CN106688654A - Triangular-prism-shaped electrically driven branch trimming robot - Google Patents
Triangular-prism-shaped electrically driven branch trimming robot Download PDFInfo
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- CN106688654A CN106688654A CN201710169594.2A CN201710169594A CN106688654A CN 106688654 A CN106688654 A CN 106688654A CN 201710169594 A CN201710169594 A CN 201710169594A CN 106688654 A CN106688654 A CN 106688654A
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- main body
- body frame
- chain saw
- motor
- touch panel
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/086—Chain saws
Abstract
The invention provides a triangular-prism-shaped electrically driven branch trimming robot which can rise and cut simultaneously, is wholly electrically driven without cables, is simple and reliable in structure and high in efficiency, and can prevent the cables from being wound on trees. A first side surface and a second side surface of a triangular-prism-shaped main body frame are fixedly connected, one side of a third side surface is hinged to one side of the second side surface, and the other side of the third side surface is connected with a side part of the first side surface by a detachable elastic structure; rotating wheel axles are respectively arranged on the inner sides of the three side surfaces of the main body frame; an upper traveling wheel and a lower traveling wheel are respectively arranged on each wheel axle; the inclined directions of the wheel axles relative to the axis of the main body frame are consistent; the inclined angles are equal and are 3-15 degrees; a driving motor is arranged on the main body frame; an output shaft of the driving motor and one of the wheel axles rotate; the traveling wheels on the wheel axles roll along the periphery of a trunk, so that the main body frame spirally rises or fall around the trunk; a chain saw is arranged on the upper part of the main body frame; a cutting chain of the chain saw extends upwards; and a battery is arranged on the main body frame.
Description
Technical field
This technology is related to triangular prism shaped electric drive branch pruning machine people, the machine especially pruned to the branch of willow
People.
Background technology
The external research starting to trees pruning beta pruning machinery is relatively early, mainly with economically developed U.S., day, moral, method, English,
Italy, Australia, Holland, Israel etc. are representative.Early in early in the twentieth century, western countries just have started to be conserved in forest zone
Begin have application in cultivation；But class instrument mainly is cut using simple mechanical knife at that time, diesel oil and gasoline provide the small of power
Type bears machinery.Since the eighties in 20th century, various forest zones are cultivated beta pruning special-purpose machineries and are just emerged one after another, such as lopping shears, cut
Branch machine, intelligent beta pruning mechanical hand etc., forestry timber rate of accumulation has stepped into fast-developing period.It is Typical Representative, such as U.S., auspicious
The unpowered device pruning machine of hand of allusion quotation production.Its cardinal principle is on the basis for improving common trimming saw, to original
Machinery increased a machine that can be stretched " arm ", and it can carry out work high above the ground to 8 meters or so of trunk.
At present with automation high-altitude trimming field to a certain degree, comparative maturity has ARS, Komatsu, Si Dier
The trimming saw of some companies such as company production；Such device is using gasoline as power set.Vibration is smaller when the device works, and cuts
The branch damage that effect is good and sheared edge is to trees is smaller, effective depth is in 6cm or so；The effective radius of trimming saw is left in 21cm
It is right.But such machinery is not only relatively costly, maintenance expense is also universal higher；And it is certain special to require that staff has
Industry technical ability.Because the operation height of this kind of machinery is relatively low, and the need for its serious non-compliance China Forest.
With the continuous progress of science and technology.Some companies set about developing the automation that can carry out high-altitude mechanical beta pruning in the world
Machinery and achievement is notable.The semi-automatic climb type beta pruning machinery of the Typical Representative such as astral spirit company manufacture of Japan, it is used
Controlled in wireless；Using chain type saw blade and low pressure climbing tire；Remote control mode is used when mechanical context tree；But the office of the device
Sex-limited relatively strong, it carries out operation in more straight trunk, but cannot then be worked for bending larger trunk.Also it is exactly raw Europe
Produce it is a kind of can automatic lifting realize the Sa Sima hoistable platforms of high-altitude trimming operation, it be beta pruning is mechanically anchored in it is many
On individual platform, each platform of operation is independent of each other by its independent hydraulic control；Its operational height is in 5-6m or so, level
Extend in 8m or so in face.Also a A Fulong hoistable platforms, are controlled also with hydraulic pressure.There is cable type lifting in addition
Platform, it realizes elevating function using capstan winch, and the height of its operation is in 20m or so, but they show slightly heavy and automation
Degree is relatively low.
