CN105794503A - Rapid pruning robot for fast-growing forest and control method of robot - Google Patents
Rapid pruning robot for fast-growing forest and control method of robot Download PDFInfo
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- CN105794503A CN105794503A CN201610227941.8A CN201610227941A CN105794503A CN 105794503 A CN105794503 A CN 105794503A CN 201610227941 A CN201610227941 A CN 201610227941A CN 105794503 A CN105794503 A CN 105794503A
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- sawing
- electric pushrod
- clamping
- crawling
- saw
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
Abstract
The invention relates to a rapid pruning robot for a fast-growing forest.The rapid pruning robot comprises a clamping crawling device, a power transmission device, a saw head cutting device and a control system; the clamping crawling device comprises a main rack, crawling tire bearings, crawling tires, crawling tire shafts, crawling tire chain wheels, a lower support of an electric push rod and the like; the power transmission device comprises an engine support, an engine, a fuel tank and the like; the saw head cutting device comprises a pruning saw cantilever, a pruning saw guide barrel and the like; the control system comprises a power supply, an accelerator steering gear and the like; a mobile phone transmits a control signal to a single chip microcomputer; the single chip microcomputer sends a PWM signal to control the accelerator steering gear to act to control the power degree of the accelerator, the electric push rod is controlled to act through a switch quantity signal sent by the single chip microcomputer, and then clamping and separating of the clamping crawling device are achieved.According to the rapid pruning robot, a wireless communication module is adopted to receive the signals, the pruning height can reach 10 m or above, and the robot is suitable for performing pruning operation in the fast-growing forest.
Description
Technical field
The invention belongs to forestry machinery field, especially relate to a kind of fast-growing woods quickly pruning robot and control method thereof, the rapid spiral for fast growing tree climbs and simultaneously completes side shoot pruning work.
Technical background
The good characteristics such as fast-growing woods is the artificial forest that cycle of rotational cutting is short, and relatively big at commercial paper domain requirement, due to its fast-growing advantage, material is good, and the surrival rate of afforestation is high, thus have good economic worth.Reasonably prune and can promote the growth of trees, improve the toughness of the logical straight degree of trees, circularity, bending strength and timber, improve growing environment and the fire prevention in crop trees condition of forest, strengthen top photosynthesis.China's fast-growing woods cultivated area constantly expands, but the Pruning of fast-growing woods falls behind, there is the phenomenons such as the improper not even pruning of pruning method in a lot of areas, its main cause is that fast-growing forest zone pruning machine device is relatively backward, and existing trimmer exists that poor stability, labor intensity is big, pruning inefficiency, of poor quality, the height of pruning of pruning do not reach the problems such as requirement.
Pruning for fast-growing woods, poor stability that machinery exists, labor intensity is big, height of pruning does not reach the problems such as requirement, invent the fast-growing woods pruning maintaining robot that a kind of operability is good, automaticity is high, less costly, safety is good, to complete fast-growing woods pruning maintenance work, there is important impetus for fast-growing woods industry development.
Summary of the invention
The present invention is to solve that fast-growing woods side shoot prunes problem, it is provided that a kind of fast-growing woods quickly pruning robot and control method thereof, the automatization to realize fast growing tree quickly climbs and prunes work.
A kind of fast-growing woods is quickly pruned robot, including: clamping climbing device, actuating unit, saw head cutter sweep and control system.
Described clamping climbing device includes: support on bolt, electric pushrod, electric pushrod, spring, pin hole and pin on bolt, electric pushrod under mainframe, crawling wheel spring bearing, tire of creeping, wheel shaft of creeping, crawling wheel drive sprocket, electric pushrod lower support, frame guide hole one, frame guide hole two, clamping frame, clamping wheel shaft, clamping tire, electric pushrod.
