CN111066514A - Forest high-altitude intelligent pruning device and application method thereof - Google Patents
Forest high-altitude intelligent pruning device and application method thereof Download PDFInfo
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- CN111066514A CN111066514A CN201911143218.1A CN201911143218A CN111066514A CN 111066514 A CN111066514 A CN 111066514A CN 201911143218 A CN201911143218 A CN 201911143218A CN 111066514 A CN111066514 A CN 111066514A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/088—Circular saws
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
- H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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Abstract
The invention discloses a high-altitude intelligent pruning device for forest trees and a using method thereof, wherein the high-altitude intelligent pruning device comprises a base frame, an encircling arm, a driving unit and a pruning unit; the encircling arm is hinged to the base frame and is provided with a driven wheel; the driving unit comprises a rechargeable battery, a driving wheel and a controller which are arranged on the base frame; the trimming unit comprises a base, a lifting table, a slideway bottom plate, a sliding seat, a cutting motor and an inclination angle adjusting electric cylinder; the bottom of the lifting platform is connected with the base, and the top of the lifting platform is connected with the slideway bottom plate; the sliding seat is sleeved on the slideway bottom plate; the bottom and the top of the inclination angle adjusting electric cylinder are respectively hinged with the base frame and the base; a screw rod and a corresponding motor gear mechanism which can drive the sliding seat to move are also arranged below the sliding seat; the controller is also provided with a wireless communication module which can be connected with a handheld remote controller; the camera can be in wireless connection with the mobile phone of the operator. The tree pruning machine is simple and effective, can effectively prune branches, ensures pruning quality and efficiency, and does not damage trunks.
Description
Technical Field
The invention belongs to the technical field of forestry machinery, and relates to a high-altitude intelligent pruning device for forest trees and a using method thereof.
Background
Eucalyptus is an economic crop widely growing in two broad areas, and can become an unearthed wood by removing stubbles in time in the growing period of eucalyptus, so that the economic value is improved. Traditional branch pruning equipment, some drive with the tracked vehicle, are unsuitable mountain region operation, and some are upwards strike off perpendicularly, can injure the bark, and some are with fuel drive, and is comparatively heavy, is unfavorable for carrying, and these operation modes are all very crude moreover, also are not suitable for the truing operation of eucalyptus branch. At present, some branch pruning robots capable of climbing trees also appear, but the branches cannot be cut at accurate positions when the branches are pruned by the device, if the surfaces of the trunks are uneven, or the growing angles of the branches deviate from the positions of pruning parts of the pruning robots, the branches are difficult to cut from the bottoms, so that the branches are not pruned in place, and sometimes the trunks are injured.
Disclosure of Invention
The invention aims to provide an intelligent tree high-altitude pruning device and a using method thereof aiming at the defects of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent high-altitude pruning device for forest trees comprises a base frame, an encircling arm, a driving unit and a pruning unit; the two groups of encircling arms are respectively hinged at two ends of the base frame; at least two groups of driven wheels are arranged on each group of encircling arms; return springs are arranged between all the base frames and the encircling arms; the driving unit comprises a rechargeable battery, a driving wheel and a controller; the rechargeable battery and the controller are both arranged on the base frame; two groups of driving wheels are respectively arranged at the upper part and the lower part of the base frame; a group of hub motors are respectively arranged at the center of each group of driving wheels; the driving wheel and the horizontal direction form an acute angle and incline upwards; a microprocessor is arranged in the controller; the trimming unit comprises a base, a lifting table, a slideway bottom plate, a sliding seat, a cutting motor, an inclination angle adjusting electric cylinder and a lifting table driving electric cylinder; the bottom of the lifting platform is connected with the base, and the top of the lifting platform is connected with the slideway bottom plate and driven by the lifting platform driving electric cylinder; the sliding seat is sleeved in the slideway bottom plate; the bottom of the sliding seat is provided with a driving column, and the side surface of the sliding rail base is connected with a supporting plate; a screw is arranged between the driving column and the supporting plate; the screw penetrates through the driving column and the supporting plate; a bearing is arranged at the connecting part of the driving column and the screw rod; a screw motor is arranged on the slideway bottom plate; the rotor of the screw motor is connected with a helical gear; the helical gear is meshed with the screw; a support pillar I is arranged at the top of the sliding seat; a through hole is formed in the support pillar I; the cutting motor is fixedly arranged in the through hole of the support pillar I; a rotor of the cutting motor is provided with a cutting blade; the bottom of the inclination angle adjusting electric cylinder is hinged with the base frame, and the end part of the push rod is hinged with one end of the base; the other end of the base is hinged with the base frame; the top of the sliding seat of the trimming unit is also provided with a camera; a wireless communication module is also arranged in the controller; the rechargeable battery, the hub motor, the cutting motor, the inclination angle adjusting electric cylinder, the lifting platform driving electric cylinder and the screw motor are all connected with the controller in a conventional mode. The lifting platform is a folding lifting platform and consists of connecting rods which are hinged with each other, or other linear motion modules are driven by a lifting platform driving electric cylinder; a 5G signal and 2.4G signal receiving/transmitting module is arranged in the wireless communication module; the microprocessor may be an ARM processor.
