CN111226633A

CN111226633A - Pruning method for trees

Info

Publication number: CN111226633A
Application number: CN202010194512.1A
Authority: CN
Inventors: 叶李方
Original assignee: Anqing Zhongju Electromechanical Technology Co Ltd
Current assignee: Anqing Zhongju Electromechanical Technology Co Ltd
Priority date: 2020-03-19
Filing date: 2020-03-19
Publication date: 2020-06-05

Abstract

The invention relates to a pruning method of trees, the openings of two half pipe racks of the pipe rack are clamped on the trunk of the tree, and the other sides of the two half pipe racks are clamped and locked; starting a driving motor and a gasoline motor of the tree climbing mechanism to enable the climbing rollers on the half pipe frame on one side of the pipe frame to rotate, so that the tree climbing robot presents a spiral upward climbing state along the trunk of the tree and a chain saw of the cutting saw rotates; when the tree climbing mechanism drags the pruning robot to the position below the branches, the blocking arm of the branch contact mechanism is abutted against the branches, and the blocking arm is positioned on the hinged shaft to rotate; when the blocking arm rotates, the tensioning roller on the cutting saw is linked to be close to the trunk of the tree, so that the chain saw is abutted against the trunk of the tree; climbing rollers of half pipe frames on two sides of the tree climbing mechanism rotate in the same direction and synchronously, so that the pruning robot moves vertically to realize the saw cutting operation of the branches until the whole branch is cut; the method can effectively ensure that the branches of the tree are completely cut off.

Description

Pruning method for trees

Technical Field

The invention relates to the field of robot equipment, in particular to a pruning method for trees.

Background

For artificially planted mountain forests with economic effects, in order to improve the growth speed and quality of trees, necessary pruning operation needs to be carried out on trees in the late winter and early spring periods, so-called pruning, which is actually to remove branches on trunks, particularly pine trees and poplar trees, the branches of the trunks are removed, the growth of the trunks of the trees can be effectively ensured, the straightness and roundness of the trees are greatly improved, most of the existing robots for removing the branches of the trees are arranged vertically, however, most of the existing robots are used for removing the trunks and the trunks of the trunks in a vertically-up-down mode, most of the existing pruning robots are arranged in a branch arrangement mode, when the robots move to the sides of the vertical trunks, the pruning robots rotate, the chain saw rotating on one side of the board saw is used for carrying out the vertical sawing operation, and when the sawing operation is carried out, in fact saw cut the robot under the effect of petrol motor, make the panel saw support with the branch is rigid all the time, not only cause the influence to the life of panel saw outside, the panel saw is implemented when vertical saw cutting operation, can only be close to the trunk position to the branch and carry out the dissection, in fact the branch still remains partly on the trunk, the branch is got rid of thoroughly, the unable guarantee of tree pruning quality, when the tree of later stage is grown, still can follow the branch that sprouts for getting rid of the branch, produce certain influence to straightness and the circularity of tree, and when the panel saw was implemented and is amputated the operation to the branch, receive the bending of trees and the extension of branch, produce the injury to the bark very easily.

Disclosure of Invention

The invention aims to provide a method for pruning trees, which effectively realizes the operation of saw cutting and separating the branches and the trunks and ensures the quality of pruning so as to ensure the quality of later-period tree growth.

The technical scheme adopted by the invention is as follows.

A method for pruning a tree, comprising the steps of:

firstly, clamping openings of two half pipe racks of the pipe rack on a trunk of a tree, and clamping and locking the other sides of the two half pipe racks;

secondly, starting a driving motor and a gasoline motor of the tree climbing mechanism to enable a climbing roller on a half pipe frame on one side of the pipe frame to rotate, enabling the tree climbing robot to present a spiral upward climbing state along the trunk of the tree and enabling a chain saw of the cutting saw to rotate;

thirdly, when the tree climbing mechanism drags the pruning robot to the position below the branches, the blocking arm of the branch contact mechanism is abutted against the branches, and the blocking arm is positioned on the hinged shaft to rotate;

fourthly, when the blocking arm rotates, the tensioning roller on the cutting saw is linked to be close to the trunk of the tree, and the chain saw is enabled to be abutted against the trunk of the tree;

fifthly, the climbing rollers of the half pipe frames on the two sides of the tree climbing mechanism rotate in the same direction and synchronously, so that the pruning robot moves vertically to saw and cut the branches until the whole branch is cut;

sixthly, after the upper end of the blocking arm is separated from the branches, the blocking arm and the chain saw reset, the climbing roller of the half pipe frame on one side of the tree climbing mechanism rotates, so that the pruning robot is located on the trunk to present a spiral ascending posture again, and the cutting operation of the branches at another position on the trunk is realized.

The invention also has the following features:

be provided with branch contact mechanism on the pipe support, branch contact mechanism supports with the branch and leans on the back, chain saw and saw plate separation just make chain saw and trees trunk elasticity support and lean on, climb tree mechanism and drag the vertical removal of pipe support and implement the operation of saw cutting to branch and trunk combined position department.

The pipe support contains two half pipe supports, is connected through the articulated shaft between one side of two half pipe supports, the length direction parallel arrangement of articulated shaft and pipe support, connect as an organic wholely through the fastener between the opposite side of half pipe support, the tip of articulated shaft is provided with the rotatory drive shaft of drive chain saw, the drive shaft is arranged with the articulated shaft is concentric, the chain saw sets up on straining device, straining device drive chain saw is located the saw board and moves, when branch contact mechanism supports with the branch and leans on, the straining device drive the chain saw just makes chain saw and trees trunk elasticity support with the saw board separation and lean on, when branch contact mechanism separates with the branch, the chain saw just extends along the crooked extension of the circumferential direction of pipe support with the saw board cooperation and arranges.

The chain saws are arranged on the two half pipe racks of the pipe racks in the vertical direction, when the chain saws are located on the two half pipe racks, the chain saws are larger than half a circle, and the sawing ends of the two chain saws are located at the upper end of the pipe racks.

