CN110235636A - A tree-climbing robot for branching - Google Patents

Abstract

The present invention relates to the technical field of tree delimbing, in particular to a tree-climbing robot for delimbing, comprising a fixed component, a delimbing component and a power component: the delimbing component is arranged on the fixed component, and a power component is disposed at the lower end of the fixed component , the annular array at the lower end of the fixing member is provided with a plurality of power members, and the power member is against the side wall of the trunk, and the fixing member can adapt to the rising stage and the branching stage by changing its own shape. In the rising stage, the fixing member It can adapt to the side wall of the trunk to reduce the resistance when rising, and the fixed member can change its shape during the branching stage, so that the fixed member can be firmly stuck on the side wall of the trunk, which solves the existing safety hazards of artificial branching , Large-scale mechanical operations require a large space and the robot itself cannot be stably fixed, making the fixing more reliable and effectively saving manpower and material resources.

Description

A tree-climbing robot for branching

technical field

The invention belongs to the technical field of tree branching, in particular to a tree climbing robot for branching.

Background technique

In order to pursue comfort, health, high efficiency, and beauty are the requirements and goals of human beings for the living environment law, so the ecological environment is introduced into the planning of the residential area, and the living environment is ecologicalized to achieve the integration of buildings and greening in the community to form an ecological building. Then it is essential to plant trees in the community. After the trees grow for a few years, the branches will be luxuriant, bringing people a beautiful and green environment. Lighting problem, and at the same time, the branches are too large and easy to break in stormy weather, threatening personal and property safety. It is necessary to prune and repair the trees to remove the lower branches and make them grow upward. When prune and repair tall trees, there are The following questions:

(1) There are potential safety hazards in artificial handling, and it is difficult to pruning branches at the same time;

(2) When large-scale machinery is used for branching, the large-scale machinery enters the limited space in the community for operation, and the construction is difficult;

(3) In the process of branching, the support is unstable, which may easily cause the robot to fall off from the trunk and be damaged.

In view of the problems referred to above, a tree-climbing robot for branching is provided.

Contents of the invention

The present invention overcomes the deficiencies of the above-mentioned prior art and provides a tree-climbing robot for ramming, which is used to solve the existing problems of potential safety hazards in artificial ramming, the need for a large space during large-scale mechanical operations, and the problem that the robot itself cannot be stably fixed. .

Technical scheme of the present invention:

A tree-climbing robot for threshing, comprising a fixed component, a threshing component and a power component, the threshing component is arranged on the fixed component, and a plurality of power components are arranged in an annular array at the lower end of the fixed component, each of the power The components are all against the side wall of the trunk, and the fixed component can adapt to the rising stage and the branching stage by changing its shape. In the rising stage, the fixed component can adapt to the trunk side wall to reduce the resistance when rising. In the branching stage, the fixed member can be stuck on the side wall of the trunk by changing its own shape;

The fixing member includes: a first fixing frame, a first supporting plate, a second fixing frame, a second supporting plate, a pull rod, a deformation member and a stabilizing wheel; the first fixing frame is arranged on the side wall of the trunk, and the second The right end of a fixed frame is provided with a first support plate, the top of the first support plate is provided with a branching member, the second fixed frame is arranged on the side wall of the trunk directly below the first fixed frame, and the lower end of the second fixed frame is provided with a power member, the right side wall of the second fixed frame is provided with a second support plate, the two ends of the pull rod are respectively hingedly connected with the left end of the first fixed frame and the left end of the second fixed frame, and the first fixed frame It is connected with the right end of the second fixed frame through a deformation member, the lower side wall of the first fixed frame and the upper side wall of the second fixed frame are provided with a plurality of stabilizing wheels in an annular array, the first fixed frame and the second fixed frame The stable wheels provided on the two fixed frames correspond to each other. When the deformation member is in the non-working state, the first fixed frame and the second fixed frame are arranged in parallel on the side wall of the trunk. When the deformation member is in the working state, the first The left end of fixed frame rises, and the right end descends, and the left end of the second fixed frame descends, and the right end rises, and the cooperation of the first fixed frame and the second fixed frame makes the fixed member be stuck on the trunk side wall.

Preferably, the first fixed frame includes a first crossbeam, a first arc-shaped beam, a first block, a first limit rod and a first return spring; the first crossbeam is arranged parallel and symmetrically at the left and right ends of the trunk , and connected by symmetrically arranged first arc-shaped beams, the inner side wall of the first beam has a rectangular groove, and the first clamping block and the first limit rod are arranged in the rectangular groove, and the first clamping block is a triangular prism , set on the side wall of the rectangular slot through the rotation of the rotating shaft, the first clamping block is connected with the inner side wall of the rectangular slot through the first return spring arranged in parallel and symmetrically, the lower end of the first clamping block set in the first beam on the left side A first limit rod is provided, and the upper end of the first clamping block provided in the first beam on the right side is provided with a first limit rod.

Preferably, the second fixed frame includes a second crossbeam, a second arc beam, a second block, a second limit rod and a second return spring; the second crossbeam is arranged symmetrically on the left and right sides of the trunk The two ends are connected by a symmetrically arranged second arc-shaped beam. The inner side wall of the second beam is provided with a rectangular groove, and a second clamping block and a second limit rod are arranged in the rectangular groove. The second clamping block is three Prismatic, set on the side wall of the rectangular groove through the rotation of the shaft, the second block is connected with the inner side wall of the rectangular groove through the second return spring arranged in parallel and symmetrically, the second block set in the second beam on the left The upper end of the block is provided with a second limiting rod, and the lower end of the second clamping block arranged in the second beam on the right side is provided with a second limiting rod.

Preferably, the deformation member includes a connecting shaft, an upper rod, a first lower rod, a second lower rod, a sliding plate and a first motor; the connecting shaft is arranged under the first support plate through a parallel symmetrical upper rod On the end face, the parallel and symmetrically arranged first lower layer rods are arranged on the second support plate through one end through the hinge seat, the other end of the first lower layer rod is connected with the connecting shaft, and the parallel and symmetrically arranged second lower layer rods are arranged through the hinge seat Set on the slide plate, the other end of the second lower rod is connected to the connecting shaft, the first motor is set on the side wall of the second support plate, the output end of the first motor is connected to one end of the lead screw, and the lead screw The other end passes through the slide plate and is rotatably arranged on the side wall of the rectangular groove, and the slide plate is slidably arranged on the slide rail.

