CN109275443B - pruning robot - Google Patents
pruning robot Download PDFInfo
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- CN109275443B CN109275443B CN201811295045.0A CN201811295045A CN109275443B CN 109275443 B CN109275443 B CN 109275443B CN 201811295045 A CN201811295045 A CN 201811295045A CN 109275443 B CN109275443 B CN 109275443B
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- clamping
- pruning
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- clamping arm
- climbing
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
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Abstract
The invention relates to a pruning robot which comprises a climbing mechanism and a pruning mechanism arranged on the climbing mechanism, wherein the climbing mechanism comprises a framework, a first clamping assembly used for clamping a climbing object and a second clamping assembly used for clamping the climbing object, the first clamping assembly and the second clamping assembly are both arranged on the framework, the distance between the first clamping assembly and the second clamping assembly can be changed, and the pruning mechanism is used for pruning objects to be pruned. The first clamping assembly and the second clamping assembly can alternately clamp the trunk so that the pruning robot climbs to the vicinity of the wire, and the pruning mechanism is close to the branch in the vicinity of the wire. The pruning mechanism prunes branches near the lead so as to eliminate potential safety hazards. The pruning robot can reduce the influence of branches with lower heights so as to prune the branches near the lead.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pruning robot.
Background
In the power inspection process, if the phenomenon that the branches are too close to the wires is found, the branches near the wires need to be trimmed. In general, a pruning robot is used to prune branches near a wire, and in the conventional art, the pruning robot includes a robot body, a telescopic arm provided on the robot body, and a pruning mechanism provided on the telescopic arm. However, the height of the branch near the wire is usually higher, and the telescopic arm is easily influenced by the branch with lower height in the telescopic process, so that the pruning mechanism cannot be close to the branch near the wire, and therefore the branch near the wire cannot be pruned.
Disclosure of Invention
In view of the above, it is necessary to provide a pruning robot for pruning branches near a wire by reducing the influence of branches having a low height.
The utility model provides a pruning robot, including climbing mechanism and set up in pruning mechanism on the climbing mechanism, the climbing mechanism include the skeleton, be used for the centre gripping climbing thing first clamping component and be used for the centre gripping the second clamping component of climbing thing, first clamping component with the second clamping component all set up in on the skeleton, first clamping component with the distance between the second clamping component can change, pruning mechanism is used for pruning waiting to prune the thing.
The pruning robot has at least the following advantages:
during operation, the inspection personnel can place the pruning robot at the lower part of the trunk, and the first clamping component clamps the trunk, and the second clamping component is opened. So that the second clamping assembly is far away from the first clamping assembly along the climbing direction, the second clamping assembly clamps the trunk, then the first clamping assembly is opened to be close to the second clamping assembly, and the first clamping assembly clamps the trunk again. Thus, the first clamping assembly and the second clamping assembly alternately clamp the trunk, so that the pruning robot climbs to the vicinity of the wire, and the pruning mechanism is close to the branch in the vicinity of the wire. The pruning mechanism prunes branches near the lead so as to eliminate potential safety hazards. Because the pruning robot can climb to the vicinity of the wire, the pruning robot can reduce the influence of lower-height branches relative to the conventional technology so as to prune the branches near the wire.
The technical scheme is further described as follows:
in one embodiment, the first clamping assembly and the second clamping assembly each include a first clamping power source, a first clamping arm and a second clamping arm, and the first clamping power source is used for driving the first clamping arm and the second clamping arm to open and close.
In one embodiment, the first clamping power source comprises a clamping steering engine, a first gear and a second gear meshed with the first gear, an output shaft of the clamping steering engine penetrates through the first gear, a first clamping arm is arranged on the first gear, and a second clamping arm is arranged on the second gear.
