CN104255317B - A kind of fast-growing woods pruning maintaining robot and control method - Google Patents
A kind of fast-growing woods pruning maintaining robot and control method Download PDFInfo
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- CN104255317B CN104255317B CN201410525742.6A CN201410525742A CN104255317B CN 104255317 B CN104255317 B CN 104255317B CN 201410525742 A CN201410525742 A CN 201410525742A CN 104255317 B CN104255317 B CN 104255317B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G2003/007—Using spray
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- Biodiversity & Conservation Biology (AREA)
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Abstract
The present invention relates to a kind of fast-growing woods pruning maintaining robot and control method; Fast-growing woods pruning maintaining robot comprises ballast box, climbing mechanism, attitude-adjusting system, slew gear, end effector and control section.Described ballast box is fixed on ballast box support, is pressed on trunk by self gravitation by machine; What described climbing mechanism was machine climb and decline provides driving force; Described attitude-adjusting system is connected with the support bar of climbing mechanism by hinge, relies on the contraction adjustment slew gear of electric pushrod and the angle of trunk, ensures that slew gear is vertical with trunk; Described slew gear is fixed on the top of climbing mechanism by connecting montant, the complete cycle that can realize around trunk moves; Described end effector is fixed on slew gear, completes pruning and spray operation; Described control section is made up of climbing control section, pose adjustment control section and trim saw control section.Structure of the present invention is simple, easy to operate, is adapted at woodland and carries out pruning spraying operation, have wide market application foreground.
Description
Technical field
The invention belongs to forestry machinery field, relate to a kind of fast-growing woods pruning maintaining robot and control method, for safeguarding the pruning of fast-growing woods.
Technical background
Fast-growing woods is the short forest plantation of cycle of rotational cutting, and comparatively large at commercial paper domain requirement, due to its fast-growing advantage, material is good, and survival rate height waits good characteristic, thus has good economic worth.China's fast-growing woods cultivated area constantly expands, but the way to manage of fast-growing woods falls behind, the particularly pruning problem of fast-growing woods.Rational pruning can promote the growth of trees, improves the toughness of logical straight degree, circularity, bending strength and the timber of trees, improves growing environment and the fire prevention in crop trees condition of forest, strengthen top photosynthesis.At present, there is the phenomenons such as the improper not even pruning of pruning method in a lot of area of China, the forest zone beta pruning machine relatively backwardness that its main cause is, exists that poor stability, labour intensity are large, pruning inefficiency, of poor quality, the height of pruning of pruning does not reach the problems such as requirement.
At present, fast-growing woods commonly uses pruning machinery the various ways such as hand-held, vehicular.Hand-held pruner is divided into unpowered and dynamic two kinds, and hand-held is unpowered, and pruning instrument has handsaw, chopper etc., can prune tiny branch quickly and easily, and it is cheap, use simple, but about its height of pruning only has 4-6 rice, there is the problem that cutting range is inadequate; The dynamic pruning instrument of hand-held take miniature gasoline engine as power, and drive saw chain or saw blade work by soft axle transmission, its structure is simple, operating efficiency is high, but this type of trimmer all exists control stick weight, and sawing Oscillation Amplitude is larger, gasoline engine noise is large, can not meet the requirement to work comfort.Vehicular pruner is the graden machine that a kind of labour intensity is little, operating efficiency is high, safe and reliable and operating condition is good, but the pruning work be mainly used in urban path tree, at some roads, bad or forest is than the place of comparatively dense, vehicular pruner cannot launch, and is not thus suitable for the production of forestry in forest zone.
Pruning for fast-growing woods, poor stability that machinery exists, labour intensity are large, height of pruning does not reach requirement, the problems such as blank still located by domestic automatic pruning machinery, invent the fast-growing woods pruning maintaining robot that a kind of operability is good, automaticity is high, cost is lower, safety is good, to complete fast-growing woods pruning maintenance work, the development for fast-growing woods pruning machinery has impetus.
Retrieval through prior art document finds, there is no a kind of relevant report of fast-growing woods pruning maintaining robot.
Summary of the invention
The present invention is to solve a kind of fast-growing woods pruning maintaining robot and control method that fast-growing woods pruning problem invents, realizing the pruning maintenance work of fast-growing woods.