Preferably, the delimbing member includes a U-shaped frame, a splint, a cross-shaped limit plate, a branch saw and an electric push rod; the U-shaped frame and the splint are arranged in parallel and symmetrically, and ten The glyph-shaped limit plate and the cross-shaped limit plate are movably set in the chute opened on the inner wall of the vertical U-shaped frame. The branching saw is set between two parallel splints and fixed on the two parallel splints by screws. Between, the electric push rod is arranged in the U-shaped frame, the fixed end of the electric push rod is arranged on the first support plate, and the output end of the electric push rod is connected with the splint.

Preferably, the power component includes a rotating rod, a friction roller shaft, a tension spring and a second motor; one end of the parallel and symmetrically arranged rotating rod is connected to the friction roller shaft, and the other end of the rotating rod is arranged on the second fixed shaft through a hinged seat. On the lower end face of the frame, one end of the tension spring is connected to the rotating rod, and the other end is connected to the lower end face of the second fixed frame. The second motor is arranged on the rotating rod, and the output end of the second motor is connected to the friction roller shaft.

A fixed frame for a tree-climbing and branching robot includes a first fixed frame, a second fixed frame, a pull rod and a deformation member; the two ends of the pull rod are respectively hingedly connected to the left end of the first fixed frame and the left end of the second fixed frame, The right ends of the first fixed frame and the second fixed frame are connected through deformation members;

The fixed frame has two working modes: the rising stage and the ramming stage. In the rising stage, the two ends of the first fixed frame and the second fixed frame are respectively supported by pull rods and deformation members, so that the first fixed frame and the second fixed frame Frames remain in a parallel state, and the inner sides of the first fixed frame and the second fixed frame are not in contact with the trunk surface; during the pruning stage, the left ends of the first fixed frame and the second fixed frame are supported by pull rods, and the contraction of the deformation member will The right ends of the first fixed frame and the second fixed frame are pulled inward, and the inner sides of the first fixed frame and the second fixed frame are in contact with the surface of the trunk to form a fixed structure stuck on the trunk.

The deformed component for the tree-climbing and branching robot includes a connecting shaft, an upper pole, a first lower pole, a second lower pole, a sliding plate and a first motor; the connecting shaft is arranged on the first support plate through a parallel symmetrical upper pole On the lower end surface of the lower end, the parallel and symmetrically arranged first lower layer rods are arranged on the second support plate through the hinge seat through one end, the other end of the first lower layer rods is connected with the connecting shaft, and the parallel and symmetrically arranged second lower layer rods pass through The hinged seat is arranged on the sliding plate, the other end of the second lower layer rod is connected with the connecting shaft, the first motor is arranged on the side wall of the second support plate, the output end of the first motor is connected with one end of the lead screw, and the screw The other end of the lever screw passes through the sliding plate and is rotatably arranged on the side wall of the rectangular groove, and the sliding plate is slidably arranged on the slide rail.

A branching member for a tree-climbing and branching robot, including a U-shaped frame, a splint, a cross-shaped limit plate, a branching saw, and an electric push rod; the U-shaped frame and the splint are arranged symmetrically in parallel, and the side walls of the splint are arranged There is a cross-shaped limiting plate, which is movably set in the chute opened on the inner wall of the vertical U-shaped frame, and the branching saw is set between two parallel splints, and is fixed on the two parallel splints by screws. Between the parallel splints, the electric push rod is arranged in the U-shaped frame, the fixed end of the electric push rod is arranged on the first support plate, and the output end of the electric push rod is connected with the splint;

The power component for the tree-climbing and branching robot includes a rotating rod, a friction roller shaft, a tension spring and a second motor; one end of the parallel and symmetrically arranged rotating rod is connected to the friction roller shaft, and the other end of the rotating rod is arranged at the On the lower end face of the second fixed frame, one end of the tension spring is connected to the rotating rod, and the other end is connected to the lower end face of the second fixed frame. The second motor is arranged on the rotating rod, and the output end of the second motor is connected to the friction roller shaft. connect.

The beneficial effects of the present invention are:

1) Through the effective combination of the fixed component, the branching component and the power component, it effectively overcomes the pruning work of trees that cannot be entered by large motor vehicles in a narrow area, saves manpower and material resources, and overcomes the danger of manpower climbing trees at the same time.

2) In the ascending and descending stages, the planes where the first fixed frame and the second fixed frame are located are parallel to each other through equal-length pull rods and deformation members, and the tree trunk is placed in the first fixed frame under the cooperation of the stabilizing wheels set in the circular array. And in the second fixed frame, to reduce the friction between the side wall of the trunk and the inner side wall of the first fixed frame and the second fixed frame, to reduce the resistance when rising and falling, the stable wheel is a telescopic one in the prior art The wheel axle is equipped with a strong return spring inside to adapt to the changes in the thickness of the trees during the ascending and descending stages;

3) During the ascending stage and the descending stage, the first block and the second block can rotate around the rotation axis under the action of the first return spring and the second return spring respectively, that is, when they rub against the side wall of the trunk, they can Rotate itself to adjust the effect of force with the side wall of the trunk, reduce the effect of frictional resistance, and restore the original shape under the action of the first return spring 1 and the second return spring after the rotation occurs, so as to facilitate the deformation of the member When deforming, adjust the state of the first block and the second block in time to restore the original state, that is, one edge of the triangular prism is perpendicular to the trunk axis. During the branching stage, the deformed member is deformed, and the first fixed frame is adjusted and the second fixed frame, the first block and the second block are reset in time, so that the first fixed frame can be effectively fixed on the side wall of the trunk by the first block, and the second fixed frame can be effectively fixed by the second block. It is stuck on the side wall of the trunk to increase the force with the side wall of the trunk and provide stable support for branching.

4) In the branching stage, start the branching saw and the electric push rod, and the electric push rod moves upward to drive the branching saw against the branch to be cut, and cut. During the cutting process, the branching saw transmits the force to the first branch. The support plate, and the force acts on the side wall of the trunk through the fixed member, and with the help of the stable support of the fixed member, the branching member can stably cut the branch, and different types of branches can be placed according to the size of the branch to be cut Saw, replace the branching saw by adjusting the screw rod, and stably fix the branching saw through the screw rod to ensure the smooth progress of branching.

