CN104584888A - Movable type gardening robot located by annular rail - Google Patents
Movable type gardening robot located by annular rail Download PDFInfo
- Publication number
- CN104584888A CN104584888A CN201410674175.0A CN201410674175A CN104584888A CN 104584888 A CN104584888 A CN 104584888A CN 201410674175 A CN201410674175 A CN 201410674175A CN 104584888 A CN104584888 A CN 104584888A
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- China
- Prior art keywords
- machine people
- robot
- circular orbit
- portable
- horticultural machine
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0435—Machines specially adapted for shaping plants, e.g. topiaries
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a movable type gardening robot located by an annular rail. According to the technical scheme, for a green plant needing appearance trimming, the annular rail capable of vertically moving is arranged around a workpiece, the robot walks on the rail and can reach different positions. A trimming device is arranged on a mechanical arm and trims a part each time in a moving mode until the appearance of the whole plant is completely trimmed. The automatically controlled robot is adopted to perform trimming, thereby being high in speed, good in quality, good in uniformity and especially suitable for trimming of massive green planet same in shape, such as municipal engineering.
Description
Technical field:
The invention belongs to industrial robot applied technical field, particularly a kind of portable horticultural machine people adopting circular orbit to locate.
Background technology:
Robot (Robot) is the installations automatically performing work.It both can accept mankind commander, can run again the program of layout in advance, also can according to the principle guiding principle action of formulating with artificial intelligence technology.Its task assists or replace the work of human work, such as production industry, building industry, or the work of danger.Robot is generally made up of executing agency, drive unit, checkout gear and control system and complicated machinery etc.
From applied environment, robot is divided into two large classes, i.e. industrial robot and specialized robot.Industrial robot is exactly multi-joint manipulator towards industrial circle or multi-freedom robot.Industrial robot is the installations automatically performing work, is to lean on self power and control ability to realize a kind of machine of various function.It can accept mankind commander, also can run according to the program of layout in advance, the principle guiding principle action that modern industrial robot can also be formulated according to artificial intelligence technology.Industrial robot is made up of main body, drive system and control system three essential parts.Main body and support and executing agency, comprise arm, wrist and hand, some robots also have running gear.There are 3 ~ 6 freedoms of motion in most industry robot, and wherein wrist has 1 ~ 3 freedom of motion usually; Drive system comprises power set and transmission mechanism, produces corresponding action in order to make executing agency; Control system sends command signal according to the program of input to drive system and executing agency, and control.Industrial robot is divided into four kinds by the forms of motion of arm.The arm of cartesian co-ordinate type can move along three rectangular co-ordinates; The arm of circular cylindrical coordinate type can be elevated, turn round and expanding-contracting action; The arm of spherical coordinates type can turn round, pitching and flexible; The arm of joint type has multiple cradle head.Industrial robot, again can branch bit-type and continuous path type by the Control function of executing agency's motion.Point bit-type only controls the accurate location that executing agency is put to another by a bit, is applicable to the operations such as lathe loading and unloading, spot welding and general carrying, handling; Continuous path type can control executing agency and move by given trace, is applicable to the operation such as continuous welding and application.Industrial robot follow procedure input mode is distinguished imported and imported two classes of teaching of programming.There is sense of touch, power feels or the industrial robot of simple vision, can work under comparatively complex environment; As there is recognition function or further increasing self adaptation, self-learning function, namely become intelligent industrial robot.Free or the self-compiling program of its " macro-instruction " that can give according to people deacclimatizes environment, and automatically completes more complicated work.Industrial robot can substitute more and more expensive labour, can promote operating efficiency and product quality simultaneously.The assembling task of production line precision component can be accepted by robot of Foxconn, more alternatively manually to work in the bad working environments such as spraying, welding, assembling, and can produce in conjunction with Mould Machining with machine-tools such as numerical control ultra-precision iron beds, enhance productivity, Substitute For Partial unskilled worker.Use industrial robot can to reduce the number of rejects and seconds rate and product cost, improve the availability of equipment, reduce the risk etc. that workman's maloperation brings, its a series of benefits brought are also fairly obvious, such as, reduce labo r usage, reduce equipment loss, accelerate technological innovation speed, improve enterprise competitiveness etc.Robot has the ability performing various task particularly high-risk task, and mean time between failures reaches more than 60000 hours, more advanced than traditional automation process.In developed country, industrial robot automatic production line outfit has become the main flow of automated arm and the developing direction in future.The industries such as Automotive Industry Abroad, electronic enterprises, engineering machinery use industrial robot automatic production line to ensure product quality and production high efficiency in a large number.Typical outfit has limousine housing punching automation systems technology and outfit, heavy-duty machines people automotive body welding automated system technology and the robot such as outfit, electronic apparatus at present.
