A caterpillar type electric hedge trimming robot

Abstract

A track type electric hedge trimming robot relates to the technical field of hedge trimming, and the technical scheme is: a track type chassis is connected with a vehicle frame on the top, the upper surface of the vehicle frame is provided with a rotary support installation support, a large arm is hinged to the rotary support installation support, and a small arm support is hinged to the upper end of the large arm. The beneficial effects of the technical scheme are: through the setting of the rotary support, the small arm support and the large arm, the large arm on the rotary table is adjusted in the vertical direction through the servo motor to adjust the trimming height during use, the inclination angle of the small arm support is changed by cooperating with the amplitude adjusting cylinder, and the cutter rotating motor drives the rotating small arm to rotate through the transmission shaft, so that the cutter is adjusted in multiple dimensions in the space angle, the multi-joint design enables the equipment to flexibly work in the complex green plant gap of the community, and the problems of the large turning radius and the inconvenience of movement of the traditional wheeled equipment are solved.

Description

Technical Field

[0001] This utility model relates to the field of hedge trimming technology, and in particular to a tracked electric hedge trimming robot. Background Technology

[0002] As an important component of community landscaping, the regular pruning of hedges is crucial for maintaining their aesthetic appeal. Currently, pruning in this area primarily relies on manual labor. Operators use handheld hedge trimmers or stand on aerial work platforms to prune, which has several significant drawbacks: First, manual pruning is labor-intensive, inefficient, and it's difficult to guarantee the flatness and consistency of the trimmed area over extended periods, resulting in poor landscaping. Second, the process presents significant safety hazards, with operators susceptible to injury from rebounding branches, falls from heights, and electric shocks. Third, with rising labor costs, the economic viability of this method is decreasing.

[0003] To improve mechanization, traditional wheeled hedge trimmers have emerged in the market. While these devices reduce labor intensity to some extent, they have inherent technical limitations, particularly unsuitable for residential landscaping environments: First, their traditional wheeled locomotives have poor maneuverability on soft, uneven lawns, easily sinking or slipping, causing the vehicle to become stuck or unable to operate stably, severely impacting the continuity and quality of trimming work. Second, existing equipment is mostly manually driven or operated, with a bulky structure and large turning radius, making it inconvenient to move among the plants in confined spaces and complex layouts of residential areas, lacking flexibility, and easily crushing and damaging surrounding vegetation.

[0004] Furthermore, even with large equipment, operators still need to be positioned on or near the equipment during operation, posing certain safety risks. For equipment attempting remote control technology, its power system is often fuel-powered, resulting in noise and emissions pollution, which contradicts the quiet and clean environment required by residential communities. In summary, existing hedge trimming solutions have significant shortcomings in terms of accessibility, flexibility, safety, and environmental friendliness when applied to residential landscaping scenarios. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of current hedge trimming machines, which are bulky, have large turning radii, and are inconvenient to move among green plants in communities with limited space and complex layouts. Therefore, a tracked electric hedge trimming robot is proposed.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A tracked electric hedge trimming robot includes a tracked chassis with a frame connected to it. A slewing support mounting bracket is provided on the upper surface of the frame. A large arm is hinged to the slewing support mounting bracket, and a small arm bracket is hinged to the upper end of the large arm. A tool bracket and a mounting frame are connected to the small arm bracket. A tool hinge bracket is fixed to the end of the tool bracket away from the small arm bracket. A tool assembly is connected to the tool hinge bracket. A tool power assembly is provided on the mounting frame, and a tool power transmission shaft is provided on the tool power assembly. The end of the tool power transmission shaft away from the mounting frame is connected to the tool assembly.

[0007] By setting up the boom, forearm support, and cutter support, the cutter assembly can achieve multi-directional and multi-angle posture changes in three-dimensional space, thereby enabling precise pruning of hedges in different locations and shapes in complex green environments such as residential gardens. This avoids the pruning blind spots caused by the fixed angle of traditional equipment, improving operational flexibility and coverage.