In one embodiment, the first clamping assembly and the second clamping assembly each further comprise a second clamping power source, a third clamping arm and a fourth clamping arm, wherein the second clamping power source is used for driving the third clamping arm and the fourth clamping arm to open and close, the first clamping arm and the third clamping arm are arranged at intervals, and the second clamping arm and the fourth clamping arm are arranged at intervals; or alternatively
The first clamping assembly and the second clamping assembly further comprise a third clamping arm, a fourth clamping arm, a first connecting rod and a second connecting rod, wherein the first clamping arm and the third clamping arm are arranged at intervals, one end of the first connecting rod is arranged on the first clamping arm, the other end of the first connecting rod is arranged on the third clamping arm, the second clamping arm and the fourth clamping arm are arranged at intervals, one end of the second connecting rod is arranged on the second clamping arm, and the other end of the second connecting rod is arranged on the fourth clamping arm.
In one embodiment, the first clamping arm and/or the second clamping arm are/is provided with embedded teeth, and the embedded teeth are used for embedding the climbing object.
In one embodiment, the framework comprises a base body, a screw rod, a nut and a movable seat, the screw rod is rotatably arranged on the base body, the nut is sleeved on the screw rod, the movable seat is arranged on the nut, the first clamping assembly is arranged on the movable seat, and the second clamping assembly is arranged on the base body.
In one embodiment, the base body comprises a first mounting part, a guide rod, a second mounting part and a climbing motor, wherein the guide rod is arranged on the first mounting part, the second mounting part is arranged on the guide rod, the climbing motor is arranged on the second mounting part, the climbing motor is connected with the screw rod in a driving mode, and the second clamping assembly is arranged on the first mounting part.
In one embodiment, the pruning mechanism comprises an adjusting power source, an adjusting arm and a pruning assembly arranged on the adjusting arm, wherein the adjusting power source is arranged on the climbing mechanism and is used for driving the adjusting arm to rotate relative to the climbing mechanism.
In one embodiment, the trimming assembly comprises a trimming seat, a trimming motor and a saw blade, wherein the trimming seat is arranged on the adjusting arm, the trimming motor is arranged on the trimming seat, and the trimming motor is used for driving the saw blade to rotate.
In one embodiment, the pruning robot further comprises a controller for communication connection with a control terminal, and the climbing mechanism and the pruning mechanism are both electrically connected with the controller.
Drawings
FIG. 1 is a schematic diagram of a pruning robot in an embodiment;
FIG. 2 is a schematic view of the first clamping assembly of FIG. 1;
FIG. 3 is a schematic view of a portion of the pruning robot of FIG. 1;
FIG. 4 is an enlarged view of a portion of FIG. 1 at A;
fig. 5 is another partial schematic view of the pruning robot shown in fig. 1.
Reference numerals illustrate:
1. the pruning robot, 2, climber, 10, climbing mechanism, 20, pruning mechanism, 100, skeleton, 101, first arc slot, 102, second arc slot, 110, base, 111, first mount, 112, guide bar, 113, second mount, 114, climbing motor, 115, coupler, 120, lead screw, 130, movable mount, 140, stopper, 150, gear ring, 200, first clamping assembly, 200', second clamping assembly, 210, first clamping power source, 211, clamping steering engine, 212, first gear, 213, second gear, 220, first clamping arm, 221, embedded tooth, 230, second clamping arm, 240, third clamping arm, 250, fourth clamping arm, 260, first connecting bar, 270, second connecting bar, 280, first mount, 280', second mount, 300, movable assembly, 310, first movable member, 320, second movable member, 410, steering gear, 420, steering power source, 510, adjustment power source, 520, adjustment arm, 530, motor, 531, trim holder, 533, trim holder, control box, and trim, 533.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
Referring to fig. 1, a pruning robot 1 in an embodiment can be used for pruning trees, and can reduce the influence of lower-height branches to prune higher branches (such as branches near a wire). Specifically, pruning robot 1 includes a climbing mechanism 10 and a pruning mechanism 20 provided on climbing mechanism 10.
