CN106134809A - A kind of automatization pollard equipment - Google Patents
A kind of automatization pollard equipment Download PDFInfo
- Publication number
- CN106134809A CN106134809A CN201610534354.3A CN201610534354A CN106134809A CN 106134809 A CN106134809 A CN 106134809A CN 201610534354 A CN201610534354 A CN 201610534354A CN 106134809 A CN106134809 A CN 106134809A
- Authority
- CN
- China
- Prior art keywords
- type robot
- caterpillar type
- connecting rod
- connecting plate
- pollard
- Prior art date
- 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.)
- Pending
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Classifications
-
- 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
- A01G3/02—Secateurs; Flower or fruit shears
- A01G3/025—Secateurs; Flower or fruit shears having elongated or extended handles
- A01G3/0255—Tree pruners, i.e. pruning shears carried at the end of a pole
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 kind of automatization pollard equipment, in use, first caterpillar type robot and the second caterpillar type robot are separately positioned on the both sides of tree bar, the position of width adjusting caterpillar type robot two lateral connector bar according to tree, tighten up the hydraulic cylinder between connecting plate and connecting rod, start the first caterpillar type robot and the second caterpillar type robot, control machine obtains picture according to from minisize pick-up head, control the first caterpillar type robot, the second caterpillar type robot and mechanical arm, by the shears pollard of mechanical arm end.
Description
Technical field
The present invention relates to a kind of automatization pollard equipment, belong to automation equipment field.
Background technology
In agricultural production, garden management, generally require and the branch on tree is pruned, when setting the highest, need work
Climb to set upper pruning as personnel, there is the biggest potential safety hazard.Therefore being badly in need of now a kind of automation equipment replaces the mankind complete
Become above-mentioned work.
Summary of the invention
In order to solve above-mentioned technical problem, the invention provides a kind of automatization pollard equipment
In order to achieve the above object, the technical solution adopted in the present invention is:
A kind of automatization pollard equipment, including the first caterpillar type robot, the second caterpillar type robot, the first connecting plate,
Second connecting plate and control machine, the crawler belt of described first caterpillar type robot and the second caterpillar type robot is provided with acupuncture
Array, the crawler belt side of described first caterpillar type robot is oppositely arranged with the crawler belt side of the second caterpillar type robot, and described first
The both sides of caterpillar type robot are respectively arranged with the head rod parallel with own sides and the second connecting rod, head rod
All connected by some hydraulic cylinders and the first caterpillar type robot side with the shaft of the second connecting rod, described second crawler type machine
The both sides of device people are respectively arranged with threeth connecting rod parallel with own sides and the 4th connecting rod, and the 3rd connecting rod and the 4th is even
The shaft of extension bar is all connected by some hydraulic cylinders and the second caterpillar type robot side, and described first connecting plate and second connects
Plate is oppositely arranged, described first connecting plate between head rod and the 3rd connecting rod, the both sides of described first connecting plate
Be connected with head rod and the 3rd connecting rod by some hydraulic cylinders respectively, described second connecting plate be positioned at the second connecting rod and
Between 4th connecting rod, the both sides of described second connecting plate are respectively by some hydraulic cylinders and the second connecting rod and the 4th connecting rod
Connect；
Mechanical arm and some minisize pick-up heads it is respectively provided with on described first caterpillar type robot and the second caterpillar type robot, described
The end of mechanical arm is provided with shears, and described control machine obtains picture according to from minisize pick-up head, controls the first crawler frame
People, the second caterpillar type robot and mechanical arm.
Minisize pick-up head it is also equipped with on mechanical arm.
The opposite side of the first connecting plate and the second connecting plate is provided with crawler belt.
It is also equipped with acupuncture array on crawler belt on first connecting plate and the second connecting plate.
Described acupuncture array is metal acupuncture.
Described acupuncture array is evenly arranged in track surface by the spacing of 6mm × 6mm.
The beneficial effect that the present invention is reached: the present invention in use, by the first caterpillar type robot and the second crawler type
Robot is separately positioned on the both sides of tree bar, according to the position of width adjusting caterpillar type robot two lateral connector bar of tree, tightens up
Hydraulic cylinder between connecting plate and connecting rod, starts the first caterpillar type robot and the second caterpillar type robot, control machine according to
Obtain picture from minisize pick-up head, control the first caterpillar type robot, the second caterpillar type robot and mechanical arm, by machinery
The shears pollard of arm end.