[0008] Preferably, the tool power assembly includes a large pulley and a small pulley mounted on a mounting frame. The large pulley and the small pulley are connected by a belt. A tool drive motor is connected to the mounting frame. The output shaft of the tool drive motor is connected to the large pulley. A connecting rod is eccentrically mounted on the small pulley. The tool power transmission shaft is hinged to the connecting rod.

[0009] By eccentrically setting the connecting rod with the small pulley, the connecting rod is connected to the tool power transmission shaft, which converts the rotational motion of the tool drive motor into the linear reciprocating motion of the tool power transmission shaft, thereby driving the movable tool to complete the shearing action, meeting the operational requirements of hedge trimming. At the same time, when the tool assembly encounters overload, the belt slippage or the stroke limitation of the eccentric mechanism can prevent the tool drive motor from directly bearing the impact load and prevent the motor from burning out.

[0010] Preferably, a slewing support is mounted on the slewing support mounting bracket, a turntable is mounted on the slewing support, a slewing motor is mounted on the frame, and the slewing motor is connected to the slewing support through a gearbox.

[0011] Preferably, a hinged seat is installed on the turntable, and the lower end of the boom is hinged to the hinged seat through a connecting shaft. A boom servo motor is installed on the boom, and the output shaft of the boom servo motor is connected to the connecting shaft through a first reducer.

[0012] Preferably, a tool rotary motor is mounted on the forearm support, and the output shaft of the tool rotary motor is connected to a rotary transmission shaft through a second reducer. A rotary forearm is mounted on the rotary transmission shaft, and both the tool support and the mounting bracket are mounted on the rotary forearm.

[0013] Preferably, the tool assembly includes a movable tool mounted on a tool hinge bracket, and a fixed tool is fixed on the tool hinge bracket.

[0014] Preferably, a tool support rod is connected to the upper end of the tool holder, and one end of the tool support rod is connected to the movable tool.

[0015] Preferably, a battery assembly is provided on the upper surface of the frame, the battery assembly is located below the slewing support mounting bracket, and a controller module is provided on the frame.

[0016] Preferably, an amplitude-adjusting electric cylinder is hinged to the boom, and one end of the amplitude-adjusting electric cylinder is hinged to the forearm support.

[0017] Compared with existing technologies, the beneficial effects of this utility model are as follows: By setting up a slewing support, a forearm bracket, and a large arm, the large arm on the turntable can rotate vertically to adjust the trimming height during use via a servo motor. This, combined with the extension and retraction of an amplitude-adjusting electric cylinder, changes the tilt angle of the forearm bracket. Simultaneously, the cutter rotation motor drives the rotating forearm to rotate via a transmission shaft, achieving multi-dimensional adjustment of the cutter's spatial angle. This multi-joint design allows the equipment to operate flexibly in the gaps between complex green plants in residential areas, solving the problems of large turning radius and inconvenient movement associated with traditional wheeled equipment. Furthermore, the use of a battery for power supply, with motors and electric cylinders for execution, avoids the noise and emissions pollution of fuel-powered equipment. The remote control system integrates remote commands and local sensor signals through a controller module, ensuring that the operator can complete the work from a safe distance. The overall structure is compact and the layout is optimized, achieving a comprehensive improvement in passability, flexibility, safety, and environmental friendliness in residential landscaping scenarios. Attached Figure Description

[0018] To more clearly illustrate the technical solution of this utility model, the drawings used in the description will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural schematic diagram of a specific embodiment of the present utility model.

[0020] Figure 2 This is a top view of a specific embodiment of the present utility model.

[0021] Figure 3 This is a side view of a specific embodiment of the present utility model.

[0022] Figure 4 This is a schematic diagram of the tool holder structure in a specific embodiment of this utility model.

[0023] Figure 5 This is a schematic diagram of the tool assembly in a specific embodiment of the present invention.

