CN109287308A - One kind can flight branch pruning device - Google Patents
One kind can flight branch pruning device Download PDFInfo
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- CN109287308A CN109287308A CN201811080823.4A CN201811080823A CN109287308A CN 109287308 A CN109287308 A CN 109287308A CN 201811080823 A CN201811080823 A CN 201811080823A CN 109287308 A CN109287308 A CN 109287308A
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- 238000013138 pruning Methods 0.000 title claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 113
- 230000005540 biological transmission Effects 0.000 claims description 47
- 241000269319 Squalius cephalus Species 0.000 claims description 7
- 238000005520 cutting process Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 5
- 230000008450 motivation Effects 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 238000009966 trimming Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 9
- 230000009194 climbing Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 230000000116 mitigating effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009960 carding Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001850 reproductive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/086—Chain saws
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Scissors And Nippers (AREA)
Abstract
It can flight branch pruning device the invention discloses one kind, chain saw platform (1) including unmanned machine travel, the bottom of the chain saw platform (1) is equipped with can be with respect to the chain saw mechanism (3) for the translation supporting mechanism (2) and fixed setting that chain saw platform (1) moves linearly, the hold-fast body (4) that trunk can be held tightly is installed on translation supporting mechanism (2), and on hold-fast body (4) be equipped with can drive chain saw platform (1) to hold-fast body (4) close to or far from translational drive mechanism (5), the drive part of the translational drive mechanism (5) is fixed on hold-fast body (4) and the constant gap of hold-fast body (4) and translation supporting mechanism (2), translational drive mechanism (5) is pulled or is pushed by changing the positional relationship between translation supporting mechanism (2) and chain saw platform (1) Chain saw platform (1) is close to or far from hold-fast body (4).Low energy consumption for clipping device of the invention, light-weight and the pruning efficiency is high.
Description
Technical field
The present invention relates to forestry machinery fields, specifically a kind of to drive working portion to carry out trimming tree by unmanned plane
Branch with reduce energy consumption, reduce weight can flight branch pruning device.
Background technique
Trees prune be tending of woods system important measures, for trees growth, becoming a useful person has very positive meaning
Justice.With the continuous growth of trees, many branches can be grown.By continuous pollard, the battalion of trunk must can be effectively adjusted
The long contradiction between reproductive growth of health, enables nutriment reasonable distribution, delays the aging of trees, be beneficial to trees at
Material.Therefore the important content that branch is Management offorestry is repaired, and the trimming of branch is extremely crucial to the healthy growth of trees.China
Pruning operating efficiency it is low, labor intensity of workers is larger, and pruning effect is poor, also generally existing to cause since notch is untidy
The problems such as bad branch, sick branch, with external gap highly significant.Wherein critically important reason is exactly China at present or with manual pruning
Based on, Mechanization Level is low.
Existing branch pruning machinery is mainly based on robot capable of climbing trees carrying pruning tool.When starting for robot capable of climbing trees
After machine starting, the driving wheel on body frame is imparted power to by retarder and transmission mechanism, while in electric pushrod and spring
Under the action of, wheel clamp trunk, due to the presence of clamping force, robot is by there is enough frictions between tire and trunk
Power, driving force spiral under power effect, so as to realize the vertical motion of climbing tree of robot.When engine start it
Afterwards, high-speed rotation is passed to sawing transmission shaft by transmission mechanism by the speedy carding process axis of engine, and sawing transmission shaft passes through ten thousand
High-speed rotation is passed to saw head by Xiang Jiezai, so make saw head chain saw high-speed rotation, saw head do not encounter side shoot it is non-loaded when saw
Head chain saw remains idle.Robot is during creeping rising, after saw head position touches side shoot, the high speed of saw head position
The trimming chain saw of rotation can be to side shoot automatic cutting, to realize the trimming to side shoot.After trimming, robot will continue to climb
Row rises, and above-mentioned trimming process is repeated after encountering next side shoot.General weight of the robot capable of climbing trees itself is larger, in machine
Big energy can be expended during the climbing tree of device people, and efficiency is lower.In addition to this, saw head is not when working in idle running shape
State, in itself also for a kind of waste of energy.Finally, toothing length is difficult to accomplish to seek unity of standard, the upper end of trees can be more next
It is thinner, it will lead to toothing length and change.For improve climb tree at present prune robot energy consumption and toothing apart from the problems such as,
The efficiency that trees are pruned is improved, needs the more advanced branch pruning of invention mechanical.
