Urban green belt seedling automatic pruning device

Abstract

The utility model relates to the technical field of landscaping equipment, disclose a kind of urban green belt nursery stock automatic pruning equipment, including chassis, lifting shell and pruning mechanism;The pruning mechanism includes support platform, second motor installed on support platform, second gear connected with second motor, first gear meshed with second gear, and first pruning knife and second pruning knife are respectively slidably arranged in connecting frame;It further includes one end rotationally connected in second gear, the connecting shaft of other end rotationally connected in second pruning knife, and one end rotationally connected in first gear, the other connecting shaft of other end rotationally connected in first pruning knife.The utility model accurately converts the synchronous linear reciprocating motion of two pruning knives by the rotary motion of second motor drive gear set, solves the problem that shearing execution mechanism transmission is unstable in prior art, and shearing quality is poor, with the beneficial effects of simple and compact structure, accurate and reliable transmission, efficient and stable shearing action.

Description

Technical Field

[0001] This utility model relates to the field of landscaping equipment technology, and in particular to an automatic pruning device for seedlings in urban green belts. Background Technology

[0002] Urban green belts are an important part of the urban ecosystem, and their regular maintenance, especially the pruning of seedlings and hedges, is a key link in maintaining the urban landscape and ensuring the healthy growth of plants. Traditional green belt pruning mainly relies on manual hand-held shears or portable pruning machines. This method is not only labor-intensive and inefficient, but the pruning quality is also limited by the skill level of the workers, making it difficult to guarantee a uniform standard.

[0003] With the development of automation technology, some mechanized equipment aimed at improving pruning efficiency has emerged on the market. While these devices have alleviated the burden on manual labor to some extent, they still have shortcomings in terms of automation and intelligence. Especially in the core pruning execution stage, existing equipment often suffers from relatively simple pruning mechanisms when dealing with the complex and ever-changing growth postures of seedlings. During shearing operations, power transmission is not stable enough, and the coordinated action of the two blades lacks precision, easily leading to jamming or tearing of branches instead of a smooth cut.

[0004] This structural defect in the pruning actuator makes it difficult to guarantee the reliability and quality of the pruning action, directly affecting the overall operational effectiveness and practicality of the automated equipment. If the stability and precision of each pruning action cannot be guaranteed, the overall value of the automated equipment will be greatly reduced, and it may even damage the seedlings, which runs counter to the goal of meticulous maintenance.

[0005] Therefore, this utility model proposes an automatic pruning device for urban green belt seedlings to address the shortcomings of existing technologies. Utility Model Content

[0006] In view of the problems of unreliable shearing actuator structure and unstable power transmission in existing automatic pruning equipment for urban green belts, which leads to difficulty in guaranteeing the shearing quality, this utility model aims to provide an automatic pruning equipment for urban green belts with an improved structure that can effectively solve the above problems.

[0007] This utility model provides an automatic pruning device for urban green belt seedlings, including a chassis and a lifting shell disposed above the chassis. Pruning mechanisms are installed on both sides of the lifting shell, and an adjustment mechanism is connected between the chassis and the lifting shell.

[0008] The trimming mechanism includes a support platform, a first connecting frame and a second connecting frame fixed on the support platform; the trimming mechanism also includes a second motor mounted on the support platform, the output end of the second motor being fixedly connected to a second gear, the second gear meshing with a first gear; a second trimming shear is slidably connected inside the first connecting frame, and a first trimming shear is slidably connected inside the second connecting frame;

[0009] To efficiently convert the rotational motion of the gear set into the reciprocating motion of the trimmer blades, the trimming mechanism further includes a connecting shaft rotatably connected at one end to the second gear and at the other end to the second trimmer blade, and another connecting shaft rotatably connected at one end to the first gear and at the other end to the first trimmer blade. This crank-slider transmission structure, formed by the gear set and the connecting shaft, ensures the synchronization and smoothness of the two trimmer blades during reciprocating motion, thereby achieving a stable and reliable cutting action.