As a further technical improvement, a support column II is also arranged on the slideway bottom plate; a supporting groove is formed in the top of the supporting column II; the opening of the supporting groove is upward to support the screw rod. The support groove is used for supporting the screw rod, so that the screw rod can rotate and move stably.
As a further technical improvement, the two sides of the slideway bottom plate are provided with slideways; pulleys are arranged on two sides of the bottom of the sliding seat; the pulleys are sleeved in the slideways on the two sides of the slideway bottom plate. The sliding seat can move on the slideway bottom plate through the pulleys and the slideway.
As a further technical improvement, the bottom of the inclination angle adjusting electric cylinder is provided with a hinge buckle with a through hole in the middle; the base frame is provided with a hinge rod; the hinged rod penetrates through a hinged buckle at the bottom of the inclination angle adjusting electric cylinder. The push rod of the inclination angle adjusting electric cylinder stretches and retracts to drive the whole trimming unit to swing so as to adjust the most suitable cutting angle.
As a further technical improvement, the device also comprises a remote controller which is wirelessly connected with the controller through a 2.4G signal; a mobile phone APP wirelessly connected with the camera through a 5G signal is also arranged on the mobile phone of the user; and a path sensor is also arranged on the base frame. The controller is in wireless communication with the remote controller through 2.4G signals, and the camera is in wireless connection with the mobile phone of an operator through 5G signals without mutual interference; a user can receive and watch a video picture shot by the camera through the mobile phone APP, and can manually control the driving unit and the trimming unit to act through the remote controller; in the climbing process of the device, the diameter of the tree is smaller and smaller, the opening and closing angle between the encircling arm and the base frame is monitored by the path sensor, and the diameter of the tree is estimated by the controller; the limiting value of the opening and closing angle between the encircling arm and the base frame is preset, so that the device is stopped before reaching the limiting value, and the device is prevented from rushing out of the tree top or exceeding the working range of the tree diameter.
The use method of the forest high-altitude intelligent pruning device comprises the following steps:
1) installation: the encircling arm is opened, and the base frame and the encircling arm are sleeved at the bottom of the trunk to be trimmed; after the return spring returns and is tightened, the tree trunk is embraced by the encircling arm;
2) climbing: starting the equipment, wherein the hub motor rotates under the control of the controller to enable the driving wheel to drive the whole pruning device to climb around the trunk; the driven wheel rotates along with the driven wheel;
3) pruning: when the pruning device climbs to a certain position, the camera detects that a branch is positioned right ahead, the push rod of the inclination angle adjusting electric cylinder is controlled by the controller to extend or contract so as to adjust the angle of the whole pruning unit; then the lifting platform pushes the slideway bottom plate, the sliding seat and the cutting motor to extend out; if the cutting blade on the cutting motor can not be aligned with the bottom of the tree branch, the screw motor rotates, and the helical gear drives the screw to move in the shaft direction of the screw, so that the sliding seat and the cutting motor move; after the best suitable angle position is adjusted, the lifting platform drives the electric cylinder to push the sliding seat to continue pushing out, so that the cutting blade can accurately cut the bottom of the branch;
4) and (3) recovering: after the branch cutting task is completed, the driving wheel rotates reversely, the whole pruning device is reduced in speed spirally around the trunk, and the device is recovered.