The climbing mechanism 10 includes a frame 100, a first clamping assembly 200 for clamping the climbing object 2, and a second clamping assembly 200' for clamping the climbing object 2, wherein the first clamping assembly 200 and the second clamping assembly 200' are both disposed on the frame 100, and a distance between the first clamping assembly 200 and the second clamping assembly 200' can be changed. The trimming mechanism 20 is disposed on the frame 100, the first clamping assembly 200 or the second clamping assembly 200', and the trimming mechanism 20 is used for trimming objects to be trimmed. In this embodiment, the trimming mechanism 20 is disposed on the second clamping assembly 200'. Of course, in other embodiments, the setting position of the trimming mechanism 20 can be flexibly selected.
In operation, the inspector can place the pruning robot 1 at a lower position of the trunk, and enable the first clamping assembly 200 to clamp the trunk and the second clamping assembly 200' to open. So that the second clamping assembly 200' is moved away from the first clamping assembly 200 in the climbing direction, the second clamping assembly 200' clamps the trunk, and then the first clamping assembly 200 is opened and brought close to the second clamping assembly 200', and the first clamping assembly 200 clamps the trunk again. As such, the first clamping assembly 200 and the second clamping assembly 200' alternately clamp the trunk such that the pruning robot 1 climbs near the wire and the pruning mechanism 20 approaches the branch near the wire. The pruning mechanism 20 prunes the branches near the wire to eliminate potential safety hazards. Since the pruning robot 1 can climb near the wire, the pruning robot 1 can reduce the influence of the lower-height branches to prune the branches near the wire, compared to the conventional art.
Referring to fig. 2 and 3, further, the first clamping assembly 200 and the second clamping assembly 200' each include a first clamping power source 210, a first clamping arm 220 and a second clamping arm 230, wherein the first clamping power source 210 is used for driving the first clamping arm 220 and the second clamping arm 230 to open and close, and the structure is simple and the manufacturing is convenient. When the first clamping power source 210 drives the first clamping arm 220 and the second clamping arm 230 to be closed, the first clamping arm 220 and the second clamping arm 230 clamp the climbing object 2. The distance between the first clamping assembly 200 and the second clamping assembly 200 'may be easily changed when the first clamping power source 210 in the first clamping assembly 200 or the second clamping assembly 200' drives the first clamping arm 220 and the second clamping arm 230 to open.
Further, the first clamping power source 210 includes a clamping steering engine 211, a first gear 212 and a second gear 213 meshed with the first gear 212, an output shaft of the clamping steering engine 211 is arranged in the first gear 212 in a penetrating manner, the first clamping arm 220 is arranged on the first gear 212, and the second clamping arm 230 is arranged on the second gear 213. The opening and closing of the first clamping arm 220 and the second clamping arm 230 can be controlled by controlling the rotation direction of the output shaft of the clamping steering engine 211, and the opening and closing degree of the first clamping arm 220 and the second clamping arm 230 can be controlled by controlling the turn number displacement of the output shaft of the clamping steering engine 211. The design has the characteristics of high precision and stable transmission. Of course, in other embodiments, the first clamping power source 210 may also be an air jaw cylinder, and the first clamping arm 220 and the second clamping arm 230 are two jaw fingers of an air jaw, respectively.
Further, in the present embodiment, the first clamping assembly 200 and the second clamping assembly 200' further include a third clamping arm 240, a fourth clamping arm 250, a first connecting rod 260 and a second connecting rod 270, wherein the first clamping arm 220 and the third clamping arm 240 are arranged at intervals, one end of the first connecting rod 260 is arranged on the first clamping arm 220, the other end of the first connecting rod 260 is arranged on the third clamping arm 240, the second clamping arm 230 and the fourth clamping arm 250 are arranged at intervals, one end of the second connecting rod 270 is arranged on the second clamping arm 230, and the other end of the second connecting rod 270 is arranged on the fourth clamping arm 250. The design can make the first clamping power source 210 drive the first clamping arm 220 and the second clamping arm 230 to open and close and simultaneously drive the third clamping arm 240 and the fourth clamping arm 250 to open and close together, so that the structure is simple and the cost is low.
