CN109258243A - A kind of four-degree-of-freedom forest snow removal machine people and its snow-removing method - Google Patents
A kind of four-degree-of-freedom forest snow removal machine people and its snow-removing method Download PDFInfo
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- CN109258243A CN109258243A CN201810829424.7A CN201810829424A CN109258243A CN 109258243 A CN109258243 A CN 109258243A CN 201810829424 A CN201810829424 A CN 201810829424A CN 109258243 A CN109258243 A CN 109258243A
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- snow
- holding claw
- snow removing
- rotation
- claw mechanism
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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
- A01G13/00—Protecting plants
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of four-degree-of-freedom forest snow removal machine people and its snow-removing methods.It includes movement holding claw mechanism, snow removing holding claw mechanism and linking arm three parts.Movement holding claw mechanism has the function of that holding tree limb tightly provides support, rotates along trunk axial traveling, along trunk section, snow removing holding claw mechanism has the function of that evolution and combination machinery between branch remove the snow to forest with ultrasonic activation, linking arm provides the rotary motion in two joints, and the snow-removing mechanism of end is enable flexibly to operate.When use only need to will movement holding claw mechanism be buckled on trunk, then by remote control can be driven robot climb to set end any position remove the snow.Have many advantages, such as that efficiency of cleaning snow is high, work area is big, operation is convenient, is very suitable in the Snow removing to plantation in southern large-scale arbor, the dense tree species of tree crown or rare tree etc. in winter.
Description
Technical field
The present invention relates to a kind of novel four-degree-of-freedom forest snow removal machine people and its snow-removing methods, especially for the southern winter
The snow removing maintenance work of the luxuriant trees of the large-scale arbor in season, tree crown or rare tree.
Background technique
In recent years due to Global climate change exception, heavy snow can all drop in annual south winter, and south have it is many evergreen
Tree species, in winter, still tree crown is dense, will accumulate thick accumulated snow on blade in snowy day, often break branch, very
To trees trunk is directly broken, trees is made integrally to lodge.It not only causes greatly to damage to precious forest tree resource, also often send out
Raw branch, which is fallen, injures pedestrian by a crashing object, smashes the secondary damages such as automobile.And the current products to the snow removing of this trees few on the market,
Staff can only directly pat the accumulated snow of treetop by the equipment of long rod type to remove the snow, and this snow removing mode has the disadvantage that
1, the rod-type mechanism for just needing to grow very much for tall and big trees, equipment volume are big.2, by purely mechanic beating, efficiency of cleaning snow is low, holds
Easily secondary damage is caused to trees.3, intensity of workers is high, and stand be easy to be dropped object near tree it is hit.
So be badly in need of at present it is a can efficiently remove the snow, will not cause to damage to trees, and operator can be long-range
The product of manipulation.
Summary of the invention
The purpose of the present invention is overcome the deficiencies of the prior art and provide a kind of novel four-degree-of-freedom snow removal machine people and its remove
Snow method.