Compared with the prior art, the invention has the following beneficial effects:
1. the device can freely climb and prune the tree trunk on the tree trunk through the combination of the base frame and the encircling arm and the driving unit, has simple structure and convenient carrying, improves the working efficiency and saves manpower and material resources.
2. The pruning unit can randomly adjust the cutting angle according to the actual situation, so that the device can cut branches at the most suitable position, the branch cutting quality is ensured, and the trunk is not damaged.
3. The cutting device of the device is provided with the camera, the specific position of the branch can be detected, the device is controlled to search for a proper cutting position, and the automation degree is high.
4. The device can also be connected with a mobile phone of a user through the wireless communication module to acquire pictures shot by the camera, and then the action of each mechanism on the device is controlled through the remote controller wirelessly connected with the controller, and the signals of the mobile phone and the remote controller are not interfered with each other.
Drawings
Fig. 1 is a schematic view of the overall structure of the device.
Fig. 2 is a top view of the present apparatus.
Fig. 3 is a schematic view of a connection structure of the trimming unit and the base frame.
Fig. 4 is a schematic view of the overall structure of the trimming unit.
Fig. 5 is a schematic view of the inner structure of the slide way bottom plate and the sliding seat.
Reference numerals: 1-base frame, 2-encircling arm, 3-bearing, 4-rechargeable battery, 5-driving wheel, 6-hub motor, 7-controller, 8-supporting groove, 9-base, 10-lifting platform, 11-slideway base plate, 12-sliding seat, 13-supporting column I, 14-cutting motor, 15-cutting blade, 16-inclination angle adjusting electric cylinder, 17-driving column, 18-supporting plate, 19-screw rod, 20-screw rod motor, 21-helical gear, 22-supporting column II, 23-pulley, 24-lifting platform driving electric cylinder, 25-hinging buckle, 26-hinging rod, 27-driven wheel, 28-camera and 29-return spring.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1:
as shown in fig. 1-5, an intelligent pruning device for high altitudes of forest trees comprises a base frame 1, an encircling arm 2, a driving unit and a pruning unit; the two groups of encircling arms 2 are respectively hinged at two ends of the base frame 1; at least two groups of driven wheels 27 are arranged on each group of encircling arms 2; return springs 29 are arranged between all the base frames 1 and the encircling arms 2; the driving unit comprises a rechargeable battery 4, a driving wheel 5 and a controller 7; the rechargeable battery 4 and the controller 7 are both arranged on the base frame 1; two groups of driving wheels 5 are respectively arranged at the upper part and the lower part of the base frame 1; a group of hub motors 6 are respectively arranged at the center of each group of driving wheels 5; the driving wheel 5 inclines upwards at an acute angle with the horizontal direction; a microprocessor is arranged in the controller; the trimming unit comprises a base 9, a lifting table 10, a slideway bottom plate 11, a sliding seat 12, a cutting motor 14, an inclination angle adjusting electric cylinder 16 and a lifting table driving electric cylinder 24; the bottom of the lifting platform 10 is connected with the base 9, and the top of the lifting platform is connected with the slideway bottom plate 11 and is driven by the lifting platform driving electric cylinder 24; the sliding seat 12 is sleeved in the slideway bottom plate 11; a driving column 17 is arranged at the bottom of the sliding seat 12, and a supporting plate 18 is connected to the side surface of the sliding rail base 11; a screw rod 19 is arranged between the driving column 17 and the supporting plate 18; the screw rod 19 penetrates through the driving column 17 and the supporting plate 18; a bearing 3 is arranged at the connecting part of the driving column 17 and the screw rod 19; a screw motor 20 is arranged on the slideway bottom plate 11; the helical gear 21 is connected to the rotor of the screw motor 20; the bevel gear 21 is meshed with the screw rod 19; a support column I13 is arranged at the top of the sliding seat 12; a through hole is formed in the support pillar I13; the cutting motor 14 is fixedly arranged in a through hole of the support column I13; a cutting blade 15 is arranged on the rotor of the cutting motor 14; the bottom of the inclination angle adjusting electric cylinder 16 is hinged with the base frame 1, and the end part of a push rod is hinged with one end of the base 9; the other end of the base 9 is hinged with the base frame 1; a camera 28 is also arranged at the top of the sliding seat 12 of the trimming unit; a wireless communication module is also arranged in the controller 7; the rechargeable battery 4, the hub motor 6, the cutting motor 14, the inclination angle adjusting electric cylinder 16, the lifting platform driving electric cylinder 24 and the screw motor 20 are all connected with the controller 7 in a conventional mode. The lifting platform 10 is a folding lifting platform and consists of connecting rods hinged with each other or other linear motion modules and is driven by the lifting platform driving electric cylinder 24; a 5G signal and 2.4G signal receiving/transmitting module is arranged in the wireless communication module; the microprocessor may be an ARM processor.