The chain saw is characterized in that a driving pulley is arranged on the driving shaft, a plurality of groups of supporting rollers are arranged at intervals in the circumferential direction of the saw plate, the supporting rollers are used for supporting and tightening the chain saw, the tensioning mechanism comprises a tensioning roller arranged on the saw plate, and a wheel train of the tensioning roller is parallel to that of the supporting rollers.

The tensioning roller is provided with a rotary type and is arranged at one end position of the tensioning arm, the other end of the tensioning arm is rotatably arranged on the saw plate, and rotating shafts at two ends of the tensioning arm are arranged in parallel with a wheel core of the tensioning roller.

Tensioning gyro wheel rotary type sets up on the slide, the slide slides and sets up on the track on the tensioning arm, track and tensioning arm parallel arrangement, be provided with the slide bar on the track, slide bar and tensioning arm parallel arrangement, the slide slides and sets up on the slide bar, the cover is equipped with pressure spring on the slide bar, pressure spring's both ends are supported with orbital one end and slide respectively and are leaned on.

Be provided with the slide rail on the saw plate, the slide rail slides and is provided with the slider, the slide rail level just arranges along the radial direction of pipe support, the supporting roller rotary type sets up on the slider, be provided with the spring in the slide rail, the spring supports with the one end and the slider of slide rail respectively and leans on.

The branch contact mechanism is including keeping off the arm, keep off the vertical half pipe frame intermediate position department of arranging and the lower extreme of arm through the articulated shaft setting at the pipe support, the one end that keeps off the arm and be close to the articulated shaft is provided with the extension support arm, the tip that extends the support arm is provided with first universal joint, first universal joint is connected with the one end of leaning on the support arm, the middle section position of tensioning arm is provided with the universal joint of second, the other end that leans on the support arm is connected with the second universal joint.

The articulated shaft that keeps off the arm is gone up to the cover and is equipped with reset torsion spring, reset torsion spring's both ends support with keeping off arm and articulated shaft respectively and lean on, reset torsion spring makes to keep off the arm and is in vertical normal condition.

The chain saw is characterized in that an arc limiting plate is arranged on the saw plate, the extending direction of the arc limiting plate is consistent with the extending direction of the half pipe frame of the pipe frame, the circle center of the arc limiting plate is concentric with the circle center of the pipe frame, and the chain saw is abutted against the arc limiting plate.

The overhanging end of the blocking arm is provided with a first contact roller, and the wheel core of the first contact roller is horizontal, and the wheel surface of the first contact roller is abutted against the branches.

The driving shaft is provided with a driven gear, the driven gear is meshed with a driving gear, the driving gear is connected with an output shaft of the variable box, and an inlet and outlet shaft of the gearbox is connected with an output shaft of the gasoline motor.

Climb tree mechanism and contain multiunit climbing gyro wheel, the climbing gyro wheel setting is in the half pipe support inboard position of pipe support, the wheel core of climbing gyro wheel is the contained angle with the pipe core of pipe support and arranges, and power unit drive climbing gyro wheel rotates.

The climbing gyro wheel is located the quantity that two half pipe supports of pipe support were arranged the same, the climbing gyro wheel core cross arrangement of two half pipe supports of pipe support.

The wheel core both ends rotary type setting of climbing gyro wheel is on the wheel carrier, be provided with driving motor on the wheel carrier, driving motor drive climbing gyro wheel rotates.

The wheel carrier slides through the slide shaft and sets up on the pipe support, the cover is equipped with the spring on the slide shaft, the both ends of spring support with pipe support and wheel carrier respectively and lean on, the length direction of slide shaft extends along pipe support radial direction and arranges.

The wheel carrier passes through adjustment mechanism and sets up on the pipe support, adjustment mechanism is used for adjusting the contained angle between climbing gyro wheel and the pipe support tube core, adjustment mechanism include with sliding shaft sliding connection's regulating plate, be provided with the pivot rotary type on the regulating plate and set up on the pipe support, be provided with the regulation worm on the pipe support, the nut cooperation that sets up on regulation worm and the pipe support, the tip of pivot is provided with the regulation worm wheel.

Two half pipe support opposite sides of pipe support are provided with first, second contact plates respectively, it is provided with the direction traveller to slide on the first contact plate, the direction traveller is perpendicular with first contact plate, be provided with the spacing ring on the direction traveller, it is equipped with supporting spring still to overlap on the direction traveller, supporting spring's both ends are supported with first contact plate and spacing ring respectively and are leaned on, the tip and the second contact plate of direction traveller support and lean on or separate.

Be provided with the guide way on the face of second contact plate, the tip of direction traveller supports with the tank bottom of guide way and leans on, the one end of guide way is provided with the jam plate, the face of jam plate is perpendicular with the length direction of guide way, jam plate one side is passed through the articulated shaft rotary type and is set up on the second contact plate, be provided with the twist grip on the jam plate, the twist grip stretch to the one end notch of guide way or with the one end notch separation of guide way.

The lower extreme of pipe support is provided with universal gyro wheel.

The invention has the technical effects that: this pruning robot is when using, wears the pipe support cover on the trunk of montant, starts tree climbing mechanism for pruning robot upwards climbs along the trunk, when climbing to the branch below side of trunk, the saw plate supports with the trunk of trees and supports and lean on, and the slitting saw extends along the circumferential direction of saw plate, thereby can support with the branch outside below of trees and support, tree climbing mechanism's start-up, thereby can effectively realize the effective and complete operation of saw cutting to the branch of trees, ensure the effective cutting operation to the branch of trees, and then ensure the growth quality in trees later stage.

Drawings

Fig. 1 is a front view of a pruning robot;

FIG. 2 is a top view of the pruning robot;

fig. 3 to 5 are schematic structural diagrams of the pruning robot from three viewing angles;

fig. 6 and 7 are schematic views from two perspectives of a half-pipe frame structure in a pruning robot;

FIG. 8 is a schematic view of a portion of the structure of FIG. 6 or FIG. 7;

FIGS. 9 and 10 are schematic views of two viewing angles of the two-end installation position of the half pipe frame;

fig. 11 is a schematic structural view of the tree climbing mechanism.

