Multi-joint self-adaptive greening pruning mechanical arm

Abstract

The utility model discloses a multi-joint self-adaptive greening pruning mechanical arm which is characterized by comprising a chassis, and the chassis can walk along a preset path; the rotary tower is arranged on the chassis and can rotate relative to the chassis; comprising at least one group of trimming arms, one end of each group of trimming arms is hinged to the rotating tower, the other end of each group of trimming arms is provided with a cutter, and the trimming arms can be subjected to angle adjustment relative to the rotating tower; the trimming device further comprises a distance adjusting mechanism which is arranged on the trimming arm and used for adjusting the distance between the cutter and the rotating tower. The control unit is used for controlling the advancing of the chassis, the rotation of the rotating tower, the angle adjustment of the trimming arm and the distance adjustment of the distance adjusting mechanism; through the multi-joint design, the position and the angle of the cutter can be flexibly adjusted by the pruning arm, precise pruning of greening plants with different shapes and different heights is realized, and the pruning efficiency and the pruning quality are greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to road afforestation maintenance equipment technical field, concretely is a kind of multi-joint self-adapting afforestation pruning mechanical arm. BACKGROUND

[0002] With the acceleration of urbanization, road afforestation has become an important part of city beautification. However, the traditional afforestation pruning method mainly relies on manual holding pruning tool, and this manual pruning method is not only inefficient, but also has certain safety hazards (pruning operators need to operate in the road, and the passing vehicles constitute safety hazards).

[0003] In recent years, although some automatic pruning equipment has appeared, these devices are often complex in structure, inconvenient to operate, and most importantly, they cannot adapt to various complex afforestation pruning needs, especially when pruning the complex, high and low afforestation on both sides of the road. Since these devices cannot adapt to complex shapes, manual pruning is still needed at this time, and manual operation requires certain pruning techniques, which also faces many difficulties; therefore, it is of great significance to develop a pruning mechanical arm that can automatically adapt to different afforestation shapes and different heights.

[0004] Therefore, it is necessary to provide a multi-joint self-adapting afforestation pruning mechanical arm. UTILITY MODEL CONTENT

[0005] The utility model aims to provide a multi-joint self-adapting afforestation pruning mechanical arm to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0007] A multi-joint self-adapting afforestation pruning mechanical arm, characterized by: comprising a chassis, the chassis can walk along a preset path; further comprising a turret arranged on the chassis, the turret can rotate relative to the chassis; comprising at least one group of pruning arms, one end of each group of pruning arms is hinged to the turret, and the other end is provided with a cutter, the pruning arm can be angle-adjusted relative to the turret; further comprising a distance adjusting mechanism, the distance adjusting mechanism is arranged on the pruning arm, for adjusting the distance between the cutter and the turret; further comprising a control unit, the control unit is used to control the travel of the chassis, the rotation of the turret, the angle adjustment of the pruning arm and the distance adjustment of the distance adjusting mechanism.

[0008] Preferably, the turret is provided with a rotary drive device, the rotary drive device is electrically connected with the control unit, and the rotary drive device is used to drive the turret to rotate.

[0009] Preferably, each of the pruning arms comprises at least two articulated arm segments, and an angle adjusting device is arranged between adjacent arm segments, and the angle adjusting device is electrically connected with the control unit, and is used for adjusting the angle between adjacent arm segments.

[0010] Preferably, the distance adjusting mechanism is arranged on the last arm segment, and the distance adjusting mechanism comprises a telescopic driving device and a telescopic rod connected with the telescopic driving device, and the end of the telescopic rod is connected with the cutter.

[0011] Preferably, the cutter is a replaceable cutter, and the end of the pruning arm is provided with a cutter mounting seat, and the cutter mounting seat is provided with a fixing device for fixing the cutter.

[0012] Preferably, the chassis is further provided with a navigation system, and the navigation system is electrically connected with the control unit, and is used for providing the chassis with walking path information.

[0013] Preferably, the control unit comprises a remote controller and a central processor wirelessly connected with the remote controller, and the central processor is electrically connected with the driving system, the navigation system, the rotating driving device, the angle adjusting device and the telescopic driving device of the chassis respectively.

[0014] Preferably, the remote controller is provided with a display screen and operation buttons, the display screen is used for displaying the working state of the mechanical arm and surrounding environment information, and the operation buttons are used for inputting control instructions.

[0015] Compared with the prior art, the utility model has the beneficial effects that:

[0016] 1、The utility model discloses a multi-joint pruning arm with flexible adjustment function, through the multi-joint design, the position and angle of the cutter can be flexibly adjusted, the accurate pruning of different models and different height green plants is realized, and the pruning efficiency and quality are greatly improved.