Description of drawings

Fig. 1 is the overall structure schematic diagram of a kind of branching tree-climbing robot of the present invention;

Fig. 2 is a kind of ramming stage structural representation of tree-climbing robot of ramming according to the present invention;

Fig. 3 is a cross-section schematic diagram of Fig. 1;

Fig. 4 is a cross-section schematic diagram of Fig. 2;

Fig. 5 is a cross-sectional schematic diagram of a dynamic deformation member;

Fig. 6 is a side view of a deformation member;

Fig. 7 is a schematic structural view of a branching member;

Fig. 8 is a top view of a branching member;

Fig. 9 is a front view of a power component;

Fig. 10 is a side view of a power member.

In the figure: 1-fixed member, 1-1-first fixed frame, 1-1-1-first beam, 1-1-2-first curved beam, 1-1-3-first block, 1-1-4-the first limit rod, 1-1-5-the first return spring, 1-2-the first support plate, 1-3-the second fixed frame, 1-3-1-the second beam , 1-3-2-the second arc beam, 1-3-3-the second block, 1-3-4-the second limit rod, 1-3-5-the second return spring, 1-4 -Second support plate, 1-5-tie rod, 1-6-deformation member, 1-6-1-connecting shaft, 1-6-2-upper rod, 1-6-3-first lower rod, 1 -6-4-Second lower rod, 1-6-5-Sliding plate, 1-6-6-First motor, 1-7-Stabilizing wheel, 2-Pruning member, 2-1-U-shaped frame, 2-2-splint, 2-3-cross-shaped limit plate, 2-4-branching saw, 2-5-electric push rod, 2-6-chute, 3-power component, 3-1-rod , 3-2-friction roller shaft, 3-3-tension spring, 3-4-second motor.

Detailed ways

Below in conjunction with accompanying drawing, the present invention is described in detail:

Specific implementation mode one

The present embodiment is an embodiment of a tree-climbing robot for debranching.

As shown in Figures 1-6, a tree-climbing robot for threshing, including a fixed component 1, a threshing component 2 and a power component 3, the fixed component 1 is provided with a threshing component 2, and the lower end of the fixed component 1 The annular array is provided with a plurality of power members 3, each of which is abutted against the side wall of the trunk, and the fixed member 1 can adapt to the ascending stage and the branching stage by changing its shape. In the ascending stage, the fixed The component 1 can adapt to the side wall of the trunk to reduce the resistance when rising, and the fixed component 1 can be clamped on the side wall of the trunk by changing its shape during the branching stage;

The fixed member 1 includes: a first fixed frame 1-1, a first support plate 1-2, a second fixed frame 1-3, a second support plate 1-4, a pull rod 1-5, a deformation member 1-6 and Stable wheel 1-7; the first fixed frame 1-1 is arranged on the side wall of the trunk, and the right end of the first fixed frame 1-1 is provided with a first support plate 1-2, and the upper end of the first support plate 1-2 A branching member 2 is provided, and the second fixed frame 1-3 is arranged on the side wall of the trunk directly below the first fixed frame 1-1, and the lower end of the second fixed frame 1-3 is provided with a power member 3, and the second fixed frame 1-3 is provided with a power member 3. The right side wall of the two fixed frames 1-3 is provided with a second support plate 1-4, and the two ends of the pull rod 1-5 are connected with the left end of the first fixed frame 1-1 and the left end of the second fixed frame 1-3 respectively. The left end is hingedly connected, the right end of the first fixed frame 1-1 and the second fixed frame 1-3 are connected by a deformation member 1-6, the lower side wall of the first fixed frame 1-1 and the second fixed frame The upper side walls of 1-3 are provided with a plurality of stabilizing wheels 1-7 in an annular array, the first fixed frame 1-1 corresponds to the stabilizing wheels set on the second fixed frame 1-3, and the deformation member 1 -6 In the non-working state, the first fixed frame 1-1 and the second fixed frame 1-3 are arranged in parallel on the side wall of the trunk, and when the deformation member 1-6 is in the working state, the first fixed frame 1-3 The left end of 1 rises, the right end descends, the left end of the second fixed frame 1-3 descends, and the right end rises, and the cooperation between the first fixed frame 1-1 and the second fixed frame 1-3 causes the fixed member 1 to be stuck on the side wall of the trunk superior.

The power member 3 is activated to provide power for the fixed member 1 and the threshing member 3 through the frictional force provided by the power member 3 and the trunk side wall, and promotes the fixed member 1 and the threshing member 2 to move upwards and downwards. 1 The annular array at the lower end is provided with a plurality of power components 3. The present invention adopts 4 power components to further reduce the weight of the robot. The force of the fixed component 1 in the rising and falling stages is relatively weak. The effect of force is generated between them, and the force is downward. Through the deformation of the fixing member 1 itself, the fixing member 1 is stuck on the side wall of the trunk, providing stable support for the branching, and ensuring the effective cutting. Through the fixing member 1 1. The effective combination of the branching member 2 and the power member 3 effectively overcomes the pruning work of trees in a narrow area where large motor vehicles cannot enter, saving manpower and material resources;

In the ascending and descending stages, the planes where the first fixed frame 1-1 and the second fixed frame 1-3 are located are parallel to each other through equal-length pull rods 1-5 and deformation members 1-6, and the stabilizing wheels 1 arranged in an annular array -7 Under the cooperative action, make the trunk be in the first fixed frame 1-1 and the second fixed frame 1-3, to reduce the inside of the trunk side wall and the first fixed frame 1-1 and the second fixed frame 1-3 The friction of the wall is to reduce the resistance when rising and falling, and the stable wheels 1-7 are telescopic axles in the prior art, and the inside thereof is provided with a stronger return spring to adapt to the rising and falling stages. Variations in thickness of trees;

During branching, the left end of the first fixed frame 1-1 rises, the right end descends, the left end of the second fixed frame 1-3 descends, and the right end rises, the cooperation between the first fixed frame 1-1 and the second fixed frame 1-3 , so that the fixing member 1 is firmly stuck on the side wall of the trunk, so that it provides a stable support for thumping.