[0010] Preferably, the pruning mechanism further includes a multi-degree-of-freedom robotic arm, one end of which is fixedly connected to the lifting housing and the other end to the support platform. This multi-degree-of-freedom robotic arm allows for flexible multi-dimensional adjustment of the pruning mechanism's posture to adapt to seedlings with different growth patterns, improving the equipment's adaptability and operational accuracy.

[0011] Preferably, the lifting housing is also equipped with a camera for acquiring images of the seedlings and a laser positioning module for emitting laser beams. The camera and the laser positioning module work together to provide accurate environmental perception and positioning data for the motion control of the multi-degree-of-freedom robotic arm, which is the technical foundation for realizing automated and precise pruning.

[0012] Preferably, the adjustment mechanism includes a telescopic cylinder vertically mounted on the chassis, a telescopic column slidably connected inside the telescopic cylinder, a second rotating box fixedly connected to the top of the telescopic column, a universal ball rotatably connected inside the second rotating box, a first rotating box fixedly connected to the top of the universal ball, and the first rotating box fixed to the lower surface of the lifting housing. This guide structure composed of the telescopic column and telescopic cylinder, combined with the steering structure composed of the universal ball and rotating box, provides a stable and flexible support and connection foundation for the lifting and rotating movement of the lifting housing.

[0013] Further preferably, the adjusting mechanism also includes a hydraulic rod disposed between the telescopic cylinders, the output end of the hydraulic rod extending upward and connected to a protective cover, the protective cover abutting against the lower surface of the lifting housing. The hydraulic rod, as the main power source for the lifting action, can provide a powerful and stable lifting force, while the protective cover, while transmitting the thrust, also protects the internal components of the adjusting mechanism.

[0014] Further preferably, a first motor is installed inside the protective cover, with its output end passing upward through the protective cover and connected to the lifting housing. The first motor is specifically used to drive the lifting housing to rotate horizontally, cooperating with the vertical lifting function of the hydraulic rod to achieve positional adjustment of the lifting housing in three-dimensional space.

[0015] Preferably, the upper surface of the chassis is provided with four telescopic cylinders arranged in a rectangular array. Arranging the four telescopic cylinders in a rectangular array forms a wide and stable support base, greatly enhancing the anti-tipping ability and overall rigidity of the entire equipment during lifting and operation.

[0016] Preferably, tracks for driving the equipment are rotatably connected to both sides of the chassis. This tracked walking structure increases the contact area between the equipment and the ground, reduces the pressure on the ground, and allows it to better adapt to soft or uneven soil environments within green belts, improving the equipment's passability and terrain adaptability.

[0017] This utility model has the following beneficial effects:

[0018] 1. This utility model, by setting up a multi-degree-of-freedom robotic arm and cooperating with a camera and laser positioning module, solves the problems of low work efficiency, difficulty in guaranteeing pruning accuracy, and high labor intensity caused by the reliance on manual pruning in the prior art. It achieves the technical effects of automatic positioning, intelligent path planning, and precise pruning, and significantly improves the pruning quality and automation level of green belts.

[0019] 2. This utility model solves the problems of difficulty in reaching seedlings at different heights and angles during manual pruning and the safety hazards of high-altitude operations by setting up an adjustment mechanism composed of hydraulic rods, telescopic cylinders, telescopic columns, universal balls and a first motor. It realizes the smooth lifting and lowering of the pruning mechanism's working height and the flexible adjustment of the horizontal angle, greatly expanding the working range and ensuring the stability during operation.