In another embodiment, the first clamping assembly 200 and the second clamping assembly 200' each further include a second clamping power source, a third clamping arm 240 and a fourth clamping arm 250, wherein the second clamping power source is used for driving the third clamping arm 240 to open and close with the fourth clamping arm 250. The first clamping arm 220, the second clamping arm 230, the third clamping arm 240 and the fourth clamping arm 250 in the first clamping assembly 200 can cooperate to clamp the climbing object 2 more stably. Similarly, the first clamp arm 220, the second clamp arm 230, the third clamp arm 240, and the fourth clamp arm 250 of the second clamp assembly 200' may also cooperate. The first clamping arm 220 is spaced apart from the third clamping arm 240, and the second clamping arm 230 is spaced apart from the fourth clamping arm 250 to further increase the stability of clamping.
Further, the first clamping arm 220 and/or the second clamping arm 230 are provided with embedded teeth 221, and the embedded teeth 221 are used for embedding the climbing object 2 so as to prevent the first clamping assembly 200 and the second clamping assembly 200' from loosening relative to the climbing object 2 when clamping the climbing object 2. In the present embodiment, the first clip arm 220 and the second clip arm 230 are each provided with the insert teeth 221. Of course, in other embodiments, the embedded teeth 221 may be provided on either the first clip arm 220 or the second clip arm 230. Similarly, the third arm 240 and/or the fourth arm 250 may also be provided with a tooth 221 to further enhance the anti-loosening effect.
Further, the first clamping assembly 200 further includes a first mounting seat 280, and in the first clamping assembly 200, the first mounting seat 280 is disposed on the framework 100, and the first clamping power source 210, the third clamping arm 240 and the fourth clamping arm 250 are all disposed on the first mounting seat 280. Similarly, the second clamping assembly 200' further includes a second mounting seat 280', and in the second clamping assembly 200', the second mounting seat 280' is disposed on the frame 100, and the first clamping power source 210, the third clamping arm 240 and the fourth clamping arm 250 are disposed on the second mounting seat 280'.
Referring to fig. 1 and 4, further, the framework 100 includes a base 110, a screw rod 120, a nut and a movable seat 130, the screw rod 120 is rotatably disposed on the base 110, the nut is sleeved on the screw rod 120, the movable seat 130 is disposed on the nut, the first clamping assembly 200 is disposed on the movable seat 130, and the second clamping assembly 200' is disposed on the base 110. During climbing, the screw rod 120 rotates relative to the base 110, and the movable seat 130 arranged on the nut moves along the length direction of the screw rod 120 along with the nut. Since the second clamping assembly 200' is disposed on the movable seat 130 and the first clamping assembly 200 is disposed on the base 110, the distance between the first clamping assembly 200 and the second clamping assembly 200' can be changed, and the first clamping assembly 200 can be separated from or close to the second clamping assembly 200' by controlling the rotation direction of the screw 120, so as to facilitate climbing. The design can control the change amount of the distance between the first clamping assembly 200 and the second clamping assembly 200' more precisely by controlling the rotation number of the screw rod 120. Of course, in other embodiments, the screw 120, the nut, and the movable base 130 may be omitted, and the first clamping assembly 200 and/or the second clamping assembly 200 'may be driven by an air cylinder, so that the distance between the first clamping assembly 200 and the second clamping assembly 200' may be changed.
