CN105794503B - A kind of fast-growing woods quickly pruning robot and its control method - Google Patents
A kind of fast-growing woods quickly pruning robot and its control method Download PDFInfo
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- CN105794503B CN105794503B CN201610227941.8A CN201610227941A CN105794503B CN 105794503 B CN105794503 B CN 105794503B CN 201610227941 A CN201610227941 A CN 201610227941A CN 105794503 B CN105794503 B CN 105794503B
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- sawing
- electric pushrod
- wheel
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- 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
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- Forests & Forestry (AREA)
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Harvester Elements (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
It quickly prunes robot the present invention relates to a kind of fast-growing woods, comprising: clamping climbing device, actuating unit, saw head cutter device and control system；Clamping climbing device includes support etc. under mainframe, tire bearing of creeping, tire of creeping, tire axis of creeping, creep tire chain wheel and electric pushrod；Actuating unit includes engine support, engine and fuel tank etc.；Sawing head cutter device includes trimming saw cantilever and trimming saw guide tube etc.；Control system includes power supply and throttle steering engine etc.；Mobile phone sends single-chip microcontroller to for signal is controlled；Single-chip microcontroller issue pwm signal control throttle steering engine movement, and then control throttle size, single-chip microcontroller issue on-off model control electric pushrod movement, and then realize clamping climbing device clamping with separate；The present invention receives signal using wireless communication module, and height of pruning is suitble to carry out pruning operation in fast-growing woodland up to ten meters or more.
Description
Technical field
The invention belongs to forestry machinery field, more particularly, to a kind of fast-growing woods quickly pruning robot and its controlling party
Method, the rapid spiral for fast growing tree climb and are completed at the same time side shoot trimming work.
Technical background
Fast-growing woods is the short artificial forest of cycle of rotational cutting, larger in commercial paper domain requirement, due to its fast-growing advantage, material
It is good, the good characteristics such as surrival rate of afforestation height, thus have good economic value.Reasonable prune can promote the growth of trees,
The toughness for improving the logical straight degree of trees, circularity, bending strength and timber, improves the growing environment and fire prevention in crop trees condition of forest,
Enhance top photosynthesis.China's fast-growing woods cultivated area constantly expands, but the Pruning of fast-growing woods falls behind, and many areas are deposited
It is improper or even phenomena such as do not prune in pruning method, the main reason is that fast-growing forest zone pruning machine device relatively falls behind, it is existing
Trimmer there are safeties poor, large labor intensity, pruning inefficiency, pruning is of poor quality, height of pruning does not reach requirement etc. asks
Topic.
Not the problems such as poor, large labor intensity, height of pruning do not reach requirement for safety existing for fast-growing woods pruning machinery,
Invent that a kind of operability is good, high degree of automation, cost is relatively low, the fast-growing woods pruning maintaining robot of good security,
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 provides a kind of fast-growing woods quickly pruning robot and its control to solve the problems, such as that fast-growing woods side shoot is trimmed
Method processed, to realize that the automation of fast growing tree is quickly climbed and pruning work.
A kind of fast-growing woods is quickly pruned robot, comprising: clamping climbing device, actuating unit, saw head cutter device
And control system.
The clamping climbing device includes: mainframe, wheel support bearing of creeping, tire of creeping, wheel shaft of creeping, crawling wheel
Support under drive sprocket, electric pushrod, rack guide hole one, rack guide hole two clamp rack, clamp wheel shaft, clamp tire, is electronic
Bolt under push rod, bolt on electric pushrod, electric pushrod, support, spring, pin hole and pin on electric pushrod.
