CN107306679B - Xiu Shu robot - Google Patents
Xiu Shu robot Download PDFInfo
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- CN107306679B CN107306679B CN201710422509.9A CN201710422509A CN107306679B CN 107306679 B CN107306679 B CN 107306679B CN 201710422509 A CN201710422509 A CN 201710422509A CN 107306679 B CN107306679 B CN 107306679B
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- hole
- motor
- tree
- disk
- cantilever crane
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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
- A01G3/088—Circular saws
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Jib Cranes (AREA)
- Manipulator (AREA)
Abstract
A kind of Xiu Shu robot comprising base, left and right mechanism of symmetrically climbing tree, clamp system and disk saw device, wherein mechanism of climbing tree includes cantilever crane, motor I, upper and lower wheel group and chain, upper and lower wheel group all include main shaft, sprocket wheel, fixed and moving cone pulley, auxiliary spring, main shaft couple with the rotation of cantilever crane end, and motor I is connect with cantilever crane, motor shaft and the main shaft of lower whorl group are keyed, and drive four cone pulleys of upper and lower wheel group to rotate by chain conveyer；Clamp system includes motor II, and screw rod, screw disk, drawing, pressing spring, left and right set, base slides axially with left and right set to be coupled, and left and right set couples with the rotation of the cantilever crane of left and right mechanism of climbing tree respectively；Motor II is connect with right set and screw rod, and left and right set drives eight cone pulleys while Flexible Fixturing tree trunk of left and right mechanism of climbing tree, and band Moving plate saw device repairs tree., it can be achieved that Xiu Shu robot lifting and positive and negative revolution are climbed tree when the motor of left and right mechanism of climbing tree of the invention is mutually inverted and is rotate in same direction.
Description
Technical field
The invention belongs to robotic technology field, in particular to a kind of Xiu Shu robot.
Background technique
Tree trimming is not only the important means of the maintenance of National Forest trees, rationally felling and forest fire protection, in city ring
It is also to keep good tree-like main method to trees quality is cultivated that border, which is afforested and beautified in engineering,.In the forest area Guang Mao, usually
Vehicle is difficult to enter depths, and a large amount of trees in China are trimmed can only manually complete in time at present.Since artificial tree trimming is difficult
Degree is big, time-consuming and laborious, trims in time so manually completing trees under the adverse circumstances such as heat, severe cold using robot substitution,
The always dream striven for of China forest workers and the urban environment pursuit of afforesting and beautifying personnel.Both at home and abroad gloomy
During woods trees are felled, generallys use and take mechanical-stretching arm creeper truck driving handgrip and disk saw is lumbered, or manually take machine
The saw lumbering of tool disk.The root that this method is only suitable for forest-tree in blocks is felled, and is not suitable for forest-tree curing period and with fire prevention
For the trimming of purpose trees upper end, more unsuitable urban environment afforestation project trees upper end trimming is required.In recent years, China is climbing tree
In terms of robot, the Chinese patent of Publication No. CN205649795U discloses a kind of robot capable of climbing trees for forestry protection, packet
Include top box housing, preceding fixed jaw, preceding fixed jaw bracket, kinematic link and steering engine.The middle promulgated by the State Council of Publication No. CN105947008A
A kind of bright robot capable of climbing trees of patent disclosure is mutually rotatablely connected the support at open loop support frame including control system and multiple head and the tail
Joint.The Chinese invention patent of Publication No. CN205469360U discloses a kind of quick robot capable of climbing trees, including crawler frame
People, acupuncture array, upper and lower end cohesion device, drawstring, tension device, telescopic device and telescopic rod.Publication No.