Further, the base 110 includes a first mounting member 111, a guide rod 112, a second mounting member 113, and a climbing motor 114, the guide rod 112 is disposed on the first mounting member 111, the second mounting member 113 is disposed on the guide rod 112, the climbing motor 114 is disposed on the second mounting member 113, the climbing motor 114 is in driving connection with the screw rod 120, and the second clamping assembly 200' is disposed on the first mounting member 111, so that the structure is simple. During climbing, the climbing motor 114 drives the screw 120 to rotate so as to realize climbing. The base 110 further comprises a coupling 115, and the climbing motor 114 is connected to a screw 120 via the coupling 115.
Further, the movable seat 130 is provided with a through hole, and the guide rod 112 is disposed through the through hole. The guide rod 112 may guide the movable seat 130, so that the movable seat 130 moves smoothly along the length direction of the screw 120. In this embodiment, the number of the guide rods 112 is two, and the screw 120 is located between the two guide rods 112, so that the structure is compact and the movement is stable. Of course, in other embodiments, the number of guide bars 112 may also be adjusted to at least one.
Referring to fig. 3, further, the guide rod 112 is provided with a limiting member 140, and the limiting member 140 is configured to abut against the movable seat 130 to limit the movable range of the movable seat 130. In the present embodiment, the limiting member 140 is disposed at an end of the guide rod 112 away from the first mounting member 111, so as to avoid an excessive distance between the first clamping assembly 200 and the second clamping assembly 200'. Of course, in other embodiments, the end of the guide rod 112 near the first mounting member 111 may also be provided with a limiting member 140 to avoid too small a distance between the first clamping assembly 200 and the second clamping assembly 200'.
Referring to fig. 1, further, the second clamping assembly 200' can rotate around the climbing object 2 relative to the first clamping assembly 200. When encountering an obstacle (e.g., bird nest, tree branch at a lower position, etc.), the first clamping assembly 200 clamps the climbing object 2 to prevent the pruning robot 1 from falling from the climbing object 2, and the second clamping assembly 200' rotates around the climbing object 2 relative to the first clamping assembly 200, so that the obstacle can be avoided. When the second clamping assembly 200 'avoids the obstacle, the second clamping assembly 200' clamps the climbing object 2 to prevent the pruning robot 1 from falling from the climbing object 2. Then, the first clamping component 200 and the second clamping component 200' can alternately clamp the climbing object 2, and the climbing object can continue to climb to the expected height for inspection, so that the power inspection is smooth.
Referring to fig. 4 and 5, further, one of the frame 100 and the second mounting seat 280 'is provided with a first arc-shaped slot 101, and the other is provided with a movable assembly 300 extending into the first arc-shaped slot 101, wherein the movable assembly 300 can move along the arc direction of the first arc-shaped slot 101, so that the second mounting seat 280' can rotate relative to the frame 100. In this embodiment, the first arc-shaped slot 101 is formed on the frame 100, and the movable assembly 300 is disposed on the second mounting seat 280'. When encountering an obstacle, the movable assembly 300 moves in the arc direction of the first arc-shaped groove 101 to avoid the obstacle. Because the movable assembly 300 is disposed on the second mounting seat 280', the movable assembly 300 can drive the second mounting seat 280' to rotate around the climbing object 2 when moving, so that the second clamping assembly 200' disposed on the second mounting seat 280' rotates around the climbing object 2 by a certain angle, so that the second clamping assembly 200' can avoid the obstacle and can clamp the climbing object 2 more easily. Of course, in other embodiments, the first arc-shaped slot 101 may be disposed on the second mounting seat 280', and the movable assembly 300 may be disposed on the frame 100.
Further, one of the frame 100 and the second mounting seat 280' provided with the first arc-shaped groove 101 is further provided with a second arc-shaped groove 102, the second arc-shaped groove 102 is coaxial with the first arc-shaped groove 101 and is arranged opposite to the first arc-shaped groove 101, and the movable assembly 300 comprises a first movable part 310 extending into the first arc-shaped groove 101 and a second movable part 320 extending into the second arc-shaped groove 102. On the one hand, the design increases the setting stability of the movable assembly 300, so that the movement of the movable assembly 300 is more stable; on the other hand, the first movable member 310 is effectively prevented from being separated from the first arc-shaped groove 101 or the second movable member 320 is effectively prevented from being separated from the second arc-shaped groove 102. It will be appreciated that in this embodiment, the second arc-shaped slot 102 is formed in the frame 100.