The mainframe is consolidated by upper rack beam, frame lower beam, frame side members one, frame side members two；Four
A wheel support bearing of creeping respectively symmetrically is mounted on the rack portion's beam and frame lower beam two sides；It creeps described in four
Wheel shaft one end, which respectively corresponds, to be mounted on four and creeps on wheel support bearing；Tire of creeping described in four is separately mounted to four and climbs
On the distal shaft socket end of row wheel shaft；Crawling wheel drive sprocket described in four is separately mounted among four wheel shafts of creeping；Described
It is supported under electric pushrod and forms the angle for being not more than 45 degree with upper rack beam, be fixed on mainframe；The rack guide hole
One, rack guide hole two is respectively distributed to support two sides under electric pushrod；The clamping rack is by pinch wheels wheel beam, sliding guide
One, sliding guide two forms, and pinch wheels wheel beam both ends are fixed in one and of rack guide hole by sliding guide one, sliding guide two respectively
Rack guide hole two；Clamping wheel shaft described in two is respectively and fixedly connected on pinch wheels wheel beam；The clamping tire is two diameters
Equal pneumatic tire, two clamping tires are separately mounted on two clamping wheel shafts, and can be rotated around wheel shaft is clamped；It is described
Sliding guide one, sliding guide two one end be respectively and fixedly connected in pinch wheels wheel beam both ends, sliding guide one and sliding guide two
The other end be respectively equipped with multiple pin holes, sliding guide one, sliding guide two by pin hole respectively with rack guide hole one and
The movable connection of rack guide hole two sets different link positions by connecting different pin holes, climbs two clamping tires with four
Row tire forms a closing clamping region；Described electric pushrod one end, which passes through, is bolted to electric pushrod under electric pushrod
In lower support, the electric pushrod other end is by being bolted on electric pushrod on electric pushrod in support；It is described electronic to push away
Two sides are supported to open there are two slide bar guide hole on bar, support two sides are set in sliding by two slide bar guide holes on electric pushrod
On guide rod one and sliding guide two；Support two upper sides that spring is installed on electric pushrod；Spring described in two is set with
On sliding guide one and sliding guide two；The pin is mounted on sliding guide one, in the pin hole on sliding guide two,
For fixed spring, prevent spring from slipping.
The actuating unit includes: engine support, engine, fuel tank, clutch, clutch output shaft, saw
It is total to cut power chain, reducer stent, retarder, reducer output shaft, crawling device V belt translation assembly, crawling device chain conveyer
At, sawing power chain, sawing rotation system bracket, sawing drive bearing, sawing transmission shaft, sawing driven sprocket, sawing pass
Dynamic chain, sawing universal joint, crawling device V belt translation assembly, crawling device chain conveyer assembly.
The engine support and reducer stent is respectively and fixedly connected to the frame side members one and frame side members two
On；The engine is mounted on engine support；The fuel tank is mounted on reducer stent；The clutch peace
Mounted in engine power output；The retarder is mounted on reducer stent；Retarder input terminal is defeated by clutch
Shaft is connected with clutch, and retarder output end is connected by reducer output shaft with the crawling device V belt translation assembly,
And impart power to crawling device V belt translation assembly；The crawling device V belt translation assembly sends power to crawling device
Chain conveyer assembly；The crawling device chain conveyer assembly sends power to four crawling wheel drive sprockets；The sawing is dynamic
Riding chain wheel is fixed in the middle part of clutch output shaft；The sawing rotation system bracket is fixed on mainframe；The sawing
Drive bearing is mounted on sawing rotation system bracket；The sawing transmission shaft is mounted on sawing drive bearing, and sawing passes
The moving axis other end is equipped with sawing driven sprocket；The sawing driven sprocket passes through sawing driving chain and sawing power chain
It is connected, and obtains power from sawing power chain；Sawing universal joint one end is mounted on the sawing transmission shaft other end.
The saw head cutter device includes trimming saw cantilever, trimming saw guide tube, trimming saw sliding block, trimming saw spring, cuts
Branch saw position-limited wheel, trimming saw saw head and trimming saw power input shaft；
The trimming saw cantilever is fixed on upper rack beam；The trimming saw guide tube is fixed in trimming saw cantilever
On；The trimming saw sliding block is mounted on inside trimming saw guide tube；The trimming saw spring one end and trimming saw guide tube is affixed,
One end and trimming saw sliding block are affixed, for limiting movement of the trimming saw sliding block in trimming saw guide tube；The trimming saw limit
Wheel is mounted on trimming saw sliding block and can be freely rotated；The trimming saw saw head is mounted on trimming saw sliding block, trimming saw
Saw headband has trimming saw power input shaft；The trimming saw power input shaft is connected with the sawing universal joint other end.
The control system includes power supply, executing agency, control box, SCM system, wireless communication module, driving mould
Block and controlling terminal.
