CN109362386A - A kind of the screen of trees cleaning plant and control method of the collaboration of three saws - Google Patents
A kind of the screen of trees cleaning plant and control method of the collaboration of three saws Download PDFInfo
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- CN109362386A CN109362386A CN201811404332.0A CN201811404332A CN109362386A CN 109362386 A CN109362386 A CN 109362386A CN 201811404332 A CN201811404332 A CN 201811404332A CN 109362386 A CN109362386 A CN 109362386A
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- Prior art keywords
- trees
- cantilever
- screen
- pedestal
- horizontal
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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
- A01G3/088—Circular saws
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B27/00—Apparatus for climbing poles, trees, or the like
Abstract
The application provides the screen of trees cleaning plant and control method of three saw collaboration of one kind, wherein described device includes: climbing device and cleaning plant；Climbing device includes telescopic rod and the first pedestal and the second pedestal for being set to telescopic rod both ends, and the first side of base is provided with manipulator, and the second side of base is provided with lower manipulator；Cleaning plant includes third pedestal and is set to the first level cast-cutting saw slice of third base-plates surface, the second horizontal resection saw blade and vertical cast-cutting saw slice.It in device provided by the present application, is climbed on trunk using upper manipulator and lower manipulator, upwards during climbing, if encountering barrier, trims barrier using vertical cast-cutting saw slice；Device is climbed to preset height upwards, and the cleaning of screen of trees is carried out using first level cast-cutting saw slice and the second horizontal resection saw blade.
Description
Technical field
This application involves screen of trees Removal Technology fields, and in particular to the screen of trees cleaning plant and controlling party of three saw collaboration of one kind
Method.
Background technique
Transmission of electricity is the important link of electric system, after usually being boosted with the electric energy that transformer issues generator, then is passed through
Breaker etc. controls equipment by the mode of the electric energy access transmission line of electricity after boosting, to realize transmission of electricity.Transmission line of electricity presses structure shape
Formula is divided into overhead transmission line and underground transmission line, wherein overhead transmission line routes the structures such as overhead line structures, conducting wire and insulator
At being erected on ground.The distance between overhead transmission line and the trees of surrounding need to be more than minimum safe distance, no
Then, it is easy to cause the generation of the accidents such as tripping, it is generally the case that will may will affect transmission line safety in overhead transmission line
Stable trees are known as screen of trees.
After having set up overhead transmission line, since the speed of growth of the trees such as eucalyptus, bamboo is very fast, and when trees
Height is higher, when the distance between trees and overhead transmission line being made to be more than safe distance, easily initiation transmission line of electricity tripping etc.
Accident, therefore, it is necessary to periodically clear up the screen of trees around transmission line of electricity.Existing screen of trees method for cleaning relies primarily on artificial behaviour
Make, for example, operator is directly connected trees using tools pollards such as handsaw, reaping hook, choppers, or using tool of cutting down trees
Root felling.
But inventor has found in the research process of the application, due to trees height is higher and some trees (such as
Eucalyptus and bamboo etc.) the material is soft, and operator can not climb to more than trees center of gravity, cause the height of pollard up to not
To requirement, and then being easy to cause the distance between trees and overhead transmission line is more than safe distance.
Summary of the invention
The application provides the screen of trees cleaning plant and control method of three saw collaboration of one kind, to solve trimming in the prior art
Not the problem of height of branch does not reach requirement.
The application's in a first aspect, provide the screen of trees cleaning plants of three saw collaboration of one kind, described device includes:
Climbing device and cleaning plant are detachably connected between the climbing device and cleaning plant, the climbing device
For climbing trees, the cleaning plant is for clearing up branch；
The climbing device includes the telescopic rod being vertically arranged and the first pedestal for being respectively arranged at the telescopic rod both ends
With the second pedestal, first side of base is provided with manipulator, and second side of base is provided with lower manipulator, described
Upper manipulator and lower manipulator are adjustable clamp locking structure, respectively by first motor and the second motor control, for holding tree tightly
It is dry；The telescopic rod is used to stretch under the control of third motor, climbs on trunk to control the climbing device；
The top of first pedestal is provided with movable connecting rod, and the movable connecting rod is parallel to the telescopic rod, uses
In removably connecting the cleaning plant；
The cleaning plant include third pedestal and the first level cast-cutting saw slice for being set to the third base-plates surface,
It is flat where second horizontal resection saw blade and vertical cast-cutting saw slice, the first level cast-cutting saw slice and the second horizontal resection saw blade
Perpendicular to the movable connecting rod, the plane where the vertical cast-cutting saw slice is parallel to the movable connecting rod in face；
The third base bottom is fixed on the top of the movable connecting rod, and the third pedestal is rectangular parallelepiped structure,
The top of the third pedestal is provided with horizontal propulsion screw rod, and the horizontal propulsion screw rod is used to slide in the horizontal direction, from
And promote the first level cast-cutting saw slice, the second horizontal resection saw blade and vertical cast-cutting saw slice jointly along the horizontal propulsion silk
The glide direction of bar is mobile.