At present, the profile for ornamental plant is pruned, and all adopts artificial pruning.In the great engineering of pruning rate, as municipal works, a large amount of duplication of labour not only lost labor, and also speed, quality, uniformity also cannot be guaranteed.
Summary of the invention:
The ornamental plant profile that the present invention is directed to a large amount of same profile is pruned, a kind of portable horticultural machine people adopting circular orbit to locate is proposed, its technical scheme is the green plants to needing to do profile pruning, the circular orbit that setting can move up and down is placed in around workpiece, robot walks in orbit, can reach different positions; Mechanical arm installs clipping device, in the mode of movement, prunes a part at every turn, the profile completing plant is pruned.
If circular orbit is placed in around workpiece, circular orbit is arranged on one group of column, and track can move up and down along column; Industrial robot adopts ripe business machine people platform, is installed on base.Floor installation, and can annularly track travel in circular orbit, can reach positions different around workpiece.
Mechanical arm installs clipping device, below construction equipment, is provided with reclaimer, the branches and leaves pruned away are collected.
Robot communicates with control system, the position built needed for acquisition, then completes pruning according to the instruction of control system; Communication mode is one or more in wire communication, Wifi, bluetooth.
Hydraulic pressure, machinery or other modes are taked in the lifting of circular orbit.
Coordinative composition of equipments truck be used for Transporting equipment, control centre is installed, simultaneously truck is provided with crane, is used for circular orbit shift position.
Beneficial effect:
At present, the profile for ornamental plant is pruned, and all adopts artificial pruning.In the great engineering of pruning rate, as municipal works, a large amount of duplication of labour not only lost labor, and also speed, quality, uniformity also cannot be guaranteed.The method that this patent proposes, adopt the robot automatically controlled to prune, speed is fast, quality is high, uniformity is good, and the green plants in enormous quantities being especially applicable to profile consistent is pruned, as municipal works.
Accompanying drawing illustrates:
Fig. 1 is circular orbit schematic diagram
Fig. 2 is circular orbit robot gardening pruning schematic diagram
Reference numeral: 1. circular orbit, 2. elevating lever, 3. robot, 4. green plants
Embodiment:
For better the present invention being described, be convenient to understand technical scheme of the present invention, typical but non-limiting embodiment of the present invention is as follows.
Composition graphs illustrates a kind of portable horticultural machine people adopting circular orbit to locate mentioned by content of the present invention, and the profile for green plants is pruned.
Plant size is 2 × 2 × 1m about.If 4 root posts, column diameter 0.1m, high 2.5m.Circular orbit diameter 3m.
Robot body selects that intelligence SRA100 robot, maximum working radius 2.6m, maximum heavy burden 100kg, repetitive positioning accuracy 0.1mm.Control system is wished with adopting Japanese OTC(Europe) FD11 control system.
Mechanical arm installs clipping device, below construction equipment, is provided with reclaimer, the branches and leaves pruned away are collected.Robot communicates with control system, the position built needed for acquisition, then completes pruning according to the instruction of control system; Communication mode is wire communication.