The two sides of the slideway bottom plate 11 are provided with slideways; pulleys 23 are arranged on two sides of the bottom of the sliding seat 12; the pulleys 23 are sleeved in the slideways on the two sides of the slideway bottom plate 11. The support groove 8 is used for supporting the screw rod 19, so that the screw rod 19 can rotate and move smoothly.
The bottom of the inclination angle adjusting electric cylinder 16 is provided with a hinge buckle 25 with a through hole in the middle; the base frame 1 is provided with a hinge rod 26; the hinge rod 26 passes through the hinge button 25 at the bottom of the reclining electric cylinder 16. The push rod of the inclination angle adjusting electric cylinder 16 extends and retracts to drive the whole trimming unit to swing so as to adjust the most suitable cutting angle.
The using method of the invention is as follows:
installation: the encircling arm 2 is opened, and the base frame 1 and the encircling arm 2 are sleeved at the bottom of the trunk to be trimmed; after the return spring 29 returns and is tightened, the tree trunk is embraced by the encircling arm 2;
climbing: starting the equipment, wherein the hub motor 6 rotates under the control of the controller 7, so that the driving gear 5 drives the whole pruning device to climb around the trunk; the driven wheel 27 also rotates along with the driven wheel;
pruning: when the pruning device climbs to a certain position and the camera 28 detects that a branch is positioned right ahead, the controller 7 controls the push rod of the inclination angle adjusting electric cylinder 16 to extend or contract so as to adjust the angle of the whole pruning unit; then the lifting platform 10 pushes the slideway bottom plate 11, the sliding seat 12 and the cutting motor 14 to extend out; when the cutting blade 15 on the cutting motor 14 is not aligned with the bottom of the tree branch, the screw motor 14 rotates, and the helical gear 21 drives the screw 19 to move in the shaft direction of the screw, so that the sliding seat 12 and the cutting motor 14 move; after the best suitable angle position is adjusted, the lifting platform drives the electric cylinder 24 to push the sliding seat 12 to continue pushing out, so that the cutting blade 15 can accurately cut the bottom of the tree branch;
and (3) recovering: after the branch cutting task is finished, the driving wheel 5 rotates reversely, the whole pruning device is reduced in speed spirally around the trunk, and the device is recovered.
Example 2:
this example differs from example 1 in that: a support column II 22 is further arranged on the slideway bottom plate 11; a supporting groove 8 is formed in the top of the supporting column II 22; the supporting groove 8 is opened upwards to support the screw rod 19. The support groove 8 is used for supporting the screw rod 19, so that the screw rod 19 can rotate and move smoothly.
The method of use of this example is the same as example 1.
Example 3:
this example differs from example 2 in that: the remote controller is wirelessly connected with the controller 7 through 2.4G signals; a mobile phone APP wirelessly connected with the camera 28 through a 5G signal is also arranged on the mobile phone of the user; and a path sensor is also arranged on the base frame. The controller 7 is in wireless communication with the remote controller through 2.4G signals, and the camera 28 is in wireless connection with the mobile phone of an operator through 5G signals without mutual interference; a user can receive and watch the video picture shot by the camera 28 through the mobile phone APP, and can manually control the action of the driving unit and the trimming unit through the remote controller; in the climbing process of the device, the diameter of the tree is smaller and smaller, the opening and closing angle between the encircling arm 2 and the base frame 1 is monitored by the path sensor, and the diameter of the tree is estimated by the controller 7; by presetting the limit value of the opening and closing angle between the encircling arm 2 and the base frame 1, the device is stopped before the opening and closing angle reaches the limit value, so that the device is prevented from rushing out of the top of a tree or exceeding the working range of the tree diameter.