Optionally, second Chuck top is provided with arc-shaped slide rail, and the arc-shaped slide rail surface is provided with sliding block, described
Sliding block is used under the control for embracing tree rotating electric machine, is slided along the arc-shaped slide rail, and the bottom end of the telescopic rod is fixed on described
The surface of sliding block.
Optionally, the top of first pedestal is provided with the first camera, and first camera is described for shooting
Screen of trees around device.
Optionally, the side of second pedestal is provided with primary control box, and the primary control box is for controlling each cast-cutting saw slice
Movement.
Optionally, the bottom end of second pedestal is provided with second camera, and the second camera is used for described device
During climbing to the ground, the barrier between described device and ground is shot, the barrier is to stop described device
Continue the branch creeped to the ground.
Optionally, the third base-plates surface is provided with the first cantilever, the second cantilever and third cantilever, first cantilever
It is each perpendicular to the movable connecting rod with the second cantilever, and rotates and connects with the movable connecting rod, the third cantilever is parallel
In the movable connecting rod, and rotates and connect with the movable connecting rod；
The first level cast-cutting saw slice is set to the top of first cantilever；
The second horizontal resection saw blade is set to the top of second cantilever；
The vertical cast-cutting saw slice is set to the top of the third cantilever.
Optionally, it is 0~90 ° that first cantilever rotates the range of angle in the horizontal direction；
The range that second cantilever rotates angle in the horizontal direction is 0~90 °；
The range that the third cantilever rotates angle in the vertical direction is 0~120 °.
The second aspect of the application, provides the screen of trees cleaning control method of three saw collaboration of one kind, and the method is applied to master
Box is controlled, the primary control box is set in the device of any one implementation of first aspect offer, which comprises
According to the screen of trees area in the first camera shot image, determine whether screen of trees area is lower than warning value；
If the screen of trees area is lower than warning value, starts first level cast-cutting saw slice, while controlling the first cantilevered action, make
It obtains the first level cast-cutting saw slice to rotate centered on movable connecting rod, be resetted after rotation to the first predeterminated position；
Start the second horizontal resection saw blade, while controlling the second cantilevered action so that the second horizontal resection saw blade with
It rotates centered on the movable connecting rod, is resetted after rotation to the second predeterminated position；
If the screen of trees area is not less than warning value, the relative position of telescopic rod and arc-shaped slide rail is judged；
If the telescopic rod starts horizontal resection saw blade, opens simultaneously in the left end point or right endpoint of the arc-shaped slide rail
It is dynamic to embrace tree rotating electric machine, so that the telescopic rod is moved along the arc-shaped slide rail；
If the telescopic rod is not in the left end point or right endpoint of the arc-shaped slide rail, tree rotating electric machine, adjustment are embraced in starting
The telescopic rod rests on the left end point or right endpoint of the arc-shaped slide rail；
Start horizontal resection saw blade, while starting and embracing tree rotating electric machine, so that arcuately sliding rail moves the telescopic rod.
Optionally, according to the screen of trees area in the first camera shot image, determine whether screen of trees area is lower than warning
Before value, further includes:
Judge whether described device position is lower than preset height；
If described device position is lower than preset height, controls climbing device and continue up climbing；
According to the screen of trees area in the first camera shot image, determine whether described device deposits in the process in upward climbing
In barrier；
If there are barriers during upward climbing for described device, vertical cast-cutting saw slice movement is controlled.
Optionally, starting the second horizontal resection saw blade, while controlling the second cantilevered action, so that second horizontal cutting
Sawing piece is rotated centered on the movable connecting rod, after resetting after rotation to the second predeterminated position, further includes:
Control third cantilever is moved to the direction far from screen of trees, is adjusted the third cantilever and is rested on horizontal promote on screw rod
One end far from movable connecting rod；
The top for controlling the third cantilever is rotated to one end close to screen of trees, is stopped after rotation to maximum angle；
It controls the third cantilever to move along the horizontal direction for promoting screw rod, so that the third cantilever is applied to screen of trees
Reinforcing.