The power supply is mounted on mainframe, and the power supply preferentially selects 24V DC power supply；Executing agency's packet
Include throttle steering engine, electric pushrod；The throttle steering engine is mounted on engine support, is connected with engine throttle, is used for
Change throttle size；The electric pushrod both ends are separately mounted to support on support and electric pushrod under electric pushrod；Institute
The control box stated is mounted on mainframe；The SCM system, wireless communication module, drive module are mounted in control box
And it is connected by signal wire；The wireless communication module can be bluetooth module, WIFI module or digital transmission module etc., and with control
Terminal wireless connection processed；The drive module is connected by signal wire with executing agency, is received control signal and is driven execution machine
Structure movement；The controlling terminal can be smart phone, remote controler or computer with wireless communication function etc.；The control
System by SCM system as main control core, it is driving throttle steering engine, electronic by receiving the wireless signal of controlling terminal
The executive devices such as push rod, relay are realized to clamping climbing device, actuating unit, the control for sawing head cutter device.
A kind of control method of the quick pruning robot of fast-growing woods of the present invention, control process are as follows:
(1) by fast-growing woods, quickly pruning robot is placed in open power supply, the quick pruner of fast-growing woods on pruning trees
The initialization of device people's control system；
(2) clamping control signal issued using controlling terminal, wireless communication module are received control signal and by signals
It is transferred to single-chip microcontroller, then controls electric pushrod by single-chip microcontroller analytic signal and by drive module, complete machine, which is realized, clamps trunk
Movement；
(3) climbing signal is issued using controlling terminal, is received by wireless communication module, wireless communication module receives control
Signal simultaneously transmits a signal to single-chip microcontroller, then controls throttle steering engine, complete machine by single-chip microcontroller analytic signal and by drive module
It is acted while climbing is realized with sawing；
(4) quickly pruning robot climbs to after certain altitude fast-growing woods, completes side shoot sawing work, uses controlling terminal
What is issued loosens control signal, and wireless communication module receives control signal and transmits a signal to single-chip microcontroller, then by monolithic
Machine analytic signal simultaneously controls electric pushrod by drive module, and complete machine, which is realized, loosens the movement of trunk, complete machine by gravity by
Trunk root is gradually slipped down to, power supply is closed, completes the side shoot trimming work of a trees.
The beneficial effects of the present invention are: the control system of robot of pruning of climbing tree that the 1, present invention designs, it can be by system control
Software installation processed directly controls machine in the controlling terminal with wireless communication function, there is higher transplantability, operation
Simply, high degree of automation.2, the present invention using using wireless communication module receive signal, height of pruning up to ten meters or more,
It is high-efficient, highly-safe.3, the present invention can make saw plate and trunk keep spacing using saw head slider mechanism, can guarantee pruning tree stubble
Highly.4, the configuration of the present invention is simple, it is small in size, manufacture processing cost it is low, be suitble to carry out pruning operation in fast-growing woodland.
Detailed description of the invention
Fig. 1 is the top view of the quick pruning robot clamping climbing device of fast-growing woods；
Fig. 2 is the front view of the quick pruning robot clamping climbing device of fast-growing woods；
Fig. 3 is fast-growing woods quickly pruning robot positive structure schematic
Fig. 4 is fast-growing woods quickly pruning robot structure schematic diagram；
Fig. 5 is that quickly head cutter device structure chart is sawed to fast-growing woods by pruning robot；
Fig. 6 is the functional block diagram of the quick pruning robot control system of fast-growing woods；
Upper rack beam 1, frame side members 1, frame side members 24, wheel support bearing 5 of creeping, is creeped at frame lower beam 2
Support 9, rack guide hole 1, rack guide hole 2 11, folder under tire 6, wheel shaft 7 of creeping, crawling wheel drive sprocket 8, electric pushrod
Bearing up pulley wheel beam 12, sliding guide 1, sliding guide 2 14, clamp wheel shaft 15, clamp tire 16, bolt 17 under electric pushrod,
Bolt 18 on electric pushrod, electric pushrod 19 support 20, spring 21, pin hole 22, pin 23, engine branch on electric pushrod
Frame 24, fuel tank 26, clutch 27, clutch output shaft 28, sawing power chain 29, reducer stent 30, slows down at engine 25
Device 31, reducer output shaft 32, sawing rotation system bracket 33, sawing drive bearing 34, sawing transmission shaft 35, sawing driven chain
Take turns 36, sawing driving chain 37, sawing universal joint 38, trimming saw cantilever 39, trimming saw guide tube 40, trimming saw sliding block 41, beta pruning
Saw spring 42, trimming saw position-limited wheel 43, trimming saw saw head 44, trimming saw power input shaft 45, power supply 46, throttle steering engine 47, control
Box 48 processed.
