frame; 9. flip plate; 10. trimming part; 11. sensing assembly; 21. forward moving seat; 22. screw; 23. forward moving force member; 31. worm gear; 32. worm; 33. rotating power member; 41. rotating arm seat; 42. telescopic member 1; 43. angle adjustment member; 51. rotating shaft; 52. telescopic member 2; 53. large gear; 54. gear power member 1; 55. small gear; 71. translation seat; 72. rack; 73. gear power member 2; 74. translation gear; 81. flip power member; 82. support plate; 83. mounting slot; 91. landing plate; 101; blade; 102. motor; 111. pressure sensor; 112. contact belt. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] like Figures 1-8 As shown, the utility model provides a technical solution:

[0030] An automatic obstacle-avoiding green belt pruning device includes a base 1, which is arranged on a mobile body. The mobile body can be a body of an ordinary truck. At the same time, a generator 102 and other energy supply devices are provided on the mobile body to provide energy for the movement of the pruning device. A forward moving component 2 is provided on the base 1, a rotating platform 3 is rotatably provided on the forward moving component 2, a main telescopic arm 4 is rotatably provided on the rotating platform 3, a secondary telescopic arm 5 is rotatably provided on the end of the main telescopic arm 4 away from the rotating platform 3, an angle adjustment seat 6 is rotatably provided on the end of the secondary telescopic arm 5 away from the main telescopic arm 4, a translation component 7 is rotatably provided on the angle adjustment seat 6, the translation component 7 is connected to the pruning frame 8, and is used to drive the pruning frame 8 to move. A flip plate 9 is rotatably provided on the inner side of the pruning frame 8, and multiple pruning pieces 10 are provided on the flip plate 9. The rotation of the flip plate 9 is used to drive the pruning pieces 10 to lift. The pruning pieces 10 are used to trim the green belt. A sensing component 11 is circumferentially arranged around the outer side of the pruning frame 8 to detect obstacles.

[0031] In this embodiment, the forward moving assembly 2 includes a forward moving seat 21, which is slidably arranged on the base 1 through a linear guide slider, and the sliding direction of the forward moving seat 21 is parallel to the forward direction of the mobile body. The forward moving seat 21 is threadedly connected to the screw rod 22, and the axis of the screw rod 22 is parallel to the forward direction of the mobile body. The screw rod 22 is rotatably arranged on the base 1, and one end of the screw rod 22 is connected to the forward moving force member 23. The forward moving force member 23 adopts a motor 102 to drive the screw rod 22 to rotate. After detecting an obstacle, the mobile body will pause. At this time, the trimming piece 10 can avoid the obstacle through the forward moving assembly 2, and then the vehicle body continues to move, avoiding the need for two pauses and moves when the mobile body avoids obstacles in traditional construction, thereby improving the efficiency of the device.

[0032] In this embodiment, a rotating table 3 is rotatably arranged on the forward moving seat 21, and the axis of the rotating table 3 is perpendicular to the ground. A worm gear 31 is coaxially arranged on the rotating table 3, and the worm gear 31 is meshed with a worm 32. The worm 32 is rotatably arranged on the forward moving seat 21, and one end of the worm 32 is connected to a rotating power member 33. The rotating power member 33 is arranged on the forward moving seat 21. The rotating power member 33 uses a motor 102, which is used to drive the rotating table 3 to rotate to adjust the horizontal angle direction of the main telescopic arm 4. Preferably, an angle sensor is coaxially arranged on the worm gear 31 for real-time detection of the rotation angle of the rotating table 3, thereby improving the accuracy of device control.

[0033] In this embodiment, a rotating arm seat 41 is provided on the rotating platform 3, and the rotating arm seat 41 is rotatably connected to one end of the main telescopic arm 4, and the axis of rotation of the main telescopic arm 4 is perpendicular to the axis of the rotating platform 3, and the main telescopic arm 4 is connected to the rotating platform 3 through a telescopic member 42, and the telescopic member 42 uses a telescopic oil cylinder, and both ends of the telescopic member 42 are rotatably connected to the main telescopic arm 4 and the rotating platform 3, and are used to change the angle between the main telescopic arm 4 and the rotating platform 3 by telescoping; one end of the auxiliary telescopic arm 5 is rotatably provided at the telescopic end of the main telescopic arm 4, and the axis of rotation of the auxiliary telescopic arm 5 is parallel to the axis of rotation of the main telescopic arm 4, and the auxiliary telescopic arm 5 is connected to the main telescopic arm 4 by an angle adjustment member 43, which is used to adjust the auxiliary telescopic arm 5 and the main telescopic arm 4, the angle adjusting member 43 can use a rotating motor 102, the rotating motor 102 is set at the telescopic end of the main telescopic arm 4, the output end of the rotating motor 102 is connected to the auxiliary telescopic arm 5, and the auxiliary telescopic arm 5 is driven to rotate by the rotation of the output end of the rotating motor 102; in another embodiment, the angle adjusting member 43 can also use a telescopic cylinder, one end of the telescopic cylinder is rotatably set at the telescopic end of the main telescopic arm 4, and the other end is rotatably set on the auxiliary telescopic arm 5, and the angle between the auxiliary telescopic arm 5 and the main telescopic arm 4 is changed by telescoping. The main telescopic arm 4 and the auxiliary telescopic arm 5 can adopt common telescopic arms on the market, which can be telescopically extended and have sufficient support, thereby improving the economy and stability of the device.