Detailed Description

In order that the objects and advantages of the invention will be more clearly understood, the invention will now be described in detail with reference to the following examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed. As used herein, the terms "parallel" and "perpendicular" are not limited to their strict geometric definitions, but include tolerances for machining or human error, legibility and inconsistency;

the pruning robot of the present invention will be described in detail with reference to the accompanying drawings 1 to 11:

a pruning robot comprises a pipe frame 10 capable of being sleeved on a trunk of a tree in a penetrating mode, wherein a tree climbing mechanism 20 is arranged on the pipe frame 10, the tree climbing mechanism 20 is used for driving the robot to rotate and vertically move on the trunk, a cutting saw 30 is arranged on the pipe frame 10, the cutting saw 30 comprises a chain saw 31, the chain saw 31 is rotatably arranged on a saw plate 32, the saw plate 32 is abutted against the trunk of the tree, and the chain saw 31 is arranged at the edge of the saw plate 32 and used for performing saw cutting operation on the combination position of the trunk and the trunk;

as shown in fig. 1 to 7, when the pruning robot is used, the pipe frame 10 is sleeved on the trunk of the vertical rod in a penetrating manner, the tree climbing mechanism 20 is started, so that the pruning robot climbs upwards along the trunk, when climbing to the side below the trunk of the trunk, the saw plate 32 abuts against the trunk of the tree, and the chain saw 31 extends along the circumferential direction of the saw plate 32, so that the pruning robot can abut against the lower part outside the trunk of the tree, and the tree climbing mechanism is started, so that effective and complete cutting operation on the trunk of the tree can be effectively realized, effective cutting operation on the trunk of the tree is ensured, and further growth quality of the tree in the later period is ensured;

the chain saw 31 is a flexible chain saw and can extend along the extending direction of the saw plate 32, so that the sawing end at the upper end of the chain saw 31 is abutted against the lower end of the branch, the chain saw 31 is supported in the rotating process and under the constraint condition of the saw plate 32, the effective sawing of the branch and the branch is effectively realized, the branch and the nest of the trunk are sawn off, and the branch is prevented from sprouting and growing again.

Preferably, in order to avoid the chain saw 31 from damaging the bark of the trunk of the tree, the pipe frame 10 is provided with a branch contact mechanism, after the branch contact mechanism abuts against the branches, the chain saw 31 is separated from the saw plate 32 and makes the chain saw 31 elastically abut against the trunk of the tree, and the tree climbing mechanism 20 drags the pipe frame 10 to move vertically and performs the sawing operation on the joint position of the branches and the trunk;

after the tree climbing mechanism 20 is started, the pruning robot ascends along with the trunk, after the branch contact mechanism is abutted to the vertical direction, the chain saw 31 is separated from the saw plate 32 and abutted to the trunk of the tree, and under the action of the climbing force of the tree climbing mechanism 20, the chain saw 31 ascends vertically, so that the sawing operation of the bark at the lower end of the branch and the trunk is realized, the tree nest cutting operation is performed until the connecting position of the branch and the trunk is realized, the pruning operation of the tree is realized, after the branch contact mechanism is separated from the branch, the chain saw 31 is reset, the chain saw 31 is separated from the trunk of the branch, and the damage of the chain saw 31 to the bark of the trunk is avoided.

More specifically, as shown in fig. 2, the pipe frame 10 includes two half pipe frames, one side of each of the two half pipe frames is connected through a hinge shaft 11, the hinge shaft 11 is arranged in parallel to the length direction of the pipe frame 10, the other side of each of the two half pipe frames is connected into a whole through a fastener, a driving shaft for driving the chain saw 31 to rotate is arranged at an end of the hinge shaft 11, the driving shaft and the hinge shaft 11 are arranged concentrically, the chain saw 31 is arranged on a tensioning mechanism, the tensioning mechanism drives the chain saw 31 to move on a saw plate 32, when the branch contact mechanism abuts against a branch, the tensioning mechanism drives the chain saw 31 to separate from the saw plate 32 and enables the chain saw 31 to elastically abut against a trunk of a tree, and when the branch contact mechanism separates from the branch, the chain saw 31 cooperates with the saw plate 32 and is arranged to bend and extend along;

in order to effectively arrange the pruning robot on the trunk and conveniently sleeve the pipe frame 10 on the trunk, the pipe frame 10 is hinged by two half pipe frames, after being locked by a fastener on a hinge shaft 11, the tree climbing mechanism 20 can climb upwards along the trunk, the driving operation of the closed end of the chain saw 31 on the chain saw 31 is implemented by a driving shaft, when the branch contact mechanism is abutted against the branches, the tensioning mechanism is driven to enable the chain saw 31 to be abutted against the tree support rod, and then the tree climbing mechanism 20 pulls the whole pruning robot to climb upwards, so that the cutting operation of the branches is realized, and the operation of pruning the branches is further realized;

chain saws 31 are arranged on two half pipe racks of the pipe rack 10, the chain saws 31 on the two half pipe racks are arranged in the vertical direction, when the chain saws 31 are arranged on the two half pipe racks, the chain saws 31 are larger than a half circle, and the sawing ends of the two chain saws 31 are arranged at the upper ends;

the chain saws 31 are respectively arranged at the upper ends of the two half pipe frames, the saw plates 32 are arranged along the extending direction of the half pipe frames, and the chain saws 31 are arranged in the vertical direction, so that the sawing position at the upper end of the chain saws 31 can form a complete circle, the effective cutting operation of branches on the trunk is ensured, the effective cutting operation of tree nests at the combination position of the branches and the trunk is realized, and the damage to barks is avoided;

the chain saw 31 is arranged in the vertical direction, so that the chain saw 31 is arranged in a vertically overlapped manner, the branch contact mechanism can effectively abut against the support rod, the chain saw 31 is effectively contacted with the trunk, and the effective cutting and removing operation of the branches is ensured.