Specific implementation mode two

The present embodiment is the embodiment of the fixed frame for the tree climbing and branching robot. It should be noted that the fixed frame for the tree-climbing and branching robot of this embodiment can be implemented separately, that is, as a part of a tree-climbing robot for branching, or it can be used for a tree-climbing robot described in the first embodiment. Pruning was further defined with a tree-climbing robot.

As shown in Figures 3-6, the fixed frame for the tree climbing and branching robot disclosed in this embodiment includes a first fixed frame 1-1 and a second fixed frame 1-2;

The first fixed frame 1-1 includes a first beam 1-1-1, a first arc beam 1-1-2, a first clamping block 1-1-3, and a first limit rod 1-1-4 and the first return spring 1-1-5; the first crossbeam 1-1-1 is arranged parallel and symmetrically at the left and right ends of the trunk, and is connected by the first curved beam 1-1-2 arranged symmetrically. The inner side wall of the first beam 1-1-1 has a rectangular groove, and the first clamping block 1-1-3 and the first limit rod 1-1-4 are arranged in the rectangular groove, and the first clamping block 1-1- 3 is a triangular prism, which is arranged on the side wall of the rectangular groove through the rotation of the rotating shaft. The first block 1-1-3 is connected to the inner side wall of the rectangular groove through the first return spring 1-1-5 arranged in parallel and symmetrically. The lower end of the first block 1-1-3 provided in the first crossbeam 1-1-1 on the left side is provided with a first limit rod 1-1-4, so the first crossbeam 1-1-1 on the right side The upper end of the first block 1-1-3 provided inside is provided with a first limit rod 1-1-4;

The first crossbeam 1-1-1 and the first arc beam 1-1-2 are movable connections, that is, can be connected by clamping, bolt connection, etc. The present invention adopts bolt connection to facilitate the installation and installation at the beginning of pruning. The disassembly after the branching work is completed can ensure the overall stability of the robot during the tree climbing stage;

The second fixed frame 1-3 includes a second beam 1-3-1, a second arc beam 1-3-2, a second clamping block 1-3-3, and a second limit rod 1-3-4 and the second return spring 1-3-5; the second crossbeam 1-3-1 is arranged parallel and symmetrically at the left and right ends of the trunk, and is connected by a symmetrically arranged second arc-shaped beam 1-3-2, The inner side wall of the second crossbeam 1-3-1 has a rectangular groove, and the second clamping block 1-3-3 and the second limit rod 1-3-4 are arranged in the rectangular groove, and the second clamping block 1-3-4 3-3 is in the shape of a triangular prism, and is arranged on the side wall of the rectangular groove through the rotation of the rotating shaft. The second block 1-3-3 is connected to the inner side wall of the rectangular groove through the second return spring 1-3-5 arranged in parallel and symmetrically. , the upper end of the second block 1-3-3 provided in the second beam 1-3-1 on the left side is provided with a second limit rod 1-3-4, and the second beam 1-3 on the right side The lower end of the second block 1-3-3 provided in -1 is provided with a second limit rod 1-3-4.

The second crossbeam 1-3-1 and the second arc beam 1-3-2 are movable connections, that is, can be connected by clamping, bolt connection, etc. The present invention adopts bolt connection to facilitate the installation and installation at the beginning of pruning The disassembly after the branching work is completed can ensure the overall stability of the robot during the tree climbing stage;

During the rising stage and the falling stage, the first block 1-1-3 and the second block 1-3-3 are respectively under the action of the first return spring 1-1-5 and the second return spring 1-3-5 , can rotate around the axis of rotation, that is, when it rubs against the side wall of the trunk, it can rotate itself to adjust the force with the side wall of the trunk, reduce the effect of frictional resistance, and pass through the first return spring after the rotation occurs 1-1-5 and the second return spring 1-3-5 restore the original shape to facilitate the timely adjustment of the first block 1-1-3 and the second block 1 when the deformation member 1-6 is deformed -3-3 state, restore the original state, that is, one edge of the triangular prism is perpendicular to the axis of the trunk, during the branching stage, the deformation member 1-6 is deformed, adjust the first fixed frame 1-1 and the second fixed frame When frame 1-3, the first block 1-1-3 and the second block 1-3-3 are reset in time, so that the first fixed frame 1-1 can be effectively fixed on the frame by the first block 1-1-3 On the side wall of the trunk, the second fixed frame 1-3 can be effectively stuck on the side wall of the trunk by the second clamping block 1-3, increasing the force with the side wall of the trunk, and providing stable support for ramming.

Specific implementation mode three

This embodiment is an embodiment of a deformed component for a tree-climbing and debranching robot. It should be noted that the deformed member for the tree-climbing and branching robot of this embodiment can be implemented separately, that is, as a part of a tree-climbing robot for branching, or it can be used for a tree-climbing robot described in the first embodiment. Pruning was further defined with a tree-climbing robot.

As shown in Figures 5 and 6, the deformation member for the tree climbing and branching robot disclosed in this embodiment includes a connecting shaft 1-6-1, an upper layer rod 1-6-2, a first lower layer rod 1-6-3, The second lower layer rod 1-6-4, the sliding plate 1-6-5 and the first motor 1-6-6; the connecting shaft 1-6-1 is arranged at the On the lower end surface of a support plate 1-2, the first lower layer rod 1-6-3 arranged in parallel and symmetrically is arranged on the second support plate 1-4 through a hinge seat through one end, and the first lower layer rod 1-6- The other end of 3 is connected with connecting rotating shaft 1-6-1, and the second lower floor bar 1-6-4 that parallel symmetry is arranged is arranged on the sliding plate 1-6-5 by hinge seat, and the second lower floor bar 1-6- The other end of 4 is connected with connecting shaft 1-6-1, and the first motor 1-6-6 is arranged on the side wall of the second support plate 1-4, and the output end of the first motor 1-6-6 is connected with the wire One end of the lever and screw is connected, the other end of the lead screw is rotated through the sliding plate 1-6-5 and arranged on the side wall of the rectangular groove, and the sliding plate 1-6-5 is slidably arranged on the slide rail;

During the ascending and descending phases, the distance between the first lower layer rod 1-6-3 and the second lower layer rod 1-6-4 is the shortest, and in the branching phase, the first motor 1-6-6 is started to rotate clockwise, and the first motor 1-6-6 rotates clockwise to drive the lead screw to rotate, the external thread of the lead screw matches the internal thread of the threaded hole of the sliding plate 1-6-5, and drives the sliding plate 1-6-5 to approach the first motor Moving in the direction of 1-6-6, the sliding plate 1-6-5 pulls the second lower rod 1-6-4 through the hinged seat to pull the connecting shaft 1-6-1, and then pulls the upper rod 1 through the connecting shaft 1-6-1 -6-2 to reduce the distance between the first support plate 1-2 and the second support plate 1-4, so that the first fixed frame 1-1 and the second fixed frame 1-3 are deflected.

