CN110588821A - Elastic tree climbing machine - Google Patents
Elastic tree climbing machine Download PDFInfo
- Publication number
- CN110588821A CN110588821A CN201910917280.5A CN201910917280A CN110588821A CN 110588821 A CN110588821 A CN 110588821A CN 201910917280 A CN201910917280 A CN 201910917280A CN 110588821 A CN110588821 A CN 110588821A
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- wheel
- driving wheel
- rack
- balance
- adjusting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to an elastic tree climbing machine which comprises a rack, wherein the rack is designed into an arc structure larger than a semicircle, and a balance mechanism, a driving wheel mechanism and an automatic adjusting wheel mechanism are respectively arranged on the rack at intervals; the balance mechanism comprises a balance wheel seat and a balance wheel, the balance wheel seat is arranged on the frame, and the balance wheel is movably arranged on the balance wheel seat; the driving wheel mechanism comprises a driving wheel seat, a motor and a driving wheel, the driving wheel seat and the motor are both arranged on the rack, the driving wheel is movably arranged on the driving wheel seat, and the motor is connected with the driving wheel through a transmission mechanism; the automatic adjusting wheel mechanism comprises a support, a movable shaft, an adjusting wheel and a spring, wherein the support is arranged on the rack and is movably connected with the movable shaft, the adjusting wheel is movably arranged at one end of the movable shaft, one end of the spring is connected with the support, and the other end of the spring is arranged on the movable shaft. The invention solves the problem that the elastic tree climbing machine cannot automatically adjust the diameter of a tree to be clamped or slip in the tree climbing process.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and relates to a tree climbing machine, in particular to an elastic tree climbing machine for picking fruits of palmaceae plants.
Background
The palmaceae plant is a main product in tropical agriculture of Hainan, and the fruit of the palmaceae plant is deeply favored by people due to the fact that the fruit contains rich nutrient components or has unique taste, such as coconut, betel nut and the like, and the coconut and the betel nut are sold in all large tourist attractions in China and have large demand. The trunk of the plant of the palmaceae such as coconut tree or betelnut does not branch and is high, and the height reaches 10 to 15 meters, and the leaf cluster grows in the stem top, and the fruit hangs under the leaf, when the fruit is ripe and need pick, needs artifical bare-handed climbing to the trunk top along the trunk to pick the fruit, but bare-handed climbing degree of difficulty is great, and is dangerous high, is difficult to ensure picker's life safety at the climbing in-process. The researcher replaces the manual work to accomplish climbing work to the defect design tree climbing machine of artifical bare-handed climbing, can effectively avoid picking personnel to take place to tumble injury accident because of climbing carelessly when the climbing, reduces simultaneously and picks intensity of labour, improves and picks security and work efficiency, the personal safety of guarantee picking personnel.
At present, the structural style that the fixed cover of current tree climbing machine was established will climb tree machine rack cover and establish on the trunk, then adopt power device to move along the vertical direction of trunk, the climbing operation can be accomplished in the frame to the people station, has alleviateed the intensity of climbing operation, improves the security, improves the efficiency of picking the fruit. However, the coconut tree or the betelnut is affected by the growth climate and the terrain environment, so that the trunk diameters are different, the tree climbing machine cannot automatically adjust the tree clamping diameter according to the change characteristics of the trunk diameters in the climbing process, the phenomenon that the tree climbing machine is blocked or skidded in the climbing process is easily caused, and the problems that the tree climbing function is not strong, the practicability is poor and the pertinence is low are caused.
Disclosure of Invention
The invention aims to provide an elastic tree climbing machine matched with fruit picking of palmaceae plants, which utilizes an automatic adjusting wheel mechanism to adjust the diameter of a tree to solve the problem that the elastic tree climbing machine cannot automatically adjust the diameter of the tree to be clamped or slip when climbing the tree.