Applicant states, above content is in conjunction with concrete preferred embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (6)
1. the portable horticultural machine people adopting circular orbit to locate, is characterized in that: to needing the green plants doing profile pruning, set the circular orbit that can move up and down and be placed in around workpiece, robot walks in orbit, can reach different positions; Mechanical arm installs clipping device, in the mode of movement, prunes a part at every turn, the profile completing plant is pruned.
2. the portable horticultural machine people according to right 1, is characterized in that: industrial robot adopts ripe business machine people platform, is installed on base; Floor installation, and can annularly track travel in circular orbit, can reach positions different around workpiece.
3. the portable horticultural machine people according to right 1, is characterized in that: mechanical arm installs clipping device, is provided with reclaimer below construction equipment, is collected by the branches and leaves pruned away.
4. the portable horticultural machine people according to right 1, is characterized in that: robot communicates with control system that then the position built needed for acquisition completes pruning according to the instruction of control system; Communication mode is one or more in wire communication, Wifi, bluetooth.
5. the portable horticultural machine people according to right 1, is characterized in that: hydraulic pressure, machinery or other modes are taked in the lifting of circular orbit.
6. the portable horticultural machine people according to right 1, is characterized in that: coordinative composition of equipments truck be used for Transporting equipment, control centre is installed, simultaneously truck is provided with crane, is used for circular orbit shift position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410674175.0A CN104584888A (en) | 2014-11-21 | 2014-11-21 | Movable type gardening robot located by annular rail |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410674175.0A CN104584888A (en) | 2014-11-21 | 2014-11-21 | Movable type gardening robot located by annular rail |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104584888A true CN104584888A (en) | 2015-05-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410674175.0A Pending CN104584888A (en) | 2014-11-21 | 2014-11-21 | Movable type gardening robot located by annular rail |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104584888A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106613401A (en) * | 2016-12-02 | 2017-05-10 | 山东鼎创数控设备有限公司 | Holly ball trimming device |
| CN107219828A (en) * | 2017-06-02 | 2017-09-29 | 深圳市正冠科技有限公司 | A kind of novel intelligent afforestation maintenance and management system |
| CN107988859A (en) * | 2016-08-30 | 2018-05-04 | 金跃祖 | A kind of automatic maintaining robot of rail integration |
| CN110881331A (en) * | 2019-11-15 | 2020-03-17 | 安徽任山云峰绿茶有限公司 | Spherical pruning equipment of shrub type tea tree |
| CN114303674A (en) * | 2021-12-31 | 2022-04-12 | 杭州万树生态工程有限公司 | Automatic over-and-under type gardens pruning equipment |
-
2014
- 2014-11-21 CN CN201410674175.0A patent/CN104584888A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107988859A (en) * | 2016-08-30 | 2018-05-04 | 金跃祖 | A kind of automatic maintaining robot of rail integration |
| CN107988859B (en) * | 2016-08-30 | 2019-06-25 | 海安交睿机器人科技有限公司 | A kind of automatic maintaining robot of rail integration |
| CN106613401A (en) * | 2016-12-02 | 2017-05-10 | 山东鼎创数控设备有限公司 | Holly ball trimming device |
| CN107219828A (en) * | 2017-06-02 | 2017-09-29 | 深圳市正冠科技有限公司 | A kind of novel intelligent afforestation maintenance and management system |
| CN110881331A (en) * | 2019-11-15 | 2020-03-17 | 安徽任山云峰绿茶有限公司 | Spherical pruning equipment of shrub type tea tree |
| CN110881331B (en) * | 2019-11-15 | 2021-11-09 | 安徽任山云峰绿茶有限公司 | Spherical pruning equipment of shrub type tea tree |
| CN114303674A (en) * | 2021-12-31 | 2022-04-12 | 杭州万树生态工程有限公司 | Automatic over-and-under type gardens pruning equipment |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20150506 |