[0034] In this embodiment, the telescopic end of the secondary telescopic arm 5 is rotatably connected to the angle adjustment seat 6 through the rotating shaft 51. A telescopic part 2 52 is provided on the angle adjustment seat 6 to connect to the secondary telescopic arm 5. The telescopic part 2 52 uses a small telescopic oil cylinder. Both ends of the telescopic part 2 52 are rotatably connected to the angle adjustment seat 6 and the telescopic end of the secondary telescopic arm 5, and are used to drive the angle adjustment seat 6 to rotate around the axis of the rotating shaft 51, thereby further adjusting the trimming angle of the pruning frame 8 and improving the practicality of the device.

[0035] In this embodiment, the translation assembly 7 includes a translation seat 71, a large gear 53 is provided on the translation seat 71, the large gear 53 is rotatably connected to the bottom of the angle adjustment seat 6, a gear power part 54 is provided on one side of the angle adjustment seat 6, the gear power part 54 uses a motor 102, and a small gear 55 is provided at the output end of the gear power part 54. The small gear 55 is engaged with the large gear 53 and is used to drive the large gear 53 to rotate, thereby rotating the translation seat 71.

[0036] In this embodiment, the translation seat 71 is slidably connected to the trimming frame 8, and a rack 72 is provided on the trimming frame 8 along the sliding direction. A second gear power member 73 is provided on the translation seat 71. The second gear power member 73 uses a motor 102. A translation gear 74 is provided at the output end of the second gear power member 73. The translation gear 74 is meshed with the rack 72 to drive the trimming frame 8 to move so as to avoid obstacles. A distance sensor is also provided on the trimming frame 8 to detect the distance the trimming frame 8 moves relative to the translation seat 71.

[0037] In this embodiment, with the moving vehicle body as the front, the lower end of the inner front of the pruning frame 8 is rotatably connected to one side of the flip plate 9, and the axis of rotation is parallel to the length direction of the rack 72; the upper end of the inner front of the pruning frame 8 is rotatably provided with a flip power member 81, and the flip power member 81 adopts a telescopic oil cylinder, and two parallel ones are provided. The telescopic end of the flip power member 81 is rotatably connected to the flip plate 9 to drive the flip plate 9 to rotate so as to lift the pruning member 10 to prevent the pruning member 10 from colliding with the guardrail and other facilities on the side of the green belt when the pruning frame 8 moves to avoid obstacles and cause damage; the lower sides of both ends of the flip plate 9 are provided with a landing plate 9 1. A support plate 82 is provided at the bottom of the inner side of the pruning frame 8 corresponding to the landing plate 91. The support plate 82 is used to auxiliary support the flip plate 9 to avoid the flip plate 9 being supported only by the flip power member 81, and the stability is better; the pruning member 10 includes a blade 101 and a motor 102. The motor 102 is provided on the flip plate 9. The blade 101 is provided at the output end of the motor 102. The blade 101 is located below the flip plate 9, and the bottom end of the blade 101 is not lower than the bottom end of the landing plate 91 to avoid the height of the blade 101 being lower than the bottom end of the pruning frame 8. The blade 101 has no protection on both sides, which may easily cause branches and leaves to fly away during pruning, and the safety is low.

[0038] In this embodiment, a mounting groove 83 is provided on the outer circumference of the trimming frame 8, and the mounting groove 83 is provided as a U-shaped groove with an opening facing away from the trimming frame 8; the sensing component 11 includes a pressure sensor 111 and a contact belt 112, and the pressure sensor 111 uses a patch-type flexible film pressure sensor. Several pressure sensors 111 are laid on the bottom of the mounting groove 83, and the position of each pressure sensor 111 is located and recorded according to the size of the trimming frame 8, and the contact belt 112 is installed on the mounting groove 83, and the contact belt 112 will not slide along the length direction of the mounting groove 83 relative to the mounting groove 83. The contact belt 112 is set to a flexible material, preferably a rubber material, and the contact belt 112 contacts the pressure sensor 111 and can apply force to the pressure sensor 111. The rubber contact belt 112 can prevent the device from trimming During the process, the branches and leaves of the plants affect the sensing component 11, that is, when the contact belt 112 is squeezed by the branches and leaves, the squeezing force of the branches and leaves on the contact belt 112 is small, so that the contact belt 112 will not deform or will deform only slightly. The force applied to the contact belt 112 on the side in contact with the pressure sensor 111 is small, which will not cause excessive changes in the value detected by the pressure sensor 111. Only when the contact belt 112 contacts a fixed obstacle, the obstacle exerts a large squeezing force on the contact belt 112, causing the contact belt 112 to deform too much. The force at the deformation point can be transmitted to the pressure sensor 111 at the corresponding position, causing the value detected by the pressure sensor 111 at the position to change significantly, indicating that the position has touched an obstacle and needs to avoid the obstacle, thereby improving the practicality of the device.