The technical scheme that a kind of fast-growing woods pruning maintaining robot that the present invention relates to adopts: comprise ballast box, climbing mechanism, attitude-adjusting system, slew gear, end effector and control section.Described ballast box is fixed on ballast box support, is pressed on trunk by self gravitation by machine; What described climbing mechanism was machine climb and decline provides driving force; Described attitude-adjusting system is connected with the support bar of climbing mechanism by hinge, relies on the contraction adjustment slew gear of leveling push rod and the angle of trunk, ensures that slew gear is vertical with trunk; Described slew gear is fixed on the top of climbing mechanism by connecting montant, the complete cycle that can realize around trunk moves; Described end effector is fixed on slew gear, completes pruning and sterilization operation; Described control section is made up of climbing control section, pose adjustment control section and trim saw control section.
Described ballast box is fixed on ballast box support, and for placing medicine-chest and accumulator, medicine-chest is for storing liquid, and accumulator provides power supply for machine; Described ballast box support is fixed together by the machinery mount of connecting rod and climbing mechanism.
Described climbing mechanism comprises machinery mount, driving shaft, driving wheel, rolling bearing units, drive motors, motor cabinet, drive sprocket, back shaft and support wheel.Described machinery mount is the support frame of climbing mechanism, comprise support bar, montant, cross bar and connecting rod, described support bar, montant and cross bar are fixed together, for supporting climbing mechanism, every collateral strut by support bar pinned connection, can realize opening and closing of machine by left and right support bar; Described driving shaft is fixed on the left support bar of both sides by rolling bearing units; Described driving wheel is fixing on the driving shaft; Described drive motors is fixed on the left support bar of both sides by motor cabinet; Described drive sprocket comprises driving gear, driven gear and chain drive-belt, driving gear and driven gear are linked together by chain drive-belt, driving gear is fixed on drive motors, driven gear is fixing on the driving shaft, drive motors can be realized and rotate drive drive shaft turns, thus drive driving wheel to rotate; Described back shaft is fixed on the right support bar of both sides by rolling bearing units; Described support wheel is fixed on back shaft.
Described attitude-adjusting system comprises framework, leveling pusher bar support, leveling push rod, connects montant and six axle sensors.Described framework is divided into left frame and left frame, and left frame and left frame are by framework pinned connection, and correct frame is hinged by the connecting rod of climbing mechanism and the support bar of climbing mechanism, realizes the rotary motion around connecting rod; Described leveling push rod one end is connected on the cross bar of climbing mechanism by leveling pusher bar support, and the other end is connected on framework by leveling pusher bar support, and the flexible of leveling push rod can drive framework around connecting rod rotary motion; Described connection montant is welded in the perforation on framework inner side edge edge, for supporting slew gear; Six described axle sensors are arranged on disk rail.
Described slew gear comprises rotating disk mechanism and revolution clamp mechanism.Described rotating disk mechanism comprises circuit orbit, slideway and rotating disk chain.Described circuit orbit is coordinated by left semicircle shape track and right semicircular track and forms, left semicircle shape track and right semicircular track by rotating disk pinned connection, can realize left semicircle shape track and right semicircular track opening and closed; Described slideway is the groove that circuit orbit outer edge is offered, and slideway is divided into chain slideway and roller slideway two slideways; Wherein chain slideway is placed on circuit orbit outer edge surface, and roller slideway is placed on circuit orbit inner edge surface; Described rotating disk chain is placed in chain slideway, and its two ends are separately fixed on left semicircle shape track and right semicircular track; Described rotating disk mechanism bottom outside is often separated by 90 ° and is become circle distribution to have four perforation corresponding with side perforation in framework, connect montant through above-mentioned perforation respectively with the frame welding of rotating disk mechanism and attitude-adjusting system.
Described revolution clamp mechanism comprises flat base, turning motor, swiveling gear, bolt bearing and revolution roller.Described flat base one end has two motor axis holes, each placement turning motor, and the other end has two bearing axis holes, each placement bolt bearing; Described turning motor is positioned on flat base; Described swiveling gear is fixed on turning motor end, and engages with rotating disk chain; Described bolt bearing is positioned on flat base by bearing axis hole, and with circuit orbit inside tangent; Described revolution roller is fixed on the bearing pin bottom flat base, is placed in roller slideway.