The application provides the screen of trees cleaning plant and control method of three saw collaboration of one kind, wherein described device includes: climbing
Device and cleaning plant；The climbing device includes telescopic rod and the first pedestal and the second base for being set to the telescopic rod both ends
Seat, first side of base are provided with manipulator, and second side of base is provided with lower manipulator；First pedestal
Top be provided with movable connecting rod, the movable connecting rod is parallel to the telescopic rod, for connecting the cleaning plant；Institute
Cleaning plant is stated to include third pedestal and be set to the first level cast-cutting saw slice of the third base-plates surface, the second horizontal cutting
Sawing piece and vertical cast-cutting saw slice；The third base bottom, the top of third pedestal are fixed in the top of the movable connecting rod
End is provided with horizontal propulsion screw rod, and the horizontal propulsion screw rod is for controlling the first level cast-cutting saw slice, the second horizontal cutting
Sawing piece and vertical cast-cutting saw slice promote screw rod to slide in the horizontal direction along level jointly.
In device provided by the present application, climbed on trunk using upper manipulator and lower manipulator, the process climbed upwards
In, if encountering barrier, barrier is trimmed using vertical cast-cutting saw slice, in addition, vertical cast-cutting saw slice is set to horizontal propulsion
Therefore the surface of screw rod promotes screw rod to adjust the distance between vertical cast-cutting saw slice and trunk, to control trimming using level
The length of barrier afterwards；Described device is climbed to preset height upwards, horizontal using first level cast-cutting saw slice and second
Cast-cutting saw slice carries out the cleaning of screen of trees, and therefore, device provided by the present application carries out screen of trees cleaning in the way of three saw collaborations,
During cleaning, the operation of climbing trunk is executed by climbing device, cleaning plant executes the operation of cleaning screen of trees, climbing device
It can climb to more than trees center of gravity, to solve in the prior art, operator can not be climbed to more than trees center of gravity, be led
The problem of causing the height of pollard not reach requirement.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the application, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is a kind of structural schematic diagram of the screen of trees cleaning plant of three saws collaboration provided by the embodiments of the present application；
Fig. 2 is a kind of structural schematic diagram of the screen of trees cleaning plant of three saws collaboration provided by the embodiments of the present application；
Fig. 3 is a kind of screen of trees cleaning plant side elevation view structural schematic diagram of three saws collaboration provided by the embodiments of the present application；
Fig. 4 is that a kind of screen of trees of three saws collaboration provided by the embodiments of the present application clears up the work flow diagram of control method.
It illustrates: 1- climbing device；2- cleaning plant；11- telescopic rod；The first pedestal of 12-；The second pedestal of 13-；131-
Embrace tree rotating electric machine；The upper manipulator of 14-；Manipulator under 15-；16- movable connecting rod；17- arc-shaped slide rail；171- sliding block；18-
One camera；19- primary control box；21- third pedestal；22- first level cast-cutting saw slice；23- the second horizontal resection saw blade；24- hangs down
Straight cast-cutting saw slice；25- level promotes screw rod；26- second camera；The first cantilever of 27-；The second cantilever of 28-；29- third cantilever.
Specific embodiment
The application is described in detail below by way of specific embodiment.
Structural schematic diagram shown in referring to Figures 1 and 2, the embodiment of the present application provide the screen of trees cleaning dress of three saw collaboration of one kind
It sets, described device includes: climbing device 1 and cleaning plant 2, it is detachably connected between the climbing device 1 and cleaning plant 2,
The climbing device 1 is used for climbing trees, and the cleaning plant 2 is for clearing up branch.
The climbing device 1 includes the telescopic rod 11 being vertically arranged and is respectively arranged at the first of 11 both ends of telescopic rod
Pedestal 12 and the second pedestal 13,12 side of the first pedestal are provided with manipulator 14,13 side of the second pedestal setting
There is lower manipulator 15, the upper manipulator 14 and lower manipulator 15 are adjustable clamp locking structure, respectively by first motor and
Two motor controls, for holding trunk tightly；The telescopic rod 11 is used to stretch under the control of third motor, to climb described in control
Device 1 is climbed to climb on trunk.
Climbing device 1 provided by the embodiments of the present application can realize automatic climbing function, and climbing device 1 is in the feelings for holding trunk tightly
When continuing up climbing under condition, first motor controls upper manipulator 14 and unclamps trunk, and telescopic rod 11 is under the control of third motor
Elongation, so that upper manipulator 14 is mobile to the direction far from lower manipulator 15, after the completion of mobile, upper manipulator 14 holds tree tightly again
Dry, then, lower manipulator 15 unclamps trunk under the control of the second motor, and telescopic rod 11 is received under the control of third motor again
Contracting, so that lower manipulator 15 is and so on moved to close to the movement of the direction of upper manipulator 14, to realize automatic climbing function
Energy.When climbing device is climbed downwards, run according to opposite movement.