[0020] 3. This utility model solves the problem of needing a reliable and efficient shearing actuator by setting a gear set driven by a second motor to mesh, and then converting the rotational motion of the gears into synchronous reciprocating sliding of the first and second shears within the connecting frame through connecting shafts. The transmission structure is simple and compact, and the transmission is precise and reliable, ensuring the stability and efficiency of the shearing action. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of an automatic pruning device for urban green belt seedlings proposed in this utility model;

[0022] Figure 2 This is a schematic diagram of the telescopic cylinder part of an automatic pruning device for urban green belt seedlings proposed in this utility model;

[0023] Figure 3 This is a schematic diagram of the first pruning shear section of an automatic pruning device for urban green belt seedlings proposed in this utility model;

[0024] Figure 4 This is a schematic diagram of the first connecting frame of an automatic pruning device for urban green belt seedlings proposed in this utility model.

[0025] Legend:

[0026] 1. Chassis; 2. Tracks; 3. Adjustment mechanism; 301. Telescopic cylinder; 302. Telescopic column; 303. First rotating box; 304. Universal ball; 305. Second rotating box; 306. Hydraulic rod; 307. Protective cover; 308. First motor; 4. Trimming mechanism; 401. Multi-degree-of-freedom robotic arm; 402. First trimmer; 403. Support platform; 404. First gear; 405. Second motor; 406. Second gear; 407. Connecting shaft; 408. Second trimmer; 409. First connecting frame; 410. Second connecting frame; 411. Camera; 412. Laser positioning module; 5. Lifting shell. Detailed Implementation

[0027] Please refer to Figures 1 to 4 This utility model provides an automatic pruning device for urban green belt seedlings, which aims to solve the problems of low efficiency, difficulty in ensuring pruning accuracy, high labor intensity and high operation risk of manual pruning in the prior art;

[0028] like Figure 1 As shown, the automatic pruning equipment for urban green belt seedlings includes a chassis 1 and a lifting shell 5 set on top of the chassis 1. Pruning mechanisms 4 are installed on both sides of the lifting shell 5, and an adjustment mechanism 3 is connected between the chassis 1 and the lifting shell 5.

[0029] Both sides of the chassis 1 are rotatably connected to tracks 2 for driving the equipment to move;

[0030] like Figure 2 As shown, the adjustment mechanism 3 includes a telescopic cylinder 301 vertically mounted on the chassis 1, and four telescopic cylinders 301 are arranged in a rectangular array on the upper surface of the chassis 1.

[0031] A telescopic column 302 is slidably connected inside the telescopic cylinder 301, and a second rotating box 305 is fixedly connected to the top of the telescopic column 302.

[0032] The second rotating box 305 is rotatably connected to a universal ball 304, and the top of the universal ball 304 is fixedly connected to a first rotating box 303. The first rotating box 303 is fixed to the lower surface of the lifting housing 5.

[0033] The adjustment mechanism 3 also includes a hydraulic rod 306 disposed between the telescopic cylinders 301. The output end of the hydraulic rod 306 extends upward and is connected to a protective cover 307. The protective cover 307 abuts against the lower surface of the lifting housing 5.

[0034] The protective cover 307 also houses a first motor 308, the output end of which passes upward through the protective cover 307 and is connected to the lifting housing 5 via a transmission.

[0035] To solve the above-mentioned technical problems, the automatic pruning equipment for urban green belt seedlings also includes a pruning mechanism 4, and the pruning mechanism 4 and the aforementioned lifting shell 5 form a specific structural cooperation and connection relationship.

[0036] Please refer to the following carefully. Figure 1 , Figure 3 and Figure 4 The pruning mechanism 4 includes a multi-degree-of-freedom robotic arm 401. One end of the multi-degree-of-freedom robotic arm 401 is fixedly connected to the lifting housing 5, and the other end is fixedly connected to the support platform 403. The lifting housing 5 is also equipped with a camera 411 for acquiring images of seedlings and a laser positioning module 412 for emitting laser beams.

[0037] A first connecting frame 409 and a second connecting frame 410 are fixedly connected to the support platform 403. A second motor 405 is also installed on the support platform 403. A second gear 406 is fixedly connected to the output end of the second motor 405. The second gear 406 meshes with the first gear 404.