Described end effector comprises hinge, trim saw, trim saw base, radial push rod, radial push rod support, optical axis, optical axis support, inclination angle push rod, inclination angle pusher bar support, shower nozzle, head cartridge, hose, photoelectric proximity switch, travel switch 1 and travel switch 2.One page of described hinge is fixed on trim saw base; Described trim saw is fixed on another page of hinge, can realize trim saw and rotate around hinge axis; Described radial push rod one end is connected on flat base by radial push rod support, and the other end is connected on trim saw base by radial push rod support, and the flexible trim saw that can drive of radial push rod moves forward and backward, and arrives branch position; Described optical axis support is fixed on flat base; Described optical axis is arranged on optical axis support, and is fixed together with trim saw base, can coordinate radial push rod work, ensures that trim saw is movable along push rod direction; Described push rod one end, inclination angle is fixed on optical axis support by inclination angle pusher bar support, and the other end is connected with trim saw by inclination angle pusher bar support, and the contraction that can realize inclination angle push rod drives trim saw to rotate around hinge axis, to adjust the saw cutting angle of trim saw and branch; Described hose one end is connected with the medicine-chest of ballast box, and the other end is connected with shower nozzle; Described head cartridge is fixed on flat base, for stationary nozzle; Described shower nozzle is connected on head cartridge, can realize sterilization process; Described photoelectric proximity switch and travel switch 1 are arranged on flat base; Described travel switch 2 is arranged on trim saw.
Described control section is made up of climbing control section, pose adjustment control section and trim saw control section.Described climbing control section is that single-chip minimum system obtains branch positional information by limit signal input interface serial connection photoelectric proximity switch, single-chip minimum system connects drive motors by control signal output interface, according to running and the stopping of the information adjustment drive motors obtained; Described pose adjustment control section connects by decoding interface the horizontal position information that six axle sensors obtain rotating disk mechanism by single-chip minimum system, single-chip minimum system connects leveling push rod by control signal output interface, and the horizontal position information according to obtaining completes pose adjustment; Described trim saw control section is that single-chip minimum system is connected in series travel switch 1 respectively by limit signal input interface, travel switch 2 obtains branch positional information, single-chip minimum system connects turning motor, radial push rod and inclination angle push rod by control signal output interface, adjust the position of trim saw and branch according to the branch positional information obtained, complete pruning upkeep operation.
Described control method comprises the following steps:
1) robot is in climbing process, during close to branch, photoelectric proximity switch obtains branch positional information, single-chip microcomputer is sent to by limit signal input interface, single-chip computer control system connects drive motors by control signal output interface, according to the operation of the branch positional information adjustment drive motors obtained, when reaching branch position, drive motors stall, robot is pressed on trunk.
2) robot runs into branch, when stopping rising, six axle sensors obtain the horizontal position information of rotating disk mechanism, single-chip microcomputer is sent to by decoding interface, single-chip computer control system connects leveling push rod by control signal output interface, control the flexible of leveling push rod according to the horizontal position information obtained, complete pose adjustment.
3) after robot completes pose adjustment, travel switch 1 obtains branch positional information, single-chip microcomputer is sent to by limit signal input interface, single-chip computer control system connects turning motor and radial push rod by control signal output interface, adjust the position of trim saw and branch according to the branch positional information obtained, drive trim saw close to branch root position.
4) after trim saw reaches branch root position, travel switch 2 obtains branch positional information, single-chip microcomputer is sent to by limit signal input interface, single-chip computer control system connects inclination angle push rod by control signal output interface, adjust the angle of trim saw and branch according to the branch positional information obtained, reach best pruning angle.
The course of work of the present invention is as follows:
1) preparatory stage: support bar bearing pin, framework bearing pin and rotating disk bearing pin are opened, right support bar, correct frame and right semicircular track rotate around alignment pin, machine is opened, mobile apparatus is to target trunk, maintaining robot of being pruned by fast-growing woods is mounted on target trunk, locking bearing pin, machine relies on the gravity-pressing trunk of ballast box.
2) ramp-up period: start drive motors, driving gear drives driven gear to rotate by chain drive-belt, thus driving wheel band movement machine slowly climbs, according to the branch positional information obtained, the running of Single-chip Controlling drive motors and stopping.
3) in the pose adjustment stage: according to the rotating disk horizontal information obtained, Single-chip Controlling leveling push rod, framework rotates around connecting rod, drives slew gear to rotate, the angle of adjustment slew gear and trunk, ensures that slew gear is vertical with trunk.