Technical scheme is as follows:
It include movement holding claw mechanism (1), snow removing holding claw machine the present invention provides a kind of four-degree-of-freedom forest snow removal machine people
Structure (2) and linking arm (3)；Wherein movement holding claw mechanism (1) includes holding motor (11), swingle (12), connecting rod (13), connection tightly
Seat (14), holding claw (15), fixed rack (16), sliding block (17), straight trip wheel model group (18) and rotation wheel model group (19)；Remove the snow holding claw
Mechanism (2) includes holding claw mould group (26), spring-loaded governor (22), ring spring (23), snow removing bar (24) and ultrasonic transmitter
(25)；Wherein holding claw mould group (26) is identical as movement holding claw mechanism (1) structure；Linking arm (3) include main motion end motor (31),
It is U-shaped that main motion end rotates mould group (32), pitman arm (33), snow removing end motor (34), snow removing end rotation mould group (35) and connection
Seat (36)；
The side of linking arm (3) and movement holding claw mechanism (1) hingedly form movable joint, the other side side of linking arm (3)
Movable joint is hingedly formed with snow removing holding claw mechanism (2)；Motor (11) are held tightly to connect with swingle (12) and swingle can be driven
(12) rotate, the right and left of swingle (12) respectively and a connecting rod (13) hingedly, the other end of two connecting rods (13) is and even
Hingedly, two attachment bases (14) in left and right are connected with a holding claw (15) joint chair (14) respectively；Attachment base (14) is gone back and sliding block (17)
It is connected, sliding block (17) is slidably connected on the fixation guide rail (16) of movement holding claw mechanism (1), keep straight on wheel model group (18) and rotating wheel
Mould group (19) is arranged in holding claw；
Holding claw mould group (26) is connected together with two snow removings holding claw (21) thereon and forms the body frame of snow removing holding claw mechanism (2),
Ring spring (23) snaps onto snow removing holding claw (21), spring-loaded governor (22) and ring spring (23) connection, ring spring
(23) and snow removing bar (24) connection, snow removing bar (24) end are connected with ultrasonic generator (25),
The both ends of pitman arm (33) on linking arm (3) have been respectively articulated with main motion end rotation mould group (32) and snow removing end
It rotates mould group (35), two hinged places are operated alone by main motion end motor (31) and snow removing end motor (34) respectively；Main motion
End rotation mould group (32) is connect by connecting U-shaped seat (36) with movement holding claw mechanism (1), and snow removing end rotation mould group (35) passes through company
U-shaped seat (36) is connect to connect with snow removing holding claw mechanism (2).
Preferably, the holding claw mould group (26) includes holding motor (11), swingle (12), connecting rod (13), attachment base tightly
(14), fixed rack (16), sliding block (17)；Motor (11) are held tightly to connect with swingle (12) and swingle (12) can be driven to revolve
Turn, the right and left of swingle (12) respectively and a connecting rod (13) hingedly, the other end of two connecting rods (13) is and attachment base
(14) hingedly, two attachment bases (14) in left and right are connected with a snow removing holding claw (21) respectively；Attachment base (14) is gone back and sliding block (17)
It is connected, sliding block (17) is slidably connected on fixed guide rail (16).
Preferably, the straight trip wheel model group (18) and rotation wheel model group (19) are made of motor and wheel, straight wheel
The wheel installation direction of mould group (18) and ground are vertical, and the wheel installation direction for rotating wheel model group (19) is parallel with ground, straight trip
Wheel model group (18) and the rotary shaft for rotating wheel model group (19) are mutually perpendicular to.
Preferably, ultrasonic generator (25) makes snow-broth generate resonance and reaches snow removing purpose for generating high-frequency vibration.
Preferably, there are four spatial degrees of freedom by snow removal machine people.
Preferably, the four-degree-of-freedom forest snow removal machine people further includes being arranged in four-degree-of-freedom forest snow removal machine people
On control unit and wireless communication module, control unit and movement holding claw mechanism (1), snow removing holding claw mechanism (2) and linking arm
(3) motor in is connected, and wireless communication module is connected with control unit.
The present invention also provides the snow-removing methods of four-degree-of-freedom forest snow removal machine people a kind of comprising following step
It is rapid:
1) first the holding claw of loosening (15) pine is covered on trunk, holds motor (11) rotation tightly and drives swingle (12), rotation
Bar (12) pulls connecting rod (13) to center, and connecting rod (13) passes through attachment base (14) under the guiding of sliding block (17) for left and right holding claw
(15) it is slided to center, to hold trunk tightly, the wheel rotation of then straight trip wheel model group (18) drives Robot trunk to climb
Row；
2) when reaching limb crotch, when needing to reach another branch from a branch, the wheel of wheel model group (19) is rotated
Son rotation realizes that robot around the rotary motion of trunk, finds suitable conversion angle；
3) after the completion of step 2), linking arm (3) rotation, the snow removing holding claw (21) of snow removing holding claw mechanism (2) embraces goal tree
Then branch unclamps movement holding claw mechanism (1), in the case where linking arm (3) drive, target branch is also caught in movement holding claw mechanism (1), this
Robot body is turned to target branch by Shi Songkai snow removing holding claw mechanism (2)；
4) the wheel rotation of straight trip wheel model group (18), drives Robot trunk to creep, and when arriving at except near snow point, rotates
Wheel model group (19) rotation, holding claw (21) and snow removing bar (24) carry out machinery to accumulated snow of the accumulation on branch and blade and beat
It removes, in addition, ultrasonic generator (25) can produce the vibration of high frequency, snow-broth is made to generate resonance, assist snow removing.