For the country, operation is mostly carried out in the way of hand semi-automation, the research of beta pruning machinery is still in
Starting stage.The product automation degree of listing is relatively low at present, and model is single, and operating efficiency is undesirable.Sun Kunlong etc. grinds
The pruning device that the 5XY-5 types of system are used for high-altitude trimming provides power using low power gasoline engine；Operation principle is mainly set
Cartridge type high speed lock type device is operated telescopic arm, and then V-belt is slowed down, and drives pump type structure to drive via travelling gear
Hydrodynamic pressure device makes beta pruning component working.Up to 5-6m, the effective diameter of trimming saw is 3cm to the operation height of the device.Also
Exactly using backpack high-altitude trimming machine and integrate the small-sized high-altitude trimming machine of various functions, such device nearly all with
Small-power gasoline engine provides power, saw structure is carried out beta pruning operation by V-belt or other kinds of chain assembly.Should
The cost of class device is relatively low and structure is relatively simple；The visible angle of work opportunity tool is more satisfactory, damage of the beta pruning to trees
Security function is preferable during smaller and operation；Maintenance cost is smaller.But such beta pruning mechanical oscillation is stronger, and hand gear is heavier, this
Individual design needs further raising.
At present, in forward position it is at home the distance type climb type pruning machine developed by Yichun Municipal Forestry Bureau key project
Tool, its major design is by the way of remote control.The beta pruning mechanical energy is climbed up and down along trunk, and is capable of achieving to repair under teleaction
Number branches of tall trees are cut, power uses petrol engine.
And the major function performed by branch pruning machine people is to carry out beta pruning to trees.Beta pruning robot is worked
Just moved up and down in journey, instead of artificial pollard.Beta pruning robot is imitating mankind's pollard, and people can be replaced to climb to tree
On, the potential danger that artificial beta pruning is triggered is greatly reduced, during batch jobs, efficiency can be increased exponentially, save the time
Cost.The beta pruning robot of Northeast Forestry University Xu Jun et al. researchs is using MS320F2407ADSP is as control chip and uses
The operation principle of fuzzy-adaptation PID control, using asynchronous machine come the various pieces co-ordination of driven machine people, realizes climbing trunk
Function.In the presence of clamping motor, the driving wheel-type structure of robot can automatically be adjusted according to the change of trunk, be begun
The realization for clamping this critical function of trunk is remain eventually.When robot rises to working depth, clamping motor is then " locking "
In trunk to prevent body from gliding or falling, act relatively complicated.
The content of the invention
The purpose of this technology is to provide a kind of rising, cuts while carries out, simple and reliable for structure without the full electric drive of cable,
Efficiency high, can avoid cable around the triangular prism shaped electric drive branch pruning machine people of tree.
Triangular prism shaped electric drive branch pruning machine people described in this technology, thirdly the first side of prismatic body framework
It is fixedly linked with second side, side and the side of second side of the 3rd side are hinged, the opposite side and first of the 3rd side
It is connected with dismountable elastic construction between the sidepiece of side；Three sides inner side of main body frame is provided with the wheel of rotation
Axle, is provided with upper and lower two road wheels on each wheel shaft；Each wheel shaft is consistent relative to the incline direction of main body frame axis, and inclines
Rake angle is equal, is 3-15 °；Motor is set on main body frame, and the output shaft of motor and a wheel shaft are by passing
Motivation structure is connected, and drives the wheel shaft to rotate, and the road wheel on each wheel shaft is rolled along trunk periphery so that main body frame is around trunk spiral shell
Rotation rises or falls；On the top of main body frame, chain saw is set；The cutting chain of chain saw is upwardly extended；Set on main body frame
For the battery powered to motor and chain saw motor.
