CN112046229A - Self-adaptive adjustment tree climbing wheel and control method thereof - Google Patents
Self-adaptive adjustment tree climbing wheel and control method thereof Download PDFInfo
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- CN112046229A CN112046229A CN202010829372.0A CN202010829372A CN112046229A CN 112046229 A CN112046229 A CN 112046229A CN 202010829372 A CN202010829372 A CN 202010829372A CN 112046229 A CN112046229 A CN 112046229A
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- wheel
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- electric telescopic
- telescopic rod
- tree climbing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/12—Wound spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/08—Agricultural vehicles
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Abstract
The invention relates to the technical field of tree climbing devices, in particular to a self-adaptive adjusting tree climbing wheel and a control method thereof. A self-adaptive adjustment tree climbing wheel comprises a wheel carrier, a wheel main body, a spring, an electric telescopic rod, a strain gauge, a battery box and a chip box; the wheel main body is arranged at the lower part of the wheel frame and is rotationally connected with the wheel frame; the battery box and the chip box are respectively arranged on two sides of the upper part of the wheel frame; the spring, the electric telescopic rod and the strain gauge are arranged between the battery box and the chip box, the spring is sleeved outside the electric telescopic rod, and the strain gauge is arranged at the top end of the electric telescopic rod; the lower part of the electric telescopic rod is connected with the wheel carrier. According to the invention, by adjusting the electric telescopic rod, the telescopic spring is adjusted, so that the force F and the friction force F generated by the wheels to the tree are kept unchanged, and the balance of the tree climbing device is ensured. The tree climbing device enables operators to be safer in the tree climbing process.
Description
Technical Field
The invention relates to the technical field of tree climbing devices, in particular to a self-adaptive adjusting tree climbing wheel and a control method thereof.
Background
In the process of city development, the guarantee of power supply is the premise of guaranteeing the basic operation of a city, and the removal of the transmission line obstacles becomes the necessary condition for guaranteeing the power supply. At present, traditional manual tree sawing tools are mostly adopted for clearing the tree obstacles of the power transmission line, the trees can only be cut down from the tree roots, people are easily injured by smashing in the falling process of the trees, and the operation mode has the defects of high labor intensity, low efficiency and the like and certain potential safety hazards. There is not one kind at present to replace artifical cutting trees, and can follow the tree device of climbing that the arbitrary height of trees was cut, present climbing device comprises two equal diameter semicircle stainless steel pipes that have the tight pulley, place equal diameter cylinder both sides with two semicircle pipes that have the tight pulley during the installation, use the rope to tighten up two semicircle pipes, make it keep clamping state with equal diameter cylinder, the starter motor makes climbing from top to bottom above that, this kind of device carries on ordinary wheel and can only be applicable to the cylinder of equal diameter size, be not suitable for the diameter from bottom to top present from big to little trees, consequently need design a section and possess self-adaptation regulating wheel and satisfy the requirement of climbing the tree device.
The most important defect of prior art is that trees diameter from the bottom up presents the state from big to little, and traditional directional wheel structure is single, can't adjust the whole length of wheel, climbs the tree device and carries on traditional directional wheel and can only climb at the constant diameter cylinder. Realize that the whole length of wheel is variable, can install seismic isolation device additional, and traditional seismic isolation device weight is big, carries on to move away to avoid possible earthquakes and can lead to climbing tree device weight increase, leads to unable tree-climbing.
Chinese patent CN2018222739387 discloses an intelligent branch pruning robot, wherein a wheel carrier is fixedly connected with the bottom edge of the middle surface through a support, the wheel carrier is rotatably connected with the support, a transmission shaft is arranged at the top of the wheel carrier, a transmission gear is fixedly installed on the transmission shaft, an output shaft of a direction motor is in transmission connection with the transmission shaft through a meshing gear, and the direction motor can drive the wheel carrier to rotate. The chinese patent CN2018222739387 mentioned above does not mention at all how to adapt the wheels to the shape of the trunk.
Disclosure of Invention
The invention aims to solve the technical problems at least to a certain extent, and provides a self-adaptive adjustment tree climbing wheel and a control method thereof, which can enable the wheel to adapt to the change of the shape of a trunk.
The technical scheme of the invention is as follows: a self-adaptive adjustment tree climbing wheel comprises a wheel carrier, a wheel main body, a spring, an electric telescopic rod, a strain gauge, a battery box and a chip box;
the wheel main body is arranged at the lower part of the wheel frame and is rotationally connected with the wheel frame; the battery box and the chip box are respectively arranged on two sides of the upper part of the wheel frame; the spring, the electric telescopic rod and the strain gauge are arranged between the battery box and the chip box, the spring is sleeved outside the electric telescopic rod, and the strain gauge is arranged at the top end of the electric telescopic rod; the lower part of the electric telescopic rod is connected with the wheel carrier.