Described mainframe is formed by upper rack beam, frame lower beam, frame side members one, frame side members two consolidation；Four described crawling wheel spring bearings are respectively symmetrically and are arranged on upper rack beam and frame lower beam both sides；Four described wheel shaft one end correspondences respectively of creeping are arranged on four crawling wheel spring bearings；Four described tires of creeping are separately mounted on the distal shaft socket end of four wheel shafts of creeping；Four described crawling wheel drive sprockets are separately mounted in the middle of four wheel shafts of creeping；Described electric pushrod lower support forms, with upper rack beam, the angle being not more than 45 degree, is fixed on mainframe；Described frame guide hole one, frame guide hole two are respectively distributed to electric pushrod lower support both sides；Described clamping frame is taken turns beam by pinch wheels, sliding guide one, sliding guide two form, and pinch wheels wheel beam two ends are fixed in frame guide hole one and frame guide hole two respectively by sliding guide one, sliding guide two；Two described clamping wheel shafts are respectively and fixedly connected with takes turns on beam in pinch wheels；The described pneumatic tire that clamping tire is two equal diameters, two clamping tires are separately mounted on two clamping wheel shafts, it is possible to rotate around clamping wheel shaft；Described sliding guide one, one end of sliding guide two are respectively and fixedly connected with and take turns beam two ends in pinch wheels, the other end of sliding guide one and sliding guide two is respectively equipped with multiple pin hole, sliding guide one, sliding guide two by pin hole respectively with frame guide hole one and frame guide hole two is movable is connected, set different link position by connecting different pin-and-hole, make two clamping tires and four crawling wheel thes form of the foetus become one to close clamping region；Described electric pushrod one end is bolted in electric pushrod lower support by under electric pushrod, and the electric pushrod other end is connected on electric pushrod by bolt on electric pushrod and supports；Described electric pushrod supports both sides and has two slide bar guide holes, electric pushrod supports both sides and is set on sliding guide one and sliding guide two by two slide bar guide holes；Electric pushrod supports both sides and is arranged above spring；Two described springs are set on sliding guide one and sliding guide two；Described pin is arranged in the pin hole on sliding guide one, sliding guide two, is used for fixing spring, it is prevented that spring slips.
Described actuating unit includes: engine support, electromotor, fuel tank, clutch, clutch output shaft, sawing power chain, reducer stent, decelerator, reducer output shaft, crawling device V belt translation assembly, crawling device Chain conveyer assembly, sawing power chain, sawing rotation system support, sawing drive bearing, sawing power transmission shaft, sawing driven sprocket, sawing driving chain, sawing universal joint, crawling device V belt translation assembly, crawling device Chain conveyer assembly.
Described engine support and reducer stent are fixed in described frame side members one and frame side members two respectively；Described electromotor is arranged on engine support；Described fuel tank is arranged on reducer stent；Described clutch is arranged on engine power output；Described decelerator is arranged on reducer stent；Decelerator input is connected with clutch by clutch output shaft, and decelerator outfan is connected with described crawling device V belt translation assembly by reducer output shaft, and imparts power to crawling device V belt translation assembly；Power is sent to crawling device Chain conveyer assembly by described crawling device V belt translation assembly；Power is sent to four crawling wheel drive sprockets by described crawling device Chain conveyer assembly；Described sawing power chain is fixed in the middle part of clutch output shaft；Described sawing driveline support is fixed on mainframe；Described sawing drive bearing is arranged on sawing driveline support；Described sawing power transmission shaft is arranged on sawing drive bearing, and the sawing power transmission shaft other end is provided with sawing driven sprocket；Described sawing driven sprocket is connected with sawing power chain by sawing driving chain, and obtains power from sawing power chain；Described sawing universal joint one end is arranged on the sawing power transmission shaft other end.
Described saw head cutter sweep includes trimming saw cantilever, trimming saw guide, trimming saw slide block, trimming saw spring, trimming saw position-limited wheel, trimming saw saw head and trimming saw power input shaft；
Described trimming saw cantilever is fixed on upper rack beam；Described trimming saw guide is fixed on trimming saw cantilever；Described trimming saw slide block is arranged on inside trimming saw guide；Described trimming saw spring one end is affixed with trimming saw guide, and one end is affixed with trimming saw slide block, for limiting the movement in trimming saw guide of the trimming saw slide block；Described trimming saw position-limited wheel is arranged on trimming saw slide block and can be freely rotatable；Described trimming saw saw head is arranged on trimming saw slide block, and trimming saw saw headband has trimming saw power input shaft；Described trimming saw power input shaft is connected with the sawing universal joint other end.
