CN111438696A - Tip breaking mechanism of robot based on Archimedes spiral motion - Google Patents
Tip breaking mechanism of robot based on Archimedes spiral motion Download PDFInfo
- Publication number
- CN111438696A CN111438696A CN202010235179.4A CN202010235179A CN111438696A CN 111438696 A CN111438696 A CN 111438696A CN 202010235179 A CN202010235179 A CN 202010235179A CN 111438696 A CN111438696 A CN 111438696A
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- China
- Prior art keywords
- brushless
- chain saw
- tree
- robot based
- spiral motion
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- Pending
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- 230000009193 crawling Effects 0.000 claims abstract description 18
- 239000000463 material Substances 0.000 claims description 4
- 229920002635 polyurethane Polymers 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 5
- 238000013138 pruning Methods 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract 1
- 238000004140 cleaning Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 244000166124 Eucalyptus globulus Species 0.000 description 1
- 244000082204 Phyllostachys viridis Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- A01G3/086—Chain saws
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Scissors And Nippers (AREA)
Abstract
The invention discloses a tip breaking mechanism of a robot based on Archimedes spiral motion, which comprises a tree holding crawling device and a cutting device, wherein the tree holding crawling device comprises an upper elastic holding ring and a lower elastic holding ring, a driving wheel is arranged on the inner side of the upper elastic holding ring and the lower elastic holding ring, a driven wheel is arranged on one side of the driving wheel, the cutting device comprises a brushless cutting chain saw, and the brushless cutting chain saw is connected with a horizontal rotating platform and a vertical rotating platform. The invention solves the problem of the tree climbing method of the robot, and based on the tree climbing method, the tree climbing method can effectively replace the work of workers at high-risk tree trunks, such as pruning, tip breaking and the like, thereby greatly reducing the risk coefficient of the work of the workers at the high-risk places, solving the problems in the operation and maintenance of the current power transmission line, avoiding the potential safety hazards of human bodies and equipment, and improving the work efficiency and the work safety level.
Description
Technical Field
The invention belongs to the technical field of high-voltage power transmission, and particularly relates to a tip breaking mechanism of a robot based on Archimedes spiral motion.
Background
In recent years, eucalyptus and bamboo trees growing at constant speed are planted in large areas, so that serious influence is brought to safe and stable operation of a power transmission line, and the potential hazards of tree obstacles are eliminated in time by means of felling and the like. At present mainly through artifical cut-down on ground and realize, nevertheless because the forest is higher, the material is softer, the personnel can't climb and carry out the operation more than the trees focus, cut-down on ground through the manual work simultaneously, prune etc. can not the effective control and fall the tree direction, and the branch of pruning drops and also causes danger and causes the circuit tripping operation incident to the personnel easily, causes the personal casualty accident even in some obstacles cleaning operation. With the development of the robot technology, it is very important to replace manual work by developing a robot for clearing tree obstacles of a power transmission line.
Disclosure of Invention
The invention aims to provide a tip breaking mechanism of a robot based on Archimedes spiral motion, so as to solve the technical problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: disconnected sharp mechanism of robot based on archimedes spiral motion, including embracing tree device and cutting device of crawling, embrace tree device of crawling including upper and lower elasticity and embrace the ring, and elasticity is embraced the ring inboard from top to bottom and is provided with the action wheel, one side of action wheel is provided with from the driving wheel, cutting device includes brushless cutting chain saw, and brushless cutting chain saw is connected with horizontal rotation platform and vertical rotation platform.
As a preferable technical scheme, the tree holding and crawling device further comprises a spring locking device.
As a preferable technical scheme of the invention, the driven wheel is made of polyurethane materials.
As a preferred technical solution of the present invention, the brushless cutting chain saw can adjust the direction of the brushless cutting chain saw to cut the tip in the horizontal direction under the adjustment of the horizontal rotating platform.
As a preferred technical solution of the present invention, the brushless cutting chain saw can adjust the direction of the brushless cutting chain saw in the vertical direction to perform vertical cutting and pruning under the adjustment of the vertical rotating platform.
As a preferred technical solution of the present invention, the driving wheel is driven by a brushless hub motor.
As a preferable technical scheme of the invention, the brushless hub motor adopts PWM speed regulation, and the upper and lower crawling speeds are continuously adjustable by 10 to 100 percent.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can effectively replace manual climbing and cutting trees, improve the hidden trouble cleaning efficiency of tree obstacles and reduce the risk of operators.