The Chinese invention patent of CN105109571B discloses a kind of folding telescopic robot capable of climbing trees, including mechanical module, steering engine group, master
Controller and power module.The Chinese invention patent of Publication No. CN106335052A discloses a kind of hydraulic climbing level robot machine
People is overall by the paw mechanism of upper, middle and lower three, ontology telescoping mechanism, guiding mechanism, electric hydraulic control unit and correlation
Attachment is constituted.In terms of climbing level robot, the Chinese invention patent of Publication No. benefit CN106347516A discloses one kind and pneumatically climbs
Bar robot is formed by two groups in the pole-climbing mechanism of cross intersection, and Liang Zu mechanism intersection, which is done, stretches out retraction movement realization to guide rod
Clamping and climb.Publication No. CN205928630U Chinese utility model patent is related to a kind of alternative expression climbing level robot, mould
Anthropomorphic trick is alternately climbed on electric pole.Although it is above-mentioned climb tree, climbing level robot technology has their own characteristics each, can only substantially climb
It rises, progress cannot be interacted with revolution.How to ensure simplify climb tree, climbing level robot structure and under the premise of control system, make
Climb tree, climbing level robot can climb but interaction revolution repair tree, be always designer's striving direction.
Summary of the invention
That the purpose of the present invention is to provide a kind of structures is simple, compact, be easy to control, can climb tree/and bar and revolution repair
The Xiu Shu robot of tree.
The present invention includes base, the identical mechanism of climbing tree of left and right symmetrical configuration and mechanism, clamp system and disk saw device,
Wherein, base is " king " glyph framework, the frame by three level boards in upper, middle and lower middle part it is vertical with vertical plate be connected, in, under
Horizontal through hole is equipped in the middle part of vertical plate between level board；
The mechanism of climbing tree includes cantilever crane, motor I, upper wheel group, lower whorl group and chain, wherein cantilever crane is mutually flat by two
The frame that row arm plate is constituted, cantilever crane both ends and middle part are equipped with three through-holes of upright arm plate；Upper and lower wheel group structure is identical, wraps
Include main shaft, sprocket wheel, determine cone pulley, mantle wheel, auxiliary spring, wherein main shaft one end be equipped with coaxial openings hole, the other end be equipped with thin axis and
Boss；The through-hole rotation of mainshaft snap nose end and cantilever crane end couple, main shaft middle part successively with sprocket wheel and determine cone pulley and be coaxially connected,
The thin shaft part of main shaft and mantle wheel coaxially slide are keyed, and it is opposite with the small tapered end of mantle wheel to determine cone pulley, are set on upper and lower two sprocket wheels
There is chain；Auxiliary spring pocket is against on mantle wheel and main shaft boss respectively at the thin shaft part of main shaft, auxiliary bullet both ends；Under motor I and cantilever crane
The mainshaft snap nose end of end connection, motor I drive shaft and lower whorl group is keyed；Each determine to set on the circular conical surface of cone pulley and mantle wheel
Have a helical tooth, a left side climb tree mechanism cone pulley helical tooth rotation direction and the cone pulley helical tooth of right mechanism of climbing tree it is oppositely oriented；
The clamp system includes motor II, left set, right set, lead screw, screw disk, end cap, two pin shafts, pressing spring, a left sides
Draw spring and right drawing spring, wherein left and right set is rectangular block, and one end center is equipped with large opening, and the other end is equipped with and opens
The concentric through-hole in hole and vertical eccentric through-hole；In left and right set and base, lower horizontal board sliding contact, left and right set it is vertical
Eccentric through-hole couples with the rotation of the cantilever crane middle through-hole pin shaft of left and right mechanism of climbing tree respectively；End cap is equipped with central through hole, end cap
It is coaxially connected with left set big opening nose end；Screw disk is equipped with mutually concentric large and small cylinder and center thread through hole, and screw disk is big
Cylinder and the hole sliding contact of left set big opening, screw disk small column and end cap central through-hole slide key connecting；One end of lead screw is set
There are big cylinder and concentric aperture, the other end is equipped with concentric threads small column；Motor II is coaxially connected with right set large opening end, motor
The drive shaft of II and the coaxial key connecting of the aperture of lead screw, the large opening of the big cylinder and right set of lead screw are slidably connected, threads of lead screw
The through-hole that small column passes through right set, base vertical plate and left set couples with screw valve snail line through hole whorl；It is big that pressing spring is located at left set
In aperture, both ends are against screw disk and a left side is put on；Left and right drawing spring pocket on lead screw, both ends couple respectively left and right set with
Vertical plate；
The disk saw device includes motor III and disk saw, and motor III drive shaft is coaxially connected with disk mandrel, and leads in parallel
The upper adjustable connection of level board conventional axial of axis, motor III and base.