Specific implementation mode four

The present embodiment is an embodiment of a tree-climbing robot for delimbing.

The embodiment is the embodiment of the fixed frame for the tree climbing and branching robot. It should be noted that the fixed frame for the tree-climbing and branching robot of this embodiment can be implemented separately, that is, as a part of a tree-climbing robot for branching, or it can be used for a tree-climbing robot described in the first embodiment. Pruning was further defined with a tree-climbing robot.

As shown in Figures 1-6, the fixed frame for the tree climbing and branching robot disclosed in this embodiment includes a first fixed frame 1-1 and a second fixed frame 1-2;

The first fixed frame 1-1 includes a first beam 1-1-1, a first arc beam 1-1-2, a first clamping block 1-1-3, and a first limit rod 1-1-4 and the first return spring 1-1-5; the first crossbeam 1-1-1 is arranged parallel and symmetrically at the left and right ends of the trunk, and is connected by the first curved beam 1-1-2 arranged symmetrically. The inner side wall of the first beam 1-1-1 has a rectangular groove, and the first clamping block 1-1-3 and the first limit rod 1-1-4 are arranged in the rectangular groove, and the first clamping block 1-1- 3 is a triangular prism, which is arranged on the side wall of the rectangular groove through the rotation of the rotating shaft. The first block 1-1-3 is connected to the inner side wall of the rectangular groove through the first return spring 1-1-5 arranged in parallel and symmetrically. The lower end of the first block 1-1-3 provided in the first crossbeam 1-1-1 on the left side is provided with a first limit rod 1-1-4, so the first crossbeam 1-1-1 on the right side The upper end of the first block 1-1-3 provided inside is provided with a first limit rod 1-1-4;

The second fixed frame 1-3 includes a second beam 1-3-1, a second arc beam 1-3-2, a second clamping block 1-3-3, and a second limit rod 1-3-4 and the second return spring 1-3-5; the second crossbeam 1-3-1 is arranged parallel and symmetrically at the left and right ends of the trunk, and is connected by a symmetrically arranged second arc-shaped beam 1-3-2, The inner side wall of the second crossbeam 1-3-1 has a rectangular groove, and the second clamping block 1-3-3 and the second limit rod 1-3-4 are arranged in the rectangular groove, and the second clamping block 1-3-4 3-3 is in the shape of a triangular prism, and is arranged on the side wall of the rectangular groove through the rotation of the rotating shaft. The second block 1-3-3 is connected to the inner side wall of the rectangular groove through the second return spring 1-3-5 arranged in parallel and symmetrically. , the upper end of the second block 1-3-3 provided in the second beam 1-3-1 on the left side is provided with a second limit rod 1-3-4, and the second beam 1-3 on the right side The lower end of the second clamping block 1-3-3 provided in -1 is provided with a second limit rod 1-3-4;

The deformation member includes a connecting shaft 1-6-1, an upper rod 1-6-2, a first lower rod 1-6-3, a second lower rod 1-6-4, a sliding plate 1-6-5 and The first motor 1-6-6; the connecting shaft 1-6-1 is set on the lower end surface of the first supporting plate 1-2 through the parallel and symmetrical upper layer rod 1-6-2, and the first lower end surface of the parallel and symmetrical set One end of the layer rod 1-6-3 is set on the second support plate 1-4 through the hinge seat, and the other end of the first lower layer rod 1-6-3 is connected with the connecting shaft 1-6-1, and is arranged in parallel and symmetrically The second lower layer rod 1-6-4 of the second lower layer rod 1-6-4 is arranged on the slide plate 1-6-5 through a hinge seat, and the other end of the second lower layer rod 1-6-4 is connected with the connecting shaft 1-6-1, and the first motor 1-6-6 is arranged on the side wall of the second support plate 1-4, the output end of the first motor 1-6-6 is connected with one end of the lead screw, and the other end of the lead screw passes through the sliding plate 1- The 6-5 rotation is set on the side wall of the rectangular groove, and the sliding plate 1-6-5 is slidably set on the slide rail;

Start the first motor 1-6-6 to rotate clockwise, the first motor 1-6-6 rotates clockwise to drive the screw to rotate, the external thread of the screw and the internal thread of the threaded hole of the sliding plate 1-6-5 Cooperate to drive the sliding plate 1-6-5 to move towards the direction close to the first motor 1-6-6, and the sliding plate 1-6-5 pulls the second lower layer rod 1-6-4 through the hinged seat to pull the connecting shaft 1-6 -1, and then pull the upper rod 1-6-2 by connecting the rotating shaft 1-6-1 to reduce the distance between the first support plate 1-2 and the second support plate 1-4, so that the first fixed frame 1- 1 and the second fixed frame 1-3 are deflected, the left end of the first fixed frame 1-1 is pulled up, the right end is lowered, and the left end of the second fixed frame 1-3 is pulled down, and the right end is raised;

The left end of the first fixed frame 1-1 rises, pressing the first block 1-1-3 at the left end to rotate clockwise, pressing the first block 1-1-3 at the right end to rotate clockwise, and at the first limit rod 1- Under the action of 1-4, the first clamping block 1-1-3 of action is all stopped after rotating some angles, so that the first clamping block 1-1-3 acts on the side wall of the trunk;

The left end of the second fixed frame 1-3 descends, pressing the second clamping block 1-3-3 on the left to rotate counterclockwise, pressing the second clamping block 1-3-3 on the right to rotate counterclockwise, and the second limit rod 1-3 Under the action of 3-4, the second clamping block 1-3-3 of action is all stopped after rotating some angles, so that the second clamping block 1-3-3 acts on the side wall of the trunk, and passes through the first clamping block. The cooperation between the block 1-1-3 and the second clamping block 1-3-3 makes the fixing member 1 stably fixed on the side wall of the trunk.