The method of use of this example is the same as example 1.
Example 4:
this example differs from example 3 in that: a support column II 22 is further arranged on the slideway bottom plate 11; a supporting groove 8 is formed in the top of the supporting column II 22; the supporting groove 8 is opened upwards to support the screw rod 19. The support groove 8 is used for supporting the screw rod 19, so that the screw rod 19 can rotate and move smoothly. The remote controller is wirelessly connected with the controller 7 through 2.4G signals; a mobile phone APP wirelessly connected with the camera 28 through a 5G signal is also arranged on the mobile phone of the user; and a path sensor is also arranged on the base frame. The controller 7 is in wireless communication with the remote controller through 2.4G signals, and the camera 28 is in wireless connection with the mobile phone of an operator through 5G signals without mutual interference; a user can receive and watch the video picture shot by the camera 28 through the mobile phone APP, and then manually control the driving unit and the trimming unit to act through the remote controller; in the climbing process of the device, the diameter of the tree is smaller and smaller, the opening and closing angle between the encircling arm 2 and the base frame 1 is monitored by the path sensor, and the diameter of the tree is estimated by the controller 7; by presetting the limit value of the opening and closing angle between the encircling arm 2 and the base frame 1, the device is stopped before the opening and closing angle reaches the limit value, so that the device is prevented from rushing out of the top of a tree or exceeding the working range of the tree diameter.
The method of use of this example is the same as example 1.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (6)
1. The utility model provides a forest high altitude intelligence pruning device which characterized in that: comprises a base frame (1), an encircling arm (2), a driving unit and a trimming unit;
the two groups of encircling arms (2) are respectively hinged at two ends of the base frame (1); at least two groups of driven wheels (27) are arranged on each group of encircling arms (2); return springs (29) are arranged between all the base frames (1) and the encircling arms (2);
the driving unit comprises a rechargeable battery (4), a driving wheel (5) and a controller (7); the rechargeable battery (4) and the controller (7) are both arranged on the base frame (1); two groups of driving wheels (5) are respectively arranged at the upper part and the lower part of the base frame (1); a group of hub motors (6) are respectively arranged at the center of each group of driving wheels (5); the driving wheel (5) is inclined upwards at an acute angle with the horizontal direction; a microprocessor is arranged in the controller;
the trimming unit comprises a base (9), a lifting platform (10), a slideway bottom plate (11), a sliding seat (12), a cutting motor (14), an inclination angle adjusting electric cylinder (16) and a lifting platform driving electric cylinder (24); the bottom of the lifting platform (10) is connected with the base (9), and the top of the lifting platform is connected with the slideway bottom plate (11) and driven by the lifting platform driving electric cylinder (24); the sliding seat (12) is sleeved in the slideway bottom plate (11); a driving column (17) is arranged at the bottom of the sliding seat (12), and a supporting plate (18) is connected to the side surface of the sliding rail base (11); a screw rod (19) is arranged between the driving column (17) and the supporting plate (18); the screw (19) penetrates through the driving column (17) and the supporting plate (18); a bearing (3) is arranged at the connecting part of the driving column (17) and the screw (19); a screw motor (20) is arranged on the slideway bottom plate (11); a helical gear (21) is connected to a rotor of the screw motor (20); the helical gear (21) is meshed with the screw (19); a support column I (13) is arranged at the top of the sliding seat (12); a through hole is formed in the support pillar I (13); the cutting motor (14) is fixedly arranged in a through hole of the support column I (13); a rotor of the cutting motor (14) is provided with a cutting blade (15); the bottom of the inclination angle adjusting electric cylinder (16) is hinged with the base frame (1), and the end part of the push rod is hinged with one end of the base (9); the other end of the base (9) is hinged with the base frame (1);
a camera (28) is also arranged at the top of the sliding seat (12) of the trimming unit; a wireless communication module is also arranged in the controller (7); the rechargeable battery (4), the hub motor (6), the cutting motor (14), the inclination angle adjusting electric cylinder (16), the lifting platform driving electric cylinder (24) and the screw motor (20) are all connected with the controller (7) in a conventional mode.