More specifically, the driving shaft 11 is provided with a driving pulley 12, a plurality of sets of supporting rollers 33 are arranged at intervals in the circumferential direction of the saw plate 32, the supporting rollers 33 are used for supporting and tensioning the chain saw 31, the tensioning mechanism comprises a tensioning roller 34 arranged on the saw plate 32, and the wheel center of the tensioning roller 34 is parallel to the wheel center of the supporting rollers 33;

the multiple groups of support rollers 33 can effectively support the chain saw 31, so that the chain saw 31 is in a tensioned state, when the pipe frame 10 is under the acting force of the tree climbing mechanism 20, the whole robot moves upwards along the trunk, and after the branch contact mechanism abuts against the branches, under the action of the cutting force of the chain saw 31, the combination position of the chain saw 31 and the branches and the trunk can be effectively abutted against each other, and then the effective cutting operation of the branches is ensured.

More specifically, the tensioning roller 34 is rotatably disposed at one end of a tensioning arm 35, the other end of the tensioning arm 35 is rotatably disposed on the saw plate 32, and the rotating shafts at the two ends of the tensioning arm 35 are arranged in parallel with the wheel center of the tensioning roller 34;

when the tree climbing mechanism 20 climbs upwards, the tree climbing mechanism 20 moves upwards along with the trunk of the tree in a spiral climbing state, so that the branch contact mechanism can be effectively enabled to abut against the branches, once the branch contact mechanism abuts against the branches, the tree climbing mechanism 20 drags the whole robot to move upwards until the chain saw 31 dragging to rotate circularly performs cutting operation on the tree pit at the connecting position of the branches and the trunk, and therefore the effectiveness of cutting the branches of the tree is ensured.

Specifically, in order to realize the tensioning operation of the chain saw 31, the tensioning roller 34 is rotatably disposed on a slide 341, the slide 341 is slidably disposed on a rail 351 of the tensioning arm 35, the rail 351 is disposed in parallel with the tensioning arm 35, a slide rod 352 is disposed on the rail 351, the slide rod 352 is disposed in parallel with the tensioning arm 35, the slide 341 is slidably disposed on a slide rod 352, a pressing spring 353 is sleeved on the slide rod 352, and two ends of the pressing spring 353 respectively abut against one end of the rail 351 and the slide 341;

in order to realize the tensioning operation of the chain saw 31, the tensioning roller 34 is rotatably arranged at one end of the tensioning arm 35, the other end of the tensioning arm 35 is rotatably arranged on the handle 32, when the branch contact mechanism contacts and abuts against the branches, the tensioning roller 34 is linked to move towards the side of the trunk along with the rotation of the tensioning arm 35, so as to realize the tensioning of the chain saw 31, and elastically abuts against the outer wall of the trunk, along with the rotation of the chain saw 31, and under the action of the tree climbing mechanism 20, the robot is enabled to move upwards gradually and slowly, so as to realize the cutting operation of the branches;

and when the tension roller 34 supporting the chain saw 31 slides along the length direction of the tension arm 35 and is elastically abutted by the pressing spring 353, the elastic abutment of the tension roller 34 is realized, and further the elastic tensioning operation of the supporting chain saw 31 is realized, and when the supporting chain saw 31 faces a scab on a trunk, the supporting chain saw 31 is prevented from being rigidly abutted by a scab with extremely high hardness, so that the damage to the chain saw 31 is weakened, and the service life of the chain saw 31 is prolonged.

More specifically, the saw plate 32 is provided with a slide rail 321, the slide rail 321 is provided with a slide block 322 in a sliding manner, the slide rail 321 is horizontal and arranged along the radial direction of the pipe rack 10, the support roller 33 is rotatably arranged on the slide block 322, a spring 323 is arranged in the slide rail 321, and the spring 323 abuts against one end of the slide rail 321 and the slide block 322 respectively;

the supporting roller 33 is slidably disposed on the saw plate 32 through the sliding block 322, and the spring 323 elastically supports the sliding block 322, so as to elastically support the chain saw 31, and to effectively saw the branches, when the upper end of the chain saw 31 contacts with the branches, and when the chain saw 31 bears a large resistance, the chain saw 31 can be deformed on the supporting roller 33, so that the chain saw 31 can effectively avoid hard obstacles, and the service life of the chain saw 31 is prolonged.

More specifically, the branch contact mechanism comprises a blocking arm 40, the blocking arm 40 is vertically arranged, the lower end of the blocking arm 40 is arranged at the middle position of the half pipe frame of the pipe frame 10 through a hinged shaft, an extending support arm 41 is arranged at one end, close to the hinged shaft, of the blocking arm 40, a first universal joint 411 is arranged at the end part of the extending support arm 41, the first universal joint 411 is connected with one end of the abutting support arm 42, a second universal joint 354 is arranged at the middle position of the tensioning arm 35, and the other end of the abutting support arm 42 is connected with the second universal joint 354;

when the tree climbing mechanism 10 firstly drags the whole pruning robot to present a spiral ascending posture along the trunk, after the tree climbing mechanism is moved to a position below the trunk, the upper end of the blocking arm 40 firstly abuts against the trunk, so that the blocking arm 40 is positioned at the position of the hinge shaft to generate rotation, when the blocking arm 40 generates rotation type, the extending support arm 41 is linked to rotate upwards, the tensioning arm 35 is pulled to generate rotation through the abutting support arm 42, so that the tensioning roller 34 on the tensioning arm 35 is close to the trunk of the tree, the chain saw 31 is elastically abutted against the trunk of the tree, and in the process that the tree climbing mechanism 10 drags the whole pruning robot to move upwards, the sawing operation on the trunk and the trunk of the tree is realized, the sawing reliability of the trunk is ensured, and the quality of the later-stage tree growth is ensured;

in a normal state, the abutting support arm 42 forms an acute included angle with the water surface, and the connecting end of the abutting support arm 42 and the first universal joint 411 is a low end, when the blocking arm 40 abuts against the branches, the low end of the abutting support arm 42 faces upwards, so that the top tensioning arm 35 rotates around the shaft, the chain saw 31 elastically abuts against the trunk of the tree, and the sawing operation of the tree support rod is realized.

