Hedgerow pruning manipulator with six degrees of freedom (DOP)

Abstract

The invention discloses a hedgerow pruning manipulator with six degrees of freedom (DOP). The manipulator comprises a main swing mechanism, a pruning knife assembly and a supporting mechanism, wherein the supporting mechanism is fixed on a dragging vehicle, and consists of a base, a rotary component, a lifting component and a telescopic component; the front end of the supporting mechanism is fixedly provided with the main swing mechanism capable of doing gyroscopic motion; the output shaft end of the main swing mechanism is fixedly connected with a horizontal mechanical arm the front end of which is connected with a vertical mechanical arm, and the front end of the vertical mechanical arm is provided with a wrist joint; the output end of the wrist joint is fixedly provided with the pruning knife assembly; and a control system utilizes a control module which takes ARM series processors as the core to automatically control the joint operation of the horizontal mechanical arm, the vertical mechanical arm, the wrist joint and the main swing mechanism, so that the pruning knife can be operated along various tracks in space, thus realizing pruning operation of various form such as a spherical shape, a conical shape, a cylindrical shape, a plane, an inclined face, a wavy face and the like. The pruning manipulator has the characteristics of high automaticity, wide adaptability, energy conservation, environmental protection and the like, and is convenient to popularize and use.

Description

1. Technical field [0001] The invention relates to a six-degree-of-freedom hedge seedling pruning manipulator used for road green belt pruning and landscape seedling modeling. 2. Technical background [0002] At present, the pruning and shaping of urban parks, road green belts, landscape seedlings and green plants on expressways mainly rely on workers' experience and the use of various hedge trimmers, among which the most common ones are hand push or backpack trimmers. Pruning machine, the weight of this type of machine is about 5-10 kg, the operator is always in a serious state during operation, especially when pruning low or high hedges, the operator must bend down or lift the pruning machine, the labor intensity is relatively high, Moreover, the vibration and noise produced by the machine during work are also relatively large, and long-term operation is not conducive to health; in addition, the machine completely relies on the operator's pruning skills and sense of respon...

AI Technical Summary

Problems solved by technology

[0007] There are still some deficiencies in the pruning methods reported in the above-mentioned open literature. The first two are labor-intensive, heavy manual labor, and low in efficiency.

The third type of equipment has complex structure, difficult implementation of control system, high cost, and unsatisfactory pruning quality

Although the fourth type has more functions, it has limited adaptability to pruning conditions. For example, it is difficult to adapt to the pruning of taller cylinders and conical surfaces, and the control method is more complicated.

Images