The present invention has many advantages, such as that efficiency of cleaning snow is high, work area is big, operation is convenient, and will not cause to damage to trees
Wound, operator can carry out remote control again, cooperate control system, any corner row neatly in the tree may be implemented
It walks, is very suitable in the snow removing work to plantation in southern large-scale arbor, the dense tree species of tree crown or rare tree etc. in winter
Make.
Detailed description of the invention
Fig. 1 is the schematic diagram of forest snow removal machine people of the present invention；
Fig. 2 is that forest snow removal machine people of the present invention moves holding claw structural scheme of mechanism；
Fig. 3 is that forest snow removal machine people of the present invention moves holding claw mechanism list holding claw schematic diagram；
Fig. 4 is the schematic diagram of forest snow removal machine people of the present invention snow removing holding claw mechanism；
Fig. 5 is the schematic diagram that forest snow removal machine people of the present invention connects arm mechanism；
In figure, movement holding claw mechanism 1, snow removing holding claw mechanism 2, linking arm 3, hold tightly motor 11, swingle 12, connecting rod 13,
Attachment base 14, holding claw 15, fixed rack 16, sliding block 17, straight trip wheel model group 18, rotation wheel model group 19, snow removing holding claw 21, spring tune
Save device 22, ring spring 23, snow removing bar 24, ultrasonic transmitter 25, clamping die group 26, main motion end motor 31, main motion end
Rotate mould group 32, pitman arm 33, snow removing end motor 34, snow removing end rotation mould group 35, the U-shaped seat 36 of connection
Specific embodiment
As shown in Figure 1, the left side of linking arm 3 and movement holding claw mechanism 1 hingedly form movable joint, the right side of linking arm 3
Holding claw mechanism 2 hingedly forms movable joint with snow removing.Movement holding claw mechanism 1 may be implemented to hold tree limb offer support, edge tightly
Trunk axial traveling, the function of rotating along trunk section, snow removing holding claw mechanism 2, which has, holds tree limb, cooperative movement holding claw tightly
Mechanism 1 realize branch between evolution, in addition it can combine snow removing holding claw snow removal with machine and ultrasonic activation remove the snow into
Snow removing of the row to forest, 3 both ends joint of linking arm provides two rotary motions, the snow-removing mechanism of end is enable flexibly to operate.
Swingle 12 can be driven to rotate as shown in Fig. 2, holding motor 11 tightly, swingle 12 and each one connecting rod of the right and left
13 is hinged, and 13 other end of connecting rod and attachment base 14 are hinged, and left and right attachment base 14 is connected with holding claw 15 respectively, as shown in figure 3, being one
The holding claw mechanism of side, attachment base 14 and sliding block 17 are connected, and sliding block 17 and fixed guide rail 16 are slidably connected, the straight trip wheel model in holding claw
Group 18 is made of motor and wheel, and the installation direction of wheel and ground are vertical, and rotation 19 installation direction of wheel model group is parallel with ground.
Straight trip wheel model group 18 and the rotary shaft for rotating wheel model group 19 are mutually perpendicular to, and the shape of wheel is approximately spherical.When work, first will
15 pine of holding claw of loosening covers on trunk, and the rotation of motor 11 drives swingle 12, and swingle 12 pulls connecting rod 13 to center, even
Bar 13 is slided left and right holding claw 15 to center under the guiding of sliding block 17 by attachment base 14, to hold trunk tightly, is then kept straight on
The wheel of wheel model group 18 rotates, and Robot trunk is driven to creep.In addition it can be rotated by the wheel of rotation wheel model group 19,
Realize that robot around the rotary motion of trunk, provides power for subsequent Snow removing.