More preferably, a return torsion spring 43 is sleeved on the hinge shaft of the blocking arm 40, two ends of the return torsion spring 43 respectively abut against the blocking arm 40 and the hinge shaft, and the return torsion spring 43 enables the blocking arm 40 to be in a vertical normal state;

when the arm 40 abuts against the limb, the arm 40 is rotated on the hinge shaft to compress the return torsion spring 43, so as to rotate the tensioning arm 35, and when the arm 40 is separated from the limb, the arm 40 and the tensioning arm 35 are returned;

after the retaining arm 40 abuts against the branches, the retaining arm 40 deflects, and the retaining pressure of the retaining arm 40 is not large, so that after the chain saw 31 abuts against the trunk, and when the tree climbing mechanism 20 moves upwards along the trunk of the tree, the chain saw 31 performs effective sawing on the trunk, until the branches are sawed down by the chain saw 31, the retaining arm 40 resets the chain saw 31 under the resetting force of the resetting torsion spring 43, and the sawing operation on one branch is completed.

In order to realize the reset limiting of the chain saw 31 and avoid the chain saw 31 from being separated from the saw plate 32, an arc limiting plate 324 is arranged on the saw plate 32, the extending directions of the arc limiting plate 324 and the half pipe frame of the pipe frame 10 are consistent, the circle center of the arc limiting plate 324 is concentric with the circle center of the pipe frame 10, and the chain saw 31 is abutted against the arc limiting plate 324.

In order to reduce the resistance when the blocking arm 40 contacts with the trunk, a first contact roller 44 is arranged at the overhanging end of the blocking arm 40, the wheel core of the first contact roller 44 is horizontal, and the wheel surface is abutted against the trunk;

when the blocking arm 40 moves upwards, the first contact roller 44 abuts against the trunk of the tree, so that the blocking arm 40 effectively deflects to realize the translation of the chain saw 31, the abutment of the chain saw 31 against the trunk of the tree, and the upward movement of the tree climbing mechanism 20, so as to realize the sawing operation of the branches.

More specifically, in order to synchronously drive the driving pulleys 12 on the two groups of chain saws 31, the driving shaft 11 is provided with a driven gear 121, the driven gear 121 is meshed with a driving gear 13, the driving gear 13 is connected with an output shaft of a variable box, and an input shaft and an output shaft of the variable box are connected with an output shaft of a gasoline motor 14;

the gasoline motor 14 is started before the pipe frame 10 is sleeved at the bottom of the trunk of the tree, the gasoline motor 14 realizes effective driving of the two groups of chain saws 31 so as to realize effective sawing operation of the chain saws 31 on the branches, before the chain saws 31 and the branches are not sawed, the chain saws 31 are actually separated from the trunk, the chain saws 31 are still in a rotating state, when the blocking arms 40 abut against the branches, the chain saws 31 abut against the trunk, and under the action of the tree climbing mechanism 20, upward abutting of the chain saws 31 is realized, so that sawing operation of tree nests at the connecting positions of the branches and the trunk is realized;

the chain saw 31 is integrally in a strip shape, a chain structure is formed among the chain saw 31, the driving pulley 121, the supporting roller 33 and the tensioning roller 34, and a cutting end arranged at the upper end of the chain saw 31 is a unit chain saw, so that the chain saw 31 can be effectively driven circularly, and meanwhile, the sawing operation of branches can be realized.

The following details describe how the tree climbing mechanism 20 realizes the tree climbing operation of the building robot, the tree climbing mechanism 20 includes a plurality of groups of climbing rollers 21, the climbing rollers 21 are disposed at the inner side of the half pipe frame of the pipe frame 10, the wheel cores of the climbing rollers 21 and the pipe cores of the pipe frame 10 are arranged at an included angle, and a power mechanism drives the climbing rollers 21 to rotate;

the wheel core of foretell tree climbing gyro wheel 21 and the tube core of pipe support 10 present the declination to when making tree climbing gyro wheel 21 support with the trees trunk and leaning on, realize upwards climbing this pipe support 10 along the trunk, make the climbing that pipe support 10 is located the trunk present the ascending state of spiral, and make fender arm 40 can form with the branch of trees and support and lean on, when fender arm 40 supports with the branch and lean on, should climb the vertical rebound of tree climbing gyro wheel 21, thereby realize the operation of sawing to the branch and trunk.

As a preferred scheme of the present invention, in order to improve the flexibility of climbing by the tree climbing mechanism 20, the number of the climbing rollers 21 located on the two half pipe racks of the pipe rack 10 is the same, and the climbing rollers 21 of the two half pipe racks of the pipe rack 10 are arranged in a wheel center crossing manner;

when the tree climbing robot is spirally climbing upwards, the tree climbing roller 21 on the half pipe frame on one side of the pipe frame 10 is started, the tree climbing roller 21 is in a state of forming an included angle with the pipe core of the pipe frame 10, so that the tree climbing robot is in a state of spirally upwards, and after the pipe frame 10 is climbed to the lower position of the branch, the upper end of the blocking arm 40 is abutted against the branch, the chain saw 31 is abutted against the trunk of the tree, so that the cutting operation of the branch is realized;

when the blocking arm 40 abuts against the branches, the tree-climbing rollers 21 on the half-pipe frames at both sides of the pipe frame 10 form a homodromous rotating state, so that the reaction of the tree-climbing rollers 21 of the tree-climbing mechanism 20 abutting against the trunk is vertically upward, and further the vertical lifting of the pipe frame 10 is realized, so as to realize the sawing operation of the branches, after the writing brush for the sawing operation of the branches is operated, the hinged shaft end of the blocking plate 40 is provided with a trigger switch for triggering the starting time and the starting direction of the tree-climbing rollers 21, when the hinged shaft end of the blocking plate 40 triggers the trigger switch, the tree-climbing rollers 21 of the half-pipe frames at both sides of the pipe frame 10 synchronously and homodromous rotating, so that the pipe frame 10 keeps a vertically moving state, when the blocking plate 40 is separated from the branches and separated from the trigger switch, so that the hinged shaft on the half-pipe frame at the other side of the pipe frame 10 is cut off from the tree-climbing rollers 21, so, therefore, the pipe frame 10 is located on the trunk and is in a spiral climbing state, and the spiral climbing state of the tree climbing mechanism 20 is upward achieved, so that the blocking arm 40 can effectively trigger the branches, and the cutting operation of the branches is achieved.