Further, the first movable member 310 is a first roller, and the second movable member 320 is a second roller, so as to reduce friction force and save more effort. The number of the first rollers may be at least two, and the number of the second rollers may be at least two, so as to increase the stability of the second mounting seat 280', and prevent the second mounting seat 280' from being skewed. In this embodiment, two first rollers and two second rollers are disposed at intervals, so as to further increase the stability of the second mounting seat 280'. Of course, in other embodiments, the first movable member 310 may also be an element such as a slider that can move in the first arc-shaped slot 101, and similarly, the second movable member 320 may also be an element such as a slider that can move in the second arc-shaped slot 102.
Further, one of the frame 100 and the second mount 280' is provided with a gear ring 150, and the other is provided with a steering gear 410, and the steering gear 410 is engaged with the gear ring 150. The second mount 280' may then be rotated relative to the backbone 100 by rotating the steering gear 410. Climbing mechanism 10 also includes a steering power source 420 for driving steering gear 410 to more conveniently turn steering gear 410. In this embodiment, the gear ring 150 is disposed on the skeleton 100, the steering gear 410 is disposed on the second mount 280', the steering power source 420 is a steering motor, and the steering power source 420 is disposed on the second mount 280'. Of course, in other embodiments, steering power source 420 may be omitted and steering gear 410 may be manually rotated.
Referring to fig. 1, further, the trimming mechanism 20 includes an adjustment power source 510, an adjustment arm 520, and a trimming assembly 530 disposed on the adjustment arm 520, the adjustment power source 510 being disposed on the climbing mechanism 10, the adjustment power source 510 being configured to drive the adjustment arm 520 to rotate relative to the climbing mechanism 10. When pruning, adjustable power source 510 may drive the knuckle arm to rotate relative to climbing mechanism 10 for branches in different positions to provide a suitable pruning position for pruning assembly 530 with increased flexibility. The adjustment power source 510 may be a steering engine or the like that is capable of driving the adjustment arm 520 to rotate relative to the climbing mechanism 10. The regulated power supply 510 can also function to provide a feed to the trimming assembly 530. In this embodiment, the adjustment power source 510 is disposed on the second clamping assembly 200'. Of course, in other embodiments, the adjustment power source 510 may also be provided on the backbone 100 or the first clamping assembly 200.
Further, the trimming assembly 530 includes a trimming base 531, a trimming motor 532 and a saw blade 533, the trimming base 531 is disposed on the adjusting arm 520, the trimming motor 532 is disposed on the trimming base 531, and the trimming motor 532 is used for driving the saw blade 533 to rotate. When the trimming assembly 530 is in the proper trimming position, the trimming motor 532 is used to drive the saw blade 533 to rotate, and the rotating saw blade 533 can trim off the branch. In the present embodiment, the trimming receptacle 531 is generally L-shaped to facilitate connection with the adjustment arm 520 on the one hand and to provide the trimming motor 532 on the other hand. Of course, in other embodiments, the trimming assembly 530 may also be a power saw. The shape of the trimming seats 531 can also be flexibly set.
The pruning robot 1 further comprises a controller which is in communication connection with the control terminal, and the climbing mechanism 10 and the pruning mechanism 20 are electrically connected with the controller so as to uniformly control each mechanism through the controller, so that the working states of each mechanism are coordinated and consistent. In this embodiment, the controller is an ESP8266 chip, and the controller can decode the received control command to drive the corresponding elements and components. Of course, in other embodiments, the controller may also be a PLC (Programmable Logic Controller ) or other device with control functions.