[0024] In the diagram: 1. Tracked chassis; 2. Controller module; 3. Boom servo motor; 4. Amplitude regulating cylinder; 5. Boom; 6. Cutter rotary motor; 7. Arm support; 8. Cutter drive motor; 9. Cutter bracket; 10. Cutter support rod; 11. Cutter assembly; 12. Cutter power transmission shaft; 13. Cutter power assembly; 14. Rotating arm; 15. Turntable; 16. Frame; 17. Slewing drive shaft; 18. Slewing support mounting bracket; 19. Slewing support; 20. Battery assembly; 21. Slewing motor; 22. Hinge seat; 23. Mounting bracket; 1101. Fixed cutter; 1102. Movable cutter; 1103. Hinge bolt; 1104. Cutter hinge bracket; 1301. Large pulley; 1302. Small pulley; 1303. Belt. Detailed Implementation

[0025] To make the objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0026] Reference Figures 1-5A tracked electric hedge trimming robot includes a tracked chassis 1, on which a frame 16 is connected. The tracked chassis 1 employs a tracked walking mechanism with low ground pressure, making it less prone to sinking and slipping on soft lawns, mud, or slightly uneven ground, providing excellent passability and stability. This ensures that the robot can move freely and operate continuously on various typical terrains in residential gardens, effectively avoiding work interruptions. A battery assembly 20 is mounted on the upper surface of the frame 16, located below a slewing support mounting bracket 18. The battery assembly 20 provides power to the entire device, achieving zero-emission, low-vibration, and low-noise operation. This not only eliminates the pollution of the community environment by fuel engine exhaust, but also minimizes noise interference to residents' lives. The chassis 16 is equipped with a controller module 2, which contains the vehicle's controller and a wireless receiver module. After the remote control issues a command, the wireless receiver in controller module 2 receives the signal, and the controller in controller module 2 analyzes the signal and makes corresponding controls, controlling the corresponding motor or amplitude-modulated cylinder to perform actions. This achieves human-machine separation, allowing the operator to control the equipment to complete all pruning tasks from a safe and comfortable distance. This fundamentally avoids the direct risks of being injured by tree branches, falling from heights, inhaling dust, or coming into contact with rotating blades, greatly improving the level of operational safety. A slewing support is installed on the upper surface of the chassis 16. Mounting bracket 18, with a main boom 5 hinged to the slewing support mounting bracket 18. A forearm support 7 is hinged to the upper end of the main boom 5. An amplitude adjustment cylinder 4 is hinged to the main boom 5, with one end of the amplitude adjustment cylinder 4 hinged to the forearm support 7. The angle of the forearm support 7 on the main boom 5 can be controlled by controlling the amplitude adjustment cylinder 4. A hinge seat 22 is mounted on the turntable 15. The lower end of the main boom 5 is hinged to the hinge seat 22 via a connecting shaft. A main boom servo motor 3 is mounted on the main boom 5. The output shaft of the main boom servo motor 3 is connected to the connecting shaft via a first reducer. The main boom servo motor 3 drives the rotation of the connecting shaft via the first reducer, causing the main boom 5 to rotate around the hinge seat 22. The main boom servo motor 3 controls the rotation of the main boom 5 in the vertical direction via the first reducer, thus adjusting the angle of the main boom 5. A tool holder 9 and a mounting bracket 23 are connected to the forearm support 7. A tool hinge bracket 1104 is fixed to the end of the tool holder 9 away from the forearm support 7. A tool assembly 11 is connected to the tool hinge bracket 1104. A tool support rod 10 is connected to the upper end of the tool holder 9. One end of the tool support rod 10 is connected to the movable tool 1102. The two ends of the tool support rod 10 are respectively hinged to the movable tool 1102 and the tool holder 9. When the movable tool 1102 rotates, the tool support rod 10 provides stable support for the movable tool 1102. The tool holder 9 is located on one side of the mounting bracket 23. A tool power assembly 13 is provided on the mounting bracket 23. A tool power transmission shaft 12 is provided on the tool power assembly 13. The end of the tool power transmission shaft 12 away from the mounting bracket 23 is connected to the tool assembly 11. The tool power assembly 13 includes a large pulley 1301 and a small pulley 1302 provided on the mounting bracket 23. The wheels 1302 are connected by a belt 1303. A tool drive motor 8 is connected to the mounting bracket 23. The output shaft of the tool drive motor 8 is connected to the large pulley 1301. A connecting rod is eccentrically set on the small pulley 1302. The tool power transmission shaft 12 is hinged to the connecting rod. The tool drive motor 8 drives the small pulley 1302 to rotate through the large pulley 1301 and the belt 1303. The connecting rod is eccentrically set on the small pulley 1302. When the small pulley 1302 rotates, it drives the tool power transmission shaft 12 to move together through the connecting rod. The tool power transmission shaft 12 controls the movable tool 1102 to rotate around the hinge bolt 1103. The movable tool 1102 and the fixed tool 1101 work together to trim the hedge. The structure of the tool drive motor 8 driving the large pulley 1301 and the small pulley 1302 has lower noise than traditional fuel-powered equipment and avoids the rigid impact noise of gear transmission, which meets the requirements of low noise and low pollution in communities and other scenarios.