Specific implementation mode five

This embodiment is an embodiment of a tree-climbing and delimbing robot with a delimbing component. It should be noted that the branching member for the tree climbing and branching robot of this embodiment can be implemented separately, that is, as a part of the tree climbing robot for branching, it can be used for a tree climbing robot described in the first embodiment. Species tree-climbing robot for delimbing is further defined.

As shown in Figures 1, 2, 7, and 8, the tree-climbing and delimbing robot disclosed in this embodiment uses a delimbing member, including a U-shaped frame 2-1, a clamping plate 2-2, a cross-shaped limiting plate 2-3, A branch saw 2-4 and an electric push rod 2-5; the U-shaped frame 2-1 and the splint 2-2 are arranged symmetrically in parallel, and the side wall of the splint 2-2 is provided with a cross-shaped limiting plate 2-3 , the cross-shaped limiting plate 2-3 is movably arranged in the chute 2-6 provided on the inner wall of the vertical U-shaped frame 2-1, and the branching saw 2-4 is arranged between two parallel splints 2-2 , and fixed between two parallel splints 2-2 by screws, the electric push rod 2-5 is set in the U-shaped frame 2-1, and the fixed end of the electric push rod 2-5 is set on the first support plate 1-2 On, the output end of the electric push rod 2-5 is connected with the splint 2-2;

When the threshing member 2 is in the ascending and descending stages, it is inclined to set itself. Its purpose is that after the deformation member 1-6 adjusts the fixing device 1, the threshing member 2 is close to the vertical state along with the deflection. When installing the device before pruning, first visually inspect the position of the pruned branch, and adjust the installation so that the pruning saw 2-4 is located directly below the pruned branch;

In the branching stage, start the branching saw 2-4 and the electric push rod 2-5, and the electric push rod 2-5 moves upward to drive the branching saw 2-4 to abut against the branch to be cut, and cut. The branch saw 2-4 transmits the effect of power to the first support plate 1-2, and the force acts on the side wall of the trunk by the fixed member 1, and by means of the stable supporting effect of the fixed member 1, the branching member 2 Steady cutting of branches.

According to the size of the branches to be cut, different types of branching saws 2-4 can be placed, and the branching saws 2-4 can be replaced by adjusting the screw, and the branching saws 2-4 can be stably fixed by the screw to ensure the smooth progress of branching .

Specific implementation method six

This embodiment is an embodiment of a power component for a tree climbing and branching robot. It should be noted that the power component for the tree-climbing and branching robot of this embodiment can be implemented separately, that is, it can exist alone as a part of a tree-climbing robot for branching, or it can be used for a tree-climbing robot described in the first embodiment. Pruning was further defined with a tree-climbing robot.

As shown in Figures 1, 2, 9, and 10, the power member for the tree-climbing and debranching robot disclosed in this embodiment includes a rotating rod 3-1, a friction roller shaft 3-2, a tension spring 3-3 and a second motor 3 -4; one end of the rotating rod 3-1 arranged in parallel and symmetrically is connected with the friction roller shaft 3-2, and the other end of the rotating rod 3-1 is arranged on the lower end surface of the second fixed frame 1-3 through a hinged seat, and the pulling force One end of the spring 3-3 is connected with the rotating rod 3-1, and the other end is connected with the lower end surface of the second fixed frame, the second motor 3-4 is arranged on the rotating rod 3-1, and the output of the second motor 3-4 The end is connected with the friction roller shaft 3-2;

Start the second motor 3-4 to rotate clockwise, and the clockwise rotation of the second motor 3-4 drives the friction roller shaft 3-2 to rotate clockwise, and under the action of the tension spring 3-3, the friction roller shaft 3-2 is fully Effectively acting on the side wall of the trunk, meanwhile the tension spring 3-3 can effectively change the tension of itself according to the number of bumps on the side wall of the trunk, so that the friction roller shaft 3-2 can adapt to the side wall of the trunk, providing stable support for rising and falling. Power, when waiting to rise to below the branch to be cut, close second motor 3-4, treat that cutting is finished, start second motor 3-4 and rotate counterclockwise, make it descend.

The above embodiments relate to the embodiments of a tree-climbing robot and various parts for delimbing. However, it should be noted that in these embodiments, non-contradictory technical solutions can be permutated and combined, and those skilled in the art can exhaust the results of each permutation and combination according to the permutation and combination mathematics knowledge learned in high school, and at the same time, each The results after all kinds of permutations and combinations should be understood as being disclosed by the present application.

Specific implementation mode seven

The present embodiment is an embodiment of a tree-climbing robot for delimbing.

The embodiment is the embodiment of the fixed frame for the tree climbing and branching robot. It should be noted that the fixed frame for the tree-climbing and branching robot of this embodiment can be implemented separately, that is, as a part of a tree-climbing robot for branching, or it can be used for a tree-climbing robot described in the first embodiment. Pruning was further defined with a tree-climbing robot.

The fixed frame for the tree-climbing and delimbing robot disclosed in this embodiment is used as the supporting structure of the tree-climbing and delimbing robot;

It includes a first fixed frame 1-1, a second fixed frame 1-3, a pull rod 1-5 and a deformation member 1-6; the two ends of the pull rod 1-5 are connected to the left end of the first fixed frame 1-1 and the second The left ends of the two fixed frames 1-3 are hingedly connected, and the right ends of the first fixed frame 1-1 and the second fixed frame 1-3 are connected by a deformation member 1-6;

The fixed frame has two working modes: the rising stage and the ramming stage. In the rising stage, the two ends of the first fixed frame 1-1 and the second fixed frame 1-3 pass through the pull rod 1-5 and the deformation member 1-3 respectively. 6 supports, make the first fixed frame 1-1 and the second fixed frame 1-3 keep parallel state, and the inboard of the first fixed frame 1-1 and the second fixed frame 1-3 do not contact with the trunk surface; stage, the left ends of the first fixed frame 1-1 and the second fixed frame 1-3 are supported by the pull rod 1-5, and the deformation member 1-6 shrinks the first fixed frame 1-1 and the second fixed frame 1-1 The right end of 3 is pulled inward, and the inner sides of the first fixed frame 1-1 and the second fixed frame 1-3 are in contact with the surface of the trunk to form a fixed structure embedded in the trunk;

The frame structure has a deformation function. Compared with the fixed frame of the existing threshing robot, the deformed frame is the same as the fixed frame when it is in the rising stage. As the overall support structure of the robot, the fixed frame will One end of the first fixed frame 1-1 and the second fixed frame 1-3 can be pulled by the deformation structure 1-6, and the other end of the first fixed frame 1-1 and the second fixed frame 1-3 has a pull rod 1-5 The support makes the first fixed frame 1-1 and the second fixed frame 1-3 inclined, and is embedded in the surface of the trunk. At this time, the frame is used as a fixed structure. Compared with the robot with a fixed frame structure, no additional fixed structure is required. To achieve fixation, the structure of the robot is simplified and the weight is reduced by using the frame as a fixed structure.