2. The invention adopts a closed loop structure for crawling, has no falling risk during crawling, has large pressure, strong holding force and large load driving force, and can adapt to different tree diameters because the friction force between the robot and the tree trunk is generated by the pressure between the upper elastic force group and the lower elastic force group and the trunk.
3. The invention can effectively improve the cutting efficiency and cut the non-clamping saw.
4. The invention can realize free switching between horizontal cutting and vertical cutting, and has high cutting dimension and high efficiency.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a bottom view of the present invention.
Fig. 3 is a front view of the tree climbing process of the present invention.
Fig. 4 is a schematic structural diagram of the cutting device.
In the figure: 1-an up-down elastic holding ring; 2-driving wheel; 3-driven wheel; 4-brushless cutting chain saw; 5-a vertical rotation platform; 6-horizontal rotation platform.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With reference to fig. 1-4, the present invention provides the following examples: the tip breaking mechanism of the robot based on Archimedes spiral motion comprises a tree holding and crawling device and a cutting device, wherein the tree holding and crawling device comprises an upper elastic holding ring 1 and a lower elastic holding ring 1, a driving wheel 2 is arranged on the inner side of the upper elastic holding ring 1 and the lower elastic holding ring 1, a driven wheel 3 is arranged on one side of the driving wheel 2, the tip breaking mechanism further comprises a spring locking device, the driving wheel 2 is driven by a brushless hub motor, the driven wheel 3 is made of polyurethane materials, and the rated power of each driving wheel is 360W; the total power of four-wheel drive is up to 1440W; under the perpendicular tape load 30KG condition, actual use speed is up to 1m/s to brushless in-wheel motor adopts the PWM speed governing, and the speed of crawling 10% to 100% continuously adjustable from top to bottom, adopts the electronic brake lock to die when crawling the in-process and stopping, and upper and lower nothing is slided, can promote cutting stability.
In the above embodiment, the cutting device includes the brushless cutting chain saw 4, and the brushless cutting chain saw 4 is connected to the horizontal rotating platform 6 and the vertical rotating platform 5, so that the cutting tip of the brushless cutting chain saw 4 can be adjusted in the horizontal direction under the adjustment of the horizontal rotating platform 6, and the vertical cutting pruning in the direction of the brushless cutting chain saw 4 can also be adjusted in the vertical direction under the adjustment of the vertical rotating platform 5. It should be noted that the brushless cutting chain saw 4 for cutting is controlled by the master control system, the master control system monitors the working current in real time, when the current becomes abnormally large, the master control system performs automatic protection according to the current value, the protection mainly comprises two types of speed reduction and saw retreat, and then the saw is blocked or the electric saw current is increased and damaged during cutting is avoided.
The working mode of the invention is as follows: the robot of crawling adopts closed loop structure, crawls and does not have the risk of falling, and the frictional force of robot and tree pole derives from the pressure between upper and lower each two sets of elasticity and trunk, and pressure is held the power reinforce greatly, and load drive power is big, and adaptable different diameters climbs appointed trunk position through the robot of crawling, through the operation of the brushless electric chain saw of remote control drive, the electric chain saw can the cutting of the perpendicular pruning of remote control operation and the disconnected point of level cutting. When the tip is cut, the cut surface is sawed from top to bottom, and meanwhile, the direction of the tree tip can be accurately controlled by matching with the operation of the mooring rope.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. Disconnected sharp mechanism of robot based on archimedes spiral motion including embracing tree device and cutting device of crawling, its characterized in that: embrace tree device of crawling including elasticity from top to bottom and embrace ring (1), and elasticity is embraced ring (1) inboard from top to bottom and is provided with action wheel (2), one side of action wheel (2) is provided with from driving wheel (3), cutting device includes brushless cutting chain saw (4), and brushless cutting chain saw (4) are connected with horizontal rotation platform (6) and vertical rotation platform (5).
2. The tip breaking mechanism of the robot based on the Archimedes spiral motion as claimed in claim 1, wherein: the tree holding and crawling device further comprises a spring locking device.
3. The tip breaking mechanism of the robot based on the Archimedes spiral motion as claimed in claim 1, wherein: the driven wheel (3) is made of polyurethane materials.