[0027] Reference Figures 1-3A slewing support 19 is mounted on the slewing support mounting bracket 18, and a turntable 15 is mounted on the slewing support 19. A slewing motor 21 is mounted on the frame 16. The slewing motor 21 is connected to the slewing support 19 through a gearbox. The gearbox contains a worm gear assembly. The slewing motor 21 controls the rotation of the slewing support 19 through the worm gear, which in turn drives the forearm support 7 to rotate through the boom 5, thereby controlling the position of the tool assembly 11 and increasing the working range of the tool assembly 11. A tool rotation motor 6 is mounted on the forearm support 7. The output shaft of the tool rotation motor 6 is connected to a rotary transmission through a second reducer. A rotating arm 14 is mounted on the rotating shaft 17. The tool holder 9 and the mounting bracket 23 are both mounted on the rotating arm 14. The arm holder 7 and the rotating arm 14 are connected by a U-shaped bracket to facilitate the rotation of the rotating arm 14 on the arm holder 7. The tool rotation motor 6 drives the rotating shaft 17 to rotate through the second reducer. The rotating shaft 17 is statically connected to the rotating arm 14, thereby driving the rotating arm 14 to rotate. The rotation of the rotating arm 14 can realize the flexible adjustment of the tool assembly 11 in space angle to adapt to the needs of hedge trimming of different shapes and tilt angles.

[0028] Reference Figure 5 The tool assembly 11 includes a fixed tool 1101 fixedly mounted on a tool hinge bracket 1104. A movable tool 1102 is hinged to the tool hinge bracket 1104 via a hinge bolt 1103. One end of the tool power transmission shaft 12 is hinged to the movable tool 1102. When the tool power transmission shaft 12 descends and rotates under the action of the small pulley 1302, and then changes from a linear shearing motion to a linear shearing motion, the tool power transmission shaft 12 will control the movable tool 1102 to rotate around the hinge bolt 1103. Under the action of the fixed tool 1101, the vegetation is pruned.

[0029] When hedge trimming is required, the operator operates the control handle to control the tracked chassis 1 to move through the controller module 2, thereby controlling the entire frame 16 to move. After reaching the working position, the turntable 15 is rotated through the rotary motor 21. The turntable 15 rotates the entire boom 5 to the preset position, and then the boom 5 is rotated through the boom servo motor 3. The position of the boom 5 is adjusted according to the trimming height. Then, the position of the forearm support 7 is adjusted through the leveling cylinder 4 to make the cutter assembly 11 horizontal. Then, the forearm 14 is rotated to the preset trimming angle through the cutter rotation motor 6. After the above posture adjustment is completed, the operator controls the tracked chassis 1 to move forward. At the same time, the cutter drive motor 8 drives the large pulley 1301 to rotate. The large pulley 1301 drives the small pulley 1302 to rotate through the belt 1303. Since the small pulley 1302 is eccentrically connected by a connecting rod, the connecting rod drives the cutter hinge bracket 1104 to rotate at the end of the cutter bracket 9 through the cutter power transmission shaft 12, thereby converting the rotational motion into linear shearing motion. Since the movable cutter 1102 is hinged to the hinge bolt 1103, and the cutter power transmission shaft 12 is hinged to the movable cutter 1102, when the cutter power transmission shaft 12 performs linear reciprocating motion under the drive of the cutter power assembly 13, it will pull the movable cutter 1102 to rotate around the hinge bolt 1103 as the rotation center, thereby realizing the shearing engagement with the fixed cutter 1101.