[0017] 2、The utility model adopts a remote control mode, and the operator can control the mechanical arm at a safe distance, reduces the operation risk, improves the safety of the operation process, and improves the convenience and flexibility of operation. DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure under the first visual angle of the utility model;

[0019] Figure 2 It is Figure 1 The local enlarged view of A;

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure under the second visual angle of the utility model;

[0021] Figure 4 For Figure 3 A local enlarged view of B;

[0022] Figure 5 A front view of the tool part of the utility model is broken;

[0023] Figure 6 A front view of the turret part of the utility model is broken;

[0024] Figure 7 A front view of the remote controller.

[0025] In the figure: 1 - chassis; 2 - turret; 3 - pruning arm; 31 - arm section; 32 - angle adjusting device; 4 - tool; 5 - distance adjusting mechanism; 51 - telescopic driving device; 52 - telescopic rod; 6 - control unit; 61 - remote controller; 611 - display screen; 612 - operation button; 62 - central processing unit; 7 - navigation system; 8 - rotary driving device; 9 - tool mounting seat; 10 - fixing device. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0027] As Figures 1 to 7 shown, the utility model is a multi-joint self-adaptive greening pruning mechanical arm, specifically, the pruning mechanical arm is composed of chassis 1, turret 2, at least one group of pruning arm 3, distance adjusting mechanism 5 and control unit 6; wherein, the chassis 1 can walk along the preset path (the chassis 1 is installed with the track device that can walk stably, and a certain counterweight is arranged in the chassis 1 to prevent overturning), and the navigation system 7 is arranged on it, and the navigation system 7 is used to provide the walking path information for the chassis 1; the driving system of the chassis 1 is electrically connected with the control unit 6, and can accept the control instruction of the control unit 6 to walk.

[0028] Further, the turret 2 is arranged on the chassis 1, the turret 2 can rotate relative to the chassis 1; and the rotary driving device 8 is arranged on the turret 2, the rotary driving device 8 is electrically connected with the control unit 6, and similarly, the rotary driving device 8 can accept the control instruction of the control unit 6 to drive the turret 2 to rotate.

[0029] In the embodiment, the number of the trimming arms 3 is preferably a group; specifically, one end of each group of the trimming arms 3 is hinged to the turret 2, and the other end is provided with a cutter 4; specifically, the trimming arm 3 comprises at least two hinged arm segments 31, and an angle adjusting device 32 is arranged between adjacent arm segments 31, the angle adjusting device 32 is preferably an angle adjusting motor, and the angle adjusting device 32 is electrically connected with the control unit 6 to receive the control instruction of the control unit 6 to adjust the angle between adjacent arm segments 31, so as to realize flexible adjustment of the trimming arm 3.

[0030] Further optimization, the distance adjusting mechanism 5 is rotatably arranged on the last arm segment 31 of the trimming arm 3, and the distance adjusting mechanism 5 can be rotated to any angle relative to the trimming arm 3, thereby improving the degree of freedom; specifically, the distance adjusting mechanism 5 comprises a telescopic driving device 51 and a telescopic rod 52 connected with the telescopic driving device 51; the end of the telescopic rod 52 is connected with the cutter 4, and the telescopic driving device 51 drives the telescopic rod 52 to extend or retract under the control of the control unit 6, and the telescopic telescopic rod 52 can adjust the distance between the cutter 4 and the turret 2.

[0031] The utility model uses the cutter 4 to trim the green plants on the road, and with the long use time, the cutting edge of the cutter 4 is easy to be damaged by the green plants, and the damaged cutter 4 needs to be replaced or disassembled for polishing and then installed back, of course, different shape and size cutters 4 can also be replaced according to different situations, and different cutters 4 need to be used for trimming different green plants, even for trimming the same green plants, the cutters 4 used for rough cutting and fine cutting will also be different; therefore, the cutter 4 adopts a replaceable cutter, which is convenient and fast to disassemble and replace; specifically, the end of the trimming arm 3 is rotatably provided with a cutter mounting seat 9 as the distance adjusting mechanism 5, and the cutter mounting seat 9 is provided with a fixing device 10 for quickly fixing the cutter 4, it is easy to know that the structure of the cutter mounting seat 9 can be telescopic to adapt to the adjustment of the telescopic rod 52 to the cutter 4 (that is, when the telescopic rod 52 adjusts the distance between the cutter 4 and the turret 2, the structure of the cutter mounting seat 9 will be telescopic without being stuck) ; the utility model can adapt to the trimming needs of different green plant shapes by replacing cutters 4 of different shapes and sizes.

[0032] The control unit 6 is used for controlling the pruning mechanical arm to orderly carry out the pruning operation, in the process that the pruning mechanical arm prunes, artificial observation is needed, and automatic pruning of the machine is prone to accidents due to complex conditions, at this time, artificial adjustment is needed, therefore, the control unit 6 comprises a remote controller 61 and a central processor 62 wirelessly connected with the remote controller 61, the central processor 62 is electrically connected with a driving system, a navigation system 7, a rotary driving device 8, an angle adjusting device 32 and a telescopic driving device 51 of the chassis 1 respectively, receives a control instruction sent by the remote controller 61, and sends the control instruction to a corresponding executing mechanism, so that the pruning mechanical arm can be adjusted remotely, and of course, the pruning mechanical arm can be controlled remotely to prune, and it is more reliable.