The technical scheme adopted by the invention is as follows:
an elastic tree climbing machine comprises a rack, wherein the rack is designed into an arc structure larger than a semicircle and is beneficial to clamping a trunk by the rack, balancing mechanisms, driving wheel mechanisms and automatic adjusting wheel mechanisms are respectively arranged on the rack at intervals, the balancing mechanisms are used for ensuring the balance and stability of the elastic tree climbing machine in a climbing process, the driving wheel mechanisms provide power sources for the whole elastic tree climbing machine, and the automatic adjusting wheel mechanisms adjust the diameter of a tree in the climbing process of the elastic tree climbing machine; the balance mechanism comprises a balance wheel seat with a U-shaped structure and a balance wheel facing the center of the rack, the balance wheel seat is arranged on the rack, the balance wheel is movably arranged on the balance wheel seat, and the balance wheel seat with the U-shaped structure is adopted, so that the balance wheel can conveniently rotate, and meanwhile, the rotation stability of the balance wheel can be improved; the driving wheel mechanism comprises a driving wheel seat with a U-shaped structure, a motor and a driving wheel facing the center of the rack, the driving wheel seat and the motor are both arranged on the rack, the driving wheel is movably arranged on the driving wheel seat, the motor is connected with the driving wheel through a transmission mechanism, the driving wheel seat with the U-shaped structure is adopted, the driving wheel is convenient to rotate, the stability of the rotation of the driving wheel can be improved, and the motor provides power for the driving wheel; the automatic adjustment wheel mechanism comprises a support, a movable shaft, an adjustment wheel and a spring, wherein the support, the movable shaft, the adjustment wheel and the spring are all arranged towards the center of the rack, the support is arranged on the rack, the support is movably connected with the movable shaft, the support has a supporting effect on the movable shaft, the adjustment wheel is movably arranged at one end of the movable shaft, one end of the spring is connected with the support, the other end of the spring is arranged on the movable shaft, the spring is used for adjusting the movable shaft to move back and forth towards the center of the rack, and the expansion of the adjustment wheel is adjusted.
Furthermore, the rack is of a mouth-opening structure, namely the rack is divided into a left rack and a right rack, the left rack and the right rack are hinged, and a plurality of fixing members for fixing the left rack and the right rack are arranged at the hinged positions; the frame opens, overlaps it on the trunk, fixes left frame and right frame through fixed component, guarantees the stability of frame work.
Furthermore, the balance mechanism, the driving wheel mechanism and the automatic adjusting wheel mechanism are arranged on the same horizontal plane, and the angle interval is 120 degrees; three supporting points with an angle interval of 120 degrees are formed by a balance wheel of the balance mechanism, a driving wheel of the driving wheel mechanism and an adjusting wheel of the automatic adjusting mechanism, and the clamping effect is optimal.
Furthermore, a driving wheel of the driving wheel mechanism is arranged in the middle of the rack, and a balance wheel of the balance mechanism and an adjusting wheel of the automatic adjusting wheel mechanism are respectively arranged on the left side and the right side of the driving wheel; picking personnel stand above the driving wheel mechanism, the driving wheel mechanism bears the weight of the picking personnel to climb upwards, and the balance wheel and the adjusting wheel play a role in balance support.
Further, the motor of the driving wheel mechanism is connected with a controller through a control circuit; the controller is used for controlling the starting, speed regulation, braking and reverse rotation of the motor.
Furthermore, an adjusting wheel seat with a U-shaped structure is arranged on a movable shaft of the automatic adjusting wheel mechanism, and the adjusting wheel is movably arranged on the adjusting wheel seat; the adjusting wheel seat with the U-shaped structure facilitates rotation of the adjusting wheel, and meanwhile, the stability of rotation of the adjusting wheel is improved.
Furthermore, a bolt fixing plate, an adjusting bolt, an on-shaft movable plate and an on-shaft fixing plate are arranged on a support of the automatic adjusting wheel mechanism, the bolt fixing plate is vertically installed on the support, the adjusting bolt is rotatably connected with the bolt fixing plate, the tail end of the adjusting bolt is tightly attached to the on-shaft movable plate, the on-shaft movable plate is movably installed on the movable shaft and is positioned on the right side of the bolt fixing plate, the fixing plate is fixed on the movable shaft and is positioned on the right side of the on-shaft movable plate, and the on-shaft movable plate is connected with the on-shaft fixing plate; through rotating adjusting bolt, and then promote epaxial fly leaf and remove, compress the spring between epaxial fly leaf and the epaxial fixed plate of counter shaft, the elastic action increase of spring, the reverse acting force of spring makes the adjusting wheel have bigger clamp force.
