CN107251767A - A kind of Multifunctional trimming robot - Google Patents
A kind of Multifunctional trimming robot Download PDFInfo
- Publication number
- CN107251767A CN107251767A CN201710507534.7A CN201710507534A CN107251767A CN 107251767 A CN107251767 A CN 107251767A CN 201710507534 A CN201710507534 A CN 201710507534A CN 107251767 A CN107251767 A CN 107251767A
- Authority
- CN
- China
- Prior art keywords
- trimming
- arm
- car body
- multifunctional
- pedestal
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- A01G3/033—Secateurs; Flower or fruit shears having motor-driven blades
- A01G3/037—Secateurs; Flower or fruit shears having motor-driven blades the driving means being an electric motor
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
A kind of Multifunctional trimming robot, including car body and double trimming mechanical arms, also include set car body in two rotatable pedestals and feasible travelling wheel type mechanism, each pedestal is hinged with lever arm, there is the boom cylinder for driving both between pedestal and lever arm, swing arm is provided with the scalable oil cylinder of three-level, piston rod is connected with the transfer arm of three different lengths, driven between transfer arm by servomotor, transfer arm end is connected to for the hydraulic shear and chain saw of trimming and the handgrip for capturing trunk, pruning tool can switch according to different thicknesses trees, handgrip is driven using hydraulic jack and carries out crawl fixation to trunk, it is easy to trimming, image collecting device is provided with car body and on trimming arm.The multifunctional greening trimmer perfect in shape and function of the present invention, using double mechanical arms cooperating, reduces the difficulty of trimming, alleviates personnel's work burden, improves operating efficiency.
Description
Technical field
The present invention relates to the machine that a kind of landscape tree, fruit tree, hedgerow etc. trim external form, especially a kind of Multifunctional trimming
Robot.
Background technology
With developing rapidly for China's economic, the environmental consciousness of people constantly strengthens, and occurs in that and much manually builds in city
Into greening park, the afforested areas of road both sides constantly increase.The trimming of greenbelt is an important process of afforestation project,
Current roadside greening trees and hedge trimming are all to use manual method, the hand-held cast-cutting saw of sanitationman, Green fence cutter, hand saws etc.
Instrument is trimmed, for higher trees, generally requires ladder or people station is carried out on the platform by telescopic oil cylinder end
Cutting, thus not only inefficiency, and job costs are also add, the safety of sanitationman can not also be protected, from
Dynamicization degree is low.
Fruit tree is in order to improve yield and prevent from then each season will easily trimming branch, and pruning fruit tree is mainly by people
Scissors is operated to carry out, labor intensity is big and inefficiency, some thicker trunks are not easy to be trimmed with saw, and people will need
Climbing to climb up a tree helps branch to be just unlikely to binding, there is certain operational risk, and efficiency is not also high.
The content of the invention
The invention solves the problems that the shortcoming of above-mentioned prior art can use more efficient, operation more convenient there is provided one kind
Multifunctional trimming robot, solve conventional inefficiency, the problem of cost is high, and can be applied to the tree in a variety of places
Branch trimming.
To achieve these goals, the present invention is to realize by the following technical solutions：A kind of Multifunctional trimming machine
People, including car body and trimming mechanical arm, in addition to two rotatable pedestals being arranged on car body, each pedestal are hinged with work
Swing arm, there is the boom cylinder for driving both between pedestal and lever arm, swing arm is provided with the scalable oil cylinder of three-level, piston rod
The transfer arm of three different lengths is connected with, the transfer arm end is connected to hydraulic shear and chain saw and use for trimming
In the handgrip of crawl trunk, pruning tool can switch according to different thicknesses trees, and handgrip is entered using hydraulic jack driving to trunk
Row crawl is fixed, and is easy to trimming, and image collecting device transmits image to driver's cabin monitor screen.
Described image harvester is made up of three parts altogether, is provided with car body for gathering the rotatable of overall profile
Base and the camera that is connected with telescopic support bar are constituted, in addition to being used for of being equipped with arm body gathers executing agency and wanted
The camera of pollard.