Described control system includes power supply, actuator, control box, Single Chip Microcomputer (SCM) system, wireless communication module, driving module and controls terminal.
Described power supply is arranged on mainframe, and described power supply preferentially selects 24V DC source；Described actuator includes throttle steering wheel, electric pushrod；Described throttle steering wheel is arranged on engine support, is connected with engine throttle, is used for changing throttle size；Described electric pushrod two ends are separately mounted on electric pushrod lower support and electric pushrod to support；Described control box is arranged on mainframe；Described Single Chip Microcomputer (SCM) system, wireless communication module, driving module are arranged in control box and connected by holding wire；Described wireless communication module can be bluetooth module, WIFI module or digital transmission module etc., and is connected with controlling terminal wireless；Described driving module is connected with actuator by holding wire, receives control signal and drives actuator action；Described control terminal can be with the smart mobile phone of wireless communication function, remote controller or computer etc.；Described control system by Single Chip Microcomputer (SCM) system as major control core, by receiving the wireless signal controlling terminal, drive throttle steering wheel, electric pushrod, relay etc. to perform device, it is achieved to clamping climbing device, actuating unit, saw head cutter sweep control.
A kind of fast-growing woods of the present invention is quickly pruned the control method of robot, and it is as follows that it controls process:
(1) being placed in by fast-growing woods quickly pruning robot and treat on pruning trees, opening power, fast-growing woods quickly pruning robot controls system initialization；
(2) using the clamping control signal that control terminal sends, wireless communication module receives control signal and transmits a signal to single-chip microcomputer, and then by single-chip microcomputer analytic signal and by driving module to control electric pushrod, complete machine realizes clamping the action of trunk；
(3) control terminal is used to send climbing signal, received by wireless communication module, wireless communication module receives control signal and transmits a signal to single-chip microcomputer, then by single-chip microcomputer analytic signal and by drive module control throttle steering wheel, complete machine realize climbing with sawing while action；
(4) fast-growing woods quickly pruning robot climbs after certain altitude, complete side shoot sawing work, what use control terminal sent loosens control signal, wireless communication module receives control signal and transmits a signal to single-chip microcomputer, then by single-chip microcomputer analytic signal and by driving module to control electric pushrod, complete machine realizes loosening the action of trunk, and complete machine slips down to trunk root gradually by action of gravity, close power supply, complete the side shoot pruning work of trees.
The invention has the beneficial effects as follows: 1, the control system of the pruning robot of climbing tree of present invention design, system controlling software can be arranged on the control terminal with wireless communication function directly machine is controlled, having higher transplantability, simple to operate, automaticity is high.2, the present invention adopts wireless communication module to receive signal, height of pruning up to more than ten meters, efficiency is high, safety height.3, the present invention adopts saw head slider mechanism that saw plate can be made to keep spacing with trunk, can guarantee that pruning tree stubble height.4, present configuration is simple, volume is little, manufacture that processing cost is low, be adapted at fast-growing woodland carries out pruning operation.