4) pruning sterilization stage: fast-growing woods pruning maintaining robot climbs proper height when running into branch, according to the branch positional information obtained, Single-chip Controlling turning motor works, and drives revolution clamp mechanism to rotate to position, branch side; Radial push rod, under the cooperation of optical axis, drives trim saw close to branch root; The flexible drive trim saw of inclination angle push rod wraps page and rotates, the angle of adjustment trim saw and trunk; The sawing of trim saw High Rotation Speed, coordinates the rotation of revolution clamp mechanism, will amputate branch from side; Shower nozzle carries out sterilization process, to branch otch sterilizing.
Tool of the present invention has the following advantages:
1) automaticity of the present invention is high, and operating efficiency is high, and beta pruning, without the need to manually participating in directly, saves a large amount of labour.
2) the present invention adopts the structure with ballast box, is conducive to climbing mechanism and compresses trunk, ensures that machine can not come off from trunk.
3) end effector of the present invention adopts rotational structure, the side shoot position on the trunk of convenient location, and can coordinate trim saw sawing branch.
4) the present invention can regulate distance and the saw cutting angle of trim saw and branch, can realize pressing close to trunk and prune, and is conducive to reducing branch residual volume, improves lumber quality
5) structure of the present invention is simple, easy to operate, is adapted at woodland and carries out pruning sterilization process.
Accompanying drawing explanation
Fig. 1 is the structural representation of fast-growing woods pruning maintaining robot of the present invention;
The structure chart of Tu2Shi robot climbing mechanism;
The front view of Tu3Shi robot climbing mechanism;
Fig. 4 is the structure chart of robot pose guiding mechanism;
The partial sectional view of the left and right semicircular track assembling of Tu5Shi robot rotating disk mechanism;
Fig. 6 is the structure chart of robot revolute clamp mechanism;
Fig. 7 is the structure chart of end effector of robot;
Fig. 8 is the front view of end effector of robot;
Fig. 9 is the theory diagram of robot control system;
In figure: 1, ballast box 2, accumulator 3, medicine-chest 4, connecting rod 5, driving wheel 6, alignment pin 7, support wheel 8, back shaft 9, driving shaft 10, drive motors 11, montant 12, ballast box support 13, left frame 14, framework bearing pin 15, correct frame 16, right support bar 17, rolling bearing units 18, support bar bearing pin 19, motor cabinet 20, left support bar 21, cross bar 22, leveling pusher bar support 23, leveling push rod 24, connect montant 25, connecting rod 26, driven gear 27, chain drive-belt 28, driving gear 29, chain slideway 30, left semicircle shape track 31, right semicircular track 32, rotating disk bearing pin 33, roller slideway 34, swiveling gear 35, flat base 36, turning motor 37, bolt bearing 38, revolution roller 39, optical axis 40, radial push rod support 41, radial push rod 42, head cartridge 43, inclination angle pusher bar support 44, hinge 45, optical axis support 46, hose 47, shower nozzle 48, trim saw 49, trim saw base 50, rotating disk chain 51, inclination angle push rod
Embodiment:
Below in conjunction with accompanying drawing, patent of the present invention is described further.A kind of fast-growing woods pruning maintaining robot of the present invention and control method, as shown in Figure 1, 2, 3, described ballast box (1) is fixed on ballast box support (12) by fastening bolt, for placing medicine-chest (3) and accumulator (2), medicine-chest (3) is for storing liquid, and accumulator (2) provides power supply for machine; Described ballast box support (12) is fixed together by the machinery mount of connecting rod (4) with climbing mechanism.
As shown in Figure 1,2,3, 4, described climbing mechanism comprises machinery mount, driving shaft (9), driving wheel (5), rolling bearing units (17), drive motors (10), motor cabinet (19), drive sprocket, back shaft (8) and support wheel (7).Described machinery mount is the support frame of climbing mechanism, comprise support bar, montant (11), cross bar (21) and connecting rod (25), described support bar, montant (11) and cross bar (21) are fixed together, for supporting climbing mechanism, every collateral strut is connected by support bar bearing pin (18) with right support bar (16) by left support bar (20), can realize opening and closing of machine; Described driving shaft (9) is fixed on the left support bar (20) of both sides by rolling bearing units (17); Described driving wheel (5) is fixed on driving shaft (9); Described drive motors (10) is fixed on the left support bar (20) of both sides by motor cabinet (19); Described drive sprocket comprises driving gear (28), driven gear (26) and chain drive-belt (27), driving gear (28) and driven gear (26) are linked together by chain drive-belt (27), driving gear (28) is fixed on drive motors (10) by puller bolt, driven gear (26) is fixed on driving shaft (9) by puller bolt, drive motors (10) can be realized and rotate drive driving shaft (9) rotation, thus drive driving wheel (5) to rotate; Described back shaft (8) is fixed on the right support bar (16) of both sides by rolling bearing units (17); Described support wheel (7) is fixed on back shaft (8).