The control system includes：
AC servo motor：Installed in the arm body joint of transfer arm, Pulse Width Control its rotating speed for being exported using servo-driver,
Turn to and steering angle.
Controller：On car body, the signal detected is exported corresponding control program to control by program processing
Mechanical arm processed and executing agency.
Photoelectricity incremental encoder：The positional information of detection servomotor feeds back to driver.
Trimming executing agency's chain saw and the hydraulic shear combination is constituted, and the pruning mechanism needed for switching, described as needed
Handgrip is hydraulically operated two can be with cross one another structure composition.
The trimming executing agency can manually and automatically be switched using touch-screen, there is semi-automatic and full-automatic two automatically
The pattern of kind, is monitored, the servomotor between controller and the arm body is worked in coordination in real time according to gathered image, with reference to
Related algorithm, can trim out mushroom head, cylinder, circular cone, plane etc. variously-shaped.
In summary, beneficial effects of the present invention：The beneficial multifunctional greening trimmer perfect in shape and function of the invention of the present invention,
Using double mechanical arms cooperating, the difficulty of trimming is reduced, personnel's work burden is alleviated, improves operating efficiency.
Brief description of the drawings
Fig. 1 is the overall schematic of the present invention.
Fig. 2 is the handgrip schematic diagram of the present invention.
Fig. 3 is the control system flow chart of the present invention.
Fig. 4 is the workflow diagram of the present invention.
Embodiment
The present invention is described in detail with reference to accompanying drawing.
To become apparent from the object, technical solutions and advantages of the present invention, further is made to embodiment of the present invention below
It is described in detail on ground.
Including car body and trimming mechanical arm.The car body provides the engine of power by running gear and to oil cylinder.It is described
Trimming mechanical arm includes pedestal, the lever arm being connected with pedestal, and three-level hydraulic jack end connects mechanical arm and put at mechanical arm end
Put on the trimming 1-6 and handgrip mechanism 1-7-2 at end, car body and be additionally provided with rotation image collecting device 1-2；
When implementing, the umber of pulse that the clipping device is sent by motor servo driver is controlled to the accurate position of mechanical arm
System, the mode of operation of manipulator is divided into manually and automatically two kinds of modes of operation, and manually operated is exactly to machinery by push-botton operation
Each step motion of hand is individually controlled, and has been automatically brought into operation semi-automatic and full-automatic both of which, semi-automatic each instruction week
Phase performs corresponding step-length, and Full-automatic circulation back and forth performs setting task.
The realtime graphic being sent to by image collecting device on monitor screen can make corresponding interpolation instruction to pruning mechanism, hold
There is trimming in row mechanism and fixes two parts, wherein trimming according to trees thickness and can be actually needed optional scissors and chain saw,
To prevent binding to be fixed with handgrip.
The scheme to implementation is described in detail below, as detailed below：
A kind of Multifunctional trimming robot, including car body 1-1 and trimming mechanical arm 1-5, in addition to two be arranged on car body
Rotatable pedestal 1-3-1, each pedestal is hinged with lever arm 1-3-2, had between pedestal and lever arm for driving both
Boom cylinder, swing arm is provided with the scalable oil cylinder of three-level, and piston rod is connected with the transfer arm 1-5 of three different lengths, the shifting
Swing arm end is connected to for the hydraulic shear 1-6-2 and chain saw 1-6-1 of trimming and the handgrip for capturing trunk, transfer arm
Between driven by servomotor 1-5-1, pruning tool can switch according to different thicknesses trees, handgrip utilize hydraulic jack driving
Crawl fixation is carried out to trunk, is easy to trimming, image collecting device transmits image to driver's cabin monitor screen, can show multiple simultaneously
Segmentation figure picture, selects manual, semi-automatic, automatic mode of operation on the touchscreen.
The described image harvester is made up of three parts altogether, is provided with car body for gathering revolving for overall profile
The base 1-2-3 turned and the camera composition being connected with telescopic support bar 1-2-1, in addition to being used for of being equipped with arm body III
Collection executing agency wants the camera 1-6-3 and 1-7-3 of pollard.