Accompanying drawing explanation
Fig. 1 is the top view of fast-growing woods quickly pruning robot clamping climbing device；
Fig. 2 is the front view of fast-growing woods quickly pruning robot clamping climbing device；
Fig. 3 is fast-growing woods quickly pruning robot Facad structure schematic diagram
Fig. 4 is fast-growing woods quickly pruning robot structure schematic diagram；
Fig. 5 is fast-growing woods quickly pruning robot saw head cutter sweep structure chart；
Fig. 6 is that fast-growing woods is quickly pruned the theory diagram of robot control system；
nullUpper rack beam 1、Frame lower beam 2、Frame side members 1、Frame side members 24、Crawling wheel spring bearing 5、Creep tire 6、Creep wheel shaft 7、Crawling wheel drive sprocket 8、Electric pushrod lower support 9、Frame guide hole 1、Frame guide hole 2 11、Pinch wheels wheel beam 12、Sliding guide 1、Sliding guide 2 14、Clamping wheel shaft 15、Clamping tire 16、Bolt 17 under electric pushrod、Bolt 18 on electric pushrod、Electric pushrod 19、Electric pushrod supports 20、Spring 21、Pin hole 22、Pin 23、Engine support 24、Electromotor 25、Fuel tank 26、Clutch 27、Clutch output shaft 28、Sawing power chain 29、Reducer stent 30、Decelerator 31、Reducer output shaft 32、Sawing rotation system support 33、Sawing drive bearing 34、Sawing power transmission shaft 35、Sawing driven sprocket 36、Sawing driving chain 37、Sawing universal joint 38、Trimming saw cantilever 39、Trimming saw guide 40、Trimming saw slide block 41、Trimming saw spring 42、Trimming saw position-limited wheel 43、Trimming saw saw 44、Trimming saw power input shaft 45、Power supply 46、Throttle steering wheel 47、Control box 48.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Fig. 1～5, the technical solution adopted in the present invention is: a kind of fast-growing woods is quickly pruned robot, including: clamping climbing device, actuating unit, saw head cutter sweep and control system.
Described clamping climbing device includes: mainframe, upper rack beam 1, frame lower beam 2, frame side members 1, frame side members 24, crawling wheel spring bearing 5, creep tire 6, creep wheel shaft 7, crawling wheel drive sprocket 8, electric pushrod lower support 9, frame guide hole 1, frame guide hole 2 11, clamping frame, pinch wheels wheel beam 12, sliding guide 1, sliding guide 2 14, clamping wheel shaft 15, clamping tire 16, bolt 17 under electric pushrod, bolt 18 on electric pushrod, electric pushrod 19, electric pushrod supports 20, spring 21, pin hole 22, pin 23.
Described mainframe is formed by upper rack beam 1, frame lower beam 2, frame side members 1, frame side members 24 consolidation, forms a tetragon frame and is used for fixing main parts size；Described crawling wheel spring bearing 5 includes four same bearings, is separately mounted to mainframe upper beam 1 and mainframe lower beam 2 both sides；Described wheel shaft 7 of creeping includes four same tire axles, and one end of four wheel shafts 7 of creeping is separately mounted on four crawling wheel spring bearings 5, it is possible to rotate around crawling wheel spring bearing 5；Described tire 6 of creeping includes four same pneumatic tires, is separately mounted on the distal shaft socket end of four wheel shafts 7 of creeping；Crawling wheel drive sprocket 8 includes four same sprocket wheels, is separately mounted in the middle of four wheel shafts 7 of creeping, and crawling wheel drive sprocket 8 is for receiving the power that power transmits with drive system；Described electric pushrod lower support 9 forms certain angle with upper rack beam 1 and is fixed on mainframe, in order to form climbing helical angle；Described frame guide hole 1, frame guide hole 2 11 are respectively distributed to electric pushrod lower support 9 both sides；Described clamping frame is made up of pinch wheels wheel beam 12, sliding guide 1, sliding guide 2 14；Described clamping wheel shaft 15 includes same two piece tire axle, is respectively and fixedly connected with and takes turns on beam 12 in pinch wheels；Described clamping tire 16 includes two same pneumatic tires, is separately mounted on two clamping wheel shafts 15, it is possible to rotate around clamping wheel shaft 15；Described sliding guide 1, one end of sliding guide 2 14 are respectively and fixedly connected with and take turns beam 12 two ends in pinch wheels, the other end of sliding guide 1 and sliding guide 2 14 has multiple pin hole 22, so that installing pin 23, sliding guide 1, sliding guide 2 14 have one end of pin hole 22 and are each passed through frame guide hole 1, frame guide hole 2 11, make two clamping tires 16 and four tires 6 of creeping form one and close clamping region, make to treat that pruning trees realize clamping through closing pinch zones；Described electric pushrod 19 one end is connected in electric pushrod lower support 9 by bolt 17 under electric pushrod, and electric pushrod 19 other end is connected on electric pushrod by bolt 18 on electric pushrod and supports on 20；Described electric pushrod supports 20 both sides and has two slide bar guide holes, and be set in by two slide bar guide holes on sliding guide 1 and sliding guide 2 14；Described spring 21 includes two same springs, be set in sliding guide 1 with on sliding guide 2 14, the pretightning force that spring 21 provides can realize tire jump the obstacles such as burl time need not frequently regulate electric pushrod 19；Described pin 23 includes two same pins, is separately mounted in the pin hole 22 on sliding guide 1, sliding guide 2 14, it is prevented that spring 21 slips.