Accompanying drawing explanation
Fig. 1 is the top view of the present invention.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating the present invention
Technical scheme, and can not limit the scope of the invention with this.
As it is shown in figure 1, a kind of automatization pollard equipment, including first caterpillar type robot the 1, second crawler frame
People's the 2, first connecting plate the 9, second connecting plate 10 and control machine.First caterpillar type robot 1 and the shoe of the second caterpillar type robot 2
It is provided with acupuncture array, crawler belt 3 side of the first caterpillar type robot 1 and crawler belt 3 side of the second caterpillar type robot 2 on band 3
Being oppositely arranged, the both sides of the first caterpillar type robot 1 are respectively arranged with the head rod 5 and second parallel with own sides and connect
Extension bar 6, the shaft of head rod 5 and the second connecting rod 6 is all connected by some hydraulic cylinders and the first caterpillar type robot 1 side
Connecing, the both sides of the second caterpillar type robot 2 are respectively arranged with threeth connecting rod 7 and fourth connecting rod 8 parallel with own sides,
The shaft of the 3rd connecting rod 7 and the 4th connecting rod 8 is all connected with the second caterpillar type robot 2 side by some hydraulic cylinders 4, the
A plate 9 and the second connecting plate 10 are oppositely arranged, the first connecting plate 9 between head rod 5 and the 3rd connecting rod 7,
The both sides of the first connecting plate 9 are connected with head rod 5 and the 3rd connecting rod 7 by some hydraulic cylinders 4 respectively, the second connecting plate
10 between the second connecting rod 6 and the 4th connecting rod 8, and the both sides of the second connecting plate 10 are respectively by some hydraulic cylinders 4 and the
Two connecting rods 6 and the 4th connecting rod 8 connect.
It is respectively provided with mechanical arm 11 and some minisize pick-up heads on first caterpillar type robot 1 and the second caterpillar type robot 2
13, the end of mechanical arm 11 is provided with shears 12, and mechanical arm 11 is also equipped with minisize pick-up head 13, controls machine according to from miniature
Photographic head 13 obtains picture, controls the first caterpillar type robot the 1, second caterpillar type robot 2 and mechanical arm 11.
The opposite side of above-mentioned first connecting plate 9 and the second connecting plate 10 is provided with crawler belt 3, the first connecting plate 9 and second
It is also equipped with acupuncture array on crawler belt 3 on connecting plate 10.
Above-mentioned acupuncture array is metal acupuncture, and described acupuncture array is evenly arranged in crawler belt 3 table by the spacing of 6mm × 6mm
Face.
In use, the first caterpillar type robot 1 and the second caterpillar type robot 2 are separately positioned on the both sides of tree bar,
The position of width adjusting caterpillar type robot two lateral connector bar according to tree, tightens up the hydraulic cylinder 4 between connecting plate and connecting rod,
Starting the first caterpillar type robot 1 and the second caterpillar type robot 2, control machine obtains picture according to from minisize pick-up head 13, control
Make the first caterpillar type robot the 1, second caterpillar type robot 2 and mechanical arm 11, repaiied by the shears 12 of mechanical arm 11 end
Poll.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and deformation, these improve and deformation
Also should be regarded as protection scope of the present invention.
Claims (6)
1. automatization's pollard equipment, it is characterised in that: include the first caterpillar type robot, the second crawler frame
People, the first connecting plate, the second connecting plate and control machine, described first caterpillar type robot and the crawler belt of the second caterpillar type robot
On be provided with acupuncture array, the crawler belt side of described first caterpillar type robot is relative with the crawler belt side of the second caterpillar type robot
Arranging, the both sides of described first caterpillar type robot are respectively arranged with the head rod parallel with own sides and second and connect
Bar, the shaft of head rod and the second connecting rod is all connected by some hydraulic cylinders and the first caterpillar type robot side, institute
State the both sides of the second caterpillar type robot and be respectively arranged with threeth connecting rod parallel with own sides and the 4th connecting rod, the 3rd
The shaft of connecting rod and the 4th connecting rod is all connected by some hydraulic cylinders and the second caterpillar type robot side, and described first even
Fishplate bar and the second connecting plate are oppositely arranged, described first connecting plate between head rod and the 3rd connecting rod, described
The both sides of a plate are connected with head rod and the 3rd connecting rod by some hydraulic cylinders respectively, described second connecting plate position
Between the second connecting rod and the 4th connecting rod, the both sides of described second connecting plate are connected by some hydraulic cylinders and second respectively
Bar and the 4th connecting rod connect；
Mechanical arm and some minisize pick-up heads it is respectively provided with on described first caterpillar type robot and the second caterpillar type robot, described
The end of mechanical arm is provided with shears, and described control machine obtains picture according to from minisize pick-up head, controls the first crawler frame
People, the second caterpillar type robot and mechanical arm.