The beneficial effect of this technology：When using, the 3rd side is first opened, mobile robot causes to need the trees of beta pruning
Trunk be located between first side and second side, the 3rd side is then shut off, the 3rd side and first side with elasticity
Structure is connected so that each road wheel clamps trunk in the presence of elastic construction.Then motor is started, by transmission mechanism
Drive a wheel shaft so that the road wheel on the wheel shaft（Road wheel on the wheel shaft is driving wheel, the road wheel on other wheel shafts
It is follower）Rotate.Because the axial direction of each wheel shaft and trunk is inclined, so each road wheel also inclines with trunk axial direction
Tiltedly, with the rotation of road wheel, main body frame around trunk spiral, cutting chain with main body frame spiral, when touching
During to positioned at the circumferential branch of trunk, i.e., sawing is carried out to branch, complete to prune.After the completion of pruning, motor is rotated backward,
Main body frame is to decline around trunk spiral.This technology uses the principle of circle inscribe triangle with a certain section of three point contact trunk,
And be 2 points of supports along trunk direction, general frame is simple and reliable, meets Stability Design criterion；With battery as motor and chain
Saw motor is powered, without that from ground wiring, will not have cable to twine tree problem when main body frame is rotated around trunk.Using battery as
Power source, is easy to provide power supply for start and stop, control and communication component.First side is connected with the 3rd side with elastic construction,
Enable that each road wheel produces certain clamping force to trunk, and the trees of different-diameter can be applied to.Have on each wheel shaft
Upper and lower two road wheels, totally six road wheels on three wheel shafts, even if robot total quality skewness, main body frame
Axial direction still be able to keep it is coaxial with trunk without inclining.
Above-mentioned triangular prism shaped electric drive branch pruning machine people, guide device, guide's dress are set on main body frame top
Put in the inner or outer side on the direction of main body frame axis positioned at chain saw；Guide device includes being arranged on main body frame
On the first touch panel for upwardly extending and fixed plate, tangential direction of the first touch panel in main body frame（With by main body frame axis
The perpendicular direction of plane）Can be moved relative to fixed plate, so that first touching when being provided with normality between first touch panel and fixed plate
Plate is in main body frame tangential direction away from the compression spring of fixed plate；Quality Initiative is connected with the power circuit of chain saw motor
Saw the microswitch of motor start and stop；Microswitch is fixed between first touch panel and fixed plate；When main body frame is on trunk spiral
Rise when, first touch panel than cutting chain first touch need prune branch, first touch panel overcome the elastic force of compression spring and along main body
Framework is tangential to be moved to fixed plate, touches microswitch, and chain saw motor power is connected, and chain saw starts；With the spiral shell of main body frame
Screw on liter, chain saw cut branch；After the completion of cutting, first touch panel is away from fixed plate in the presence of compression spring, and microswitch is multiple
Position, saw chain shuts down.Using guide device so that chain saw just starts when branch is touched soon, stop after sawed-off branch,
Effectively electric energy is saved.
Above-mentioned triangular prism shaped electric drive branch pruning machine people, dismountable elastic construction is：Near the 3rd
Hook hole is provided with side and the 3rd side of the adjoiner of first side, for hooking the hook of the hook hole by stretching
Spring is connected with first side；Or, hook hole is provided with first side, for hooking the hook of the hook hole by stretching
Spring is connected with the 3rd side.The connected structure of clasp and hook hole, being capable of rapid-assembling/disassembling.Extension spring enables to road wheel
Trunk is clamped in trunk circumferential direction.
Above-mentioned triangular prism shaped electric drive branch pruning machine people, the output shaft of motor and a wheel shaft are passed by chain
Motivation structure is connected.
Above-mentioned triangular prism shaped electric drive branch pruning machine people, the motor is set on the first side, chain saw
Set on the second side with battery.So can in the circumferential direction of main body frame reasonable distribution weight, so whole machine
The distribution of weight of structure than more uniform, the problems such as be not likely to produce inclination.
Above-mentioned triangular prism shaped electric drive branch pruning machine people, main body frame is made of aluminium alloy extrusions.
Above-mentioned triangular prism shaped electric drive branch pruning machine people, the periphery of road wheel has tire.Tire can increase
With the frictional force of trunk.