Summary of the invention
In response to the problems existing in the prior art, the purpose of the present invention is to provide one kind by unmanned plane drive working portion into
Row pollard with reduce energy consumption, reduce weight can flight branch pruning device；This can flight branch pruning device change
Become the mode that robot capable of climbing trees drives saw head beta pruning, reduced unnecessary energy consumption, improves pruning efficiency, and in toothing
Optimization is carried out in length and idle running problem.
The purpose of the present invention is what is solved by the following technical programs:
One kind can flight branch pruning device, the chain saw platform including unmanned machine travel, it is characterised in that: the chain saw platform
Bottom be equipped with can the translation supporting mechanism of opposite chain saw platform linear movement and the chain saw mechanism of fixed setting, translation supports
The hold-fast body that trunk can be held tightly is installed, and upper be equipped with can drive chain saw platform to holding on hold-fast body in mechanism
Mechanism close to or far from translational drive mechanism, the drive part of the translational drive mechanism be fixed on hold-fast body and embrace
The constant gap of tight mechanism and translation supporting mechanism, translational drive mechanism is by changing between translation supporting mechanism and chain saw platform
Positional relationship come pull chain saw platform close to hold-fast body or push chain saw platform far from hold-fast body；Clipping device work
When, unmanned plane hovers after driving chain saw platform to fly to target close to trunk, and the mechanical paw of hold-fast body is realized to trees
Holding movement, unmanned plane stops working and packs up wing, and translational drive mechanism starts to pull chain saw platform to hold-fast body
It is mobile, so that chain saw mechanism is constantly close to pollard, after the chain saw in chain saw mechanism touches branch, in chain saw mechanism
Chain saw electric motor starting drive chain saw start cut branch, after the completion of cutting, chain saw motor stops working and translational drive mechanism
Inverted running makes chain saw platform far from hold-fast body, and unmanned plane opens wing and restarts, the mechanical paw of hold-fast body
Trunk is unclamped, subsequent work target is found by the electronic recognition mechanism on unmanned plane.
The translation supporting mechanism includes the vertical support rod for being used to support positioning hold-fast body and translational drive mechanism,
The top of vertical support rod is in the dovetail groove of chain saw mesa base setting and the top of vertical support rod and dovetail groove structure
Be in line sliding block sliding track mechanism.
The translation supporting mechanism further includes inclined shore bar and support leg, and the upper end of inclined shore bar is arranged vertical
The support leg that the bottom of support rod and the lower end setting horizontal direction of inclined shore bar are open, support leg are being located at hold-fast body just
Lower section, when so that hold-fast body holding trunk tightly, support leg can be against on trunk and provide support force.
The hold-fast body includes mechanical paw and holds bracket tightly, and the tail end of mechanical paw, which is fixed on, holds the two of bracket tightly
It holds and mechanical paw can hold trunk tightly relative to the end rotation for holding bracket tightly under the effect of external force or unclamp trunk.