Compared with the prior art, the invention has the beneficial effects that:
the balance wheel of the balance mechanism, the driving wheel of the driving wheel mechanism and the adjusting wheel of the automatic adjusting wheel mechanism form three supporting points through the matching use of the automatic adjusting wheel mechanism, the driving wheel mechanism and the balance mechanism, and the three supporting points are distributed in different directions; the adjusting wheel of the automatic adjusting mechanism passes through the loose axle under the thrust effect of spring, and the loose axle drives the adjusting wheel and does the back and forth motion towards frame central point to this increases or reduces the size of pressing from both sides the tree diameter, has overcome elasticity tree climbing machine and can not automatic adjustment press from both sides tree diameter size and is blocked the defect of dying or skidding when climbing the tree, has solved the poor and unpractical problem of elasticity tree climbing machine tree climbing ability, strengthens elasticity tree climbing machine's adaptability and practicality.
Drawings
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a schematic diagram of a top view of the balance wheel, driving wheel and adjustment wheel of the present invention;
FIG. 3 is a schematic front view of the automatic adjustment wheel mechanism of the present invention;
FIG. 4 is a schematic top view of the automatic adjustment wheel mechanism of the present invention;
in the figure: 1. an automatic adjustment wheel mechanism; 2. an adjustment wheel; 3. a frame; 4. a tree trunk; 5. a controller; 6. An electric motor; 7. a driving wheel; 8. a fixing member; 9. a balance wheel; 10. a balancing mechanism; 11. adjusting the wheel seat; 12. a support; 13. a movable shaft; 14. a shaft upper fixing plate; 15. a spring; 16. an on-axis movable plate; 17. Adjusting the bolt; 18. a bolt fixing plate; 19. a driving wheel seat; 20. balance wheel seat.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings, but is not to be construed as being limited thereto.
In the structures shown in fig. 1, 2, 3 and 4, the elastic tree climbing machine provided by the invention comprises a frame 3, wherein the frame 3 is in an arc structure larger than a semicircle, and the frame 3 is in an open structure, namely, the frame 3 is divided into a left frame and a right frame, the left frame and the right frame are hinged, a plurality of fixing members for fixing the left frame and the right frame are arranged at the hinged position, the fixing members, namely, the left frame is provided with a hinged plate, the hinged plate is provided with a through hole, the right frame is provided with a threaded hole corresponding to the through hole, and a bolt penetrates through the hinged plate with the through hole to be rotatably connected with the threaded hole; a balance mechanism 10, a driving wheel mechanism and an automatic adjusting wheel mechanism 1 are respectively arranged on the frame 3 at intervals, the balance mechanism 10, the driving wheel mechanism and the automatic adjusting wheel mechanism 1 are arranged on the same horizontal plane, the angle interval is 120 degrees, a driving wheel 7 of the driving wheel mechanism is arranged at the middle part of the frame 3, and a balance wheel 9 of the balance mechanism 10 and an adjusting wheel 2 of the automatic adjusting wheel mechanism 1 are respectively arranged at the left side and the right side of the driving wheel 7; the balance mechanism 10 comprises a balance wheel seat 20 with a U-shaped structure and a balance wheel 9 facing the center of the rack 3, the balance wheel seat 20 is installed on the rack 3, and the balance wheel 9 is movably arranged on the balance wheel seat 20; the driving wheel mechanism comprises a driving wheel seat 19 with a U-shaped structure, a motor 6 and a driving wheel 7 facing the center of the rack 3, the driving wheel seat 19 and the motor 7 are both arranged on the rack 3, the driving wheel 7 is movably arranged on the driving wheel seat 19, the motor 6 is connected with the driving wheel 7 through a transmission mechanism, the transmission mechanism adopts gear or chain transmission, the transmission stability is good, and the motor 6 is connected with the controller 5 through a control circuit; the automatic adjusting wheel mechanism 1 comprises a movable shaft 13, a support 12, an adjusting wheel 2 and a spring 15, wherein the movable shaft 13, the support 12, the adjusting wheel 2 and the spring 15 are all towards the center of the rack 3, the support is installed on the rack and is movably connected with the movable shaft, the support 14 is designed into a U-shaped structure, the supporting point of the support 14 for the movable shaft 15 is increased, the stability of the movable shaft 15 during movement is improved, an adjusting wheel seat 11 with a U-shaped structure is arranged at one end of the movable shaft 13, and the adjusting wheel 2 is movably arranged on the adjusting wheel seat 11; the support 12 is provided with a bolt fixing plate 18, an adjusting bolt 17, an on-shaft movable plate 16 and an on-shaft fixing plate 14, the bolt fixing plate 18 is vertically installed on the support 12, the adjusting bolt 17 is rotatably connected with the bolt fixing plate 18, the tail end of the adjusting bolt 17 is tightly attached to the on-shaft movable plate 16, the on-shaft movable plate 16 is movably installed on the movable shaft 13 and located on the right side of the bolt fixing plate 18, the on-shaft fixing plate 14 is fixed on the movable shaft 13 and located on the right side of the on-shaft movable plate 16, one end of a spring 15 is installed on the on-shaft movable plate 16, and the other end of the.