Furthermore, the wheel carrier comprises a wheel side plate, a first plate and a second plate, the wheel side plate is arranged on two side parts of the wheel main body, and the wheel side plate is connected with a rotating shaft of the wheel main body;
the battery box and the chip box are respectively arranged at two side parts of the first plate, one end of the electric telescopic rod is connected with the first plate, the other end of the electric telescopic rod is connected with the second plate, the strain gauge is positioned above the first plate, and the spring is arranged in a space between the first plate and the second plate; the upper part of the wheel side plate is connected with the bottom of the second plate.
Furthermore, first panel include first roof, first roof on be equipped with the spacer, the spacer is connected with electric telescopic handle.
Furthermore, first panel still include first curb plate and first bearing board, first curb plate locate the both sides of first roof and downwardly extending, first bearing board be connected with first curb plate and transversely outwards extend, battery case, chip box be fixed in respectively on 2 first bearing boards.
Further, the number of the strain gauges is 4. And the stc59c51 and stc89c52 chips are placed in the chip box. The wheel side plate, the first plate and the second plate are all stainless steel plates. The battery box in be equipped with the power, be equipped with the chip in the chip box.
Further, a control method for adaptively adjusting tree climbing wheels, wherein: the method comprises the following steps:
s1, forming a closed loop by the strain gauge, the electric telescopic rod, the chip and the power supply;
s2, the diameter of the trunk is smaller as the trunk goes upwards, and the strain gauge is deformed under the influence of force to reduce the resistance value;
s3, converting the resistance value into a digital signal through the voltage signal through AD, and comparing the digital signal with a set value;
s4, the length of the electric telescopic rod is adjusted by the chip according to the resistance signal after comparison, so that the length of the spring is adjusted, and the force F of the wheel main body to the trunk is guaranteed to be unchanged.
Further, in step S4, the comparison method is to look up a table and change the initial value of the delay circuit according to different values in the table.
Compared with the prior art, the beneficial effects are: according to the invention, by adjusting the electric telescopic rod, the telescopic spring is adjusted, so that the force F and the friction force F generated by the wheels to the tree are kept unchanged, and the balance of the tree climbing device is ensured. The tree climbing device enables operators to be safer in the tree climbing process.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a schematic front view of the present invention.
Fig. 3 is a schematic circuit connection diagram of the present invention.
FIG. 4 is a force exploded view of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
As shown in fig. 1 and 2, the self-adaptive adjustment tree climbing wheel is characterized by comprising a wheel frame, a wheel main body 6, a spring 1, an electric telescopic rod 2, a strain gauge 3, a battery box 4 and a chip box 5;
the wheel main body 6 is arranged at the lower part of the wheel carrier and is rotationally connected with the wheel carrier; the battery box 4 and the chip box 5 are respectively arranged at two sides of the upper part of the wheel frame; the spring 1, the electric telescopic rod 2 and the strain gauge 3 are arranged between the battery box 4 and the chip box 5, the spring 1 is sleeved outside the electric telescopic rod 2, and the strain gauge 3 is arranged at the top end of the electric telescopic rod 2; the lower part of the electric telescopic rod 2 is connected with the wheel carrier.
In this embodiment, a miniature electric telescopic rod 2 is additionally arranged in the middle of the spring 1.
Miniature electric telescopic handle 2: the linear reciprocating motor lifter is used, positive and negative voltages are applied through the chip, and the telescopic length of the telescopic rod is controlled.
A strain gauge 3, wherein the strain gauge 3 is fixed above the stainless steel plate of the spring 1 by using a stainless steel plate, the strain gauge generates strain by the load of wheels, and when the strain gauge 3 generates compressive strain, the resistance value is reduced; when the strain gauge 3 generates tensile strain, the resistance value is increased, and the stress condition of the wheel is detected in real time.
Further, the wheel carrier comprises a wheel side plate 7, a first plate 8 and a second plate 9, the wheel side plate 7 is arranged on two side parts of the wheel main body 6, and the wheel side plate 7 is connected with a rotating shaft of the wheel main body 6;
the battery box 4 and the chip box 5 are respectively arranged at two side parts of the first plate 8, one end of the electric telescopic rod 2 is connected with the first plate 8, the other end of the electric telescopic rod 2 is connected with the second plate 9, the strain gauge 3 is positioned above the first plate 8, and the spring 1 is arranged in a space between the first plate 8 and the second plate 9; the upper part of the wheel side plate 7 is connected to the bottom of the second sheet 9.