The top of first pedestal 12 is provided with movable connecting rod 16, and the movable connecting rod 16 is parallel to described flexible
Bar 11, for removably connecting the cleaning plant 2.In a kind of achievable mode, movable connecting rod 16 with
Slotting mode is connected with the cleaning plant 2 fastly, and the mode easy cleaning device 2 inserted fastly mounts and separates, when cleaning fills
When setting 2 and the separation of climbing device 1, the scale removal process that cleaning plant 2 realizes screen of trees can be controlled separately.
The cleaning plant 2 includes third pedestal 21 and the first level cutting for being set to 21 surface of third pedestal
Saw blade 22, the second horizontal resection saw blade 23 and vertical cast-cutting saw slice 24, the first level cast-cutting saw slice 22 and the second horizontal cutting
For plane where sawing piece 23 perpendicular to the movable connecting rod 16, the plane where the vertical cast-cutting saw slice 24 is parallel to institute
State movable connecting rod 16.
In the embodiment of the present application, vertical cast-cutting saw slice 24 is used for removing obstacles during climbing device 1 is climbed upwards
Object, the case where avoiding climbing device 1 that from can not continuing up climbing after meeting with barrier；First level cast-cutting saw slice 22 and second
Horizontal resection saw blade 23 is used to clear up screen of trees after the climbing to predetermined position of climbing device 1.
21 bottom end of third pedestal is fixed on the top of the movable connecting rod 16, and the third pedestal 21 is cuboid
Structure, the top of the third pedestal 21 are provided with horizontal propulsion screw rod 25, and the horizontal propulsion screw rod 25 is used in level side
Upward sliding, to promote the first level cast-cutting saw slice 22, the second horizontal resection saw blade 23 and vertical cast-cutting saw slice 24 total
It is moved with along the horizontal glide direction for promoting screw rod 25.
In device provided by the present application, is climbed on trunk using upper manipulator 14 and lower manipulator 15, climbed upwards
In the process, if encountering barrier, barrier is trimmed using vertical cast-cutting saw slice 24, in addition, vertical cast-cutting saw slice 24 is set to
Level promotes the surface of screw rod 25, therefore, using it is horizontal promote screw rod 25 adjust between vertical cast-cutting saw slice 24 and trunk away from
From to control the length of barrier after trimming；Described device is climbed to preset height upwards, is cut using first level
Saw blade 22 and the second horizontal resection saw blade 23 carry out the cleaning of screen of trees, and therefore, device provided by the present application utilizes three saw collaborations
Mode carries out screen of trees cleaning, during cleaning, the operation of climbing trunk is executed by climbing device 1, cleaning plant 2 executes clearly
Manage the operation of screen of trees, climbing device 1 can be climbed to more than trees center of gravity, to solve in the prior art, operator without
The problem of method is climbed to more than trees center of gravity, and the height of pollard is caused not reach requirement.
Structural schematic diagram shown in referring to Figures 1 and 2,13 top of the second pedestal is provided with arc-shaped slide rail 17, described
17 surface of arc-shaped slide rail is provided with sliding block 171, and the sliding block 171 is used under the control for embracing tree rotating electric machine 131, along the arc
Shape sliding rail 17 slides, and the surface of the sliding block 171 is fixed in the bottom end of the telescopic rod 11.
When due to encountering barrier during climbing device 1 upwards climbing, barrier position is not necessarily vertically being cut
The surface of sawing piece 24, therefore, it is necessary to start to embrace tree rotating electric machine 131, so that vertical cast-cutting saw slice 24 descends manipulator relatively
15 make rotating motion.In addition, if the diameter of screen of trees is greater than warning value, needing to start and embracing tree rotating electric machine when clearing up screen of trees
131, increase the stroke of horizontal resection saw blade, enables the biggish screen of trees of device cutting diameter provided by the present application.
When embracing tree rotation, first motor controls upper manipulator 14 and unclamps trunk, and sliding block 171 is embracing tree rotating electric machine 131
It is slided under control along arc-shaped slide rail 17, so that telescopic rod 11 and the other component being connected with 11 top of telescopic rod be driven to transport
It is dynamic, realize the function of embracing tree rotation.
Structural schematic diagram shown in referring to Figures 1 and 2, the top of first pedestal 12 are provided with the first camera 18,
First camera 18 is used to shoot the screen of trees around described device.