The pruning robot 1 further includes a relay electrically connected to the controller, the relay electrically connected to the pruning motor 532, and the controller controls the start and stop of the pruning motor 532 by controlling the opening and closing of the relay. The pruning robot 1 further includes a driver electrically connected to the controller, which is electrically connected to the pruning motor 532, and controls the rotation direction and start/stop of the climbing motor 114 by controlling the opening and closing of the driver. The pruning robot 1 further comprises a battery, and the controller, the steering motor, the climbing motor 114, the adjusting power source 510 and the pruning assembly 530 are all electrically connected with the battery. The pruning robot 1 further comprises a control box 610, the control box 610 is arranged on the first mounting seat 280, and the controller, the relay and the battery are all located in the control box 610.
The pruning robot 1 further comprises a control terminal, and the control terminal can be in communication connection with the controller so as to remotely control the pruning robot 1 to perform climbing operation. The control terminal can be a mobile phone or a tablet personal computer and the like. And the control terminal and the controller can be connected by WiFi so as to transmit control instructions.
The control terminal can run an application program and generate a control interface, and the control interface comprises control keys. In the present embodiment, the control keys include an UP key for increasing a distance between the first and second clamping assemblies 200 and 200', a DOWN key for decreasing a distance between the first and second clamping assemblies 200 and 200', an R1 key for opening the first clamping assembly 200, an R2 key for opening the second clamping assembly 200', a Start key for rotating the saw blade 533, an L1 key for horizontally placing the saw blade 533, an L2 key for vertically placing the saw blade 533, and a step key for confirmation.
In this embodiment, the control terminal is a mobile phone, when in use, a corresponding APP can be installed on the control terminal, the power supply of the pruning robot 1 is turned on, so that the control terminal is connected with the pruning robot 1 through WiFi, then relevant parameters are set on the control terminal, the installed APP is turned on, and the pruning robot 1 can be controlled to climb through entering into the control interface.
The specific working principle of the pruning robot 1 is as follows:
during climbing, the inspection personnel can place the pruning robot 1 at the lower position of the climbing object 2, and enable the first clamping assembly 200 to clamp the climbing object 2, and the second clamping assembly 200' to be opened. So that the second clamping assembly 200' is far away from the first clamping assembly 200 in the climbing direction, the second clamping assembly 200' clamps the climbing object 2, then the first clamping assembly 200 is opened and approaches the second clamping assembly 200', and the first clamping assembly 200 clamps the climbing object 2 again. In this way, the first clamping assembly 200 and the second clamping assembly 200' alternately clamp the climbing object 2 to achieve climbing.
When encountering an obstacle, the first clamping assembly 200 clamps the climbing object 2 to prevent the pruning robot 1 from falling from the climbing object 2, and the second mounting seat 280 'rotates around the climbing object 2 relative to the framework 100 to drive the second clamping assembly 200' to rotate, so that the obstacle can be avoided. When the second clamping assembly 200 'avoids the obstacle, the second clamping assembly 200' clamps the climbing object 2 to prevent the pruning robot 1 from falling from the climbing object 2. Then, the first clamping component 200 and the second clamping component 200' can alternately clamp the climbing object 2, and the climbing object can continue to climb to the expected height for inspection, so that the power inspection is smooth.
When the pruning robot 1 climbs near the wire, the pruning motor 532 drives the saw blade 533 to rotate, and the adjusting power source 510 drives the adjusting arm 520 to rotate, so as to provide a feeding amount for the saw blade 533, thereby pruning the branches near the wire, and eliminating the potential safety hazard.