[0038] Specifically, a second trimmer 408 is slidably connected inside the first connecting frame 409, and a first trimmer 402 is slidably connected inside the second connecting frame 410. This slidable connection structure provides precise guidance for the reciprocating shearing motion of the first trimmer 402 and the second trimmer 408.

[0039] To achieve the drive, the trimming mechanism 4 also includes a connecting shaft 407 with one end rotatably connected to the second gear 406 and the other end rotatably connected to the second trimmer 408, and another connecting shaft 407 with one end rotatably connected to the first gear 404 and the other end rotatably connected to the first trimmer 402. This structure accurately converts the rotational motion of the gear set driven by the second motor 405 into the synchronous linear reciprocating motion of the two trimmer blades, thereby achieving a stable and reliable cutting action.

[0040] Based on the above embodiments, the present invention may further include the following preferred technical solutions:

[0041] As a preferred embodiment, please refer to Figure 1 and Figure 2 To achieve stable lifting and angle adjustment of the lifting housing 5, the adjustment mechanism 3 includes a telescopic cylinder 301 vertically mounted on the chassis 1. Four telescopic cylinders 301 are arranged in a rectangular array on the upper surface of the chassis 1, which improves the stability of the support. A telescopic column 302 is slidably connected inside the telescopic cylinder 301. A second rotating box 305 is fixedly connected to the top of the telescopic column 302. A universal ball 304 is rotatably connected inside the second rotating box 305. A first rotating box 303 is fixedly connected to the top of the universal ball 304. The first rotating box 303 is fixed to the lower surface of the lifting housing 5. This structural combination provides guidance for the lifting of the lifting housing 5 and provides freedom for angle rotation.

[0042] As a further preferred embodiment of the above-mentioned adjustment mechanism 3, in order to provide lifting power, the adjustment mechanism 3 also includes a hydraulic rod 306 disposed between the telescopic cylinders 301. The output end of the hydraulic rod 306 extends upward and is connected to a protective cover 307, which abuts against the lower surface of the lifting housing 5.

[0043] As a further preferred embodiment of the structure of the protective cover 307, in order to provide rotational power, a first motor 308 is also installed inside the protective cover 307. The output end of the first motor 308 passes upward through the protective cover 307 and is connected to the lifting housing 5 in a transmission connection.

[0044] In a preferred embodiment, in order to move the equipment, tracks 2 for driving the equipment are rotatably connected to both sides of the chassis 1.

[0045] The working principle of this automatic pruning device for urban green belt seedlings is as follows:

[0046] When the equipment needs to be moved, the tracks 2 on both sides of the chassis 1 rotate, driving the entire equipment to move through the green belt;

[0047] When the seedlings need to be pruned, the camera 411 on the lifting shell 5 acquires a three-dimensional image of the seedlings. At the same time, the laser positioning module 412 emits a laser beam to establish a spatial coordinate system. The information is used to adjust the posture of the multi-degree-of-freedom robotic arm 401. The multi-degree-of-freedom robotic arm 401 then drives the support platform 403 to move to the position to be pruned.

[0048] When the pruning operation begins, the second motor 405 installed on the support platform 403 is started. The second motor 405 drives the second gear 406 to rotate. Since the second gear 406 meshes with the first gear 404, the first gear 404 rotates accordingly. The second gear 406 is rotatably connected to the connecting shaft 407 at one end and rotatably connected to the second pruning shears 408 at the other end, so that the second pruning shears 408 are slidably connected inside the first connecting frame 409. At the same time, the first gear 404 is rotatably connected to the other connecting shaft 407 at one end and rotatably connected to the first pruning shears 402 at the other end, so that the first pruning shears 402 are slidably connected inside the second connecting frame 410. The coordinated reciprocating motion of the two pruning blades achieves precise cutting of the seedlings.