Described actuating unit includes: engine support 24, electromotor 25, fuel tank 26, clutch 27, clutch output shaft 28, sawing power chain 29, reducer stent 30, decelerator 31, reducer output shaft 32, sawing driveline support 33, sawing drive bearing 34, sawing power transmission shaft 35, sawing driven sprocket 36, sawing driving chain 37, sawing universal joint 38, crawling device V belt translation assembly, crawling device Chain conveyer assembly
Described engine support 24 is fixed in the frame side members 1 of mainframe, frame side members 24；Described electromotor 25 is arranged on engine support 24；Described fuel tank 26 is arranged on reducer stent 30；Described clutch 27 is arranged on electromotor 25 clutch end；Described reducer stent 30 is arranged in the frame side members 1 of mainframe, frame side members 24；Described decelerator 31 is arranged on reducer stent 30, decelerator 31 input is connected with clutch 27 by clutch output shaft 28, decelerator 31 outfan is connected with described crawling device V belt translation assembly by reducer output shaft 32, and imparts power to crawling device V belt translation assembly；Power is sent to crawling device Chain conveyer assembly by described crawling device V belt translation assembly；Power is sent to four crawling wheel drive sprockets 8 by described crawling device Chain conveyer assembly, and then drives tire 6 of creeping to rotate；Described sawing power chain 29 is fixed in the middle part of clutch output shaft 28；Described sawing driveline support 33 is fixed on mainframe；Described sawing drive bearing 34 is arranged on sawing driveline support 33；Described sawing power transmission shaft 35 is arranged on sawing drive bearing 34, and one end is provided with sawing driven sprocket 36；Described sawing driven sprocket 36 is connected with sawing power chain 29 by sawing driving chain 37, and obtains power from sawing power chain 29；Described sawing universal joint 38 one end is arranged on sawing power transmission shaft 35 other end.
Saw head cutter sweep includes: trimming saw cantilever 39, trimming saw guide 40, trimming saw slide block 41, trimming saw spring 42, trimming saw position-limited wheel 43, trimming saw saw 44, trimming saw power input shaft 45.
Described trimming saw cantilever 39 is fixed on upper rack beam 1；Described trimming saw guide 40 is fixed on trimming saw cantilever 39, and it is internal that described trimming saw slide block 41 is arranged on trimming saw guide 40；Described trimming saw spring 42 one end is affixed with trimming saw guide 40, and one end is affixed with trimming saw slide block 41, for limiting the trimming saw slide block 41 movement in trimming saw guide 40；Described trimming saw position-limited wheel 43 is arranged on trimming saw slide block 41 and can be freely rotatable, and in pruning process, trim saw position-limited wheel 43 is close to trunk and then controls the pruning height for the stubble left；Described trimming saw saw 44 is arranged on trimming saw slide block 41, and trimming saw saw 44 is with trimming saw power input shaft 45；Described trimming saw power input shaft 45 is connected with sawing universal joint 38 other end.
Described control system includes power supply 46, actuator, control box 48, Single Chip Microcomputer (SCM) system, wireless communication module, driving module and controls terminal.