The present invention with it is existing be exactly compared with have the advantage that
1, it can go up and down and turn round, the two is interactive to repair tree with the coordinated movement of various economic factors of disk saw device.
2, structure is simple, compact, lightweight, is easy to control, and is suitble to variable diameters trees.
3, the frame structure of base is simple, strong can not only support left and right mechanism of climbing tree, clamp system and disk saw dress
It sets, and the bending ability for each gear grips tree trunk of contending with is strong.
4, it draws, the compound action of auxiliary spring on pressing spring and each main shaft, safe Flexible Fixturing tree trunk and soft may be implemented
Property is climbed tree；In the small variation of trees size or when encountering burl, it can be ensured that gear grips tree trunk of climbing tree power will not be mutated reduction, and
Tree trunk can smoothly be got over has segment.
5, clamp system and left and right arms are coupled using pin shaft rotation, it can be ensured that each cone pulley pressure with distribution.
6, the upper level board of motor III and base changes disk saw and trees spacing using conventional adjustable connection.
7, left and right drawing spring ensures that base vertical plate is maintained in the middle part of the robot, and increases and clamp trees power.
Detailed description of the invention
Fig. 1 is front sectional view of the invention；
Fig. 2 is the side view cutaway drawing of Fig. 1.
In figure: level board, 1-3- lower horizontal board, 1-4- vertical plate, 2- climb tree machine in the upper level board of 1- base, 1-1-, 1-2-
Structure, 2-1- motor I, 2-2- cantilever crane, 2-3- main shaft, 2-4- sprocket wheel, 2-5- determine cone pulley, 2-6- mantle wheel, the auxiliary spring of 2-7-, 2-8-
Chain, 3-- tensioning mechanism, the left set of 3-1- motor II, 3-2-, the right set of 3-3-, 3-4- lead screw, 3-5- screw disk, 3-6- end cap, 3-
7- pin shaft, 3-8- pressing spring, 3-9- Zola spring, the right drawing spring of 3-10-, 4-1- motor III, 4-2- disk saw, 5- trees.
Specific embodiment
In Fig. 1 and Xiu Shu robot shown in Fig. 2 schematic diagram, base 1 is " king " glyph framework, and the frame is by upper level
Plate 1-1, middle level board 1-2 and lower horizontal board 1-3 is vertical with vertical plate 1-4 is connected, in, be equipped in the middle part of the vertical plate between lower horizontal board
Horizontal through hole
Cantilever crane 2-2 in mechanism of climbing tree 2 is the frame being made of two arm plates that are parallel to each other, and cantilever crane both ends and middle part are equipped with
Three through-holes of upright arm plate；Upper and lower wheel group structure is identical, includes main shaft 2-3, sprocket wheel 2-4, determines cone pulley 2-5, mantle wheel 2-
6, auxiliary spring 2-7, wherein main shaft one end is equipped with coaxial openings hole, and the other end is equipped with thin axis and boss；Mainshaft snap nose end and arm
The through-hole in frame end portion rotates connection, in the middle part of main shaft successively with sprocket wheel and determine cone pulley and be coaxially connected, the thin shaft part of main shaft and mantle wheel are same
Axis sliding key connection, it is opposite with the small tapered end of mantle wheel determine cone pulley, and upper and lower two sprocket wheels are equipped with chain 2-8；Auxiliary spring pocket exists
The thin shaft part of main shaft, auxiliary bullet both ends are against respectively on mantle wheel and main shaft boss；Motor I 2-1 is connect with cantilever crane lower end, and motor I drives
Moving axis and the mainshaft snap nose end of lower whorl group are keyed；The circular conical surface for each determining cone pulley and mantle wheel is equipped with helical tooth, and a left side is climbed
Cone pulley helical tooth rotation direction and the cone pulley helical tooth of right mechanism of climbing tree for setting mechanism are oppositely oriented；
Left set 3-2, right set 3-3 in clamp system 3 are rectangular block, and one end center is equipped with large opening, the other end
Equipped with the concentric through-hole of aperture and vertical eccentric through-hole；In left and right set and base, lower horizontal board sliding contact, it is left and right