Structural schematic diagram shown in referring to Figures 1 and 2, the side of second pedestal 13 is provided with primary control box 19, described
Primary control box 19 is used to control the movement of each cast-cutting saw slice.
Referring to structural schematic diagram shown in Fig. 3, the bottom end of second pedestal 13 is provided with second camera 26, and described
Two cameras 26 during climbing to the ground, shoot the barrier between described device and ground, institute for described device
Stating barrier is the branch for stopping described device to continue to creep to the ground.
Optionally, 21 surface of third pedestal is provided with the first cantilever 27, the second cantilever 28 and third cantilever 29, described
First cantilever 27 and the second cantilever 28 are each perpendicular to the movable connecting rod 16, and rotate and connect with the movable connecting rod 16,
The third cantilever 29 is parallel to the movable connecting rod 16, and rotates and connect with the movable connecting rod 16；First water
Flat cast-cutting saw slice 22 is set to the top of first cantilever 27；It is outstanding that the second horizontal resection saw blade 23 is set to described second
The top of arm 28；The vertical cast-cutting saw slice 24 is set to the top of the third cantilever 29.
Optionally, it is 0~90 ° that first cantilever 27 rotates the range of angle in the horizontal direction；Second cantilever
28 ranges for rotating angle in the horizontal direction are 0~90 °；The third cantilever 29 rotates the range of angle in the vertical direction
It is 0~120 °.
It, being capable of band during the first cantilever 27 and the second cantilever 28 rotate in the horizontal direction in the embodiment of the present application
Dynamic first level cast-cutting saw slice 22 or the second horizontal resection saw blade 23 rotate in the horizontal direction；Third cantilever 29 is in vertical direction
It during upper rotation, is able to drive vertical cast-cutting saw slice 24 and rotates in the vertical direction, the third cantilever 29 is in number side
The plane that rotation is formed upwards is parallel to horizontal propulsion screw rod 25.
Referring to work flow diagram shown in Fig. 4, the embodiment of the present application provides the screen of trees cleaning controlling party of three saw collaboration of one kind
Method, the method are applied to primary control box 19, and the primary control box 19 is set in the device that Fig. 1 or Fig. 2 is provided, the method includes
Following steps:
Step 101, according to the screen of trees area in 18 shot image of the first camera, determine whether screen of trees area is lower than warning
Value.
In this step, primary control box 19 analyzes the screen of trees face in image after getting 18 shot image of the first camera
Product, in the case where the first camera 18 is equidistant with screen of trees, screen of trees diameter is bigger, then in 18 shot image of the first camera
Screen of trees area proportion is bigger, since the field range of the first camera 18 is constant, preset the police of screen of trees area
Ring value.Screen of trees area is compared with preset warning value, if screen of trees area is lower than warning value, executes step 102
Operation；If screen of trees area is not less than warning value, the operation of step 104 is executed.
Step 102, if the screen of trees area is lower than warning value, start first level cast-cutting saw slice 22, while controlling first
Cantilever 27 acts, so that the first level cast-cutting saw slice 22 is rotated centered on movable connecting rod 16, rotation to first is preset
It is resetted behind position.
Step 103, start the second horizontal resection saw blade 23, while controlling the movement of the second cantilever 28, so that second water
Flat cast-cutting saw slice 23 is rotated centered on the movable connecting rod 16, is resetted after rotation to the second predeterminated position.
In this step, screen of trees area is lower than warning value, illustrates that screen of trees diameter is smaller, therefore, is cut using first level
Saw blade 22 and the phase screen of trees center movement of the second horizontal resection saw blade 23 difference, screen of trees can be separated, realize clear with trunk
Manage the purpose of screen of trees.Since first level cast-cutting saw slice 22 and the second horizontal resection saw blade 23 are in the same horizontal position, if together
Shi Xiangxiang operation, may cause two saw blades and is in contact, and in the state that two saw blades will be opened simultaneously, then be easily damaged saw
Piece.Therefore, it in the embodiment of the present application, controls first level cast-cutting saw slice 22 and the second horizontal resection saw blade 23 is run in two times,
After the operation of the second horizontal resection saw blade 23, a screen of trees cleaning work can be completed.
Step 104, if the screen of trees area is not less than warning value, judge the opposite position of telescopic rod 11 Yu arc-shaped slide rail 17
It sets.
If the screen of trees area is not less than warning value, illustrate that the diameter of screen of trees is bigger, using two saw blades into screen of trees
The mode of heart position movement is difficult to realize the purpose of screen of trees cleaning, and therefore, it is necessary to utilize saw blade and arc-shaped slide rail 17 to combination
Mode realizes the purpose of screen of trees cleaning.