As shown in figure 4, there are a holding mould group 26 identical with movement holding claw mechanism structure, holding claw mould in snow removing holding claw mechanism
Group 26 and snow removing holding claw 21 are connected, and ring spring 23 snaps onto snow removing holding claw 21, and spring-loaded governor 22 and ring spring 23 connect
It connects, ring spring 23 and snow removing bar 24 connect, and snow removing 24 end of bar is connected with ultrasonic generator 25.It is needed in snow removal machine people
When reaching another branch from a branch, by removing the snow, holding claw 21 embraces target branch, then unclamps movement holding claw mechanism,
Under the drive of linking arm 3, robot body is turned into target branch.When snow removing, rotated in main motion holding claw mechanism around branch
On the basis of movement and linking arm 3, holding claw 21 and snow removing bar 24 can carry out machine to accumulated snow of the accumulation on branch and blade
Tool beats removal, in addition, ultrasonic generator 25 can produce the higher vibration of frequency, so that snow-broth is generated resonance, assists to remove
Snow.
As shown in figure 5, the both ends of 3 pitman arm 33 of linking arm have been respectively articulated with main motion mould group 32 and snow removing mould group 35,
Two hinged places are operated alone by motor 31 and 34 respectively, cooperate two movements of walking and rotation of aforementioned main motion mechanism 1, real
The four-degree-of-freedom operation for having showed snow removing, flexibly arrives at arbitrary orientation in space.
Claims (7)
1. a kind of four-degree-of-freedom forest snow removal machine people, it is characterised in that including movement holding claw mechanism (1), snow removing holding claw mechanism
(2) and linking arm (3)；
Move holding claw mechanism (1) include hold tightly motor (11), swingle (12), connecting rod (13), attachment base (14), holding claw (15),
Fixed rack (16), sliding block (17), straight trip wheel model group (18) and rotation wheel model group (19)；
Snow removing holding claw mechanism (2) includes snow removing holding claw (21), spring-loaded governor (22), ring spring (23), snow removing bar (24), surpasses
Pinger (25) and holding claw mould group (26)；
Linking arm (3) includes main motion end motor (31), main motion end rotation mould group (32), pitman arm (33), snow removing end electricity
Machine (34), snow removing end rotation mould group (35) and the U-shaped seat (36) of connection；
The side of linking arm (3) and movement holding claw mechanism (1) hingedly form movable joint, the other side side of linking arm (3) and remove
Snow holding claw mechanism (2) hingedly forms movable joint；Motor (11) are held tightly to connect with swingle (12) and swingle (12) can be driven
Rotation, the right and left of swingle (12) respectively and a connecting rod (13) hingedly, the other end of two connecting rods (13) is and attachment base
(14) hingedly, two attachment bases (14) in left and right are connected with a holding claw (15) respectively；Attachment base (14) is also connected with sliding block (17),
Sliding block (17) is slidably connected on the fixation guide rail (16) of movement holding claw mechanism (1), straight trip wheel model group (18) and rotation wheel model group
(19) it is arranged in holding claw；
Body frame of the holding claw mould group (26) together with two holding claw (21) connected composition snow removings holding claw mechanism (2) of removing the snow, ring spring
(23) it snaps onto snow removing holding claw (21), spring-loaded governor (22) and ring spring (23) connection, ring spring (23) and snow removing
Bar (24) connection, snow removing bar (24) end are connected with ultrasonic generator (25),
The both ends of pitman arm (33) on linking arm (3) have been respectively articulated with main motion end rotation mould group (32) and the rotation of snow removing end
Mould group (35), two hinged places are operated alone by main motion end motor (31) and snow removing end motor (34) respectively；Main motion end turns
Dynamic model group (32) is connect by connecting U-shaped seat (36) with movement holding claw mechanism (1), and snow removing end rotation mould group (35) passes through connection U
Type seat (36) is connect with snow removing holding claw mechanism (2).
2. four-degree-of-freedom forest snow removal machine people according to claim 1, it is characterised in that the holding claw mould group (26)
Including holding motor (11), swingle (12), connecting rod (13), attachment base (14), fixed rack (16), sliding block (17) tightly；Hold electricity tightly
Machine (11) connect with swingle (12) and swingle (12) can be driven to rotate, and the right and left of swingle (12) is respectively and a connecting rod
(13) hingedly, the other end of two connecting rods (13) with attachment base (14) hingedly, left and right two attachment bases (14) respectively with one
Snow removing holding claw (21) is connected；Attachment base (14) is also connected with sliding block (17), and sliding block (17) is slidably connected on fixed guide rail (16).