4. The tip breaking mechanism of the robot based on the Archimedes spiral motion as claimed in claim 1, wherein: the brushless cutting chain saw (4) can adjust the direction of the brushless cutting chain saw (4) in the horizontal direction to cut off the tip under the adjustment of the horizontal rotating platform (6).
5. The tip breaking mechanism of the robot based on the Archimedes spiral motion as claimed in claim 4, wherein: the brushless cutting chain saw (4) can adjust the direction of the brushless cutting chain saw (4) in the vertical direction to vertically cut and prune under the adjustment of the vertical rotating platform (5).
6. The tip breaking mechanism of the robot based on the Archimedes spiral motion as claimed in claim 1, wherein: the driving wheel (2) is driven by a brushless hub motor.
7. The tip breaking mechanism of the robot based on the Archimedes spiral motion as claimed in claim 6, wherein: the brushless hub motor adopts PWM speed regulation, and the upper and lower crawling speeds are continuously adjustable from 10% to 100%.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010235179.4A CN111438696A (en) | 2020-03-29 | 2020-03-29 | Tip breaking mechanism of robot based on Archimedes spiral motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010235179.4A CN111438696A (en) | 2020-03-29 | 2020-03-29 | Tip breaking mechanism of robot based on Archimedes spiral motion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111438696A true CN111438696A (en) | 2020-07-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010235179.4A Pending CN111438696A (en) | 2020-03-29 | 2020-03-29 | Tip breaking mechanism of robot based on Archimedes spiral motion |
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| CN (1) | CN111438696A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113597908A (en) * | 2021-08-11 | 2021-11-05 | 广东电网有限责任公司 | Device and method for monitoring and automatically weeding equipment on electric pole |
| CN116098041A (en) * | 2023-03-22 | 2023-05-12 | 江苏恩沃智能制造有限公司 | Can follow handheld gardens sprinkler of trunk removal |
Citations (5)
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|---|---|---|---|---|
| CN107211747A (en) * | 2017-07-07 | 2017-09-29 | 浙江农林大学暨阳学院 | Spiral climbing fells bamboo branch machine |
| CN107803828A (en) * | 2017-11-28 | 2018-03-16 | 深圳市优必选科技有限公司 | Spatial staggered shaft transmission mechanism and robot |
| CN108575387A (en) * | 2018-06-27 | 2018-09-28 | 安徽工程大学 | Wheel hub drives pruning car of climbing tree |
| CN108738811A (en) * | 2018-06-21 | 2018-11-06 | 河南林业职业学院 | A kind of robot of controllable track climbs tree pruning method |
| CN110521421A (en) * | 2019-08-28 | 2019-12-03 | 三峡大学 | A kind of screen of trees based on image recognition removes robot and application method automatically |
-
2020
- 2020-03-29 CN CN202010235179.4A patent/CN111438696A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107211747A (en) * | 2017-07-07 | 2017-09-29 | 浙江农林大学暨阳学院 | Spiral climbing fells bamboo branch machine |
| CN107803828A (en) * | 2017-11-28 | 2018-03-16 | 深圳市优必选科技有限公司 | Spatial staggered shaft transmission mechanism and robot |
| CN108738811A (en) * | 2018-06-21 | 2018-11-06 | 河南林业职业学院 | A kind of robot of controllable track climbs tree pruning method |
| CN108575387A (en) * | 2018-06-27 | 2018-09-28 | 安徽工程大学 | Wheel hub drives pruning car of climbing tree |
| CN110521421A (en) * | 2019-08-28 | 2019-12-03 | 三峡大学 | A kind of screen of trees based on image recognition removes robot and application method automatically |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113597908A (en) * | 2021-08-11 | 2021-11-05 | 广东电网有限责任公司 | Device and method for monitoring and automatically weeding equipment on electric pole |
| CN113597908B (en) * | 2021-08-11 | 2022-04-12 | 广东电网有限责任公司 | Device and method for monitoring and automatically weeding equipment on electric pole |
| CN116098041A (en) * | 2023-03-22 | 2023-05-12 | 江苏恩沃智能制造有限公司 | Can follow handheld gardens sprinkler of trunk removal |
| CN116098041B (en) * | 2023-03-22 | 2023-11-14 | 江苏恩沃智能制造有限公司 | Can follow handheld gardens sprinkler of trunk removal |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200724 |
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| RJ01 | Rejection of invention patent application after publication |