Through the cooperation of above-mentioned structure, the holistic structure of self-adaptation regulation tree climbing wheel is firm for the process of climbing is safer.
Further, the first plate 8 includes a first top plate 81, a positioning piece 10 is arranged on the first top plate 81, and the positioning piece 10 is connected with the electric telescopic rod 2. The first plate 8 further includes a first side plate 82 and a first supporting plate 83, the first side plate 82 is disposed on two sides of the first top plate 81 and extends downward, the first supporting plate 83 is connected with the first side plate 82 and extends outward in the transverse direction, and the battery box 4 and the chip box 5 are respectively fixed on the 2 first supporting plates 83.
In this embodiment, specifically, the number of the strain gauges 3 is 4. The strain gauges 3 are uniformly distributed on the first top plate 81, the strain gauges generate strain due to the load of wheels, and when the strain gauges 3 generate compressive strain, the resistance value is reduced; when the strain gauge 3 generates tensile strain, the resistance value is increased, and the stress condition of the wheel is detected in real time.
As shown in fig. 1-4:
further, the chip box places stc59c51, stc89c52 chip, is connected with foil gage and miniature electric telescopic handle and forms the return circuit, carries out the analysis according to the data that the foil gage was passed back, and the automatic data of judging of chip internal program gives miniature electric telescopic handle output positive and negative voltage, adjusts the length of miniature electric telescopic handle, realizes the whole length change of wheel.
In this embodiment, the wheel side plate 7, the first plate 8, and the second plate 9 are all stainless steel plates. The stainless steel plate is not easy to rust, so that the service life of the self-adaptive adjustment tree climbing wheel can be prolonged relatively.
The battery box is used for placing a battery and is a device for providing power for the chip and the retractable cylinder.
A control method for adaptively adjusting tree climbing wheels comprises the following steps: the method comprises the following steps:
s1, forming a closed loop by a strain gauge 3, an electric telescopic rod 2, a chip and a power supply;
s2, the diameter of the trunk is smaller as the trunk goes upwards, and the strain gauge 3 is deformed under the influence of force to reduce the resistance value;
s3, converting the resistance value into a digital signal through the voltage signal through AD, and comparing the digital signal with a set value;
s4, the chip adjusts the length of the electric telescopic rod 2 according to the resistance signal after comparison, so that the length of the spring 1 is adjusted, and the force F of the wheel main body 6 to the trunk is guaranteed to be unchanged.
Specifically, in step S4, the comparison method is to look up a table and change the initial value of the delay circuit according to different values in the table.
The wheel transversely receives the power of tree and device, and the two produces the power that makes the wheel receive and keeps unchangeable, makes the frictional force between climbing device wheel and the tree unchangeable, guarantees to climb the stability of tree device and unchangeable.
According to the self-adaptive tree climbing device, the common tree climbing wheel is fixed on the tree climbing device, as the diameter of the tree trunk is smaller and smaller as the tree trunk goes upwards, the force F generated by the wheel on the tree is smaller and smaller, the friction force F is smaller, the resultant force generated by the wheel and the tree trunk is not enough to guarantee the stability of the tree climbing device, the self-adaptive tree climbing wheel is loaded, the chip judges the magnitude of the force F through the strain gauge resistor, and the force F and the friction force F generated by the wheel on the tree are kept unchanged by adjusting the telescopic spring, so that the balance.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A self-adaptive adjustment tree climbing wheel is characterized by comprising a wheel carrier, a wheel main body (6), a spring (1), an electric telescopic rod (2), a strain gauge (3), a battery box (4) and a chip box (5);
the wheel main body (6) is arranged at the lower part of the wheel carrier and is rotationally connected with the wheel carrier; the battery box (4) and the chip box (5) are respectively arranged on two sides of the upper part of the wheel frame; the spring (1), the electric telescopic rod (2) and the strain gauge (3) are arranged between the battery box (4) and the chip box (5), the spring (1) is sleeved outside the electric telescopic rod (2), and the strain gauge (3) is arranged at the top end of the electric telescopic rod (2); the lower part of the electric telescopic rod (2) is connected with the wheel carrier.