[0033] Further, as shown in Figure 7 The remote controller 61 is provided with a display screen 611 and operation buttons 612, the display screen 611 is used for displaying the working state of the mechanical arm and surrounding environment information, of course, a camera can be installed on the pruning mechanical arm, and a photographic picture is displayed on the display screen 611, so that an operator can understand the working state of the mechanical arm in real time and facilitate operation, the operation buttons 612 are used for inputting control instructions, and the operator can flexibly control the mechanical arm through the operation buttons 612.

[0034] In use, an operator inputs a control instruction through the remote controller 61, the central processor 62 receives the instruction and controls the chassis 1 to walk along a preset path, controls the turret 2 to rotate, controls the angle adjusting device 32 of the pruning arm 3 and the distance adjusting mechanism 5 to adjust the distance, so that the cutter 4 can reach a predetermined working position to prune, therefore, through flexible adjustment of multiple joints, precise pruning of different green plants with different shapes and different heights can be realized.

[0035] As another preferred embodiment of the utility model, the pruning mechanical arm is further optimized to improve the working efficiency in the embodiment, and the difference between the embodiment and the above-mentioned embodiment lies in that the number of the pruning arms 3 in the embodiment is two or more groups, through the multiple groups of pruning arms 3, the pruning efficiency and quality can be further improved, the multiple groups of pruning arms 3 can be controlled by the control unit 6 to work simultaneously, different green areas are pruned, or the same green area is pruned multiple times (cooperative operation of rough pruning and fine pruning), so that better pruning effect can be achieved.

[0036] In addition, the control unit 6 in the embodiment can further comprise a sensor module, the sensor module is used in cooperation with the camera in the above-mentioned embodiment, is used for detecting the working state of the mechanical arm and surrounding environment information in real time, and sends detection information to the central processor 62, and the central processor 62 intelligently adjusts and optimally controls the mechanical arm according to the detection information, so that the precision and efficiency of pruning are improved.

[0037] Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or make equivalent replacement to part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A multi-joint adaptive green pruning robotic arm, characterized in that: The application relates to a trimming machine, which comprises a chassis (1) capable of walking along a preset path, a turret (2) arranged on the chassis (1) and capable of rotating relative to the chassis (1), at least one set of trimming arms (3), one end of each set of the trimming arms (3) being hinged to the turret (2) and the other end being provided with a cutter (4), the trimming arms (3) being capable of angle adjustment relative to the turret (2), a distance adjusting mechanism (5) arranged on the trimming arms (3) and used for adjusting the distance of the cutter (4) relative to the turret (2), and a control unit (6) used for controlling the walking of the chassis (1), the rotation of the turret (2), the angle adjustment of the trimming arms (3) and the distance adjustment of the distance adjusting mechanism (5).

2. The multi-joint adaptive green pruning robotic arm according to claim 1, wherein: The turret (2) is provided with a rotation driving device (8) electrically connected with the control unit (6) and used for driving the turret (2) to rotate.

3. The multi-joint adaptive green pruning robotic arm according to claim 1 or 2, characterized in that: Each set of the trimming arms (3) comprises at least two hinged arm segments (31), and angle adjusting devices (32) are arranged between adjacent arm segments (31) and electrically connected with the control unit (6) and used for adjusting the angle between the adjacent arm segments (31).

4. The multi-joint adaptive green pruning robotic arm according to claim 3, wherein: The distance adjusting mechanism (5) is arranged on the last arm segment (31) and comprises a telescopic driving device (51) and a telescopic rod (52) connected with the telescopic driving device (51), and the end of the telescopic rod (52) is connected with the cutter (4).

5. The multi-joint adaptive green pruning robotic arm according to claim 4, wherein: The cutter (4) is a replaceable cutter, and the end of the trimming arm (3) is provided with a cutter mounting seat (9) provided with a fixing device (10) used for fixing the cutter (4).

6. The multi-joint adaptive green pruning robotic arm according to claim 5, wherein: The chassis (1) is further provided with a navigation system (7) electrically connected with the control unit (6) and used for providing walking path information for the chassis (1).

7. The multi-joint adaptive green pruning robotic arm according to any one of claims 1 or 2 or 4 to 6, characterized in that: The control unit (6) comprises a remote controller (61) and a central processor (62) wirelessly connected with the remote controller (61), and the central processor (62) is electrically connected with the driving system of the chassis (1), the navigation system (7), the rotation driving device (8), the angle adjusting device (32) and the telescopic driving device (51) respectively.

8. The multi-joint adaptive green pruning robotic arm according to claim 7, wherein: The remote controller (61) is provided with a display screen (611) and operation buttons (612), the display screen (611) is used for displaying the working state of the mechanical arm and surrounding environment information, and the operation buttons (612) are used for inputting control instructions.

Images