Specific embodiment:
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Fig. 1~5, the technical scheme adopted by the invention is that: a kind of fast-growing woods is quickly pruned robot, comprising:
Clamping climbing device, actuating unit, saw head cutter device and control system.
The clamping climbing device includes: mainframe, upper rack beam 1, frame lower beam 2, frame side members 1, machine
It is supported under frame curb girder 24, wheel support bearing 5 of creeping, tire 6 of creeping, wheel shaft 7 of creeping, crawling wheel drive sprocket 8, electric pushrod
9, rack guide hole 1, rack guide hole 2 11, clamp rack, pinch wheels wheel beam 12, sliding guide 1, sliding guide 2 14,
Clamp wheel shaft 15, clamp tire 16, bolt 17 under electric pushrod, bolt 18 on electric pushrod, electric pushrod 19, on electric pushrod
Support 20, spring 21, pin hole 22, pin 23.
The mainframe by upper rack beam 1, frame lower beam 2, frame side members 1, frame side members 24 consolidation and
At forming a quadrangle rack for fixing main parts size；The wheel support bearing 5 of creeping includes four same axis
It holds, be separately mounted to 2 two sides of mainframe upper beam 1 and mainframe lower beam；The wheel shaft 7 of creeping includes four same wheels
Tire axis, one end of four wheel shafts 7 of creeping are separately mounted to four and creep on wheel support bearing 5, and can be around crawling wheel support shaft
Hold 5 rotations；The tire 6 of creeping includes four same pneumatic tires, and the distal shaft for being separately mounted to four wheel shafts 7 of creeping is held
On end；Crawling wheel drive sprocket 8 includes four same sprocket wheels, is separately mounted among four wheel shafts 7 of creeping, wheel drive of creeping
Sprocket wheel 8 is used to receive the power of power and transmission system transmission；Support 9 and the formation of upper rack beam 1 under the electric pushrod
Certain angle is fixed on mainframe, in order to form climbing helical angle；The rack guide hole 1,2 11 points of rack guide hole
It is not distributed under electric pushrod and supports 9 two sides；The clamping rack is led by pinch wheels wheel beam 12, sliding guide 1, sliding
Bar 2 14 forms；The clamping wheel shaft 15 includes same two tire axis, is respectively and fixedly connected on pinch wheels wheel beam 12；It is described
Clamping tire 16 include two same pneumatic tires, be separately mounted on two clamping wheel shafts 15, and can be around pinch wheels
Axis 15 rotates；One end of the sliding guide 1, sliding guide 2 14 is respectively and fixedly connected in 12 both ends of pinch wheels wheel beam, sliding
The other end of guide rod 1 and sliding guide 2 14 has multiple pin holes 22, in order to install pin 23, sliding guide
One 13, one end that sliding guide 2 14 is provided with pin hole 22 is each passed through rack guide hole 1, rack guide hole 2 11, makes two folders
Bearing up pulley tire 16 and four tires 6 of creeping form a closing clamping region, so that trees to be pruned is passed through closing pinch zones and realize folder
Tightly；Described 19 one end of electric pushrod passes through bolt 17 under electric pushrod and is connected to support upper 9, electric pushrod 19 under electric pushrod
The other end is connected on electric pushrod in support 20 by bolt 18 on electric pushrod；20 two sides are supported on the electric pushrod
Slide bar guide hole there are two opening, and be set on sliding guide 1 and sliding guide 2 14 by two slide bar guide holes；Institute
The spring 21 stated includes two same springs, is set on sliding guide 1 and sliding guide 2 14, spring 21 mentions
The pretightning force of confession may be implemented tire jump the obstacles such as burl when need not frequently adjust electric pushrod 19；The pin 23 includes
Two same pins are separately mounted to sliding guide 1, in the pin hole 22 on sliding guide 2 14, prevent spring 21 sliding
It is de-.