3. four-degree-of-freedom forest snow removal machine people according to claim 1, it is characterised in that the straight trip wheel model group
(18) it is made of with rotation wheel model group (19) motor and wheel, the wheel installation direction of straight trip wheel model group (18) and ground are hung down
Directly, the wheel installation direction for rotating wheel model group (19) is parallel with ground, straight trip wheel model group (18) and the rotation for rotating wheel model group (19)
Shaft is mutually perpendicular to.
4. four-degree-of-freedom forest snow removal machine people according to claim 1, it is characterised in that ultrasonic generator (25)
For generating high-frequency vibration, so that snow-broth is generated resonance and reach snow removing purpose.
5. four-degree-of-freedom forest snow removal machine people according to claim 1, it is characterised in that there are four empty by snow removal machine people
Between freedom degree.
6. four-degree-of-freedom forest snow removal machine people according to claim 1, it is characterised in that further include that setting is free four
Spend the control unit and wireless communication module on forest snow removal machine people, control unit and movement holding claw mechanism (1), snow removing holding claw
Mechanism (2) is connected with the motor in linking arm (3), and wireless communication module is connected with control unit.
7. the snow-removing method of four-degree-of-freedom forest snow removal machine people described in a kind of claim 1, it is characterised in that including following step
It is rapid:
1) first the holding claw of loosening (15) pine is covered on trunk, holds motor (11) rotation tightly and drives swingle (12), swingle
(12) connecting rod (13) is pulled to center, connecting rod (13) passes through attachment base (14) under the guiding of sliding block (17) for left and right holding claw
(15) it is slided to center, to hold trunk tightly, the wheel rotation of then straight trip wheel model group (18) drives Robot trunk to climb
Row；
2) when reaching limb crotch, when needing to reach another branch from a branch, the wheel rotation of rotation wheel model group (19)
Turn, realizes that robot around the rotary motion of trunk, finds suitable conversion angle；
3) after the completion of step 2), linking arm (3) rotation, the snow removing holding claw (21) of snow removing holding claw mechanism (2) embraces target branch, so
Movement holding claw mechanism (1) is unclamped afterwards, and in the case where linking arm (3) drive, target branch is also caught in movement holding claw mechanism (1), loose at this time
It discharges snow holding claw mechanism (2) from and robot body is turned into target branch；
4) the wheel rotation of straight trip wheel model group (18), drives Robot trunk to creep, when arriving at except near snow point, rotation wheel model
Group (19) rotation, holding claw (21) and snow removing bar (24) carry out machinery to accumulated snow of the accumulation on branch and blade and beat removal, separately
Outside, ultrasonic generator (25) can produce the vibration of high frequency, and snow-broth is made to generate resonance, assist snow removing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810829424.7A CN109258243B (en) | 2018-07-25 | 2018-07-25 | Four-degree-of-freedom forest snow removing robot and snow removing method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810829424.7A CN109258243B (en) | 2018-07-25 | 2018-07-25 | Four-degree-of-freedom forest snow removing robot and snow removing method thereof |
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| Publication Number | Publication Date |
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| CN109258243A true CN109258243A (en) | 2019-01-25 |
| CN109258243B CN109258243B (en) | 2020-12-01 |
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ID=65153167
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Cited By (4)
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| CN109997579A (en) * | 2019-04-29 | 2019-07-12 | 陈思潼 | It is a kind of municipal administration branch accumulated snow shake off device |
| CN110199750A (en) * | 2019-07-15 | 2019-09-06 | 张磊 | A kind of trunk anti-off device |
| CN110700158A (en) * | 2019-10-02 | 2020-01-17 | 西宁泰里霍利智能科技有限公司 | Roadside cleaning robot and roadside cleaning method |
| CN112385432A (en) * | 2020-11-17 | 2021-02-23 | 赖艳红 | Pat formula gardens branch snow remove device |
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| CN112385432A (en) * | 2020-11-17 | 2021-02-23 | 赖艳红 | Pat formula gardens branch snow remove device |
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|---|---|
| CN109258243B (en) | 2020-12-01 |
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