Brief description of the drawings
Fig. 1 is the stereogram of triangular prism shaped electric drive branch pruning machine people；
Fig. 2 is the stereogram at another visual angle of triangular prism shaped electric drive branch pruning machine people；
Fig. 3 is the schematic diagram of guide device；
Fig. 4 is the stereogram of triangular prism shaped electric drive branch pruning machine people when first touch panel is contacted with the pre- branch pruned；
Fig. 5 is enlarged drawing when first touch panel is contacted with the pre- branch pruned.
Specific embodiment
This technology is further described below in conjunction with the accompanying drawings.
Referring to the triangular prism shaped electric drive branch pruning machine people of willow described in Fig. 1,2, three be made with aluminium alloy extrusions
The first side 11 of prismatic body framework 1 is fixedly linked with second side 12, side and the second side 12 of the 3rd side 13
Side be hinged by pivot 14, with dismountable elastic construction 2 between the opposite side and the sidepiece of first side of the 3rd side
It is connected.Dismountable elastic construction includes the extension spring 22 that the rear end of hook 21 and hook 21 is fixedly linked, spring 22 it is another
One end is fixed on the first side.Hook hole is provided with the 3rd side 13 near the 3rd side with the adjoiner of first side
131, the front end of hook 21 is used to hook the hook hole.
In triangular prism shaped main body frame, wherein two sides are fixed, and it can be folding to have one side, is arranged on
In the case of road wheel laminating trunk on wheel shaft on fixed two sides, the 3rd side is closed, and stretches bullet by manpower prestretching
Spring, then hooks hook hole by hook, by main body frame fastening in the tree.Because the pretightning force for applying is than larger, in master
Even if the diameter that body framework is set during rising diminishes, main body frame also can firmly fit and set.
Drive device 3 mainly includes motor 31, chain-drive mechanism 32, wheel shaft 33, road wheel 34.The three of main body frame
Individual side inner side is provided with the wheel shaft 33 of rotation, and upper and lower two road wheels are provided with each wheel shaft；The periphery tool of road wheel
There is tire.
Each wheel shaft is consistent relative to the incline direction of triangular prism shaped main body frame axis, and angle of inclination is 7 °.Drive
Motor is set on the first side.Chain-drive mechanism 32 includes drive sprocket 321, driven sprocket 322, chain 323.Motor
Output shaft on drive sprocket is set, driven sprocket is arranged on the middle part of connection that wheel shaft on the first side.
On the top of second side, chain saw 4 is set；Chain saw includes chain saw motor, guide chain plate, the cutting of driven cutting chain bar
Chain etc..Guide chain plate, cutting chain are upwardly extended；The battery powered to motor and chain saw is provided on the second side
5。
Referring to Fig. 1,2,5, guide device 6 is set on the top of second side, guide device is perpendicular to main body frame axle
Positioned at the outside of chain saw on the direction of line.Guide device includes fixed plate 61, first touch panel 62, compression spring 63 etc..Fixed plate 61
It is fixed on second side top and upwardly extends, first touch panel 62 is in the direction perpendicular with plane by main body frame axis
（The namely tangential direction of main body frame）Can be moved relative to fixed plate, when being provided with normality between first touch panel and fixed plate
So that first touch panel in the tangential direction of main body frame away from the compression spring 63 of fixed plate.
The microswitch 64 of control chain saw motor start and stop is connected with the power circuit of chain saw motor；Microswitch is fixed
Formerly between touch panel and fixed plate.
The principle of guide device is set between first touch panel and fixed plate with a microswitch, and first guide plate is with body frame
In spiral, position in the presence of touch panel touches branch in the ban, can produce pressure to frame somewhat ahead of chain saw, produce certain
Displacement, causes microswitch to be touched, and microswitch starts chain saw, starts working, after branch has been cut, due to compression
The effect of spring, sheet metal recovers original position, and microswitch resets, and chain saw is stopped.Plus this decision mechanism, help
In saving electric energy so that robot continuous working period is longer.