[0039] In another embodiment, two parallel groups of sensing components 11 are provided at the upper and lower ends of the trimming frame 8 to detect whether both ends of the trimming frame 8 encounter obstacles. If obstacles are detected, the device needs to go around the side of the obstacle to avoid the obstacle; if only the bottom end detects an obstacle, the height of the obstacle can be detected and determined by further moving the trimming frame 8 upward, or it can be manually determined whether the obstacle can be crossed over the obstacle to avoid the obstacle, thereby improving the practicality and efficiency of the device.

[0040] In this embodiment, a control component is also included, including a computer, which is connected to the power control system of the mobile body, the power parts, sensors and telescopic arms of the trimming device to achieve automatic obstacle avoidance of the device.

[0041] Working principle: First, move the device to one side of the green belt, and the mobile body drives the device to move forward for trimming. At the same time, the device detects obstacles. When the contact belt 112 contacts the obstacle, the obstacle squeezes the contact belt 112, and the contact belt 112 applies force to the pressure sensor 111, so that the detection value of the pressure sensor 111 behind the squeezing position changes until the value exceeds the threshold preset in the computer. That is, it is judged that an obstacle is detected and it is necessary to avoid the obstacle. The computer outputs a signal to control the power of the mobile body to pause, and the mobile body pauses and starts the flip power piece 81 at the same time, so that the flip plate 9 Drive the trimming member 10 to flip and lift; then the position of the pressure sensor 111 with the largest detection value is taken as the point of contact with the obstacle. When the detection values ​​of the pressure sensors 111 are the same, the position of the pressure sensor 111 close to the side of the mobile body is taken as the point of contact with the obstacle. The positions of all pressure sensors 111 on the trimming frame 8 have been recorded in the computer. According to the position of the pressure sensor 111 on the trimming frame 8, the gear power member 2 73 is started, so that the trimming frame 8 moves toward the moving body. The moving distance is the pressure sensor 111 at the contact point to the trimming frame 8 away from the side of the moving body. The distance of movement is confirmed by the distance sensor on the trimming frame 8; in order to avoid excessive friction between the contact belt 112 and the obstacle and damage to the contact belt 112 when the trimming frame 8 moves, the contact belt 112 and the obstacle can be disconnected after the position of the pressure sensor 111 at the contact point is determined, and this can be achieved by moving the forward moving component 2 backward; after the trimming frame 8 is translated, the forward moving component 2 is started to drive the trimming frame 8 forward, and at the same time, the side of the obstacle is detected by the contact belt 112 and the pressure sensors 111 at the corners of the trimming frame 8, and when the pressure sensors 111 at different positions are squeezed by the obstacle, The computer controls each power part and each telescopic arm to drive the pruning frame 8 to move, so that the pressure sensor 111 on the pruning frame 8 no longer detects pressure, that is, the pruning frame 8 avoids the obstacle; when the pruning frame 8 completely bypasses the obstacle, specifically, the translation assembly 7 drives the pruning frame 8 to move in the direction away from the mobile body and the pressure sensor 111 does not detect pressure, which means that the obstacle is bypassed, and then the forward moving assembly 2 is moved in the opposite direction, so that the contact belt 112 on the rear side of the pruning frame 8 contacts the obstacle and detects the pressure value, and then the flip plate 9 is lowered, and the power system of the mobile body is started, so that the device can continue to prune the green belt.

[0042] Anything not described in detail in the present invention is a conventional technical means known to those skilled in the art.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more such features. In the description of this utility model, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0045] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

[0046] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An automatic obstacle-avoiding green belt trimming device, comprising a base (1) arranged on a mobile vehicle body, characterized in that: A forward moving assembly (2) is arranged on the base (1), a rotating platform (3) is rotatably arranged on the forward moving assembly (2), a main telescopic arm (4) is rotatably arranged on the rotating platform (3), a secondary telescopic arm (5) is rotatably arranged on one end of the main telescopic arm (4) away from the rotating platform (3), an angle adjustment seat (6) is rotatably arranged on one end of the secondary telescopic arm (5) away from the main telescopic arm (4), a translation assembly (7) is rotatably arranged on the angle adjustment seat (6), the translation assembly (7) is connected to a trimming frame (8), a flip plate (9) is rotatably arranged on the inner side of the trimming frame (8), a plurality of trimming pieces (10) are arranged on the flip plate (9), and a sensing assembly (11) is arranged around the outer side of the trimming frame (8).