Described power supply 46 is arranged on mainframe, and described power supply 46 preferentially selects 24V DC source；Described actuator includes throttle steering wheel 47, electric pushrod 19；Described throttle steering wheel 47 is arranged on engine support 24, described control box 48 is arranged on mainframe, has three circumscription sockets to connect power outlet plug, throttle steering wheel 47 lead-out wire plug and electric pushrod 19 lead-out wire plug respectively outside described control box；Described wireless communication module can be bluetooth module, WIFI module, digital transmission module etc., it is possible to sets up wireless connections with controlling terminal；Described single-chip microcomputer, wireless communication module, driving module are arranged in control box and connected by electric control circuit；Control terminal of the present invention can adopt with the smart mobile phone of wireless communication function, remote controller or computer etc.；The present embodiment uses smart mobile phone to control terminal, can write mobile phone A PP software by existing software development technique, it is achieved the stroke of electric pushrod and the size of throttle steering wheel are controlled.Described mobile phone A PP software is arranged on smart mobile phone, wireless control signal is sent by smart mobile phone by human-computer interactive control APP software, this signal is received by wireless communication module and this control signal is passed to single-chip microcomputer, then single-chip microcomputer resolves this signal and by driving module drive electric pushrod 19 and throttle steering wheel 47 action, it is thus possible to realize the stroke of throttle size and electric pushrod 19 is accurately controlled.Described control terminal also can be selected for proportional and switching value passage remote controller, such as model airplane remote controllers more than two passages.
It is as follows that one fast-growing woods of the present invention quickly pruning robot controls process:
(1) being placed in by fast-growing woods quickly pruning robot and treat on pruning trees, opening power, fast-growing woods quickly pruning robot controls system initialization；
(2) using the clamping control signal that control terminal sends, wireless communication module receives control signal and transmits a signal to single-chip microcomputer, and then by single-chip microcomputer analytic signal and by driving module to control electric pushrod, complete machine realizes clamping the action of trunk；
(3) control terminal is used to send climbing signal, received by wireless communication module, wireless communication module receives control signal and transmits a signal to single-chip microcomputer, then by single-chip microcomputer analytic signal and by drive module control throttle steering wheel, complete machine realize climbing with sawing while action；
(4) fast-growing woods quickly pruning robot climbs after certain altitude, complete side shoot sawing work, what use control terminal sent loosens control signal, wireless communication module receives control signal and transmits a signal to single-chip microcomputer, then by single-chip microcomputer analytic signal and by driving module to control electric pushrod, complete machine realizes loosening the action of trunk, and complete machine slips down to trunk root gradually by action of gravity, close power supply, complete the side shoot pruning work of trees.
Side shoot method is pruned by a kind of fast-growing woods of the present invention quickly pruning robot:
Prepare erection stage: be transported to fast-growing woods trees after pruning robot part being dismounted and specify position, first mainframe is axially placed along trunk, laying of robot highly can be adjusted according to reality need, then in two the corresponding frame guide holes two sliding guides of clamping frame being inserted on mainframe, installing support 20, spring 21 and pin 23 on electric pushrod more successively, installation process is complete；
Creeping the pruning stage: be energized to controlling box 48, open the APP that mobile phone is corresponding, start electric pushrod 19 and make robot that trees tentatively to be clamped, start electromotor 25, complete machine enters duty trimming saw saw 44 simultaneously and runs up；Throttle size is controlled by mobile phone A PP according to practical situation; robot starts up corkscrew climb; crawling process can suitably regulate when trunk diameter diminishes mobile phone A PP make electric pushrod guarantee robot can clamp trunk, side shoot can be carried out surface trimming when rising to a certain degree trimming saw saw 44 after encountering trunk side shoot；
Fall the stage: the throttle of electromotor is put into holding state after having cut by side shoot, now robot stops climbing, controlling mobile phone A PP makes electric pushrod action realize the clamping and release of pruning robot and start down landing, and part dismounts robot, and pruning work completes.