2. The adaptive control tree climbing wheel according to claim 1, wherein: the wheel carrier comprises wheel side plates (7), a first plate (8) and a second plate (9), the wheel side plates (7) are arranged on two side parts of the wheel main body (6), and the wheel side plates (7) are connected with a rotating shaft of the wheel main body (6);
the battery box (4) and the chip box (5) are respectively arranged at two side parts of a first plate (8), one end of the electric telescopic rod (2) is connected with the first plate (8), the other end of the electric telescopic rod (2) is connected with a second plate (9), the strain gauge (3) is positioned above the first plate (8), and the spring (1) is arranged in a space between the first plate (8) and the second plate (9); the upper part of the wheel side plate (7) is connected with the bottom of the second plate (9).
3. The adaptive control tree climbing wheel according to claim 2, wherein: first panel (8) include first roof (81), first roof (81) on be equipped with spacer (10), spacer (10) are connected with electric telescopic handle (2).
4. The adaptive control tree climbing wheel according to claim 3, wherein: first panel (8) still include first curb plate (82) and first supporting board (83), first curb plate (82) locate the both sides and the downwardly extending of first roof (81), first supporting board (83) be connected and transversely outwards extend with first curb plate (82), battery case (4), chip box (5) be fixed in respectively on 2 first supporting boards (83).
5. The adaptive control tree climbing wheel according to claim 4, wherein: the number of the strain gauges (3) is 4.
6. The adaptive control tree climbing wheel according to claim 5, wherein: the stc59c51 and stc89c52 chips are placed in the chip box (5).
7. The adaptive control tree climbing wheel according to claim 6, wherein: the wheel side plate (7), the first plate (8) and the second plate (9) are all stainless steel plates.
8. The adaptive control tree climbing wheel according to claim 7, wherein: the battery box (4) is internally provided with a power supply, and the chip box (5) is internally provided with a chip.
9. The control method of claim 8, wherein the method comprises the following steps: the method comprises the following steps:
s1, forming a closed loop by a strain gauge (3), an electric telescopic rod (2), a chip and a power supply;
s2, the diameter of the trunk is smaller as the trunk goes upwards, and the strain gauge (3) is deformed under the influence of force to reduce the resistance value;
s3, converting the resistance value into a digital signal through the voltage signal through AD, and comparing the digital signal with a set value;
and S4, the chip adjusts the length of the electric telescopic rod (2) according to the resistance signal after comparison, so that the length of the spring (1) is adjusted, and the force F of the wheel main body (6) to the trunk is guaranteed to be unchanged.
10. The control method of claim 9, wherein the method comprises: in step S4, the comparison method is to look up a table and change the initial value of the delay circuit according to different values in the table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010829372.0A CN112046229A (en) | 2020-08-18 | 2020-08-18 | Self-adaptive adjustment tree climbing wheel and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010829372.0A CN112046229A (en) | 2020-08-18 | 2020-08-18 | Self-adaptive adjustment tree climbing wheel and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN112046229A true CN112046229A (en) | 2020-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010829372.0A Pending CN112046229A (en) | 2020-08-18 | 2020-08-18 | Self-adaptive adjustment tree climbing wheel and control method thereof |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1676613A1 (en) * | 2004-12-30 | 2006-07-05 | Leonard R. Clark, Jr. | Wall racer toy vehicles |
| CN1994805A (en) * | 2006-11-27 | 2007-07-11 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN104405745A (en) * | 2014-10-23 | 2015-03-11 | 中国船舶重工集团公司第七○二研究所 | Rapid pasting and curing mechanical device for ship strain gauge and application method of rapid pasting and curing mechanical device |
| CN110588821A (en) * | 2019-09-26 | 2019-12-20 | 海南科技职业大学 | Elastic tree climbing machine |
| CN210819575U (en) * | 2019-09-09 | 2020-06-23 | 浙江工业大学之江学院 | Tree climbing and pruning robot |
-
2020
- 2020-08-18 CN CN202010829372.0A patent/CN112046229A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1676613A1 (en) * | 2004-12-30 | 2006-07-05 | Leonard R. Clark, Jr. | Wall racer toy vehicles |
| CN1994805A (en) * | 2006-11-27 | 2007-07-11 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN104405745A (en) * | 2014-10-23 | 2015-03-11 | 中国船舶重工集团公司第七○二研究所 | Rapid pasting and curing mechanical device for ship strain gauge and application method of rapid pasting and curing mechanical device |
| CN210819575U (en) * | 2019-09-09 | 2020-06-23 | 浙江工业大学之江学院 | Tree climbing and pruning robot |
| CN110588821A (en) * | 2019-09-26 | 2019-12-20 | 海南科技职业大学 | Elastic tree climbing machine |
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Application publication date: 20201208 |