In this step, if the telescopic rod 11 executes step 105 in the left end point or right endpoint of the arc-shaped slide rail 17
Operation；If the telescopic rod 11 in the left end point or right endpoint of the arc-shaped slide rail 17, does not execute the operation of step 106.
Step 105, if the telescopic rod 11 starts horizontal resection in the left end point or right endpoint of the arc-shaped slide rail 17
Saw blade, while starting and embracing tree rotating electric machine 131, so that the telescopic rod 11 is moved along the arc-shaped slide rail 17.
In structural schematic diagram shown in Fig. 3, arc-shaped slide rail 17 is divided into left arm and right arm by telescopic rod 11, left arm from
It is left end point by end, the right endpoint of left arm is right endpoint.In this step, if telescopic rod 11 is located at the left end of arc-shaped slide rail 17
Point then starts first level cast-cutting saw slice 22, while starting and embracing tree rotating electric machine 131；If telescopic rod 11 is located at arc-shaped slide rail 17
Right endpoint, then start the second horizontal resection saw blade 23, while starting and embracing a tree rotating electric machine 131.
Step 106, if the telescopic rod 11 is not in the left end point or right endpoint of the arc-shaped slide rail 17, tree rotation is embraced in starting
Rotating motor 131 adjusts left end point or right endpoint that the telescopic rod 11 rests on the arc-shaped slide rail 17.
Step 107, start horizontal resection saw blade, while starting and embracing tree rotating electric machine 131, so that the telescopic rod 11 is along arc
Shape sliding rail 17 moves.
It in the embodiment of the present application, is determined according to screen of trees area and clears up mode used in screen of trees, if screen of trees area is less than warning
Value, then it is mobile to the position at screen of trees center respectively using two horizontal resection saw blades, the work of screen of trees cleaning can be completed；If tree
Hinder area and be not less than warning value, then telescopic rod 11 is adjusted to an endpoint of arc-shaped slide rail 17, start horizontal resection saw blade
Meanwhile tree rotating electric machine 131 is embraced in starting, so that horizontal resection saw blade follows telescopic rod 11 to move to another endpoint of arc-shaped slide rail 17
Dynamic, in the process of moving, horizontal resection saw blade constantly cuts screen of trees, the final purpose for realizing cleaning screen of trees.
Optionally, according to the screen of trees area in 18 shot image of the first camera, determine whether screen of trees area is lower than police
It is further comprising the steps of before ring value:
Step 201, judge whether described device position is lower than preset height.If primary control box 19 determines described device institute
In place set low thened follow the steps in preset height 202 operation；If being not less than preset height, controls described device and rest on
Position.
Step 202, it if described device position is lower than preset height, controls climbing device 1 and continues up climbing.
Step 203, according to the screen of trees area in 18 shot image of the first camera, determine that described device was climbed upwards
Whether there are obstacles in journey.
In this step, the first camera 18 can rotate, during described device is climbed upwards, the first camera shooting of control
The direction of first 18 shot image judges perpendicular to ground, primary control box 19 according to the screen of trees area in 18 shot image of the first camera
Whether there are obstacles, if the screen of trees area in 18 shot image of the first camera is greater than the second warning value, thens follow the steps 204
Operation.
Step 204, if there are barriers during upward climbing for described device, it is dynamic to control vertical cast-cutting saw slice 24
Make.
Optionally, starting the second horizontal resection saw blade 23, while controlling the movement of the second cantilever 28, so that second water
Flat cast-cutting saw slice 23 is rotated centered on the movable connecting rod 16, after resetting after rotation to the second predeterminated position, further includes
Following steps:
Step 301, control third cantilever 29 is moved to the direction far from screen of trees, is adjusted the third cantilever 29 and is rested on water
Flat-pushing one end into movable connecting rod 16 separate on screw rod 25.
Step 302, the top for controlling the third cantilever 29 is rotated to one end close to screen of trees, after rotation to maximum angle
Stop.
Step 303, it controls the third cantilever 29 to move along the horizontal direction for promoting screw rod 25, so that the third
Cantilever 29 is to screen of trees applied force.
In the embodiment of the present application, after screen of trees is cut through horizontal resection saw blade, if the section of cutting is less than screen of trees diameter, lead
Due to that can not separate completely with trunk there are adhesion between screen of trees and trunk after causing cutting, in the case, third is utilized
Cantilever 29 to after cutting screen of trees apply thrust so that cutting after screen of trees run-off the straight so that cutting after screen of trees with
It is separated between trunk.In addition, relative position of the control telescopic rod 11 on arc-shaped slide rail 17, to control third cantilever 29 and tree
The relative position of barrier further controls the direction of thrust, then can control the direction that screen of trees is toppled over.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of general hardware platform realize.Based on this understanding, ARM single-chip microcontroller framework is integrated with inside primary control box 19,
Substantially the part that contributes to existing technology can be with software product in other words for technical solution in the embodiment of the present invention
Form embodies, and software used in the present invention is that the down of chip is written to enter formula software, for execute each embodiment of the present invention or
Method described in certain parts of person's embodiment.