The holding bracket, which is equipped with, holds motor tightly, and the drive shaft for holding motor tightly, which is equipped with, holds driving gear tightly, is embracing
The side of tight driving gear, which is equipped with, engages connected holding transmission gear, holds holding lead screw is arranged in transmission gear one tightly
End and the other end for holding lead screw tightly sequentially pass through holding bracket, hold feed screw nut tightly, hold lead screw tightly and hold feed screw nut composition tightly
A pair of of feed screw nut holds transmission mechanism tightly, and the both ends for holding feed screw nut tightly pass through respectively holds the corresponding machinery of connecting rod connection tightly
Gripper；After the holding electric motor starting, by holding driving gear tightly and holding transmission gear engaged transmission tightly to drive lead screw spiral shell
Female transmission mechanism operation passes through connecting rod band close to or far from holding bracket, and by holding feed screw nut so that holding feed screw nut tightly
Dynamic mechanical paw is drawn close to hold trunk tightly or open to unclamp trunk.
Anticreep block is fixedly installed on the other end for holding lead screw tightly, excessively runs to prevent holding motor tightly so that holding silk tightly
Thick stick nut, which is detached from, holds lead screw tightly.
The translational drive mechanism includes the translation motor held tightly on bracket that hold-fast body is arranged in, translation motor
Drive shaft is equipped with pan drive gear, is equipped in the side of pan drive gear and engages connected translation transmission gear,
One end of translation lead screw is arranged in translation transmission gear and the other end of translation lead screw sequentially passes through holding bracket, translation lead screw spiral shell
Imperial mother is fixed on the vertical support rod of translation supporting mechanism, and translation lead screw and a pair of of feed screw nut of translation feed screw nut composition are flat
Move transmission mechanism, the bottom that the translation feed screw nut is fixed on chain saw platform by translating locating rod；The translation electricity
After machine starting, by pan drive gear and translation transmission gear engaged transmission to drive screw nut driven mechanism to run, make
Must translate feed screw nut close to or far from hold tightly bracket, and by translation feed screw nut by translation locating rod drive chain saw platform and
Chain saw mechanism is close to or far from trunk.
The translation polished rod through translation feed screw nut is additionally provided on the translation feed screw nut, the one end for translating polished rod is solid
Fixed setting is on vertical support rod, the other end is fixed at translation motor or holds tightly on bracket to assist feed screw nut to translate
The stable operation of transmission mechanism.
The translation motor holds bracket tightly equipped with support polished rod, supports the other end of polished rod to be fixed at flat
It moves on the vertical support rod of supporting mechanism.
The chain saw platform is fixed on the bottom of unmanned plane by platform connecting rod, and is made of chain saw motor driven chain saw
Chain saw mechanism be positioned adjacent at the chain saw platform edges of hold-fast body.
The present invention has the following advantages compared with prior art:
The present invention is hovered after driving chain saw platform to fly to target by unmanned plane close to trunk, the mechanical paw of hold-fast body
It realizes and the holding of trees is acted, unmanned plane stops working and packs up wing, and translational drive mechanism starts to pull chain saw platform
It is mobile to hold-fast body, so that chain saw mechanism is constantly close to pollard, after the chain saw in chain saw mechanism touches branch,
Chain saw electric motor starting in chain saw mechanism drives chain saw to start to cut branch, and after the completion of cutting, chain saw motor stops working and puts down
Moving driving mechanism inverted running makes chain saw platform far from hold-fast body, and unmanned plane opens wing and restarts, hold-fast body
Mechanical paw unclamp trunk, subsequent work target is found by the electronic recognition mechanism on unmanned plane；The clipping device passes through change
Robot capable of climbing trees drives the mode of saw head beta pruning, reduces unnecessary energy consumption, improves pruning efficiency, and in toothing length
With optimization is carried out in idle running problem；And drive chain saw to carry out beta pruning operation by unmanned plane, effectively reduce weight.
It is of the invention can flight branch pruning device pass through with image recognition technology, remote control technology, swarm intelligence technology etc.
Information technology be combined into realize wisdom agricultural Model under forest intelligently trimming provides possibility, using can flight branch pruning dress
The group operation that will be carried out forest trimming is set, target branch recognition efficiency, the pruning efficiency are greatly improved, significantly mitigation worker
Labor intensity, while reference is provided for other similar job requirements.