[0049] When the height of the lifting housing 5 needs to be adjusted, the hydraulic rod 306 in the adjustment mechanism 3 is activated. The hydraulic rod 306 pushes the protective cover 307 upward, and the protective cover 307 abuts against the lower surface of the lifting housing 5 and pushes it to move upward. During the rising process, the lifting housing 5 drives the universal ball 304 through the first rotating box 303 fixed to its lower surface. The universal ball 304 drives the second rotating box 305. The second rotating box 305 drives the telescopic column 302 fixedly connected. The telescopic column 302 slides inside the telescopic cylinder 301 vertically set on the chassis 1, thereby providing stable guidance for the lifting process of the lifting housing 5.

[0050] When it is necessary to adjust the angle of the lifting housing 5, the first motor 308 inside the protective cover 307 is started. The output end of the first motor 308 is connected to the lifting housing 5 and drives the lifting housing 5 to rotate. When the lifting housing 5 rotates, it drives the first rotating box 303 to rotate. The first rotating box 303 rotates inside the second rotating box 305 through the universal ball 304, thereby realizing the adjustment of the horizontal angle of the lifting housing 5.

[0051] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. An automatic pruning device for urban green belt seedlings, comprising a chassis (1) and a lifting shell (5) disposed above the chassis (1), wherein pruning mechanisms (4) are installed on both sides of the lifting shell (5), and an adjustment mechanism (3) is connected between the chassis (1) and the lifting shell (5). Its features are, The trimming mechanism (4) includes a support platform (403), a first connecting frame (409) and a second connecting frame (410) fixed on the support platform (403). The trimming mechanism (4) also includes a second motor (405) mounted on the support platform (403), the output end of the second motor (405) is fixedly connected to a second gear (406), and the second gear (406) meshes with a first gear (404). A second trimmer (408) is slidably connected inside the first connecting frame (409), and a first trimmer (402) is slidably connected inside the second connecting frame (410). The trimming mechanism (4) further includes a connecting shaft (407) with one end rotatably connected to the second gear (406) and the other end rotatably connected to the second trimmer (408), and another connecting shaft (407) with one end rotatably connected to the first gear (404) and the other end rotatably connected to the first trimmer (402).

2. The automatic pruning equipment for urban green belt seedlings according to claim 1, characterized in that, The trimming mechanism (4) also includes a multi-degree-of-freedom robotic arm (401), one end of which is fixedly connected to the lifting housing (5) and the other end is fixedly connected to the support platform (403).

3. The automatic pruning equipment for urban green belt seedlings according to claim 1, characterized in that, The lifting housing (5) is also equipped with a camera (411) for acquiring images of seedlings and a laser positioning module (412) for emitting laser beams.

4. The automatic pruning equipment for urban green belt seedlings according to claim 1, characterized in that, The adjustment mechanism (3) includes a telescopic cylinder (301) vertically mounted on the chassis (1), a telescopic column (302) slidably connected inside the telescopic cylinder (301), a second rotating box (305) fixedly connected to the top of the telescopic column (302), a universal ball (304) rotatably connected inside the second rotating box (305), a first rotating box (303) fixedly connected to the top of the universal ball (304), and the first rotating box (303) fixed to the lower surface of the lifting housing (5).

5. The automatic pruning equipment for urban green belt seedlings according to claim 4, characterized in that, The adjustment mechanism (3) also includes a hydraulic rod (306) disposed between the telescopic cylinders (301), the output end of the hydraulic rod (306) extends upward and is connected to a protective cover (307), the protective cover (307) abuts against the lower surface of the lifting housing (5).

6. The automatic pruning equipment for urban green belt seedlings according to claim 5, characterized in that, The protective cover (307) is also equipped with a first motor (308), the output end of the first motor (308) passes upward through the protective cover (307) and is connected to the lifting shell (5) in a transmission connection.

7. The automatic pruning equipment for urban green belt seedlings according to claim 4, characterized in that, The upper surface of the chassis (1) is provided with four telescopic cylinders (301) arranged in a rectangular array.

8. The automatic pruning device for urban green belt seedlings according to claim 1, characterized in that, Both sides of the chassis (1) are rotatably connected to tracks (2) for driving the equipment to move.

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