Combine detailed description and exemplary example that the application is described in detail above, but these explanations are simultaneously
It should not be understood as the limitation to the application.It will be appreciated by those skilled in the art that without departing from the application spirit and scope,
A variety of equivalent substitution, modification or improvements can be carried out to technical scheme and embodiments thereof, these each fall within the application
In the range of.The protection scope of the application is determined by the appended claims.
Claims (10)
1. the screen of trees cleaning plant of three saw collaboration of one kind, which is characterized in that described device includes:
Climbing device (1) and cleaning plant (2) are detachably connected between the climbing device (1) and cleaning plant (2), described
Climbing device (1) is used for climbing trees, and the cleaning plant (2) is for clearing up branch；
The climbing device (1) include the telescopic rod (11) being vertically arranged and be respectively arranged at the telescopic rod (11) both ends
One pedestal (12) and the second pedestal (13), the first pedestal (12) side are provided with manipulator (14), second pedestal
(13) side is provided with lower manipulator (15), and the upper manipulator (14) and lower manipulator (15) are adjustable clamp locking structure,
Respectively by first motor and the second motor control, for holding trunk tightly；The telescopic rod (11) is used for the control in third motor
It is lower flexible, it is climbed on trunk to control the climbing device (1)；
The top of first pedestal (12) is provided with movable connecting rod (16), and the movable connecting rod (16) is parallel to described stretch
Contracting bar (11), for removably connecting the cleaning plant (2)；
The cleaning plant (2) includes third pedestal (21) and is set to the first level on third pedestal (21) surface and cuts
Sawing piece (22), the second horizontal resection saw blade (23) and vertical cast-cutting saw slice (24), the first level cast-cutting saw slice (22) and
Plane where second horizontal resection saw blade (23) is perpendicular to the movable connecting rod (16), vertical cast-cutting saw slice (24) institute
Plane be parallel to the movable connecting rod (16)；
Third pedestal (21) bottom end is fixed on the top of the movable connecting rod (16), and the third pedestal (21) is rectangular
Body structure, the top of the third pedestal (21) are provided with horizontal propulsion screw rod (25), and horizontal propulsion screw rod (25) is used for
It slides in the horizontal direction, to promote the first level cast-cutting saw slice (22), the second horizontal resection saw blade (23) and vertical
Cast-cutting saw slice (24) is jointly mobile along the horizontal glide direction for promoting screw rod (25).
2. the apparatus according to claim 1, which is characterized in that the second pedestal (13) top is provided with arc-shaped slide rail
(17), arc-shaped slide rail (17) surface is provided with sliding block (171), and the sliding block (171) is used to embrace tree rotating electric machine (131)
Control under, along the arc-shaped slide rail (17) slide, the table of the sliding block (171) is fixed in the bottom end of the telescopic rod (11)
Face.
3. the apparatus according to claim 1, which is characterized in that the top of first pedestal (12) is provided with the first camera shooting
Head (18), first camera (18) are used to shoot the screen of trees around described device.
4. device according to claim 3, which is characterized in that the side of second pedestal (13) is provided with primary control box
(19), the primary control box (19) is used to control the movement of each cast-cutting saw slice.
5. device according to claim 4, which is characterized in that the bottom end of second pedestal (13) is provided with the second camera shooting
Head (26), the second camera (26) during climbing to the ground, shoot described device and ground for described device
Between barrier, the barrier is that described device is stopped to continue the branch creeped to the ground.
6. the apparatus according to claim 1, which is characterized in that third pedestal (21) surface is provided with the first cantilever
(27), the second cantilever (28) and third cantilever (29), first cantilever (27) and the second cantilever (28) are each perpendicular to the work
Dynamic connecting rod (16), and rotate and connect with the movable connecting rod (16), the third cantilever (29) is parallel to the activity even
Extension bar (16), and rotate and connect with the movable connecting rod (16)；
The first level cast-cutting saw slice (22) is set to the top of first cantilever (27)；
The second horizontal resection saw blade (23) is set to the top of second cantilever (28)；
The vertical cast-cutting saw slice (24) is set to the top of the third cantilever (29).