A kind of automatization the most according to claim 1 pollard equipment, it is characterised in that: it is also equipped with micro-on mechanical arm
Type photographic head.
A kind of automatization the most according to claim 1 pollard equipment, it is characterised in that: the first connecting plate and second is even
The opposite side of fishplate bar is provided with crawler belt.
A kind of automatization the most according to claim 3 pollard equipment, it is characterised in that: the first connecting plate and second is even
It is also equipped with acupuncture array on crawler belt on fishplate bar.
5. according to a kind of automatization pollard equipment described in claim 1 or 4, it is characterised in that: described acupuncture array is
Metal acupuncture.
A kind of automatization the most according to claim 5 pollard equipment, it is characterised in that: described acupuncture array presses 6mm
The spacing of × 6mm is evenly arranged in track surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610534354.3A CN106134809A (en) | 2016-07-08 | 2016-07-08 | A kind of automatization pollard equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610534354.3A CN106134809A (en) | 2016-07-08 | 2016-07-08 | A kind of automatization pollard equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106134809A true CN106134809A (en) | 2016-11-23 |
Family
ID=58062101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610534354.3A Pending CN106134809A (en) | 2016-07-08 | 2016-07-08 | A kind of automatization pollard equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106134809A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108849008A (en) * | 2018-06-14 | 2018-11-23 | 安徽工程大学 | A kind of trimming plant side shoot device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202011003272U1 (en) * | 2011-02-25 | 2011-05-26 | Impex Forstmaschinen GmbH, 84085 | Device for harvesting and processing tree trunks |
| WO2012177261A1 (en) * | 2011-06-24 | 2012-12-27 | Jarraff Industries, Inc. | Mobile tree-trimming apparatus |
| CN202818996U (en) * | 2012-04-13 | 2013-03-27 | 浙江工业大学 | Grapevine pruning robot system |
| FR2994057A1 (en) * | 2012-07-31 | 2014-02-07 | Tiam | Wine grape pruning robot, has controlling unit connected with treatment unit to direct cutting unit on cutting points, and reading and recording unit reading and recording images to project laser beam on grapes and branches |
| CN104118485A (en) * | 2014-06-24 | 2014-10-29 | 李善文 | Multifunctional special hydraulic track chassis |
| CN104145728A (en) * | 2014-08-25 | 2014-11-19 | 殷双 | Pruning robot for gardens |
| CN104920086A (en) * | 2015-06-15 | 2015-09-23 | 中国农业大学 | Crawler-type telescopic hedge pruning machine |
-
2016
- 2016-07-08 CN CN201610534354.3A patent/CN106134809A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202011003272U1 (en) * | 2011-02-25 | 2011-05-26 | Impex Forstmaschinen GmbH, 84085 | Device for harvesting and processing tree trunks |
| WO2012177261A1 (en) * | 2011-06-24 | 2012-12-27 | Jarraff Industries, Inc. | Mobile tree-trimming apparatus |
| CN202818996U (en) * | 2012-04-13 | 2013-03-27 | 浙江工业大学 | Grapevine pruning robot system |
| FR2994057A1 (en) * | 2012-07-31 | 2014-02-07 | Tiam | Wine grape pruning robot, has controlling unit connected with treatment unit to direct cutting unit on cutting points, and reading and recording unit reading and recording images to project laser beam on grapes and branches |
| CN104118485A (en) * | 2014-06-24 | 2014-10-29 | 李善文 | Multifunctional special hydraulic track chassis |
| CN104145728A (en) * | 2014-08-25 | 2014-11-19 | 殷双 | Pruning robot for gardens |
| CN104920086A (en) * | 2015-06-15 | 2015-09-23 | 中国农业大学 | Crawler-type telescopic hedge pruning machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108849008A (en) * | 2018-06-14 | 2018-11-23 | 安徽工程大学 | A kind of trimming plant side shoot device |
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161123 |
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| RJ01 | Rejection of invention patent application after publication |