As shown in Figure 1,2,3, 4, described attitude-adjusting system comprises framework, leveling pusher bar support (22), leveling push rod (23) and is connected montant (24) and six axle sensors.Described framework is connected by framework bearing pin (14) with correct frame (15) by left frame (13), correct frame (15) is hinged by the connecting rod (25) of climbing mechanism and the support bar of climbing mechanism, realizes the rotary motion around connecting rod (25); One end of described leveling push rod (23) is connected on the cross bar (21) of climbing mechanism by leveling pusher bar support (22), the other end is connected on framework by leveling pusher bar support (22), and the flexible of leveling push rod (23) can drive framework around connecting rod (25) rotary motion; Described connection montant (24) is welded in the perforation on framework inner side edge edge, and for supporting slew gear, six described axle sensors are arranged on disk rail.
As shown in Fig. 1,5,6,7,8, described slew gear comprises rotating disk mechanism and revolution clamp mechanism.Described rotating disk mechanism comprises circuit orbit, slideway and rotating disk chain (50).Described circuit orbit is formed by left semicircle track (30) and right semicircular track (31) cooperation, and the end of left and right semicircular track is connected by rotating disk bearing pin (32), can realize opening and closing of left and right semi-circular track.Described slideway is the groove that circuit orbit outer edge is offered, and slides into and is divided into two, and wherein chain slideway (29) is placed on circuit orbit outer edge surface, and roller slideway (33) is placed on circuit orbit inner edge surface; Described rotating disk chain (50) is placed in chain slideway (29), and its two ends are separately fixed in left and right semicircular track; Described rotating disk mechanism bottom outside is often separated by 90 ° and is become circle distribution to have four perforation corresponding with side perforation in framework, connect montant (24) through above-mentioned perforation respectively with the frame welding of rotating disk mechanism and attitude-adjusting system.Described revolution clamp mechanism comprises flat base (35), turning motor (36), swiveling gear (34), bolt bearing (37) and revolution roller (38).Described flat base (35) one end has two motor axis holes, each placement turning motor (36), and the other end has two bearing axis holes, each placement bolt bearing (37); Described turning motor (36) is positioned on flat base (35) by motor axis hole; Described swiveling gear (34) is fixed on turning motor (36) end by puller bolt, and engages with rotating disk chain (50); Described bolt bearing (37) is positioned on flat base (35) by axis hole, and with circuit orbit inside tangent; Described revolution roller (38) is fixed on the bearing pin of flat base (35) bottom by puller bolt, is placed in roller slideway (33).
As shown in Fig. 1,7,8, described end effector comprises hinge (44), trim saw (48), trim saw base (49), radial push rod (41), radial push rod support (40), optical axis (39), optical axis support (45), inclination angle push rod (51), inclination angle pusher bar support (43), shower nozzle (47), head cartridge (42), hose (46), photoelectric proximity switch, travel switch 1 and travel switch 2.One page of described hinge (44) is fixed on trim saw base (49) by fastening bolt; Described trim saw (48) is fixed on another page of hinge (44) by fastening bolt, can realize trim saw (48) and rotate around hinge axis; One end of described radial push rod (41) is connected on flat base (35) by radial push rod support (40), the other end is connected on trim saw base (49) by radial push rod support (40), the flexible trim saw (48) that can drive of radial push rod (41) moves forward and backward, and arrives branch position; Described optical axis support (45) is fixed on flat base (35); Described optical axis (39) is arranged on optical axis support (45), and be fixed together with trim saw base (49), radial push rod (41) can be coordinated to work, ensure that trim saw (48) is movable along push rod direction; Described inclination angle push rod (51) one end is fixed on optical axis support (45) by inclination angle pusher bar support (43), the other end is connected with trim saw (48) by inclination angle pusher bar support (43), the contraction that can realize inclination angle push rod (51) drives trim saw (48) to rotate around hinge axis, to adjust the saw cutting angle of trim saw (48) and branch; Described hose (46) one end is connected with the medicine-chest (3) of ballast box (1), and the other end is connected with shower nozzle (47); Described head cartridge (42) is fixed on flat base (35), for stationary nozzle (47); Described shower nozzle (47) is connected on head cartridge (42), can realize sterilization process; Described photoelectric proximity switch and travel switch 1 are arranged on flat base (35); Described travel switch 2 is arranged on trim saw (48).