Claims (5)
1. a fast-growing woods is quickly pruned robot, it is characterised in that including: clamping climbing device, actuating unit, saw head cutter sweep and control system；
Described clamping climbing device includes: support on bolt, electric pushrod, electric pushrod, spring, pin hole and pin on bolt, electric pushrod under mainframe, crawling wheel spring bearing, tire of creeping, wheel shaft of creeping, crawling wheel drive sprocket, electric pushrod lower support, frame guide hole one, frame guide hole two, clamping frame, clamping wheel shaft, clamping tire, electric pushrod；
Described mainframe is formed by upper rack beam, frame lower beam, frame side members one, frame side members two consolidation；Four described crawling wheel spring bearings are respectively symmetrically and are arranged on upper rack beam and frame lower beam both sides；Four described wheel shaft one end correspondences respectively of creeping are arranged on four crawling wheel spring bearings；Four described tires of creeping are separately mounted on the distal shaft socket end of four wheel shafts of creeping；Four described crawling wheel drive sprockets are separately mounted in the middle of four wheel shafts of creeping；Described electric pushrod lower support and upper rack beam are all fixed on mainframe；Described frame guide hole one, frame guide hole two are respectively distributed to electric pushrod lower support both sides；Described clamping frame is taken turns beam by pinch wheels, sliding guide one, sliding guide two form, and pinch wheels wheel beam two ends are fixed in frame guide hole one and frame guide hole two respectively by sliding guide one, sliding guide two；Two described clamping wheel shafts are respectively and fixedly connected with takes turns on beam in pinch wheels；The described pneumatic tire that clamping tire is two equal diameters, two clamping tires are separately mounted on two clamping wheel shafts, it is possible to rotate around clamping wheel shaft；Described sliding guide one, one end of sliding guide two are respectively and fixedly connected with and take turns beam two ends in pinch wheels, the other end of sliding guide one and sliding guide two is respectively equipped with multiple pin hole, sliding guide one, sliding guide two by pin hole respectively with frame guide hole one and frame guide hole two is movable is connected, set different link position by connecting different pin-and-hole, make two clamping tires and four crawling wheel thes form of the foetus become one to close clamping region；Described electric pushrod one end is bolted in electric pushrod lower support by under electric pushrod, and the electric pushrod other end is connected on electric pushrod by bolt on electric pushrod and supports；Described electric pushrod supports both sides and has two slide bar guide holes, electric pushrod supports both sides and is set on sliding guide one and sliding guide two by two slide bar guide holes；Electric pushrod supports both sides and is arranged above spring；Two described springs are set on sliding guide one and sliding guide two；Described pin is arranged in the pin hole on sliding guide one, sliding guide two, is used for fixing spring, it is prevented that spring slips；
Described actuating unit includes: engine support, electromotor, fuel tank, clutch, clutch output shaft, sawing power chain, reducer stent, decelerator, reducer output shaft, crawling device V belt translation assembly, crawling device Chain conveyer assembly, sawing power chain, sawing rotation system support, sawing drive bearing, sawing power transmission shaft, sawing driven sprocket, sawing driving chain, sawing universal joint, crawling device V belt translation assembly, crawling device Chain conveyer assembly；
Described engine support and reducer stent are fixed in described frame side members one and frame side members two respectively；Described electromotor is arranged on engine support；Described fuel tank is arranged on reducer stent；Described clutch is arranged on engine power output；Described decelerator is arranged on reducer stent；Decelerator input is connected with clutch by clutch output shaft, and decelerator outfan is connected with described crawling device V belt translation assembly by reducer output shaft, and imparts power to crawling device V belt translation assembly；Power is sent to crawling device Chain conveyer assembly by described crawling device V belt translation assembly；Power is sent to four crawling wheel drive sprockets by described crawling device Chain conveyer assembly；Described sawing power chain is fixed in the middle part of clutch output shaft；Described sawing driveline support is fixed on mainframe；Described sawing drive bearing is arranged on sawing driveline support；Described sawing power transmission shaft is arranged on sawing drive bearing, and the sawing power transmission shaft other end is provided with sawing driven sprocket；Described sawing driven sprocket is connected with sawing power chain by sawing driving chain, and obtains power from sawing power chain；Described sawing universal joint one end is arranged on the sawing power transmission shaft other end；
Described saw head cutter sweep includes trimming saw cantilever, trimming saw guide, trimming saw slide block, trimming saw spring, trimming saw position-limited wheel, trimming saw saw head and trimming saw power input shaft；
Described trimming saw cantilever is fixed on upper rack beam；Described trimming saw guide is fixed on trimming saw cantilever；Described trimming saw slide block is arranged on inside trimming saw guide；Described trimming saw spring one end is affixed with trimming saw guide, and one end is affixed with trimming saw slide block, for limiting the movement in trimming saw guide of the trimming saw slide block；Described trimming saw position-limited wheel is arranged on trimming saw slide block and can be freely rotatable；Described trimming saw saw head is arranged on trimming saw slide block, and trimming saw saw headband has trimming saw power input shaft；Described trimming saw power input shaft is connected with the sawing universal joint other end；
Described control system includes power supply, actuator, control box, Single Chip Microcomputer (SCM) system, wireless communication module, driving module and controls terminal；
Described power supply is arranged on mainframe；Described actuator includes throttle steering wheel, electric pushrod；Described throttle steering wheel is arranged on engine support, is connected with engine throttle, is used for changing throttle size；Described electric pushrod two ends are separately mounted on electric pushrod lower support and electric pushrod to support；Described control box is arranged on mainframe；Described Single Chip Microcomputer (SCM) system, wireless communication module, driving module are arranged in control box and connected by holding wire；Described wireless communication module is connected with controlling terminal wireless；Described driving module is connected with actuator by holding wire, receives control signal and drives actuator action；Described control terminal can be with the smart mobile phone of wireless communication function, remote controller or computer etc.；Described control system by Single Chip Microcomputer (SCM) system as major control core, by receiving the wireless signal controlling terminal, drive throttle steering wheel, electric pushrod, relay etc. to perform device, it is achieved to clamping climbing device, actuating unit, saw head cutter sweep control.