The working principle of the invention is as follows:
the three supporting points are formed by a balance wheel 9 of the balance mechanism 10, a driving wheel 7 of the driving wheel mechanism and an adjusting wheel 2 of the automatic adjusting wheel mechanism 1, and are distributed in different directions and used for clamping the trunk 4; set up balanced climbing when balance mechanism 10 can guarantee that elasticity climbs the tree machine, main driving wheel mechanism climbs the tree machine for elasticity and provides power, and 4 axial scrambles along the trunk in the elasticity machine of climbing of motor 6 drive, and the size of pressing from both sides the tree diameter is adjusted through the position that removes adjusting wheel 2 to automatic adjustment wheel mechanism 1.
Climbing tree machine before the climbing in elasticity, 3 openings in the frame are established its cover on trunk 4, and it is fixed with the left side frame and the right side frame of frame 3 through fixed component 8, through 5 starter motor 6 of controller, motor 6 drives whole elasticity climbing machine and scrambles along the axial of trunk 4.
In the climbing process of the elastic tree climbing machine, when the diameter of a trunk 4 is increased, the trunk 4 pushes the adjusting wheels 2 to move outwards, the movable shaft 13 provided with the adjusting wheels 2 also moves outwards, the shaft fixing plate 14 fixedly arranged on the movable shaft 13 extrudes the spring 15 outwards, the elasticity of the spring 15 is gradually increased, and the spring 15 acts on the adjusting wheels 2 in a reverse direction, so that the adjusting wheels 2 have larger clamping force to clamp the trunk 4; when the diameter of the trunk 4 is reduced, the spring 15 drives the movable shaft 13 and the shaft fixing plate 14 on the movable shaft 13 to move inwards, and the adjusting wheel 2 is tightly attached to the trunk 4. The invention overcomes the defect that the elastic tree climbing machine cannot automatically adjust the diameter of the tree to be clamped or slip when climbing the tree, solves the problems of poor tree climbing capability and impracticality of the elastic tree climbing machine, and enhances the adaptability and the practicability of the elastic tree climbing machine.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. The utility model provides an elasticity tree climbing machine which characterized in that: the automatic adjustment mechanism comprises a rack, wherein the rack is designed into an arc structure larger than a semicircle, and a balance mechanism, a driving wheel mechanism and an automatic adjustment wheel mechanism are respectively arranged on the rack at intervals; the balance mechanism comprises a balance wheel seat with a U-shaped structure and a balance wheel facing the center of the rack, the balance wheel seat is arranged on the rack, and the balance wheel is movably arranged on the balance wheel seat; the driving wheel mechanism comprises a driving wheel seat with a U-shaped structure, a motor and a driving wheel facing the center of the rack, the driving wheel seat and the motor are both arranged on the rack, the driving wheel is movably arranged on the driving wheel seat, and the motor is connected with the driving wheel through a transmission mechanism; the automatic adjustment wheel mechanism comprises a support, a movable shaft, an adjustment wheel and a spring, wherein the support, the movable shaft, the adjustment wheel and the spring are all arranged towards the center of the rack, the support is arranged on the rack, the support is movably connected with the movable shaft, the adjustment wheel is movably arranged at one end of the movable shaft, one end of the spring is connected with the support, and the other end of the spring is arranged on the movable shaft.