As shown in Figure 9, described control section is made up of climbing control section, pose adjustment control section and trim saw control section.Described climbing control section is that single-chip minimum system obtains branch positional information by limit signal input interface serial connection photoelectric proximity switch, single-chip minimum system connects drive motors (10) by control signal output interface, according to running and the stopping of information adjustment drive motors (10) obtained; Described pose adjustment control section connects by decoding interface the horizontal position information that six axle sensors obtain rotating disk mechanism by single-chip minimum system, single-chip minimum system connects leveling push rod (23) by control signal output interface, and the horizontal position information according to obtaining completes pose adjustment; Described trim saw control section is that single-chip minimum system is connected in series travel switch 1 respectively by limit signal input interface, travel switch 2 obtains branch positional information, single-chip minimum system connects turning motor (36), radial push rod (41) and inclination angle push rod (51) by control signal output interface, according to branch positional information adjustment trim saw (48) obtained and the position of branch, complete pruning upkeep operation.
Described control method comprises the following steps:
1) robot is in climbing process, during close to branch, photoelectric proximity switch obtains branch positional information, single-chip microcomputer is sent to by limit signal input interface, single-chip computer control system connects drive motors (10) by control signal output interface, according to the operation of branch positional information adjustment drive motors (10) obtained, when reaching branch position, drive motors (10) stall, robot is pressed on trunk.
2) robot runs into branch, when stopping rising, six axle sensors obtain the horizontal position information of rotating disk mechanism, single-chip microcomputer is sent to by decoding interface, single-chip computer control system connects leveling push rod (23) by control signal output interface, control the flexible of leveling push rod (23) according to the horizontal position information obtained, complete pose adjustment.
3) after robot completes pose adjustment, travel switch 1 obtains branch positional information, single-chip microcomputer is sent to by limit signal input interface, single-chip computer control system connects turning motor (36) and radial push rod (41) by control signal output interface, according to the position of branch positional information adjustment trim saw (48) obtained with branch, drive trim saw (48) close to branch root position.
4) after trim saw reaches branch root position, travel switch 2 obtains branch positional information, single-chip microcomputer is sent to by limit signal input interface, single-chip computer control system connects inclination angle push rod (51) by control signal output interface, according to branch positional information adjustment trim saw (48) obtained and the angle of branch, reach best pruning angle.
The course of work of the present invention is as follows:
Preparatory stage: support bar bearing pin (18), framework bearing pin (14) and rotating disk bearing pin (32) are opened, right support bar (16), correct frame (15) and right semicircular track (31) rotate around alignment pin (6), machine is opened, mobile apparatus is to target trunk, maintaining robot of being pruned by fast-growing woods is mounted on target trunk, locking bearing pin, machine relies on the gravity-pressing trunk of ballast box (1).
Ramp-up period: start drive motors (10), driving gear (28) drives driven gear (26) to rotate by chain drive-belt (27), thus driving wheel (5) band movement machine slowly climbs, according to the branch positional information obtained, the running of Single-chip Controlling drive motors (10) and stopping.
The pose adjustment stage: according to the rotating disk horizontal information obtained, Single-chip Controlling leveling push rod (23), framework rotates around connecting rod (25), drives slew gear to rotate, the angle of adjustment slew gear and trunk, ensures that slew gear is vertical with trunk.
Pruning sterilization stage: fast-growing woods pruning maintaining robot climbs proper height when running into branch, according to the branch positional information obtained, Single-chip Controlling turning motor (36) works, and drives revolution clamp mechanism to rotate to position, branch side; Radial push rod (41), under the cooperation of optical axis (39), drives trim saw (48) close to branch root; The flexible drive trim saw (48) of inclination angle push rod (51) wraps page (44) and rotates, the angle of adjustment trim saw (48) and trunk; Trim saw (48) High Rotation Speed sawing, coordinates the rotation of revolution clamp mechanism, will amputate branch from side; Shower nozzle (47) carries out sterilization process, to branch otch sterilizing.