The vertical eccentric through-hole of set couples with the cantilever crane middle through-hole pin shaft 3-7 of left and right mechanism of climbing tree rotation respectively；End cap 3-6 is set
There is central through hole, end cap is coaxially connected with left set big opening nose end；Screw disk 3-5 is equipped with mutually concentric large and small cylinder in
Heart tapped through hole, the big cylinder of screw disk and the hole sliding contact of left set big opening, screw disk small column and end cap central through-hole slide
Key connecting；One end of lead screw 3-4 is equipped with big cylinder and concentric aperture, and the other end is equipped with concentric threads small column；Motor II 3-1
It is coaxially connected with right set large opening end, the drive shaft of motor II and the coaxial key connecting of the aperture of lead screw, big cylinder and the right side of lead screw
The large opening of set is slidably connected, and it is logical that threads of lead screw small column passes through right set, the through-hole of base vertical plate and left set and screw valve snail line
Hole thread connection；Pressing spring 3-8 is located in left set large opening, and both ends are against screw disk and a left side is put on；Zola's spring 3-9 and the right side
Spring 3-10 is drawn to cover on lead screw, both ends couple left and right set and vertical plate respectively；
Motor III 4-1 drive shaft in disk saw device is coaxially connected with disk mandrel 4-2, and parallel main axis, motor III with
The upper adjustable connection of level board conventional axial of base.Left and right set drives eight cone pulleys while Flexible Fixturing of left and right mechanism of climbing tree
The tree trunk of trees 5, band Moving plate saw device repair tree.
Claims (1)
1. a kind of Xiu Shu robot comprising base, left and right symmetrical configuration and identical mechanism of climbing tree, mechanism, clamp system and
Disk saw device, it is characterised in that: the base is " king " glyph framework, the frame by three level boards in upper, middle and lower middle part with
Vertical plate is vertically connected, in, horizontal through hole is equipped in the middle part of vertical plate between lower horizontal board；
The mechanism of climbing tree includes cantilever crane, motor I, upper wheel group, lower whorl group and chain, wherein cantilever crane is by two arms that are parallel to each other
The frame that plate is constituted, cantilever crane both ends and middle part are equipped with three through-holes of upright arm plate；Upper and lower wheel group structure is identical, includes master
Axis, sprocket wheel determine cone pulley, mantle wheel, auxiliary spring, and wherein main shaft one end is equipped with coaxial openings hole, and the other end is equipped with thin axis and boss；
The through-hole rotation of mainshaft snap nose end and cantilever crane end couple, main shaft middle part successively with sprocket wheel and determine cone pulley and be coaxially connected, main shaft
Thin shaft part and mantle wheel coaxially slide are keyed, and determine that cone pulley is opposite with the small tapered end of mantle wheel, and upper and lower two sprocket wheels are equipped with chain
Item；Auxiliary spring pocket is against on mantle wheel and main shaft boss respectively in the thin shaft part of main shaft, auxiliary both ends of the spring；Motor I and cantilever crane lower end
The mainshaft snap nose end of connection, motor I drive shaft and lower whorl group is keyed；Each determine cone pulley and the circular conical surface of mantle wheel is equipped with
The cone pulley helical tooth of helical tooth, the cone pulley helical tooth rotation direction of left mechanism of climbing tree and right mechanism of climbing tree is oppositely oriented；
The clamp system includes motor II, left set, right set, lead screw, screw disk, end cap, two pin shafts, pressing spring, Zola's bullet
Spring and right drawing spring, wherein left and right set is rectangular block, and left set one end center is equipped with the first large opening, and the other end is equipped with and the
The concentric first through hole of one large opening and the first vertical eccentric through-hole；Right set one end center is equipped with the second large opening, the other end