The above embodiments are only exemplary illustrations of this patent, and do not limit its protection scope. Those skilled in the art can also make partial changes to it, as long as they do not exceed the spirit and essence of this patent, they are all within the protection scope of this patent.

Claims (10)

1. a tree-climbing robot for twirling, characterized in that: comprise a fixed component (1), a twirling component (2) and a power component (3), the fixed component (1) is provided with a twirling component (2) ), the annular array at the lower end of the fixed member (1) is provided with a plurality of power members (3), and each of the power members (3) is against the side wall of the trunk, and the fixed member (1) can be changed by changing its own shape, to adapt to the rising stage and the branching stage, in the rising stage, the fixed member (1) can adapt to the trunk side wall to reduce the resistance when rising, and the fixed member (1) can change its shape in the branching stage, so that The fixing member (1) is stuck on the side wall of the trunk; The fixing member (1) includes: a first fixing frame (1-1), a first supporting plate (1-2), a second fixing frame (1-3), a second supporting plate (1-4), a tie rod (1-5), deformation member (1-6) and stable wheel (1-7); the first fixed frame (1-1) is arranged on the side wall of the trunk, and the first fixed frame (1-1 ) right end is provided with a first support plate (1-2), the upper end of the first support plate (1-2) is provided with a branching member (2), and the second fixed frame (1-3) is arranged on the first fixed frame On the side wall of the trunk directly below (1-1), a power member (3) is provided at the lower end of the second fixed frame (1-3), and a second fixed frame (1-3) is provided on the right side wall. Two support plates (1-4), the two ends of the pull rods (1-5) are respectively hingedly connected to the left end of the first fixed frame (1-1) and the left end of the second fixed frame (1-3), the The right ends of the first fixed frame (1-1) and the second fixed frame (1-3) are connected by deformation members (1-6), the lower side wall of the first fixed frame (1-1) and the second The upper sidewall of the fixed frame (1-3) is provided with a plurality of stable wheels (1-7) in an annular array, and the first fixed frame (1-1) and the second fixed frame (1-3) are provided with Corresponding to the stable wheel, when the deformation member (1-6) is in a non-working state, the first fixed frame (1-1) and the second fixed frame (1-3) are arranged in parallel on the side wall of the trunk, and the When the deformation member (1-6) is in working condition, the left end of the first fixed frame (1-1) rises, the right end descends, the left end of the second fixed frame (1-3) descends, the right end rises, and the first fixed frame (1-3) -1) and the cooperation of the second fixing frame (1-3), the fixing member (1) is stuck on the side wall of the trunk. 2. A tree-climbing robot for debranching according to claim 1, characterized in that: said first fixed frame (1-1) comprises a first beam (1-1-1), a first arc beam (1-1-2), the first block (1-1-3), the first limit rod (1-1-4) and the first return spring (1-1-5); the first beam (1-1-1) Parallel and symmetrically arranged at the left and right ends of the trunk, and connected by a symmetrically arranged first curved beam (1-1-2), the inner side of the first beam (1-1-1) There is a rectangular groove on the wall, and the first block (1-1-3) and the first limit rod (1-1-4) are arranged in the rectangular groove, and the first block (1-1-3) is a triangular prism Shaped, set on the side wall of the rectangular slot through the rotation of the rotating shaft, the first block (1-1-3) is connected with the inner side wall of the rectangular slot through the first return spring (1-1-5) arranged symmetrically in parallel, so The lower end of the first clamping block (1-1-3) set in the first beam (1-1-1) on the left side is provided with a first limit rod (1-1-4), so the first stopper (1-1-4) on the right side A first limiting rod (1-1-4) is provided at the upper end of the first clamping block (1-1-3) provided in the crossbeam (1-1-1). 3. A tree-climbing robot for debranching according to claim 1, characterized in that: said second fixed frame (1-3) comprises a second beam (1-3-1), a second arc beam (1-3-2), the second block (1-3-3), the second limit rod (1-3-4) and the second return spring (1-3-5); the said first The two beams (1-3-1) are parallel and symmetrically arranged at the left and right ends of the trunk, and are connected by a symmetrically arranged second curved beam (1-3-2), and the second beam (1-3-1) There is a rectangular groove on the inner side wall of the rectangular groove, and the second clamping block (1-3-3) and the second limit rod (1-3-4) are arranged in the rectangular groove, and the second clamping block (1-3-3) is Triangular prism, set on the side wall of the rectangular slot through the rotation of the shaft, the second block (1-3-3) is connected to the inner side wall of the rectangular slot through the second return spring (1-3-5) arranged in parallel and symmetrical , the upper end of the second clamping block (1-3-3) provided in the second beam (1-3-1) on the left side is provided with a second limit rod (1-3-4), the right side A second limiting rod (1-3-4) is provided at the lower end of the second clamping block (1-3-3) provided in the second beam (1-3-1). 4. A tree-climbing robot for debranching according to claim 1, characterized in that: the deformation member (1-6) comprises a connecting shaft (1-6-1), an upper pole (1-6-2 ), the first lower rod (1-6-3), the second lower rod (1-6-4), the slide plate (1-6-5) and the first motor (1-6-6); the The connecting shaft (1-6-1) is arranged on the lower end surface of the first support plate (1-2) through the parallel and symmetrical upper layer rods (1-6-2), and the parallel and symmetrically arranged first lower layer rods (1-6-2) 6-3) One end is set on the second support plate (1-4) through the hinge seat, and the other end of the first lower layer rod (1-6-3) is connected with the connecting shaft (1-6-1), The second lower layer rod (1-6-4) arranged in parallel and symmetrically is arranged on the sliding plate (1-6-5) through the hinge seat, and the other end of the second lower layer rod (1-6-4) is connected to the rotating shaft (1 -6-1) are connected, the first motor (1-6-6) is arranged on the side wall of the second