Claims (1)
1. a fast-growing woods pruning maintaining robot, is characterized in that comprising ballast box, climbing mechanism, attitude-adjusting system, slew gear, end effector and control section;
Described ballast box is fixed on ballast box support, and for placing medicine-chest and accumulator, medicine-chest is for storing liquid, and accumulator provides power supply for robot; Described ballast box support is fixed together by the machinery mount of connecting rod and climbing mechanism;
Described climbing mechanism comprises machinery mount, driving shaft, driving wheel, rolling bearing units, drive motors, motor cabinet, drive sprocket, back shaft and support wheel; Described machinery mount comprises connecting rod and the support bar be fixed together, montant and cross bar; Described support bar is made up of left support bar and right support bar, and left support bar and right support bar are by support bar pinned connection; Described driving shaft is fixed on the left support bar of both sides by rolling bearing units; Described driving wheel is fixing on the driving shaft; Described drive motors is fixed on the left support bar of both sides by motor cabinet; Described drive sprocket comprises driving gear, driven gear and chain drive-belt, and driving gear and driven gear are linked together by chain drive-belt, and driving gear is fixed on drive motors, and driven gear is fixing on the driving shaft; Described back shaft is fixed on the right support bar of both sides by rolling bearing units; Described support wheel is fixed on back shaft;
Described attitude-adjusting system comprises framework, leveling pusher bar support, leveling push rod, connects montant and six axle sensors; Described framework is divided into left frame and left frame, and left frame and left frame are by framework pinned connection, and correct frame is hinged by the connecting rod of climbing mechanism and the support bar of climbing mechanism; Described leveling push rod one end is connected on the cross bar of climbing mechanism by leveling pusher bar support, and the other end is connected on framework by leveling pusher bar support; Described connection montant is welded in the perforation on framework inner side edge edge, for supporting slew gear; Six described axle sensors are arranged on circuit orbit;
Described slew gear comprises rotating disk mechanism and revolution clamp mechanism; Described rotating disk mechanism comprises circuit orbit, slideway and rotating disk chain; Described circuit orbit is coordinated by left semicircle shape track and right semicircular track and forms, left semicircle shape track and right semicircular track by rotating disk pinned connection, realize left semicircle shape track and right semicircular track opening and closed; Described slideway is the groove that circuit orbit outer edge is offered, and slideway is divided into chain slideway and roller slideway two slideways; Wherein chain slideway is placed on circuit orbit outer edge surface, and roller slideway is placed on circuit orbit inner edge surface; Described rotating disk chain is placed in chain slideway, and its two ends are separately fixed on left semicircle shape track and right semicircular track; Described rotating disk mechanism bottom outside is often separated by 90 ° and is become circle distribution to have four perforation corresponding with side perforation in framework, connect montant through above-mentioned perforation respectively with the frame welding of rotating disk mechanism and attitude-adjusting system;
Described revolution clamp mechanism comprises flat base, turning motor, swiveling gear, bolt bearing and revolution roller; Described flat base one end has two motor axis holes, each placement turning motor, and the other end has two bearing axis holes, each placement bolt bearing; Described turning motor is positioned on flat base; Described swiveling gear is fixed on turning motor end, and engages with rotating disk chain; Described bolt bearing is positioned on flat base by bearing axis hole, and with circuit orbit inside tangent; Described revolution roller is fixed on the bearing pin bottom flat base, is placed in roller slideway;