The control system includes：
AC servo motor：Installed in the arm body joint of transfer arm, Pulse Width Control its rotating speed for being exported using servo-driver,
Turn to and steering angle；
Controller：On car body, the signal detected is exported into corresponding control program with control machine by program processing
Tool arm and executing agency；
Touch-screen：The image of image acquisition device is received, with related algorithm, button control is carried out or automatically controls；Prison
Screen：Display scene images；
Photoelectricity incremental encoder：The positional information of detection servomotor feeds back to driver.
The trimming executing agency is combined by chain saw and hydraulic shear to be constituted, as needed the pruning mechanism needed for switching, institute
State handgrip be hydraulically operated two can be with cross one another structure composition.
The trimming executing agency can manually and automatically be switched using touch-screen, there is semi-automatic and full-automatic two automatically
The pattern of kind, is monitored, the stepper motor between controller and the arm body is worked in coordination in real time according to gathered image, with reference to
Related algorithm, can trim out mushroom head, cylinder, circular cone, plane etc. variously-shaped.
In summary, beneficial effects of the present invention：The beneficial multifunctional greening trimmer perfect in shape and function of the invention of the present invention,
Using double mechanical arms cooperating, the difficulty of trimming is reduced, personnel's work burden is alleviated, operating efficiency is improved, to grind
Send out kinetic energy engineering truck many and done good basis.
Claims (5)
1. a kind of Multifunctional trimming robot, it is characterised in that：Including car body and trimming mechanical arm, car body includes running gear
（8）And the engine of power is provided to oil cylinder, trimming mechanical arm includes pedestal（1）, the lever arm being connected with pedestal（3）, three-level
Hydraulic jack end connects mechanical arm and puts the trimming in mechanical arm tail end（6）And handgrip mechanism（7）, put on car body and be additionally provided with and can revolve
The image collecting device turned（2）；Lever arm includes three-level liquid presses piston pole and the underarm being hinged with pedestal can be rotated in horizontal plane,
Mechanical arm is made up of the transfer arm of three sections of different lengths, and mobile arm component includes arm body（11）, arm body（12）With arm body（13）, repair
Executing agency is cut loaded on arm body（13）End.
2. Multifunctional trimming robot according to claim 1, it is characterised in that：Image collecting device is altogether by three part structures
Into being provided with the rotatable base for gathering overall profile on car body（1-3-1）It is connected with telescopic support bar
Camera（1-2-2）, in addition to arm body（13）On be equipped be used for gather the camera that executing agency wants pollard.
3. Multifunctional trimming robot according to claim 1, it is characterised in that：Also include control system, control system
Including：AC servo motor, controller and photoelectricity incremental encoder；AC servo motor is arranged on the arm body joint of transfer arm
Place, Pulse Width Control its rotating speed exported using servo-driver, steering and steering angle, controller is arranged on car body, will detected
The signal arrived is by the corresponding control program of program processing output with control machinery arm and executing agency；Photoelectricity incremental encoder
The positional information of detection servomotor feeds back to driver.
4. Multifunctional trimming robot according to claim 1, it is characterised in that：The trimming executing agency by chain saw and
Hydraulic shear combination is constituted, handgrip mechanism（7）Being hydraulically operated two can be with cross one another structure composition.