Detailed description of the invention
Attached drawing 1 be it is of the invention can flight branch pruning device removal unmanned plane part one of structural schematic diagram；
Attached drawing 2 be it is of the invention can flight branch pruning device removal unmanned plane part second structural representation.
Wherein: 1-chain saw platform；11-dovetail grooves；12-platform connecting rods；2-translation supporting mechanisms；21-vertical supports
Bar；22-inclined shore bars；23-support legs；24-support polished rods；3-chain saw mechanisms；31-chain saws；32-chain saw motors；
4-hold-fast bodies；41-mechanical paws；42-hold bracket tightly；43-hold motor tightly；44-hold driving gear tightly；45-hold tightly
Transmission gear；46-hold lead screw tightly；47-hold feed screw nut tightly；48-connecting rods；49-anticreep blocks；5-translational drive mechanisms；
51-translation motors；52-pan drive gears；53-translation transmission gears；54-translation lead screws；55-translation feed screw nuts；
56-translation locating rods；57-translation polished rods.
Specific embodiment
The present invention will be further described below with reference to the accompanying drawings and embodiments.
It is as shown in Figs. 1-2: one kind can flight branch pruning device, the chain saw platform 1 including unmanned machine travel, chain saw platform
1 is fixed on the bottom of unmanned plane by platform connecting rod 12, and the bottom of the chain saw platform 1 is equipped with can be with respect to 1 straight line of chain saw platform
The chain saw mechanism 3 of mobile translation supporting mechanism 2 and fixed setting, the chain saw mechanism for driving chain saw 31 to constitute by chain saw motor 32
3 are positioned adjacent to 1 edge of chain saw platform of hold-fast body 4；The holding that trunk can be held tightly is installed on translation supporting mechanism 2
Mechanism 4, and on hold-fast body 4 be equipped with can drive chain saw platform 1 to hold-fast body 4 close to or far from translational drive mechanism
5, the drive part of the translational drive mechanism 5 is fixed on hold-fast body 4 and hold-fast body 4 and translation supporting mechanism 2
Constant gap, translational drive mechanism 5 is by changing the positional relationship between translation supporting mechanism 2 and chain saw platform 1 come pulling chain
Platform 1 is sawed close to hold-fast body 4 or pushes chain saw platform 1 far from hold-fast body 4.When the clipping device works, unmanned plane is driven
Chain saw platform 1 hovers after flying to target close to trunk, and the mechanical paw 41 of hold-fast body 4 is realized dynamic to the holding of trees
To make, unmanned plane stops working and packs up wing, and translational drive mechanism 5 starts to pull chain saw platform 1 mobile to hold-fast body 4,
So that chain saw mechanism 3 is constantly close to pollard, after the chain saw 31 in chain saw mechanism 3 touches branch, in chain saw mechanism 3
Chain saw motor 32 starting drive chain saw 31 start cut branch, after the completion of cutting, chain saw motor 32 stops working and translates drive
5 inverted running of motivation structure makes chain saw platform 1 far from hold-fast body 4, and unmanned plane opens wing and restarts, hold-fast body 4
Mechanical paw 41 unclamp trunk, subsequent work target is found by the electronic recognition mechanism on unmanned plane.
In said structure, translation supporting mechanism 2 includes being used to support positioning hold-fast body 4 and translational drive mechanism 5
Vertical support rod 21, the top of vertical support rod 21 is embedded in the dovetail groove 11 of 1 bottom of chain saw platform setting and vertical support
The top of bar 21 and dovetail groove 11 constitute linear slider sliding track mechanism, enable translation supporting mechanism 2 sliding with respect to chain saw platform 1
It is dynamic.The translation supporting mechanism 2 further includes inclined shore bar 22 and support leg 23, and the upper end setting of inclined shore bar 22 is being propped up vertically
The support leg 23 that the bottom of strut 21 and the lower end setting horizontal direction of inclined shore bar 22 are open, support leg 23 are located at holding machine
The underface of structure 4, when so that hold-fast body 4 holding trunk tightly, support leg 23 can be against on trunk and provide support force.