2. The intelligent pruning device in forest high altitude of claim 1, characterized in that: a support column II (22) is also arranged on the slideway bottom plate (11); a supporting groove (8) is formed in the top of the supporting column II (22); the supporting groove (8) is opened upwards to support the screw rod (19).
3. The intelligent pruning device in forest high altitude of claim 1, characterized in that: the two sides of the slideway bottom plate (11) are provided with slideways; pulleys (23) are arranged on two sides of the bottom of the sliding seat (12); the pulleys (23) are sleeved in the slideways on the two sides of the slideway bottom plate (11).
4. The intelligent pruning device in forest high altitude of claim 1, characterized in that: the bottom of the inclination angle adjusting electric cylinder (16) is provided with a hinge buckle (25) with a through hole in the middle; a hinged rod (26) is arranged on the base frame (1); the hinged rod (26) passes through a hinged buckle (25) at the bottom of the inclination angle adjusting electric cylinder (16).
5. The intelligent pruning device in forest high altitude of claim 1, characterized in that: the remote controller is wirelessly connected with the controller (7) through 2.4G signals; a mobile phone APP wirelessly connected with the camera (28) through a 5G signal is also arranged on the mobile phone of the user; and a path sensor is also arranged on the base frame.
6. The use method of the intelligent forest high-altitude pruning device according to any one of claims 1 to 6, characterized by comprising the following steps of: the method comprises the following steps:
1) installation: the encircling arm (2) is opened, and the base frame (1) and the encircling arm (2) are sleeved at the bottom of the trunk to be trimmed; after the return spring (29) returns and is tightened, the tree trunk is embraced by the encircling arm (2);
2) climbing: starting the equipment, wherein the hub motor (6) rotates under the control of the controller (7) to enable the driving wheel (5) to drive the whole pruning device to climb around the trunk; at the moment, the driven wheel (27) also rotates along with the driven wheel;
3) pruning: when the pruning device climbs to a certain position and the camera (28) detects that branches are arranged right ahead, the controller (7) controls the push rod of the inclination angle adjusting electric cylinder (16) to extend or contract so as to adjust the angle of the whole pruning unit; then the lifting platform (10) pushes the slideway bottom plate (11), the sliding seat (12) and the cutting motor (14) to extend out; if the cutting blade (15) on the cutting motor (14) can not be aligned with the bottom of the tree branch at the moment, the screw motor (14) rotates, and the helical gear (21) drives the screw (19) to move in the rod shaft direction, so that the sliding seat (12) and the cutting motor (14) move; after the best suitable angle position is adjusted, the lifting platform drives the electric cylinder (24) to push the sliding seat (12) to be pushed out continuously, so that the cutting blade (15) can cut the bottom of the branch accurately;
4) and (3) recovering: after the branch cutting task is finished, the driving wheel (5) rotates reversely, the whole pruning device is reduced in speed spirally around the trunk, and the device is recovered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911143218.1A CN111066514B (en) | 2019-11-20 | 2019-11-20 | Forest high-altitude intelligent pruning device and application method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911143218.1A CN111066514B (en) | 2019-11-20 | 2019-11-20 | Forest high-altitude intelligent pruning device and application method thereof |
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| CN111066514A true CN111066514A (en) | 2020-04-28 |
| CN111066514B CN111066514B (en) | 2021-06-29 |
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| CN201911143218.1A Active CN111066514B (en) | 2019-11-20 | 2019-11-20 | Forest high-altitude intelligent pruning device and application method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111990208A (en) * | 2020-07-21 | 2020-11-27 | 北京理工华汇智能科技有限公司 | Spiral track type rubber tapping mechanism |
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Application publication date: 20200428 Assignee: Wuzhou Zhibang Agroforestry Technology Co.,Ltd. Assignor: GUANGXI ZHUANG AUTONOMOUS REGION FORESTRY Research Institute Contract record no.: X2022450000397 Denomination of invention: A high-altitude intelligent pruning device for forest trees and its application method Granted publication date: 20210629 License type: Common License Record date: 20221226 |