5. Multifunctional trimming robot according to claim 1, it is characterised in that：The trimming executing agency, which can utilize, to be touched
Screen is touched manually and automatically to be switched.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710507534.7A CN107251767A (en) | 2017-06-28 | 2017-06-28 | A kind of Multifunctional trimming robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710507534.7A CN107251767A (en) | 2017-06-28 | 2017-06-28 | A kind of Multifunctional trimming robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107251767A true CN107251767A (en) | 2017-10-17 |
Family
ID=60024694
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710507534.7A Pending CN107251767A (en) | 2017-06-28 | 2017-06-28 | A kind of Multifunctional trimming robot |
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| CN (1) | CN107251767A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628243A (en) * | 2017-10-21 | 2018-01-26 | 庞海涛 | A kind of garden shaping tree-pruning aircraft |
| CN108673464A (en) * | 2018-04-10 | 2018-10-19 | 昆明理工大学 | A kind of automatic pruning device of rose |
| CN108834617A (en) * | 2018-08-16 | 2018-11-20 | 佛山市觉醒自律智能科技有限公司 | High-altitude pruner |
| CN110199705A (en) * | 2019-07-18 | 2019-09-06 | 安徽工程大学 | Hedgerow conical surface modeling scissors mechanism |
| CN110199706A (en) * | 2019-06-05 | 2019-09-06 | 安徽工程大学 | A kind of artificial intelligence greening pruner machine |
| CN110521426A (en) * | 2019-10-15 | 2019-12-03 | 广州首应园林科技有限公司 | A kind of Garden Engineering vehicle |
| CN111149534A (en) * | 2020-02-24 | 2020-05-15 | 茂名职业技术学院 | Movable double-arm fruit tree pruning robot |
| CN108990584B (en) * | 2018-08-16 | 2020-07-21 | 燕山大学 | Split type branch trimmer |
| CN113207462A (en) * | 2021-04-23 | 2021-08-06 | 山西工程技术学院 | Intelligent full-automatic green belt trimming device and method |
| CN115735706A (en) * | 2022-09-30 | 2023-03-07 | 国网江苏省电力有限公司常州供电分公司 | Vehicle-mounted portable tree sawing robot |
| CN116267278A (en) * | 2023-04-25 | 2023-06-23 | 河北省农林科学院石家庄果树研究所 | Grape branch contour trimming means |
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| CN201252748Y (en) * | 2008-09-17 | 2009-06-10 | 程军 | Movable pruning vehicle |
| CN202178988U (en) * | 2011-06-28 | 2012-04-04 | 上海外国语大学附属大境中学 | Robot for afforesting work |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107628243A (en) * | 2017-10-21 | 2018-01-26 | 庞海涛 | A kind of garden shaping tree-pruning aircraft |
| CN108673464A (en) * | 2018-04-10 | 2018-10-19 | 昆明理工大学 | A kind of automatic pruning device of rose |
| CN108834617A (en) * | 2018-08-16 | 2018-11-20 | 佛山市觉醒自律智能科技有限公司 | High-altitude pruner |
| CN108990584B (en) * | 2018-08-16 | 2020-07-21 | 燕山大学 | Split type branch trimmer |
| CN110199706A (en) * | 2019-06-05 | 2019-09-06 | 安徽工程大学 | A kind of artificial intelligence greening pruner machine |
| CN110199705A (en) * | 2019-07-18 | 2019-09-06 | 安徽工程大学 | Hedgerow conical surface modeling scissors mechanism |
| CN110521426A (en) * | 2019-10-15 | 2019-12-03 | 广州首应园林科技有限公司 | A kind of Garden Engineering vehicle |
| CN111149534A (en) * | 2020-02-24 | 2020-05-15 | 茂名职业技术学院 | Movable double-arm fruit tree pruning robot |
| CN113207462A (en) * | 2021-04-23 | 2021-08-06 | 山西工程技术学院 | Intelligent full-automatic green belt trimming device and method |
| CN115735706A (en) * | 2022-09-30 | 2023-03-07 | 国网江苏省电力有限公司常州供电分公司 | Vehicle-mounted portable tree sawing robot |
| CN116267278A (en) * | 2023-04-25 | 2023-06-23 | 河北省农林科学院石家庄果树研究所 | Grape branch contour trimming means |
| CN116267278B (en) * | 2023-04-25 | 2024-05-24 | 河北省农林科学院石家庄果树研究所 | Grape branch contour trimming means |
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Cairong Inventor after: Miao Wenxue Inventor after: Zhang Xingkui Inventor after: Wang Jian Inventor before: Zhang Xingkui |
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Application publication date: 20171017 |
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