Furthermore, the two ends of the core of the climbing roller 21 are rotatably arranged on the wheel frame 22, a driving motor 23 is arranged on the wheel frame 22, and the driving motor 23 drives the climbing roller 21 to rotate;

the driving motor 23 is an electric motor, a storage battery for supplying power to the driving motor 23 is arranged on the pipe frame 10, and the whole equipment of the tree climbing robot is about 30 kilograms, so that the driving motor 23 can effectively rotate the climbing rollers 21, the storage battery is timely supplemented with power, the trigger switch is connected with the driving motor 23 through a controller respectively, and the forward and reverse rotation and power on and off operation of the driving motor 23 can be effectively realized.

More specifically, the wheel carrier 22 is slidably disposed on the pipe carrier 10 through a sliding shaft 221, a spring 222 is sleeved on the sliding shaft 221, two ends of the spring 222 respectively abut against the pipe carrier 10 and the wheel carrier 22, and a length direction of the sliding shaft 221 extends along a radial direction of the pipe carrier 10;

almost all trees's trunk diameter is by the lower supreme state that diminishes that appears gradually, to this, support with the trunk of trees effectively for guaranteeing to climb gyro wheel 21 and lean on to the realization can be along the ascending state of trunk spiral to pruning robot, when climbing to the trunk high position of trees, foretell wheel carrier 22 is under the elastic force support of spring 222, makes climbing gyro wheel 21 effectively support with the trunk of trees and supports, thereby makes to climb tree climbing robot and can effectively climb to higher position and saw cut the operation to the branch and trunk of trees.

In order to adjust the included angle between the wheel core of the tree climbing roller 21 and the tube core of the tube frame 10 and adapt to trees with different diameters for tree climbing and pruning, the wheel carrier 22 is arranged on the tube frame 10 through an adjusting mechanism, the adjusting mechanism is used for adjusting the included angle between the climbing roller 21 and the tube core of the tube frame 10, the adjusting mechanism comprises an adjusting plate 24 which is in sliding connection with a sliding shaft 221, a rotating shaft 241 is arranged on the adjusting plate 24 and rotatably arranged on the tube frame 10, an adjusting worm 15 is arranged on the tube frame 10, the adjusting worm 15 is matched with a nut 151 arranged on the tube frame 10, and an adjusting worm wheel 242 is arranged at the end part of the rotating shaft 241;

when a tree climbing operation is performed on a tree trunk with a smaller diameter, the adjusting worm gear 242 is adjusted, so that the rotating shaft 241 rotates, the wheel frame 22 rotates, and after the wheel frame 22 rotates, an included angle between a wheel core of the climbing roller 21 and a tube core of the tube frame 10 is adjusted, so that the adjustment of the friction force between the climbing roller 21 and the tree trunk is achieved, the included angle between the climbing roller 21 and the tube frame 10 is increased, the friction force on the trunk is increased, and the purpose that a tree climbing robot cannot effectively climb trees due to insufficient friction force caused by the smaller diameter of the trees is avoided;

similarly, when climbing tree operation is carried out to the great trunk of trees of diameter, adjust foretell regulation worm wheel 242 for the contained angle between wheel carrier 22 and the pipe support 10 diminishes, reduces the frictional force between climbing gyro wheel 21 and the trunk, can make the trunk tree climbing operation that this trees of pipe support 10 can effective adaptation, and the frictional force of avoiding pressure too big appearance is great and can't effectively realize climbing tree.

More specifically, the other sides of the two half pipe racks of the pipe rack 10 are respectively provided with a first contact plate 161 and a second contact plate 162, the first contact plate 161 is slidably provided with a guide sliding column 163, the guide sliding column 163 is perpendicular to the first contact plate 161, the guide sliding column 163 is provided with a limiting ring, the guide sliding column 163 is further sleeved with a support spring 164, two ends of the support spring 164 are respectively abutted against the first contact plate 161 and the limiting ring, and an end of the guide sliding column 163 is abutted against or separated from the second contact plate 162;

the other side of the pipe support 10 is connected with the second contact plate 162 through the first contact plate 161, and the sliding connection is realized through the guide sliding column 163, when the pipe support 10 ascends along the trunk of the tree, and when the tree is bent or the surface of the tree has a large number of tree scars, the pipe support 10 can lock the hinge shaft position of the half pipe support to rotate along with the upward jumping of the bent section of the tree, when the climbing roller 21 abuts against the trunk of the tree in case of a large number of tree scars, the operation can be upwards climbed along with the trunk, and the pipe support 10 can be located close to or far away from the first contact plate 161 and the second contact plate 162 of the guide sliding column 163, so as to eliminate the problem that the tree has a large number of tree scars or the tree is not bent directly.

In order to limit the end part of the guide sliding column 163 and close two half pipe racks of the pipe rack 10, a guide groove 1621 is formed in the plate surface of the second contact plate 162, the end part of the guide sliding column 163 abuts against the groove bottom of the guide groove 1621, a lock plate 165 is arranged at one end of the guide groove 1621, the plate surface of the lock plate 165 is perpendicular to the length direction of the guide groove 1621, one side of the lock plate 165 is rotatably arranged on the second contact plate 162 through a hinge shaft, a rotating handle is arranged on the lock plate 165, and the rotating handle protrudes to a notch at one end of the guide groove 1621 or is separated from a notch at one end of the guide groove 1621;

by pulling the turning handle, the locking plate 165 protrudes to the position of the opening of one end of the guide groove 1621, so that the locking of the guide sliding column 163 is avoided, the locking of the half pipe racks on both sides of the pipe rack 10 is realized, and the random opening of the two half pipe racks is avoided.