When using, mobile robot causes to need the willow trunk of beta pruning to be located between first side and second side,
Be then shut off the 3rd side, hook be hooked in on the hook hole on the 3rd side so that work of each road wheel in extension spring
With lower clamping trunk 7.Now the axis of trunk is substantially parallel with the axis of main body frame.Then started by remote control
Motor, the wheel shaft for setting on the first side is driven by chain-drive mechanism so that two walkings up and down on the wheel shaft
Wheel（Two road wheels on the wheel shaft are driving wheel, and the road wheel on other wheel shafts is follower）Rotate.Row on each wheel shaft
Walk wheel to be rolled along trunk periphery so that main body frame is around trunk spiral or decline.
When main body frame rises around trunk clock wise spirals（It is viewed from above）When, when the pruning in need of the periphery of trunk
During branch 71, first touch panel first touches the branch for needing to prune than cutting chain, and first touch panel overcomes the elastic force of compression spring and edge
Trunk is tangential to be moved to fixed plate, touches microswitch, and chain saw motor power conducting, chain saw starts；With the spiral shell of main body frame
Screw on liter, chain saw cut branch；After the completion of cutting, first touch panel is away from fixed plate in the presence of compression spring, and microswitch is multiple
Position, chain saw stops.
The main feature of triangular prism shaped electric drive branch pruning machine people：
1st, light-weight design, this main body frame uses tri-prismoid structure, aluminium alloy extrusions, the side of upper and lower each three wheels of two-layer
Formula, considerably reduces on the premise of meet stability requirement in weight.Also reduce to the power of battery, capacity, tire carrying
The requirement of ability etc..
2nd, gasoline engine is replaced with battery+motor, reduces discharge, environmental protection.Without the full electric drive of cable, it is to avoid cable around
The problem of tree.
3rd, can carry out charging battery with reference to new energy, entrained battery can be easily future feature expansion module ---
The functional units such as state-detection, information gathering, communication, control provide stabilized power source.
4th, tire holds trunk tightly, and spiral escalation, chain saw completes the cutting of the limb of certain area as cut end.
Robot carries upper workpiece to realize work using the main body frame for having trunk in arms.Robot workpiece
Main by motion parts and to prune part and constitute, motion parts mainly include three groups of road wheels, after robot holds trunk tightly with
Spiralling mode completes to prune the movement of part, prunes part and has been pressed onto branch by microswitch mechanism for identifying and chain saw,
Chain saw starts, and starts cutting.
Workflow is：First by robot card in the tree, start, robot embrace trunk circulating type rise, collide tree
Chain saw is started working until cutting is completed after branch.After assigned tasks height is risen to, robot stops, chain saw no longer work
Make.Motor reversal, robot backtracking, reach ground, are automatically stopped.
Robot has simple structure, rises, cuts while carries out, and once moves up and down repairing for one willow of completion
Cut, operating efficiency is higher, while tire is relatively good to the tack of trees, contact belongs to soft contact, and trees will not be produced
Any infringement.Triangular prism shaped electric drive branch pruning machine people has function of climbing tree, and self-starting pruning function employs full electricity and drives
Dynamic light-weight design, compared to existing other schemes, with simple to operate, reliability is high, is suitable to cluster operation, and electrical energy drive is become
Into reality, the characteristics of environment friendly and pollution-free, the willow for being applicable to the different age of trees is pruned, and the demand in different forest farms is met, with wide
Wealthy popularizing application prospect.
Claims (7)
1. triangular prism shaped electric drive branch pruning machine people, it is characterized in that：Branch pruning machine people is substantially on the whole triangular prism
Shape, thirdly the first side of prismatic body framework is fixedly linked with second side, side and the second side of the 3rd side
Side is hinged, and is connected with dismountable elastic construction between the opposite side and the sidepiece of first side of the 3rd side；Main body frame
Three sides inner side be provided with the wheel shaft of rotation, upper and lower two road wheels are provided with each wheel shaft；Each wheel shaft relative to
The incline direction of main body frame axis is consistent, and angle of inclination is equal, is 3-15 °；Motor is set on main body frame, is driven
The output shaft of dynamic motor is connected with a wheel shaft by transmission mechanism, drives the wheel shaft to rotate, and the road wheel on each wheel shaft is along tree
Dry periphery rolls so that main body frame is around trunk spiral or decline；On the top of main body frame, electric chain saw is set；Chain saw
Cutting chain upwardly extend；The battery powered to motor and chain saw motor is provided on main body frame.