The actuating unit includes: that engine support 24, engine 25, fuel tank 26, clutch 27, clutch are defeated
Shaft 28, sawing power chain 29, reducer stent 30, retarder 31, reducer output shaft 32, sawing rotation system bracket
33, sawing drive bearing 34, sawing transmission shaft 35, sawing driven sprocket 36, sawing driving chain 37, sawing universal joint 38, climb
Luggage sets V belt translation assembly, crawling device chain conveyer assembly
The engine support 24 is fixed in the frame side members 1 of mainframe, in frame side members 24；Described starts
Machine 25 is mounted on engine support 24；The fuel tank 26 is mounted on reducer stent 30；The clutch 27 is installed
In 25 power output end of engine；The reducer stent 30 is mounted on the frame side members 1 of mainframe, frame side members 24
On；The retarder 31 is mounted on reducer stent 30, and 31 input terminal of retarder passes through clutch output shaft 28 and clutch
Device 27 is connected, and 31 output end of retarder is connected by reducer output shaft 32 with the crawling device V belt translation assembly, and will
Power passes to crawling device V belt translation assembly；The crawling device V belt translation assembly sends power to crawling device chain and passes
Dynamic assembly；The crawling device chain conveyer assembly sends power to four crawling wheel drive sprockets 8, and then drives crawling wheel
Tire 6 rotates；The sawing power chain 29 is fixed in 28 middle part of clutch output shaft；The sawing rotation system bracket 33
It is fixed on mainframe；The sawing drive bearing 34 is mounted on sawing rotation system bracket 33；The sawing transmission
Axis 35 is mounted on sawing drive bearing 34, and one end is equipped with sawing driven sprocket 36；The sawing driven sprocket 36 passes through
Sawing driving chain 37 is connected with sawing power chain 29, and obtains power from sawing power chain 29；The sawing is universal
It saves 38 one end and is mounted on 35 other end of sawing transmission shaft.
Saw head cutter device include: trimming saw cantilever 39, trimming saw guide tube 40, trimming saw sliding block 41, trimming saw spring 42,
Trimming saw position-limited wheel 43, trimming saw saw head 44, trimming saw power input shaft 45.
The trimming saw cantilever 39 is fixed on upper rack beam 1；The trimming saw guide tube 40 is fixed in trimming saw
On cantilever 39, the trimming saw sliding block 41 is mounted on inside trimming saw guide tube 40；Described 42 one end of trimming saw spring with cut
Branch saw guide tube 40 is affixed, and one end and trimming saw sliding block 41 are affixed, for limiting trimming saw sliding block 41 in trimming saw guide tube 40
It is mobile；The trimming saw position-limited wheel 43 is mounted on trimming saw sliding block 41 and can be freely rotated, trim saw during pruning
Position-limited wheel 43 is close to trunk and then controls the pruning height for the stubble left；The trimming saw saw head 44 is mounted on trimming saw sliding block 41,
Trimming saw saws head 44 and has trimming saw power input shaft 45；The trimming saw power input shaft 45 and sawing universal joint 38 is another
End is connected.
The control system includes power supply 46, executing agency, control box 48, SCM system, wireless communication module, drive
Dynamic model block and controlling terminal.
The power supply 46 is mounted on mainframe, and the power supply 46 preferentially selects 24V DC power supply；The execution
Mechanism includes throttle steering engine 47, electric pushrod 19；The throttle steering engine 47 is mounted on engine support 24, the control
Box 48 is mounted on mainframe, is separately connected power outlet plug, throttle there are three circumscription socket on the outside of the control box
19 lead-out wire plug of 47 lead-out wire plug of steering engine and electric pushrod；The wireless communication module can be bluetooth module, WIFI
Module, digital transmission module etc. can be established with controlling terminal and be wirelessly connected；The single-chip microcontroller, wireless communication module, drive module
It is mounted in control box and is connected by electric control circuit；Controlling terminal of the present invention can be using with wireless telecommunications
Smart phone, remote controler or computer of function etc.；The present embodiment passes through existing software so that controlling terminal is using smart phone as an example
Development technique can write cell phone application software, and realization controls the stroke of electric pushrod and the size of throttle steering engine.Institute
The cell phone application software installation stated issues wireless controlled by smart phone on smart phone, through human-computer interactive control APP software
Signal processed, the signal are received by wireless communication module and the control signal are passed to single-chip microcontroller, and then single-chip microcontroller parses the letter
Number and drive electric pushrod 19 and throttle steering engine 47 to act by drive module, to be able to achieve to throttle size and electric pushrod
19 stroke is accurately controlled.The controlling terminal also can be selected with proportional and switching value channel remote controler, such as
Model airplane remote controllers more than two channels.