2. The elastic tree climbing machine according to claim 1, wherein: the frame sets up to opening the mouth formula structure, and the frame divide into left frame and right frame promptly, and is articulated between left frame and the right frame, is provided with a plurality of fixed component that are used for fixed left frame and right frame in articulated department.
3. The elastic tree climbing machine according to claim 1, wherein: the balance mechanism, the driving wheel mechanism and the automatic adjusting wheel mechanism are arranged on the same horizontal plane, and the angle interval is 120 degrees.
4. The elastic tree climbing machine according to claim 1 or 3, wherein: the driving wheel of the driving wheel mechanism is arranged in the middle of the rack, and the balance wheel of the balance mechanism and the adjusting wheel of the automatic adjusting wheel mechanism are respectively arranged on the left side and the right side of the driving wheel.
5. The elastic tree climbing machine according to claim 1, wherein: and the motor of the driving wheel mechanism is connected with the controller through a control circuit.
6. The elastic tree climbing machine according to claim 1, wherein: the movable shaft of the automatic adjusting wheel mechanism is provided with an adjusting wheel seat with a U-shaped structure, and the adjusting wheel is movably arranged on the adjusting wheel seat.
7. The elastic tree climbing machine according to claim 1, wherein: the automatic adjustment wheel mechanism is characterized in that a bolt fixing plate, an adjusting bolt, an axial movable plate and an axial fixing plate are arranged on a support of the automatic adjustment wheel mechanism, the bolt fixing plate is vertically installed on the support, the adjusting bolt is rotatably connected with the bolt fixing plate, the tail end of the adjusting bolt is tightly attached to the axial movable plate, the axial movable plate is movably installed on the movable shaft and located on the right side of the bolt fixing plate, the fixing plate is fixed on the movable shaft and located on the right side of the axial movable plate, and the axial movable plate is connected with the axial fixing plate through a spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910917280.5A CN110588821A (en) | 2019-09-26 | 2019-09-26 | Elastic tree climbing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910917280.5A CN110588821A (en) | 2019-09-26 | 2019-09-26 | Elastic tree climbing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110588821A true CN110588821A (en) | 2019-12-20 |
Family
ID=68863681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910917280.5A Pending CN110588821A (en) | 2019-09-26 | 2019-09-26 | Elastic tree climbing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110588821A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112046229A (en) * | 2020-08-18 | 2020-12-08 | 广东电网有限责任公司 | Self-adaptive adjustment tree climbing wheel and control method thereof |
| CN113940194A (en) * | 2021-09-27 | 2022-01-18 | 海南大学 | Areca nut picking machine with adjustable climbing diameter |
Citations (4)
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| CN106688654A (en) * | 2017-03-21 | 2017-05-24 | 南京林业大学 | Triangular-prism-shaped electrically driven branch trimming robot |
| CN208198630U (en) * | 2018-04-21 | 2018-12-07 | 湖北职业技术学院 | A kind of spiral lifting climbing device |
| CN208530734U (en) * | 2018-05-16 | 2019-02-22 | 广东科技学院 | A kind of robot for pruning of climbing tree |
| CN110149944A (en) * | 2019-03-18 | 2019-08-23 | 金华绿川科技有限公司 | One kind is climbed tree the robot that prunes |
-
2019
- 2019-09-26 CN CN201910917280.5A patent/CN110588821A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106688654A (en) * | 2017-03-21 | 2017-05-24 | 南京林业大学 | Triangular-prism-shaped electrically driven branch trimming robot |
| CN208198630U (en) * | 2018-04-21 | 2018-12-07 | 湖北职业技术学院 | A kind of spiral lifting climbing device |
| CN208530734U (en) * | 2018-05-16 | 2019-02-22 | 广东科技学院 | A kind of robot for pruning of climbing tree |
| CN110149944A (en) * | 2019-03-18 | 2019-08-23 | 金华绿川科技有限公司 | One kind is climbed tree the robot that prunes |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112046229A (en) * | 2020-08-18 | 2020-12-08 | 广东电网有限责任公司 | Self-adaptive adjustment tree climbing wheel and control method thereof |
| CN113940194A (en) * | 2021-09-27 | 2022-01-18 | 海南大学 | Areca nut picking machine with adjustable climbing diameter |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191220 |