Described end effector comprises hinge, trim saw, trim saw base, radial push rod, radial push rod support, optical axis, optical axis support, inclination angle push rod, inclination angle pusher bar support, shower nozzle, head cartridge, hose, photoelectric proximity switch, travel switch one and travel switch two; One page of described hinge is fixed on trim saw base; Described trim saw is fixed on another page of hinge, realizes trim saw and rotates around hinge axis; Described radial push rod one end is connected on flat base by radial push rod support, and the other end is connected on trim saw base by radial push rod support, and the flexible drive trim saw of radial push rod moves forward and backward; Described optical axis support is fixed on flat base; Described optical axis is arranged on optical axis support, and is fixed together with trim saw base; Described push rod one end, inclination angle is fixed on optical axis support by inclination angle pusher bar support, and the other end is connected with trim saw by inclination angle pusher bar support; Described hose one end is connected with the medicine-chest of ballast box, and the other end is connected with shower nozzle; Described head cartridge is fixed on flat base, for stationary nozzle; Described shower nozzle is connected on head cartridge; Described photoelectric proximity switch and travel switch one are arranged on flat base; Described travel switch two is arranged on trim saw;
Described control section comprises climbing control section, pose adjustment control section and trim saw control section; Described climbing control section is that single-chip minimum system obtains branch positional information by limit signal input interface serial connection photoelectric proximity switch, single-chip minimum system connects drive motors by control signal output interface, according to running and the stopping of the information adjustment drive motors obtained; Described pose adjustment control section connects by decoding interface the horizontal position information that six axle sensors obtain rotating disk mechanism by single-chip minimum system, single-chip minimum system connects leveling push rod by control signal output interface, and the horizontal position information according to obtaining completes pose adjustment; Described trim saw control section is that single-chip minimum system is connected in series travel switch one respectively by limit signal input interface, travel switch two obtains branch positional information, single-chip minimum system connects turning motor, radial push rod and inclination angle push rod by control signal output interface, adjust the position of trim saw and branch according to the branch positional information obtained, complete pruning upkeep operation.
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| CN201410525742.6A CN104255317B (en) | 2014-09-30 | 2014-09-30 | A kind of fast-growing woods pruning maintaining robot and control method |
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| CN201410525742.6A CN104255317B (en) | 2014-09-30 | 2014-09-30 | A kind of fast-growing woods pruning maintaining robot and control method |
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| CN104255317B true CN104255317B (en) | 2016-03-30 |
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| CN105373050B (en) * | 2015-12-10 | 2018-01-30 | 山东农业大学 | A kind of control device and control method of tall and big trees pruning mechanical arm |
| CN105794503B (en) * | 2016-04-13 | 2019-01-08 | 山东农业大学 | A kind of fast-growing woods quickly pruning robot and its control method |
| CN106416930A (en) * | 2016-09-25 | 2017-02-22 | 徐洪恩 | Automatic lumbering and pruning robot |
| CN106249670B (en) * | 2016-10-11 | 2018-08-14 | 山东农业大学 | A kind of control method for pruning robot AUTONOMOUS TASK of climbing tree |
| CN108030448A (en) * | 2018-01-16 | 2018-05-15 | 刘肖俊 | A kind of wheel with high-strength conformability combines clean robot enough |
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| CN110562343B (en) * | 2019-03-18 | 2024-02-27 | 金华绿川科技有限公司 | Tree climbing pruning robot |
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| CN111386887A (en) * | 2020-04-19 | 2020-07-10 | 朱若良 | Automatic pruning machine for green nursery stock |
| CN111436295A (en) * | 2020-04-19 | 2020-07-24 | 朱若良 | Automatic cutting assembly for greening seedling branches |
| CN111386886A (en) * | 2020-04-19 | 2020-07-10 | 朱若良 | Rapid repairing method for branch of landscaping nursery stock |
| CN111758418B (en) * | 2020-07-27 | 2021-12-17 | 邵花云 | Perpendicular fixed length formula trees clipping machine |
| CN115500163B (en) * | 2022-11-04 | 2023-03-24 | 潍坊经济开发区华全庄园种植专业合作社 | Nondestructive anti-tearing leveling type tree bone trunk and branch trimmer |
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| JPS61249329A (en) * | 1985-04-27 | 1986-11-06 | 開成工業株式会社 | Pruning machine |
| FR2701628B1 (en) * | 1993-02-19 | 1995-06-02 | Cemagref | Autonomous machine for forest pruning. |
| ITTO20060261A1 (en) * | 2006-04-07 | 2007-10-08 | Torino Politecnico | PRUNING MACHINE |
| CN102939864B (en) * | 2012-11-30 | 2014-12-10 | 宁海县雁苍山电力建设有限公司 | Landscape plant pruning robot |
| CN103070033B (en) * | 2013-02-06 | 2013-12-11 | 山东农业大学 | Automatic pruning device for poplars |
| CN204047295U (en) * | 2014-09-30 | 2014-12-31 | 山东农业大学 | A kind of fast-growing woods pruning Hu Cha robot |
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