7. device according to claim 6, which is characterized in that
The range that first cantilever (27) rotates angle in the horizontal direction is 0~90 °；
The range that second cantilever (28) rotates angle in the horizontal direction is 0~90 °；
The range that the third cantilever (29) rotates angle in the vertical direction is 0~120 °.
8. the screen of trees of three saw collaboration of one kind clears up control method, which is characterized in that the method is applied to primary control box (19), described
Primary control box (19) is set in device according to any one of claims 1 to 7, which comprises
According to the screen of trees area in the first camera (18) shot image, determine whether screen of trees area is lower than warning value；
If the screen of trees area is lower than warning value, start first level cast-cutting saw slice (22), while it is dynamic to control the first cantilever (27)
Make, so that the first level cast-cutting saw slice (22) is rotated centered on movable connecting rod (16), rotation to the first predeterminated position
After reset；
Start the second horizontal resection saw blade (23), while controlling the second cantilever (28) movement, so that the second horizontal cutting sawing
Piece (23) is rotated centered on the movable connecting rod (16), is resetted after rotation to the second predeterminated position；
If the screen of trees area is not less than warning value, the relative position of telescopic rod (11) Yu arc-shaped slide rail (17) is judged；
If the telescopic rod (11) starts horizontal resection saw blade, together in the left end point or right endpoint of the arc-shaped slide rail (17)
Shi Qidong embraces tree rotating electric machine (131), so that the telescopic rod (11) is moved along the arc-shaped slide rail (17)；
If the telescopic rod (11) is not in the left end point or right endpoint of the arc-shaped slide rail (17), tree rotating electric machine is embraced in starting
(131), left end point or right endpoint that the telescopic rod (11) rests on the arc-shaped slide rail (17) are adjusted；
Start horizontal resection saw blade, while starting and embracing tree rotating electric machine (131), so that the telescopic rod (11) arcuately sliding rail
(17) it moves.
9. according to the method described in claim 8, it is characterized in that, according to the screen of trees in the first camera (18) shot image
Area, determines whether screen of trees area is lower than before warning value, further includes:
Judge whether described device position is lower than preset height；
If described device position is lower than preset height, controls climbing device (1) and continue up climbing；
According to the screen of trees area in the first camera (18) shot image, determine whether described device deposits in the process in upward climbing
In barrier；
If there are barriers during upward climbing for described device, vertical cast-cutting saw slice (24) movement is controlled.
10. according to the method described in claim 8, it is characterized in that, being controlled simultaneously starting the second horizontal resection saw blade (23)
Second cantilever (28) movement, so that the second horizontal resection saw blade (23) is rotated centered on the movable connecting rod (16),
After being resetted after rotation to the second predeterminated position, further includes:
Control third cantilever (29) is moved to the direction far from screen of trees, is adjusted the third cantilever (29) and is rested on horizontal propulsion silk
Far from the one end of movable connecting rod (16) on bar (25)；
The top for controlling the third cantilever (29) is rotated to one end close to screen of trees, is stopped after rotation to maximum angle；
It controls the third cantilever (29) to move along the horizontal direction for promoting screw rod (25), so that the third cantilever (29)
To screen of trees applied force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811404332.0A CN109362386A (en) | 2018-11-23 | 2018-11-23 | A kind of the screen of trees cleaning plant and control method of the collaboration of three saws |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811404332.0A CN109362386A (en) | 2018-11-23 | 2018-11-23 | A kind of the screen of trees cleaning plant and control method of the collaboration of three saws |
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| CN201811404332.0A Pending CN109362386A (en) | 2018-11-23 | 2018-11-23 | A kind of the screen of trees cleaning plant and control method of the collaboration of three saws |
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| CN113198137A (en) * | 2021-04-22 | 2021-08-03 | 胡静怡 | Back auxiliary assembly that stretches before wushu study |
| CN113991520A (en) * | 2021-11-10 | 2022-01-28 | 广东电网有限责任公司 | Pole climbing device based on multiple holding part |
| CN114006299A (en) * | 2021-11-10 | 2022-02-01 | 广东电网有限责任公司 | Pole climbing device |
| CN114006305A (en) * | 2021-11-10 | 2022-02-01 | 广东电网有限责任公司 | Power distribution network operation robot and working method thereof |
| CN115530043A (en) * | 2022-10-12 | 2022-12-30 | 浙江省林业科学研究院 | Hoop clamping circumference cutting type bamboo wood cutting saw |
| CN115625152A (en) * | 2022-12-22 | 2023-01-20 | 唐山职业技术学院 | Trunk cleaning equipment for greening maintenance |
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