2. The automatic obstacle-avoiding green belt trimming device according to claim 1, characterized in that: The forward moving assembly (2) comprises a forward moving seat (21), which is slidably arranged on the base (1) and has a sliding direction parallel to the forward direction of the moving vehicle body. The forward moving seat (21) is threadedly connected to a screw rod (22), which is rotatably arranged on the base (1), and one end of the screw rod (22) is connected to a forward moving force member (23) for driving the screw rod (22) to rotate.

3. The automatic obstacle-avoiding green belt trimming device according to claim 2, characterized in that: A rotating platform (3) is rotatably arranged on the forward seat (21), the axis of the rotating platform (3) is perpendicular to the ground, a worm gear (31) is coaxially arranged on the rotating platform (3), the worm gear (31) is meshed and connected with a worm (32), the worm (32) is rotatably arranged on the forward seat (21), and one end of the worm (32) is connected to a rotating power member (33) for driving the rotating platform (3) to rotate.

4. The automatic obstacle-avoiding green belt trimming device according to claim 3, characterized in that: A rotating arm seat (41) is provided on the rotating platform (3), and the rotating arm seat (41) is rotatably connected to one end of the main telescopic arm (4), and the axis of rotation of the main telescopic arm (4) is perpendicular to the axis of the rotating platform (3), and the main telescopic arm (4) is connected to the rotating platform (3) through a telescopic member (42); One end of the auxiliary telescopic arm (5) is rotatably arranged at the telescopic end of the main telescopic arm (4), and the axis of rotation of the auxiliary telescopic arm (5) is parallel to the axis of rotation of the main telescopic arm (4). The auxiliary telescopic arm (5) and the main telescopic arm (4) are connected via an angle adjustment member (43) for adjusting the angle between the auxiliary telescopic arm (5) and the main telescopic arm (4).

5. The automatic obstacle-avoiding green belt trimming device according to claim 4, characterized in that: The telescopic end of the auxiliary telescopic arm (5) is rotatably connected to the angle adjustment seat (6) via a rotating shaft (51); a second telescopic member (52) is provided on the angle adjustment seat (6) and is connected to the auxiliary telescopic arm (5) for driving the angle adjustment seat (6) to rotate around the axis of the rotating shaft (51).

6. The automatic obstacle-avoiding green belt trimming device according to claim 5, characterized in that: The translation assembly (7) comprises a translation seat (71), a large gear (53) is arranged on the translation seat (71), the large gear (53) is rotatably connected to the angle adjustment seat (6), a gear power member (54) is arranged on one side of the angle adjustment seat (6), a small gear (55) is arranged at the output end of the gear power member (54), and the small gear (55) is meshed with the large gear (53).

7. The automatic obstacle-avoiding green belt trimming device according to claim 6, characterized in that: The translation seat (71) is slidably connected to the trimming frame (8), and a rack (72) is provided on the trimming frame (8) along the sliding direction. A second gear power member (73) is provided on the translation seat (71), and a translation gear (74) is provided at the output end of the second gear power member (73). The translation gear (74) is meshed and connected with the rack (72).

8. The automatic obstacle-avoiding green belt trimming device according to claim 7, characterized in that: The lower end of the inner front side of the trimming frame (8) is rotatably connected to one side of the flip plate (9), and the rotation axis is parallel to the length direction of the rack (72); the upper end of the inner front side of the trimming frame (8) is provided with a flip power member (81), and the flip power member (81) is connected to the flip plate (9) and is used to drive the flip plate (9) to rotate; A landing plate (91) is provided on the lower sides of both ends of the flip plate (9), and a support plate (82) is provided at the bottom of the inner side of the trimming frame (8) corresponding to the landing plate (91) for auxiliary support of the flip plate (9); The trimming member (10) comprises a blade (101) and a motor (102). The motor (102) is arranged on the flip plate (9). The blade (101) is arranged at the output end of the motor (102). The blade (101) is located below the flip plate (9), and the bottom end of the blade (101) is not lower than the bottom end of the landing plate (91).

9. The automatic obstacle-avoiding green belt trimming device according to claim 8, characterized in that: A mounting groove (83) is circumferentially arranged on the outer side of the trimming frame (8); the sensing component (11) comprises a pressure sensor (111) and a contact belt (112); the pressure sensor (111) is arranged in the mounting groove (83); the contact belt (112) is arranged on the mounting groove (83); the contact belt (112) is made of a flexible material, and the contact belt (112) can apply force to the pressure sensor (111).

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