2. fast-growing woods as claimed in claim 1 a kind of is quickly pruned robot, it is characterised in that forms the angle being not more than 45 degree between described electric pushrod lower support and upper rack beam and is fixed on mainframe.
3. fast-growing woods as claimed in claim 1 a kind of is quickly pruned robot, it is characterised in that described wireless communication module is bluetooth module, WIFI module or digital transmission module.
4. fast-growing woods as claimed in claim 1 a kind of is quickly pruned robot, it is characterised in that described control terminal is with the smart mobile phone of wireless communication function, remote controller or computer.
5. a kind of fast-growing woods as claimed in claim 1 is quickly pruned the control method of robot, it is characterised in that it is as follows that it controls process:
1) being placed in by fast-growing woods quickly pruning robot and treat on pruning trees, opening power, fast-growing woods quickly pruning robot controls system initialization；
2) using the clamping control signal that control terminal sends, wireless communication module receives control signal and transmits a signal to single-chip microcomputer, and then by single-chip microcomputer analytic signal and by driving module to control electric pushrod, complete machine realizes clamping the action of trunk；
3) control terminal is used to send climbing signal, received by wireless communication module, wireless communication module receives control signal and transmits a signal to single-chip microcomputer, then by single-chip microcomputer analytic signal and by drive module control throttle steering wheel, complete machine realize climbing with sawing while action；
4) fast-growing woods quickly pruning robot climbs after certain altitude, complete side shoot sawing work, what use control terminal sent loosens control signal, wireless communication module receives control signal and transmits a signal to single-chip microcomputer, then by single-chip microcomputer analytic signal and by driving module to control electric pushrod, complete machine realizes loosening the action of trunk, and complete machine slips down to trunk root gradually by action of gravity, close power supply, complete the side shoot pruning work of trees.
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| CN201610227941.8A CN105794503B (en) | 2016-04-13 | 2016-04-13 | A kind of fast-growing woods quickly pruning robot and its control method |
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| CN106249670A (en) * | 2016-10-11 | 2016-12-21 | 山东农业大学 | A kind of control method of pruning robot AUTONOMOUS TASK of climbing tree |
| CN107852995A (en) * | 2017-11-03 | 2018-03-30 | 广西大学 | The eucalyptus pruner that a kind of automatic upper tree is pruned |
| CN108738811A (en) * | 2018-06-21 | 2018-11-06 | 河南林业职业学院 | A kind of robot of controllable track climbs tree pruning method |
| CN108849008A (en) * | 2018-06-14 | 2018-11-23 | 安徽工程大学 | A kind of trimming plant side shoot device |
| CN109089600A (en) * | 2018-09-17 | 2018-12-28 | 南京林业大学 | A kind of pruning high-altitude branches robot driven using unmanned plane |
| CN109275443A (en) * | 2018-11-01 | 2019-01-29 | 广州供电局有限公司 | Beta pruning robot |
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