Quickly pruning robot control process is as follows for a kind of fast-growing woods of the present invention:
(1) by fast-growing woods, quickly pruning robot is placed in open power supply, the quick pruner of fast-growing woods on pruning trees
The initialization of device people's control system；
(2) clamping control signal issued using controlling terminal, wireless communication module are received control signal and by signals
It is transferred to single-chip microcontroller, then controls electric pushrod by single-chip microcontroller analytic signal and by drive module, complete machine, which is realized, clamps trunk
Movement；
(3) climbing signal is issued using controlling terminal, is received by wireless communication module, wireless communication module receives control
Signal simultaneously transmits a signal to single-chip microcontroller, then controls throttle steering engine, complete machine by single-chip microcontroller analytic signal and by drive module
It is acted while climbing is realized with sawing；
(4) quickly pruning robot climbs to after certain altitude fast-growing woods, completes side shoot sawing work, uses controlling terminal
What is issued loosens control signal, and wireless communication module receives control signal and transmits a signal to single-chip microcontroller, then by monolithic
Machine analytic signal simultaneously controls electric pushrod by drive module, and complete machine, which is realized, loosens the movement of trunk, complete machine by gravity by
Trunk root is gradually slipped down to, power supply is closed, completes the side shoot trimming work of a trees.
Quickly side shoot method is trimmed to a kind of fast-growing woods of the invention by pruning robot:
Prepare erection stage: fast-growing woods trees designated position will be transported to after the dismounting of pruning robot part, first by host
Frame is axially placed along trunk, and the placement height of robot can be adjusted according to reality needs, then will clamp rack
In two corresponding rack guide holes that two sliding guides are inserted on mainframe, then successively install electric pushrod on support 20,
Spring 21 and pin 23, installation process finishes；
It creeps the pruning stage: being powered to control box 48, open the corresponding APP of mobile phone, starting electric pushrod 19 makes machine
Device people tentatively clamps trees, starts engine 25, complete machine enters working condition, and trimming saw saw head 44 runs at high speed simultaneously；
Throttle size is controlled by cell phone application according to the actual situation, robot starts up corkscrew climb, works as trunk in crawling process
Diameter, which can suitably adjust cell phone application when becoming smaller, enables electric pushrod to ensure that robot clamps trunk, cuts to a certain extent when rising
Branch saw saw head 44 can carry out automatic cutting to side shoot after encountering trunk side shoot；
The whereabouts completion stage: the throttle of engine is put into standby mode after the completion of side shoot cutting, robot stops at this time
Climbing, control cell phone application make electric pushrod movement realize the clamping and release of pruning robot and start to slide down, part changer
Device people, pruning work are completed.