As shown in Figs. 1-2, hold-fast body 4 includes mechanical paw 41 and holds bracket 42 tightly, and the tail end of mechanical paw 41 is fixed
Hold tightly the both ends of bracket 42 and mechanical paw 41 can under the effect of external force the opposite end rotation for holding bracket 42 tightly with armful
Tight trunk unclamps trunk.It is equipped on holding bracket 42 tightly and holds motor 43 tightly, the drive shaft for holding motor 43 tightly is equipped with to hold tightly and drive
Moving gear 44 is equipped in the side for holding driving gear 44 tightly and engages connected holding transmission gear 45, holds transmission gear tightly
45 be arranged in hold tightly lead screw 46 one end and hold tightly lead screw 46 the other end sequentially pass through hold tightly bracket 42, hold tightly feed screw nut
47, it holds lead screw 46 tightly and holding feed screw nut 47 constitutes a pair of of feed screw nut and holds transmission mechanism tightly, holding the another of lead screw 46 tightly
Anticreep block 49 is fixedly installed on end, holds lead screw tightly to prevent holding the excessively operation of motor 43 tightly so that holding feed screw nut 47 tightly and being detached from
46；The both ends of the holding feed screw nut 47 pass through holding connecting rod 48 respectively and connect corresponding mechanical paw 41；When holding motor 43
After starting, drive gear 44 and 45 engaged transmission of holding transmission gear to drive screw nut driven mechanism to run by holding tightly,
So that holding feed screw nut 47 tightly close to or far from holding bracket 42, and drive manipulator by connecting rod 48 by holding feed screw nut 47
Pawl 41 is drawn close to hold trunk tightly or open to unclamp trunk.
As shown in Figs. 1-2, translational drive mechanism 5 includes the translation motor held tightly on bracket 42 that hold-fast body 4 is arranged in
51, the drive shaft of translation motor 51 is equipped with pan drive gear 52, is equipped with and engages in the side of pan drive gear 52
Connected translation transmission gear 53, translation transmission gear 53 are arranged in one end of translation lead screw 54 and translate the other end of lead screw 54
It sequentially passes through and is fixed on the vertical support rod 21 of translation supporting mechanism 2 after holding bracket 42, translation feed screw nut 55 tightly, translate silk
Thick stick 54 and translation feed screw nut 55 constitute a pair of of feed screw nut translation transmission mechanism, and translation feed screw nut 55 passes through translation locating rod
56 are fixed on the bottom of chain saw platform 1；After translation motor 51 starts, pass through pan drive gear 52 and translation transmission gear 53
Engaged transmission is to drive screw nut driven mechanism to run, so that feed screw nut 55 is translated close to or far from holding bracket 42, and
Drive chain saw platform 1 and chain saw mechanism 3 close to or far from trunk by translation locating rod 56 by translation feed screw nut 55.
On the basis of above structure, the translation polished rod being additionally provided on feed screw nut 55 through translation feed screw nut 55 is translated
57, one end of translation polished rod 57 is fixed on vertical support rod 21, the other end is fixed at translation motor 51 or is embraced
The stable operation of feed screw nut translation transmission mechanism is assisted on locking bracket 42；Translation motor 51 or holding bracket 42 are equipped with
Polished rod 24 is supported, the other end of support polished rod 24 is fixed on the vertical support rod 21 of translation supporting mechanism 2.