In order to conveniently realize the pushing of the whole pruning robot, the lower end of the pipe frame 10 is provided with universal rollers 17.

A method for pruning a tree, comprising the steps of:

firstly, clamping openings of two half pipe racks of the pipe rack 10 on a trunk of a tree, and clamping and locking the other sides of the two half pipe racks;

secondly, starting a driving motor 23 and a gasoline motor 14 of the tree climbing mechanism 20 to rotate a climbing roller 21 on a half pipe frame on one side of the pipe frame 10, so that the tree climbing robot presents a spiral upward climbing state along the trunk of the tree and a chain saw 31 of the cutting saw 30 rotates;

thirdly, when the tree climbing mechanism 20 drags the pruning robot to the position below the branches, the blocking arm 40 of the branch contact mechanism is abutted against the branches, and the blocking arm 40 is positioned on the hinged shaft to rotate;

fourthly, when the stop arm 40 rotates, the tensioning roller 34 on the cutting saw 30 is linked to be close to the trunk of the tree, and the chain saw 31 is enabled to be abutted against the trunk of the tree;

fifthly, the climbing rollers 21 of the half pipe frames at the two sides of the tree climbing mechanism 20 rotate in the same direction and synchronously, so that the pruning robot moves vertically to realize the sawing operation of the branches until the whole branch is cut;

sixthly, after the upper end of the blocking arm 40 is separated from the branches, the blocking arm 40 and the chain saw 31 are reset, and the climbing roller 21 of the half pipe frame on one side of the tree climbing mechanism 20 rotates, so that the pruning robot is positioned on the trunk to present a spiral ascending posture again, and the cutting operation of the branches at another position on the trunk is realized.

Claims

1. A pruning method for trees is characterized in that: the tree pruning method comprises the following steps:

firstly, clamping openings of two half pipe racks of the pipe rack (10) on a trunk of a tree, and clamping and locking the other sides of the two half pipe racks;

secondly, starting a driving motor (23) and a gasoline motor (14) of the tree climbing mechanism (20) to enable a climbing roller (21) on a half pipe frame on one side of the pipe frame (10) to rotate, enabling the tree climbing robot to present a spiral upward climbing state along the trunk of the tree, and enabling a chain saw (31) of a cutting saw (30) to rotate;

thirdly, when the tree climbing mechanism (20) drags the pruning robot to the position below the branches, the blocking arm (40) of the branch contact mechanism is abutted against the branches, and the blocking arm (40) is positioned on the hinged shaft to rotate;

fourthly, when the stop arm (40) rotates, a tensioning roller (34) on the cutting saw (30) is linked to be close to the trunk of the tree, and the chain saw (31) is enabled to be abutted against the trunk of the tree;

fifthly, the climbing rollers (21) of the half pipe frames at the two sides of the tree climbing mechanism (20) rotate in the same direction and synchronously, so that the pruning robot moves vertically to realize the sawing operation of the branches until the whole branch is cut;

sixthly, after the upper end of the blocking arm (40) is separated from the branches, the blocking arm (40) and the chain saw (31) are reset, and the climbing roller (21) of the half pipe frame on one side of the tree climbing mechanism (20) rotates, so that the pruning robot is positioned on the trunk and presents a spiral ascending posture again, and the cutting operation of the branches at another position on the trunk is realized.

2. The method of pruning a tree according to claim 1, wherein: the cutting saw (30) comprises a chain saw (31), the chain saw (31) is rotatably arranged on a saw plate (32), the saw plate (32) is abutted against the trunk of the tree, and the chain saw (31) is arranged at the edge of the saw plate (32) and performs sawing operation on the joint position of the trunk and the branch; be provided with branch contact mechanism on pipe support (10), branch contact mechanism supports with the branch and leans on the back, chain saw (31) and saw board (32) separation just make chain saw (31) and trees trunk elasticity support and lean on, climb tree mechanism (20) and drag vertical removal of pipe support (10) and implement the operation of saw cutting to branch and trunk joint position department.

3. The method for pruning a tree according to claim 1 or 2, wherein: the pipe frame (10) comprises two half pipe frames, one side edges of the two half pipe frames are connected through a hinge shaft (11), the articulated shafts (11) are arranged in parallel with the length direction of the pipe frame (10), the other side edges of the half pipe frames are connected into a whole through fasteners, the end part of the articulated shaft (11) is provided with a driving shaft for driving the chain saw (31) to rotate, the drive shaft is arranged concentrically with the hinge shaft (11), the chain saw (31) is arranged on a tensioning mechanism, the tension mechanism drives the chain saw (31) to move on the saw plate (32), when the branch contact mechanism is abutted against the branches, the tensioning mechanism drives the chain saw (31) to separate from the saw plate (32) and enables the chain saw (31) to be elastically abutted with the trunk of the tree, when the branch contact mechanism is separated from the branches, the chain saw (31) is matched with the saw plate (32) and is arranged along the circumferential direction of the pipe frame (10) in a bending and extending mode; all be provided with chain saw (31) on two half pipe racks of pipe support (10), chain saw (31) on two half pipe racks are arranged from top to bottom, when chain saw (31) are in on two half pipe racks, chain saw (31) all are greater than the half-turn, the end of sawing of two chain saw (31) is located the upper end position and arranges.