Claims (5)
- The robot 1. a kind of fast-growing woods is quickly pruned, characterized by comprising: clamping climbing device, actuating unit, saw head Cutter device and control system；The clamping climbing device includes: mainframe, wheel support bearing of creeping, tire of creeping, wheel shaft of creeping, wheel drive of creeping Support, rack guide hole one, rack guide hole two, clamping rack, clamping wheel shaft, clamping tire, electric pushrod under sprocket wheel, electric pushrod Bolt on lower bolt, electric pushrod, electric pushrod, support, spring, pin hole and pin on electric pushrod；The mainframe is consolidated by upper rack beam, frame lower beam, frame side members one, frame side members two；Four institutes The wheel support bearing of creeping stated respectively symmetrically is mounted on the rack portion's beam and frame lower beam two sides；It creeps described in four wheel shaft One end, which respectively corresponds, to be mounted on four and creeps on wheel support bearing；Tire of creeping described in four is separately mounted to four crawling wheels On the distal shaft socket end of axis；Crawling wheel drive sprocket described in four is separately mounted among four wheel shafts of creeping；Described is electronic Support is fixed on mainframe with upper rack beam under push rod；The rack guide hole one, rack guide hole two are respectively distributed to Two sides are supported under electric pushrod；The clamping rack is made of pinch wheels wheel beam, sliding guide one, sliding guide two, is clamped Wheel wheel beam both ends are fixed in rack guide hole one and rack guide hole two by sliding guide one, sliding guide two respectively；Described in two Wheel shaft is clamped to be respectively and fixedly connected on pinch wheels wheel beam；The tire that clamps is the equal pneumatic tire of two diameters, two folders Bearing up pulley tire is separately mounted on two clamping wheel shafts, and can be rotated around wheel shaft is clamped；The sliding guide one, sliding guide Two one end is respectively and fixedly connected in pinch wheels wheel beam both ends, and the other end of sliding guide one and sliding guide two is respectively equipped with multiple pins Nail hole, sliding guide one, sliding guide two, respectively with rack guide hole one and the movable connection of rack guide hole two, are led to by pin hole It crosses and connects different pin holes and set different link positions, clamp two clamping tires and four crawling wheel thes form of the foetus at a closing Region；Described electric pushrod one end, which passes through, to be bolted under electric pushrod in support under electric pushrod, and electric pushrod is another End is by being bolted on electric pushrod on electric pushrod in support；Supporting two sides to open on the electric pushrod, there are two sliding Bar guide hole, support two sides are set on sliding guide one and sliding guide two by two slide bar guide holes on electric pushrod； Support two upper sides that spring is installed on electric pushrod；Spring described in two is set in sliding guide one and sliding guide On two；The pin is mounted on sliding guide one, in the pin hole on sliding guide two, is used for fixed spring, prevents spring It slips；The actuating unit includes: that engine support, engine, fuel tank, clutch, clutch output shaft, sawing are dynamic Riding chain wheel, reducer stent, retarder, reducer output shaft, crawling device V belt translation assembly, crawling device chain conveyer assembly, Sawing rotation system bracket, sawing drive bearing, sawing transmission shaft, sawing driven sprocket, sawing driving chain, sawing are universal Section, crawling device V belt translation assembly, crawling device chain conveyer assembly；The engine support and reducer stent is respectively and fixedly connected in the frame side members one and frame side members two；Institute The engine stated is mounted on engine support；The fuel tank is mounted on reducer stent；The clutch is mounted on Engine power output；The retarder is mounted on reducer stent；Retarder input terminal passes through clutch output shaft It is connected with clutch, retarder output end is connected by reducer output shaft with the crawling device V belt translation assembly, and will Power passes to crawling device V belt translation assembly；The crawling device V belt translation assembly sends power to crawling device chain and passes Dynamic assembly；The crawling device chain conveyer assembly sends power to four crawling wheel drive sprockets；The sawing power transmission chain Wheel is fixed in the middle part of clutch output shaft；The sawing rotation system bracket is fixed on mainframe；The sawing transmission Bearing is mounted on sawing rotation system bracket；The sawing transmission shaft is mounted on sawing drive bearing, sawing transmission shaft The other end is equipped with sawing driven sprocket；The sawing driven sprocket passes through sawing driving chain and sawing power chain phase Even, and power is obtained from sawing power chain；Sawing universal joint one end is mounted on the sawing transmission shaft other end；The saw head cutter device includes trimming saw cantilever, trimming saw guide tube, trimming saw sliding block, trimming saw spring, trimming saw Position-limited wheel, trimming saw saw head and trimming saw power input shaft；The trimming saw cantilever is fixed on upper rack beam；The trimming saw guide tube is fixed on trimming saw cantilever；Institute The trimming saw sliding block stated is mounted on inside trimming saw guide tube；The trimming saw spring one end and trimming saw guide tube is affixed, one end It is affixed with trimming saw sliding block, for limiting movement of the trimming saw sliding block in trimming saw guide tube；The trimming saw position-limited wheel peace On trimming saw sliding block and it can be freely rotated；The trimming saw saw head is mounted on trimming saw sliding block, and trimming saw saws head With trimming saw power input shaft；The trimming saw power input shaft is connected with the sawing universal joint other end；The control system include power supply, executing agency, control box, SCM system, wireless communication module, drive module and Controlling terminal；The power supply is mounted on mainframe；The executing agency includes throttle steering engine, electric pushrod；The throttle rudder Machine is mounted on engine support, is connected with engine throttle, for changing throttle size；The electric pushrod both ends point It is not mounted under electric pushrod and is supported on support and electric pushrod；The control box is mounted on mainframe；The list Piece machine system, wireless communication module, drive module are mounted in control box and are connected by signal wire；The wireless telecommunications mould Block and controlling terminal are wirelessly connected；The drive module is connected by signal wire with executing agency, is received control signal and is driven Executing agency's movement；The controlling terminal is smart phone, remote controler or computer with wireless communication function；The control System by SCM system as main control core, it is driving throttle steering engine, electronic by receiving the wireless signal of controlling terminal Push rod, relay are realized to clamping climbing device, actuating unit, the control for sawing head cutter device.