In the operation process, the actions of climbing, avoiding obstacles, pruning branches and the like can be realized remotely by means of the control terminal, and the operation is safe and convenient.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. The pruning robot is characterized by comprising a climbing mechanism and a pruning mechanism arranged on the climbing mechanism, wherein the climbing mechanism comprises a framework, a first clamping component used for clamping a climbing object and a second clamping component used for clamping the climbing object, the first clamping component and the second clamping component are both arranged on the framework, the distance between the first clamping component and the second clamping component can be changed, and the pruning mechanism is used for pruning objects to be pruned;
the first clamping assembly and the second clamping assembly comprise a first clamping power source, a first clamping arm and a second clamping arm, and the first clamping power source is used for driving the first clamping arm and the second clamping arm to open and close;
the first clamping power source comprises a clamping steering engine, a first gear and a second gear meshed with the first gear, an output shaft of the clamping steering engine penetrates through the first gear, a first clamping arm is arranged on the first gear, and a second clamping arm is arranged on the second gear;
the framework comprises a base body, a screw rod, a nut and a movable seat, wherein the screw rod is rotatably arranged on the base body, the nut is sleeved on the screw rod, the movable seat is arranged on the nut, the first clamping component is arranged on the movable seat, and the second clamping component is arranged on the base body;
the base member includes first installed part, guide bar, second installed part and climbing motor, the guide bar set up in on the first installed part, the second installed part set up in on the guide bar, the climbing motor set up in on the second installed part, the climbing motor with the lead screw drive is connected, the second clamping component set up in on the first installed part.
2. The pruning robot of claim 1, wherein the first clamping assembly and the second clamping assembly each further comprise a second clamping power source, a third clamping arm and a fourth clamping arm, wherein the second clamping power source is used for driving the third clamping arm to open and close to the fourth clamping arm, the first clamping arm is arranged at a distance from the third clamping arm, and the second clamping arm is arranged at a distance from the fourth clamping arm; or alternatively
The first clamping assembly and the second clamping assembly further comprise a third clamping arm, a fourth clamping arm, a first connecting rod and a second connecting rod, wherein the first clamping arm and the third clamping arm are arranged at intervals, one end of the first connecting rod is arranged on the first clamping arm, the other end of the first connecting rod is arranged on the third clamping arm, the second clamping arm and the fourth clamping arm are arranged at intervals, one end of the second connecting rod is arranged on the second clamping arm, and the other end of the second connecting rod is arranged on the fourth clamping arm.
3. The pruning robot according to claim 1, wherein the first clamping arm and/or the second clamping arm is provided with embedded teeth for being embedded in the climbed object.
4. The pruning robot of any one of claims 1-3, wherein the pruning mechanism comprises an adjustment power source, an adjustment arm, and a pruning assembly disposed on the adjustment arm, the adjustment power source being disposed on the climbing mechanism, the adjustment power source being configured to drive the adjustment arm to rotate relative to the climbing mechanism.
5. The pruning robot of claim 4, wherein the pruning assembly comprises a pruning seat, a pruning motor and a saw blade, wherein the pruning seat is arranged on the adjusting arm, the pruning motor is arranged on the pruning seat, and the pruning motor is used for driving the saw blade to rotate.
6. A pruning robot according to any one of claims 1 to 3, further comprising a controller for communication connection with a control terminal, the climbing mechanism and the pruning mechanism each being electrically connected to the controller.
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| CN201811295045.0A CN109275443B (en) | 2018-11-01 | 2018-11-01 | pruning robot |
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| CN109895114B (en) * | 2019-03-12 | 2024-02-27 | 广东机电职业技术学院 | Pneumatic muscle driven climbing robot with polygonal structure |
| CN110012744B (en) * | 2019-05-06 | 2021-06-08 | 景宁丽恒模具加工厂 | A formula of directly rising climbing razor for branch is pruned |
| CN110073832B (en) * | 2019-05-07 | 2023-10-20 | 浙江亚特电器股份有限公司 | Trunk side branch pruning manipulator |
| CN110603976B (en) * | 2019-10-24 | 2024-04-26 | 中国计量大学 | Tomato branch and leaf trimming device and trimming method thereof |
| CN114793668A (en) * | 2022-04-15 | 2022-07-29 | 成都理工大学 | Intelligent robot is pruned to branch |
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