It is of the invention can the work of flight branch pruning device when, unmanned plane drives work implement to fly to target height
Degree, by electronic recognition institutional adjustment position and posture, unmanned plane starts close to trunk；After reaching certain distance, motor 43 is held tightly
It starts to work, holds motor 43 tightly by holding driving gear 44 tightly and holding 45 engaged transmission of transmission gear tightly to drive feed screw nut to pass
Motivation structure operation, so that holding feed screw nut 47 tightly close to holding bracket 42, and driven by connecting rod 48 by holding feed screw nut 47
Mechanical paw 41 is drawn close to hold trunk tightly, after execution, is held motor 43 tightly and is stopped working；Unmanned plane stops working and packs up machine
The wing；At this point, translation motor 51 starts, also with feed screw nut principle, pan drive gear 52 and translation transmission gear 53 are nibbled
Transmission is closed to drive screw nut driven mechanism to run, so that translation feed screw nut 55 is close to hold bracket 42 tightly, and by translation silk
Thick stick nut 55 drives chain saw platform 1 and chain saw mechanism 3 close to trunk by translation locating rod 56；The constantly close branch of chain saw 31,
After touching branch, chain saw motor 32 starts, and chain saw 31 starts to cut branch, and after the completion of cutting, chain saw motor 32 stops working.
Translation motor 51 inverts, and for chain saw platform 1 far from trunk, unmanned plane opens wing, and restarting is held motor 43 tightly and inverted, mechanical
Gripper 41 unclamps trunk, and subsequent work target is found by electronic recognition mechanism.
It can be optimizing structure design, by translation motor 51 and electricity can be held tightly in flight branch pruning device of the invention
Machine 43 is symmetricly set on the downside and upside for holding 42 middle part of bracket tightly, or translation motor 51 and holding motor 43 are symmetrical arranged
In the upper side and lower side for holding 42 middle part of bracket tightly, specific location is set according to need of work；Due to translation motor 51 and hold electricity tightly
The setting position of machine 43, so that holding driving gear 44 tightly, holding transmission gear 45, pan drive gear 52, translation transmission gear tightly
53 central axes are located in same vertical straight line.It can be outputed by Fig. 1-2, one embodiment that the application provides is mutually to nibble
The holding driving gear 44 of conjunction holds the side that transmission gear 45 is located at holding bracket 42, intermeshing pan drive gear tightly
52, translation transmission gear 53 is located at the other side for holding bracket 42 tightly, and above-mentioned set-up mode is convenient for the center of gravity of the clipping device
It controls, run smoothly.
It in addition is the stabilization for strengthening the clipping device, the translation polished rod 57 and support polished rod 24 of setting are preferably provided at translation
On motor 51 and translation lead screw 54, translation polished rod 57 and support polished rod 24 are set gradually from top to bottom, are translated lead screw 54 and are held tightly
Lead screw 46 is all located at the middle part for holding bracket 42 tightly through position.
The present invention is hovered after driving chain saw platform 1 to fly to target by unmanned plane close to trunk, the machine of hold-fast body 4
Tool gripper 41, which is realized, acts the holding of trees, and unmanned plane stops working and packs up wing, and translational drive mechanism 5 starts to pull
Chain saw platform 1 is mobile to hold-fast body 4, so that chain saw mechanism 3 is constantly close to pollard, to the chain saw in chain saw mechanism 3
After 31 touch branch, the starting of chain saw motor 32 in chain saw mechanism 3 drives chain saw 31 to start to cut branch, after the completion of cutting,
Chain saw motor 32 stops working and 5 inverted running of translational drive mechanism makes chain saw platform 1 far from hold-fast body 4, unmanned plane
The booting wing simultaneously restarts, and the mechanical paw 41 of hold-fast body 4 unclamps trunk, and the electronic recognition mechanism on unmanned plane finds next
Target；The clipping device reduces unnecessary energy and disappears by way of changing robot capable of climbing trees and driving saw head beta pruning
Consumption improves pruning efficiency, and carries out optimization in toothing length and idle running problem；And chain saw is driven to carry out beta pruning by unmanned plane
Operation effectively reduces weight.
It is of the invention can flight branch pruning device pass through with image recognition technology, remote control technology, swarm intelligence technology etc.
Information technology be combined into realize wisdom agricultural Model under forest intelligently trimming provides possibility, using can flight branch pruning dress
The group operation that will be carried out forest trimming is set, target branch recognition efficiency, the pruning efficiency are greatly improved, significantly mitigation worker
Labor intensity, while reference is provided for other similar job requirements.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within；The technology that the present invention is not directed to can be realized by the prior art.