support plate (1-4), the output end of the first motor (1-6-6) is connected with the leading screw One end of the screw rod is connected, and the other end of the screw rod passes through the sliding plate (1-6-5) and is rotated and arranged on the side wall of the rectangular groove, and the sliding plate (1-6-5) is slidably arranged on the slide rail. 5. A tree-climbing robot for delimbing according to claim 1, characterized in that: the delimbing member (2) comprises a U-shaped frame (2-1), a splint (2-2), a cross-shaped Bit plate (2-3), branching saw (2-4) and electric push rod (2-5); described U-shaped frame (2-1), splint (2-2) are arranged in parallel and symmetrically, and described splint The side wall of (2-2) is provided with the cross-shaped limiting plate (2-3), and the cross-shaped limiting plate (2-3) is movably arranged on the inner layer wall of the vertical U-shaped frame (2-1). In the chute (2-6), the branching saw (2-4) is arranged between two parallel splints (2-2), and is fixedly arranged between the two parallel splints (2-2) by a screw rod, The electric push rod (2-5) is arranged in the U-shaped frame (2-1), the fixed end of the electric push rod (2-5) is arranged on the first support plate (1-2), and the electric push rod (2-5 ) is connected to the splint (2-2). 6. a kind of branching tree-climbing robot according to claim 5, is characterized in that: described power component (3) comprises rotating rod (3-1), friction roller shaft (3-2), tension spring ( 3-3) and the second motor (3-4); one end of the rotating rod (3-1) arranged symmetrically in parallel is connected with the friction roller shaft (3-2), and the other end of the rotating rod (3-1) passes through The hinge seat is arranged on the lower end surface of the second fixed frame (1-3), one end of the tension spring (3-3) is connected with the rotating rod (3-1), and the other end is connected with the lower end surface of the second fixed frame, The second motor (3-4) is arranged on the rotating rod (3-1), and the output end of the second motor (3-4) is connected with the friction roller shaft (3-2). 7. A fixed frame for a tree climbing and branching robot, characterized in that it includes a first fixed frame (1-1), a second fixed frame (1-3), a pull rod (1-5) and a deformation member (1-6) ; The two ends of the pull rod (1-5) are respectively hingedly connected with the left end of the first fixed frame (1-1) and the left end of the second fixed frame (1-3), and the first fixed frame (1-1 ) and the right end of the second fixed frame (1-3) are connected by deformation member (1-6); The fixed frame has two working modes of the rising stage and the branching stage. During the rising stage, the two ends of the first fixed frame (1-1) and the second fixed frame (1-3) pass through the pull rods (1-5) respectively. ) and the deformation member (1-6) support, so that the first fixed frame (1-1) and the second fixed frame (1-3) maintain a parallel state, and the first fixed frame (1-1) and the second fixed frame The inner side of (1-3) is not in contact with the trunk surface; during the branching stage, the left ends of the first fixed frame (1-1) and the second fixed frame (1-3) are supported by pull rods (1-5), so The deformation member (1-6) shrinks and pulls the right ends of the first fixed frame (1-1) and the second fixed frame (1-3) inward, and the first fixed frame (1-1) and the second fixed frame ( The inner side of 1-3) is in contact with the trunk surface to form a fixed structure that is stuck on the trunk. 8. The deformation component for a tree-climbing and debranching robot, characterized in that it includes a connecting shaft (1-6-1), an upper pole (1-6-2), a first lower pole (1-6-3), a second pole Two lower rods (1-6-4), sliding plate (1-6-5) and the first motor (1-6-6); the connecting shaft (1-6-1) passes through the parallel symmetrical upper rod ( 1-6-2) Set on the lower end surface of the first support plate (1-2), the first lower layer rods (1-6-3) arranged in parallel and symmetrically are set on the second support plate ( 1-4), the other end of the first lower layer rod (1-6-3) is connected to the connecting shaft (1-6-1), and the second lower layer rod (1-6-4) arranged in parallel and symmetrically passes through The hinged seat is arranged on the slide plate (1-6-5), the other end of the second lower layer rod (1-6-4) is connected with the connecting shaft (1-6-1), and the first motor (1-6- 6) It is arranged on the side wall of the second support plate (1-4), the output end of the first motor (1-6-6) is connected with one end of the lead screw, and the other end of the lead screw passes through the sliding plate ( 1-6-5) The rotation is arranged on the side wall of the rectangular groove, and the sliding plate (1-6-5) is slidably arranged on the slide rail. 9. A branching member for a tree climbing and branching robot, characterized in that it includes a U-shaped frame (2-1), a splint (2-2), a cross-shaped limiting plate (2-3), a branching saw (2- 4) and an electric push rod (2-5); the U-shaped frame (2-1), the splint (2-2) are parallel and symmetrically arranged, and the side wall of the splint (2-2) is provided with a cross-shaped limit Position plate (2-3), the cross-shaped limit plate (2-3) is movably arranged in the chute (2-6) that the inner wall of the vertical U-shaped frame (2-1) has, and the branching saw ( 2-4) It is arranged between two parallel splints (2-2), and is fixed between the two parallel splints (2-2) by screws, and the electric push rod (2-5) is arranged on the U-shaped frame ( In 2-1), the fixed end of the electric push rod (2-5) is arranged on the first support plate (1-2), and the output end of the electric push rod (2-5) is connected with the splint (2-2). 10. A power component for a tree climbing and branching robot, characterized in that it includes a rotating rod (3-1), a friction roller shaft (3-2), a tension spring (3-3) and a second motor (3-4); One end of the parallel and symmetrical rotating rod (3-1) is connected with the friction roller shaft (3-2), and the other end of the rotating rod (3-1) is arranged on the second fixed frame (1-3) through a hinged seat. On the lower end face, one end of the tension spring (3-3) is connected to the rotating rod (3-1), and the other end is connected to the lower end face of the second fixed frame, and the second motor (3-4) is arranged on the rotating rod (3-1). -1), the output end of the second motor (3-4) is connected with the friction roller shaft (3-2).