2. triangular prism shaped electric drive branch pruning machine people as claimed in claim 1, it is characterized in that：Set on main body frame top
Guide device is put, guide device is in the inner or outer side on the direction of main body frame axis positioned at chain saw；Guide device
Including the first touch panel for upwardly extending and the fixed plate that are arranged on main body frame, first touch panel can phase in the tangential direction of main body frame
For fixed plate movement, cause first touch panel in main body frame tangential direction when normality is provided between first touch panel and fixed plate
Away from the compression spring of fixed plate；The microswitch of control chain saw motor start and stop is connected with the power circuit of chain saw motor；
Microswitch is fixed between first touch panel and fixed plate；When main body frame is around trunk spiral, first touch panel compares cutting chain
The branch for needing to prune first is touched, first touch panel overcomes the elastic force of compression spring and moved to fixed plate along main body frame is tangential,
Microswitch is touched, chain saw motor power conducting, chain saw starts；With the spiral of main body frame, chain saw cut branch；Cut
After the completion of cutting, away from fixed plate in the presence of compression spring, microswitch resets first touch panel, and chain saw stops.
3. triangular prism shaped electric drive branch pruning machine people as claimed in claim 1, it is characterized in that：Dismountable elasticity
Structure is：Hook hole is provided with the 3rd side near the 3rd side with the adjoiner of first side, for hooking the extension
The hook of dog hole is connected by extension spring with first side；Or, hook hole is provided with first side, for hooking the extension
The hook of dog hole is connected by extension spring with the 3rd side.
4. triangular prism shaped electric drive branch pruning machine people as claimed in claim 1, it is characterized in that：The output shaft of motor
It is connected by chain-drive mechanism with a wheel shaft.
5. triangular prism shaped electric drive branch pruning machine people as claimed in claim 1, it is characterized in that：The motor is set
On the first side, chain saw and battery are set on the second side.
6. triangular prism shaped electric drive branch pruning machine people as claimed in claim 1, it is characterized in that：Main body frame is closed using aluminium
Metal type material is made.
7. triangular prism shaped electric drive branch pruning machine people as claimed in claim 1, it is characterized in that：The periphery of road wheel has
Tire.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710169594.2A CN106688654A (en) | 2017-03-21 | 2017-03-21 | Triangular-prism-shaped electrically driven branch trimming robot |
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|---|---|---|---|
| CN201710169594.2A CN106688654A (en) | 2017-03-21 | 2017-03-21 | Triangular-prism-shaped electrically driven branch trimming robot |
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| CN201710169594.2A Pending CN106688654A (en) | 2017-03-21 | 2017-03-21 | Triangular-prism-shaped electrically driven branch trimming robot |
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| CN107211747A (en) * | 2017-07-07 | 2017-09-29 | 浙江农林大学暨阳学院 | Spiral climbing fells bamboo branch machine |
| CN107306679A (en) * | 2017-06-07 | 2017-11-03 | 燕山大学 | Xiu Shu robots |
| CN108406802A (en) * | 2018-03-23 | 2018-08-17 | 广东电网有限责任公司清远供电局 | A kind of tight-holding type chops at a tree robot |
| CN108545121A (en) * | 2018-06-21 | 2018-09-18 | 河南林业职业学院 | Controllable track is climbed tree pruning robot |
| CN108575387A (en) * | 2018-06-27 | 2018-09-28 | 安徽工程大学 | Wheel hub drives pruning car of climbing tree |
| CN108849008A (en) * | 2018-06-14 | 2018-11-23 | 安徽工程大学 | A kind of trimming plant side shoot device |
| CN110588821A (en) * | 2019-09-26 | 2019-12-20 | 海南科技职业大学 | Elastic tree climbing machine |
| CN108990584B (en) * | 2018-08-16 | 2020-07-21 | 燕山大学 | Split type branch trimmer |
| CN113748866A (en) * | 2021-09-29 | 2021-12-07 | 安捷电维智能科技研究院(广州)有限公司 | Tree climbing and pruning robot |
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