Claims (10)
1. one kind can flight branch pruning device, the chain saw platform (1) including unmanned machine travel, it is characterised in that: the chain
The bottom of saw platform (1) is equipped with can be with respect to the chain for the translation supporting mechanism (2) and fixed setting that chain saw platform (1) moves linearly
Saw mechanism (3) is equipped with the hold-fast body (4) that can hold trunk tightly on translation supporting mechanism (2), and on hold-fast body (4)
Equipped with can drive chain saw platform (1) to hold-fast body (4) close to or far from translational drive mechanism (5), the driven in translation machine
The drive part of structure (5) is fixed on hold-fast body (4) and the spacing of hold-fast body (4) and translation supporting mechanism (2) is permanent
Fixed, translational drive mechanism (5) is by changing the positional relationship between translation supporting mechanism (2) and chain saw platform (1) come pulling chain
Platform (1) is sawed close to hold-fast body (4) or pushes chain saw platform (1) far from hold-fast body (4)；When the clipping device works, nothing
Man-machine drive chain saw platform (1) is hovered after flying to target close to trunk, mechanical paw (41) realization pair of hold-fast body (4)
The holding of trees acts, and unmanned plane stops working and packs up wing, and translational drive mechanism (5) starts to pull chain saw platform (1)
It is mobile to hold-fast body (4), so that chain saw mechanism (3) is constantly close to pollard, to the chain saw (31) in chain saw mechanism (3)
After touching branch, chain saw motor (32) starting in chain saw mechanism (3) drives chain saw (31) to start to cut branch, and cutting is completed
Afterwards, chain saw motor (32) stops working and translational drive mechanism (5) inverted running makes chain saw platform (1) far from hold-fast body
(4), unmanned plane opens wing and restarts, and the mechanical paw (41) of hold-fast body (4) unclamps trunk, the electronics on unmanned plane
Identification mechanism finds subsequent work target.
2. according to claim 1 can flight branch pruning device, it is characterised in that: the translation supporting mechanism (2)
Vertical support rod (21) including being used to support positioning hold-fast body (4) and translational drive mechanism (5), vertical support rod (21)
Top is in the dovetail groove (11) of chain saw platform (1) bottom setting and the top of vertical support rod (21) and dovetail groove (11)
Constitute linear slider sliding track mechanism.
3. according to claim 2 can flight branch pruning device, it is characterised in that: the translation supporting mechanism (2)
It further include inclined shore bar (22) and support leg (23), the upper end of inclined shore bar (22) is arranged at the bottom of vertical support rod (21)
The support leg (23) that portion and the lower end of inclined shore bar (22) setting horizontal direction are open, support leg (23) are located at hold-fast body
(4) underface, when so that hold-fast body (4) holding trunk tightly, support leg (23), which can be against on trunk, provides support force.
4. according to claim 1 can flight branch pruning device, it is characterised in that: the hold-fast body (4) includes
Mechanical paw (41) and holding bracket (42), the tail end of mechanical paw (41) are fixed on the both ends for holding bracket (42) tightly and manipulator
Pawl (41) can hold trunk tightly relative to the end rotation for holding bracket (42) tightly under the effect of external force or unclamp trunk.