- The robot 2. a kind of fast-growing woods as described in claim 1 is quickly pruned, it is characterised in that propped up under the electric pushrod The angle no more than 45 degree is formed between support and upper rack beam to be fixed on mainframe.
- The robot 3. a kind of fast-growing woods as described in claim 1 is quickly pruned, it is characterised in that the wireless communication module For bluetooth module, WIFI module or digital transmission module.
- The robot 4. a kind of fast-growing woods as described in claim 1 is quickly pruned, it is characterised in that the controlling terminal be with Smart phone, remote controler or the computer of wireless communication function.
- 5. a kind of control method of the quick pruning robot of fast-growing woods as described in claim 1, it is characterised in that it was controlled Journey is as follows:1) by fast-growing woods, quickly pruning robot is placed in on pruning trees, opens power supply, and fast-growing woods is quickly pruned robot Control system initialization；2) clamping control signal issued using controlling terminal, wireless communication module are received control signal and transmitted a signal to Then single-chip microcontroller controls electric pushrod by single-chip microcontroller analytic signal and by drive module, complete machine realizes the movement for clamping trunk；3) climbing signal is issued using controlling terminal, is received by wireless communication module, wireless communication module receives control signal And single-chip microcontroller is transmitted a signal to, throttle steering engine then is controlled by single-chip microcontroller analytic signal and by drive module, complete machine is realized It is acted while climbing is with sawing；4) quickly pruning robot climbs to after certain altitude fast-growing woods, completes side shoot sawing work, is issued using controlling terminal Loosen control signal, wireless communication module receives control signal and transmits a signal to single-chip microcontroller, then by single-chip microcontroller solution Analyse signal and electric pushrod controlled by drive module, complete machine, which is realized, loosens the movement of trunk, complete machine lean on gravity gradually under Trunk root is slided into, power supply is closed, completes the side shoot trimming work of a 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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| 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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| CN105794503B true CN105794503B (en) | 2019-01-08 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107852995B (en) * | 2017-11-03 | 2023-08-25 | 广西大学 | Eucalyptus pruning machine capable of automatically feeding tree and pruning |
| CN108849008A (en) * | 2018-06-14 | 2018-11-23 | 安徽工程大学 | A kind of trimming plant side shoot device |
| CN108738811B (en) * | 2018-06-21 | 2020-12-25 | 河南林业职业学院 | Robot tree-climbing pruning method capable of controlling track |
| CN109089600B (en) * | 2018-09-17 | 2023-08-01 | 南京林业大学 | High-altitude branch pruning robot driven by unmanned aerial vehicle |
| CN109275443B (en) * | 2018-11-01 | 2023-10-20 | 广东电网有限责任公司广州供电局 | pruning robot |
| CN109429766A (en) * | 2018-12-27 | 2019-03-08 | 云南万视智能设备有限公司 | A kind of rose pruner |
| CN110053681A (en) * | 2019-03-20 | 2019-07-26 | 北京木业邦科技有限公司 | A kind of robot capable of climbing trees adaptively clamped and its control method |
| CN110235634B (en) * | 2019-07-10 | 2021-07-27 | 陈世平 | Climbing device for pruning robot |
| CN112262676B (en) * | 2020-10-09 | 2023-07-21 | 厦门纵横通电动车有限公司 | Tree climbing machine and tree climbing pruning method |
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| FR2701628B1 (en) * | 1993-02-19 | 1995-06-02 | Cemagref | Autonomous machine for forest pruning. |
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