[0030] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tracked electric hedge trimming robot, characterized in that: The system includes a tracked chassis (1), a frame (16) connected to the tracked chassis (1), a slewing support mounting bracket (18) provided on the upper surface of the frame (16), a boom (5) hinged to the slewing support mounting bracket (18), a forearm bracket (7) hinged to the upper end of the boom (5), a tool bracket (9) and a mounting bracket (23) connected to the forearm bracket (7), a tool hinge bracket (1104) fixed to the end of the tool bracket (9) away from the forearm bracket (7), a tool assembly (11) connected to the tool hinge bracket (1104), a tool power assembly (13) provided on the mounting bracket (23), a tool power transmission shaft (12) provided on the tool power assembly (13), and the end of the tool power transmission shaft (12) away from the mounting bracket (23) connected to the tool assembly (11).

2. The tracked electric hedge trimming robot according to claim 1, characterized in that: The tool power assembly (13) includes a large pulley (1301) and a small pulley (1302) mounted on a mounting bracket (23). The large pulley (1301) and the small pulley (1302) are connected by a belt (1303). A tool drive motor (8) is connected to the mounting bracket (23). The output shaft of the tool drive motor (8) is connected to the large pulley (1301). A connecting rod is eccentrically mounted on the small pulley (1302). The tool power transmission shaft (12) is hinged to the connecting rod.

3. The tracked electric hedge trimming robot according to claim 2, characterized in that: A slewing support (19) is mounted on a slewing support mounting bracket (18), a turntable (15) is mounted on the slewing support (19), and a slewing motor (21) is mounted on the frame (16). The slewing motor (21) is connected to the slewing support (19) through a gearbox.

4. The tracked electric hedge trimming robot according to claim 3, characterized in that: A hinge seat (22) is installed on the turntable (15). The lower end of the boom (5) is hinged to the hinge seat (22) through a connecting shaft. A boom servo motor (3) is installed on the boom (5). The output shaft of the boom servo motor (3) is connected to the connecting shaft through a first reducer.

5. The tracked electric hedge trimming robot according to claim 1, characterized in that: The forearm support (7) is equipped with a tool rotary motor (6), the output shaft of which is connected to a rotary transmission shaft (17) via a second reducer, and a rotary forearm (14) is mounted on the rotary transmission shaft (17). The tool support (9) and the mounting bracket (23) are both mounted on the rotary forearm (14).

6. The tracked electric hedge trimming robot according to claim 1, characterized in that: The tool assembly (11) includes a fixed tool (1101) fixedly mounted on a tool hinge bracket (1104). The tool hinge bracket (1104) is hinged to a movable tool (1102) by a hinge bolt (1103). One end of the tool power transmission shaft (12) is hinged to the movable tool (1102).

7. The tracked electric hedge trimming robot according to claim 6, characterized in that: The upper end of the tool holder (9) is connected to a tool support rod (10), and one end of the tool support rod (10) is connected to the movable tool (1102).

8. The tracked electric hedge trimming robot according to claim 1, characterized in that: A battery assembly (20) is provided on the upper surface of the frame (16), the battery assembly (20) is located below the slewing support mounting bracket (18), and a controller module (2) is provided on the frame (16).

9. The tracked electric hedge trimming robot according to claim 1, characterized in that: An amplitude-adjusting electric cylinder (4) is hinged on the upper arm (5), and one end of the amplitude-adjusting electric cylinder (4) is hinged on the forearm support (7).

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