Equipped with the second concentric through-hole of the second large opening and the second vertical eccentric through-hole；In left and right set and base, lower horizontal board
Sliding contact, the first vertical eccentric through-hole of left and right set and the second eccentric through-hole are respectively and in the middle part of the cantilever crane of left and right mechanism of climbing tree
Through-hole is rotated with pin shaft to be coupled；End cap is equipped with central through hole, and end cap is coaxially connected with left the first large opening of set end；Screw disk is equipped with
Mutually concentric large and small cylinder and center thread through hole, the big cylinder of screw disk and left the first large opening of set sliding contact, screw disk
Small column and end cap central through-hole slide key connecting；One end of lead screw is equipped with big cylinder and concentric aperture, and the other end is equipped with concentric
Screw thread small column；Motor II is coaxially connected with right the second large opening of set end, the drive shaft of motor II and the same axle key of the aperture of lead screw
Connection, the big cylinder of lead screw is slidably connected with the second large opening of right set, threads of lead screw small column across right set, base vertical plate and
The through-hole of left set couples with screw valve snail line through hole whorl；Pressing spring is located in left the first large opening of set, and both ends are against screw
Disk and a left side are put on；For left and right drawing spring pocket on lead screw, Zola's both ends of the spring couples left set and vertical plate, right drawing both ends of the spring respectively
Connection vertical plate and right set respectively；
The disk saw device includes motor III and disk saw, and motor III drive shaft is coaxially connected with disk mandrel, and parallel main axis, electricity
The upper adjustable connection of level board conventional axial of machine III and base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710422509.9A CN107306679B (en) | 2017-06-07 | 2017-06-07 | Xiu Shu robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710422509.9A CN107306679B (en) | 2017-06-07 | 2017-06-07 | Xiu Shu robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107306679A CN107306679A (en) | 2017-11-03 |
| CN107306679B true CN107306679B (en) | 2019-11-01 |
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ID=60182124
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710422509.9A Active CN107306679B (en) | 2017-06-07 | 2017-06-07 | Xiu Shu robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107306679B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108990584B (en) * | 2018-08-16 | 2020-07-21 | 燕山大学 | Split type branch trimmer |
| CN110122102B (en) * | 2019-06-30 | 2024-04-26 | 南京林业大学 | Tree climbing pruning robot based on flexible cutter |
| CN112715192B (en) * | 2020-12-28 | 2022-03-15 | 燕山大学 | Street bush trimming means |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2701628B1 (en) * | 1993-02-19 | 1995-06-02 | Cemagref | Autonomous machine for forest pruning. |
| ITTO20060261A1 (en) * | 2006-04-07 | 2007-10-08 | Torino Politecnico | PRUNING MACHINE |
| CN105109571B (en) * | 2015-09-18 | 2017-02-22 | 北京理工大学 | Folding type retractable tree climbing robot |
| CN205469360U (en) * | 2015-12-31 | 2016-08-17 | 天津禹汀科技有限公司 | Robot of climbing tree fast |
| CN205649795U (en) * | 2016-03-24 | 2016-10-19 | 杨志飞 | A robot of climbing tree for forestry protection |
| CN205454786U (en) * | 2016-04-13 | 2016-08-17 | 山东农业大学 | Fast -growing woods spiral pruning machine people that climbs tree |
| CN105947008B (en) * | 2016-05-13 | 2018-02-16 | 陈奕冰 | A kind of robot capable of climbing trees |
| CN205928630U (en) * | 2016-08-22 | 2017-02-08 | 常州信息职业技术学院 | Alternating pole -climbing robot |
| CN106347516B (en) * | 2016-11-01 | 2024-03-26 | 新疆大学 | Design of pneumatic pole-climbing robot carrying platform |
| CN106335052B (en) * | 2016-11-08 | 2018-06-12 | 天津职业技术师范大学 | A kind of hydraulic pressure climbing level robot |
| CN106688654A (en) * | 2017-03-21 | 2017-05-24 | 南京林业大学 | Triangular-prism-shaped electrically driven branch trimming robot |
-
2017
- 2017-06-07 CN CN201710422509.9A patent/CN107306679B/en active Active
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| CN107306679A (en) | 2017-11-03 |
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