5. according to claim 4 can flight branch pruning device, it is characterised in that: set on the holding bracket (42)
Have holding motor (43), the drive shaft for holding motor (43) tightly, which is equipped with, holds driving gear (44) tightly, drives gear (44) holding tightly
Side be equipped with and engage connected holding transmission gear (45), hold transmission gear (45) setting tightly and holding lead screw (46) tightly
One end and the other end for holding lead screw (46) tightly, which sequentially pass through, to be held bracket (42) tightly, holds feed screw nut (47) tightly, is held tightly lead screw (46)
A pair of of feed screw nut holding transmission mechanism, the both ends difference for holding feed screw nut (47) tightly are constituted with feed screw nut (47) are held tightly
Corresponding mechanical paw (41) is connected by holding connecting rod (48) tightly；After holding motor (43) starting, driven by holding tightly
Gear (44) and holding transmission gear (45) engaged transmission are to drive screw nut driven mechanism to run, so that holding feed screw nut tightly
(47) close to or far from holding bracket (42), and mechanical paw (41) are driven to lean on by connecting rod (48) by holding feed screw nut (47)
Hold together to hold trunk tightly or open to unclamp trunk.
6. according to claim 5 can flight branch pruning device, it is characterised in that: described to hold the another of lead screw (46) tightly
Anticreep block (49) are fixedly installed on end, are held tightly to prevent holding motor (43) excessively operation tightly so that holding feed screw nut (47) tightly and being detached from
Lead screw (46).
7. according to claim 1 can flight branch pruning device, it is characterised in that: the translational drive mechanism (5)
Including the translation motor (51) being arranged on the holding bracket (42) of hold-fast body (4), set in the drive shaft of translation motor (51)
There are pan drive gear (52), is equipped in the side of pan drive gear (52) and engages connected translation transmission gear
(53), translation transmission gear (53) setting is sequentially passed through in the other end for translating the one end of lead screw (54) and translation lead screw (54) and is embraced
It is fixed on the vertical support rod (21) of translation supporting mechanism (2) after locking bracket (42), translation feed screw nut (55), translates lead screw
(54) it constitutes a pair of of feed screw nut with translation feed screw nut (55) and translates transmission mechanism, the translation feed screw nut (55) passes through
Translation locating rod (56) is fixed on the bottom of chain saw platform (1)；After translation motor (51) starting, pass through driven in translation tooth
Wheel (52) and translation transmission gear (53) engaged transmission are to drive screw nut driven mechanism to run, so that translation feed screw nut
(55) close to or far from holding bracket (42), and chain saw platform is driven by translation locating rod (56) by translation feed screw nut (55)
(1) and chain saw mechanism (3) is close to or far from trunk.
8. according to claim 7 can flight branch pruning device, it is characterised in that: the translation feed screw nut (55)
On be additionally provided with through translation feed screw nut (55) translation polished rod (57), translation polished rod (57) one end be fixed at vertical branch
On strut (21), the other end be fixed at translation motor (51) or hold tightly bracket (42) on assist feed screw nut translation pass
The stable operation of motivation structure.
9. according to claim 7 or 8 can flight branch pruning device, it is characterised in that: the translation motor (51)
Or hold bracket (42) tightly and be equipped with support polished rod (24), the other end of support polished rod (24) is fixed at translation supporting mechanism
(2) on vertical support rod (21).
10. according to claim 1 can flight branch pruning device, it is characterised in that: the chain saw platform (1) passes through
Platform connecting rod (12) is fixed on the bottom of unmanned plane, and the chain saw mechanism (3) being made of chain saw motor (32) driving chain saw (31)
It is positioned adjacent to chain saw platform (1) edge of hold-fast body (4).
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| CN201811080823.4A CN109287308A (en) | 2018-09-17 | 2018-09-17 | One kind can flight branch pruning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811080823.4A CN109287308A (en) | 2018-09-17 | 2018-09-17 | One kind can flight branch pruning device |
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| CN109287308A true CN109287308A (en) | 2019-02-01 |
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| CN201811080823.4A Pending CN109287308A (en) | 2018-09-17 | 2018-09-17 | One kind can flight branch pruning device |
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| CN (1) | CN109287308A (en) |
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| CN111406531A (en) * | 2020-05-13 | 2020-07-14 | 南京林业大学 | Three-dimensional flower type selection device |
| CN113042256A (en) * | 2021-03-18 | 2021-06-29 | 临沂大学 | Road timber spraying device with trimming function and method |
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Application publication date: 20190201 |