4. The method of pruning a tree according to claim 3, wherein: the driving shaft (11) is provided with a driving pulley (12), a plurality of groups of supporting rollers (33) are arranged at intervals in the circumferential direction of the saw plate (32), the supporting rollers (33) are used for supporting and tightening the chain saw (31), the tensioning mechanism comprises a tensioning roller (34) arranged on the saw plate (32), and a wheel train of the tensioning roller (34) is parallel to a wheel train of the supporting rollers (33); the tensioning roller (34) is rotatably arranged at one end of a tensioning arm (35), the other end of the tensioning arm (35) is rotatably arranged on the saw plate (32), and rotating shafts at two ends of the tensioning arm (35) are arranged in parallel with a wheel core of the tensioning roller (34); tensioning gyro wheel (34) rotary type sets up on slide (341), slide (341) slide setting is on track (351) on tensioning arm (35), track (351) and tensioning arm (35) parallel arrangement, be provided with slide bar (352) on track (351), slide bar (352) and tensioning arm (35) parallel arrangement, slide (341) slide setting is on slide bar (352), the cover is equipped with pressure spring (353) on slide bar (352), the both ends of pressure spring (353) lean on with the one end of track (351) and slide (341) respectively.

5. The method of pruning a tree according to claim 4, wherein: be provided with slide rail (321) on saw board (32), slide rail (321) slide and be provided with slider (322), slide rail (321) level just arranges along the radial direction of pipe support (10), supporting roller (33) rotary type sets up on slider (322), be provided with spring (323) in slide rail (321), spring (323) support with the one end of slide rail (321) and slider (322) respectively and lean on.

6. The method of pruning a tree according to claim 5, wherein: the branch contact mechanism comprises a blocking arm (40), the blocking arm (40) is vertically arranged, the lower end of the blocking arm is arranged at the middle position of a half pipe frame of the pipe frame (10) through a hinged shaft, an extending support arm (41) is arranged at one end, close to the hinged shaft, of the blocking arm (40), a first universal joint (411) is arranged at the end part of the extending support arm (41), the first universal joint (411) is connected with one end, abutted to the support arm (42), a second universal joint (354) is arranged at the middle section of the tensioning arm (35), and the other end, abutted to the support arm (42), of the abutting to the second universal joint (354) is connected; keep off the articulated shaft of arm (40) and go up the cover and be equipped with reset torsion spring (43), the both ends of reset torsion spring (43) support with keeping off arm (40) and articulated shaft respectively and lean on, reset torsion spring (43) make and keep off arm (40) and be in vertical normal condition.

7. The method of pruning a tree according to claim 6, wherein: an arc limiting plate (324) is arranged on the saw plate (32), the extending direction of the arc limiting plate (324) is consistent with the extending direction of a half pipe frame of the pipe frame (10), the circle center of the arc limiting plate (324) is concentric with the circle center of the pipe frame (10), and the chain saw (31) is abutted to the arc limiting plate (324); a first contact roller (44) is arranged at the overhanging end of the blocking arm (40), the wheel core of the first contact roller (44) is horizontal, and the wheel surface is abutted against the branches; the driving shaft (11) is provided with a driven gear (121), the driven gear (121) is meshed with a driving gear (13), the driving gear (13) is connected with an output shaft of the variable transmission, and an input shaft and an output shaft of the variable transmission are connected with an output shaft of a gasoline motor (14).

8. The method of pruning a tree according to claim 7, wherein: the tree climbing mechanism (20) comprises a plurality of groups of climbing rollers (21), the climbing rollers (21) are arranged at the inner side of a half pipe frame of the pipe frame (10), the wheel cores of the climbing rollers (21) and the pipe core of the pipe frame (10) are arranged at an included angle, and a power mechanism drives the climbing rollers (21) to rotate; the climbing rollers (21) are positioned on two half pipe racks of the pipe rack (10) and are arranged in the same number, and the wheel cores of the climbing rollers (21) of the two half pipe racks of the pipe rack (10) are arranged in a crossed manner; climbing gyro wheel (21) wheel core both ends rotary type sets up on wheel carrier (22), be provided with driving motor (23) on wheel carrier (22), driving motor (23) drive climbing gyro wheel (21) rotate.

9. The method of pruning a tree according to claim 8, wherein: the wheel carrier (22) is arranged on the pipe carrier (10) in a sliding mode through a sliding shaft (221), a spring (222) is sleeved on the sliding shaft (221), two ends of the spring (222) are respectively abutted against the pipe carrier (22) and the pipe carrier (10), and the length direction of the sliding shaft (221) extends along the radial direction of the pipe carrier (10); wheel carrier (22) are through adjustment mechanism setting on pipe support (10), adjustment mechanism is used for adjusting the contained angle between climbing gyro wheel (21) and pipe support (10) tube core, adjustment mechanism include with sliding shaft sliding connection's regulating plate, be provided with the pivot rotary type on the regulating plate and set up on pipe support (10), be provided with the regulation worm on pipe support (10), the nut cooperation that sets up on regulation worm and pipe support (10), the tip of pivot is provided with the regulation worm wheel.

10. The method of pruning a tree according to claim 9, wherein: the other sides of the two half pipe frames of the pipe frame (10) are respectively provided with a first contact plate (161) and a second contact plate (162), the first contact plate (161) is provided with a guide sliding column (163) in a sliding manner, the guide sliding column (163) is perpendicular to the first contact plate (161), the guide sliding column (163) is provided with a limiting ring, the guide sliding column (163) is further sleeved with a supporting spring (164), two ends of the supporting spring (164) are respectively abutted against the first contact plate (161) and the limiting ring, and the end part of the guide sliding column (163) is abutted against or separated from the second contact plate (162); the plate surface of the second contact plate (162) is provided with a guide groove (1621), the end part of the guide sliding column (163) is abutted against the groove bottom of the guide groove (1621), one end of the guide groove (1621) is provided with a lock plate (165), the plate surface of the lock plate (165) is perpendicular to the length direction of the guide groove (1621), one side of the lock plate (165) is rotatably arranged on the second contact plate (162) through a hinge shaft, the lock plate (165) is provided with a rotating handle, and the rotating handle protrudes to a notch at one end of the guide groove (1621) or is separated from a notch at one end of the guide groove (1621); the lower end of the pipe frame (10) is provided with universal rollers (17).