CN112703910A - Dead weight formula pruning machine based on mecanum wheel - Google Patents
Dead weight formula pruning machine based on mecanum wheel Download PDFInfo
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- CN112703910A CN112703910A CN202110020325.6A CN202110020325A CN112703910A CN 112703910 A CN112703910 A CN 112703910A CN 202110020325 A CN202110020325 A CN 202110020325A CN 112703910 A CN112703910 A CN 112703910A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/086—Chain saws
Abstract
The invention discloses a self-weight pruning machine based on Mecanum wheels, which comprises a circular frame, a tree climbing mechanism and a cutting mechanism, wherein the circular frame is provided with a circular frame; the circular ring frame comprises a left semicircular pipe, a right semicircular pipe, a left clamping device, a right clamping device, a connecting device and a locking device; the tree climbing mechanism comprises an upper driving table, a lower driving table, an upper left clamping arm, an upper right clamping arm, a lower left clamping arm, a lower right clamping arm, an upper left driving steering device, an upper right driving steering device, a lower left driving steering device and a lower right driving steering device; the cutting mechanism comprises an electric slide rail, an electric slide rail supporting plate, a saw chain motor bracket, a saw chain motor and a saw chain; the whole machine of the technology has lighter weight, is beneficial to carrying, enhances the protection of the surface of the tree, uses green and environment-friendly energy, has high automation degree, improves the working efficiency of forestry production, reduces the labor intensity of workers, and improves the safety of forestry operation.
Description
Technical Field
The invention relates to the technical field of forestry engineering equipment, in particular to a dead weight type pruning machine based on Mecanum wheels.
Background
According to the latest statistical data of the national forestry and grassland bureau, as seen in 2019, China has become the world with the largest area for planting artificial forests, the total area of the artificial forests accounts for 1/3 of the area of the artificial forests all over the world, and the afforestation area of the artificial forests per year is continuously increased.
Although the area of the artificial forest in China is continuously enlarged, the management mode of the artificial forest is laggard, particularly in the aspect of pruning, pruning modes in many areas are mainly manual pruning, and most of the pruning modes adopt handsaws, choppers and other handheld mechanical tools, so that the manual pruning mode is low in efficiency, a large amount of manpower and financial resources are consumed, and the safety is poor. According to the national forestry production requirements, in order to improve the forestry production quality, promote the healthy growth of trees and ensure that all indexes of the trees meet reasonable requirements, the trees must be reasonably managed, wherein pruning is an important item. The automatic pruning of machine can improve the efficiency of pruning greatly, improves the actual height of pruning and reaches the height that artifical pruning can not be cut out, can promote forest growth, reduce forest knot and scar, improve trunk full scale, increase timber excellent wood rate through the pruning. Automatic pruning reduces artifical injury probability, has improved the security of pruning, but most pruning equipment volume is great now, and the quality is great, to the inconvenient pruning work that carries out in intensive forest land, future development direction will be towards light-weight pruning machine development. In practical terms, the forest trees can grow and become better through machine pruning, so that research and development of pruning machines are imperative.
Disclosure of Invention
The invention aims to solve the technical problem of providing a self-weight pruning machine based on Mecanum wheels, which is used for pruning high-yield forests such as eucalyptus, masson pine, arborvitae and the like at high speed, the gravity center of the pruning machine is positioned outside the trees and can be automatically fixed on the trunks, the energy consumption is reduced, the roots of the trees can be better cut off from the root parts of the branches, the incomplete pruning condition is avoided, the labor intensity of workers is reduced, the operation safety is improved, and the problem of shortage of industrial forests in China is solved.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a self-weight pruning machine based on Mecanum wheels comprises a circular frame, a tree climbing mechanism and a cutting mechanism.
The circular ring frame comprises a left semicircular pipe, a right semicircular pipe, a left clamping device, a right clamping device, a connecting device and a locking device; the left side and the right side of the connecting device are respectively connected and fixed with one end of the left semicircular pipe and one end of the right semicircular pipe, the left clamping device is fixed in the middle of the left semicircular pipe, the right clamping device is fixed in the middle of the right semicircular pipe, and the left side and the right side of the locking device are respectively connected and fixed with the other end of the left semicircular pipe and the other end of the right semicircular pipe.
The tree climbing mechanism comprises an upper driving platform, a lower driving platform, an upper left clamping arm, an upper right clamping arm, a lower left clamping arm, a lower right clamping arm, an upper left driving steering device, an upper right driving steering device, a lower left driving steering device and a lower right driving steering device, wherein the left side and the right side of the upper driving platform are respectively connected and fixed with the head end of the upper left clamping arm and the head end of the upper right clamping arm, the left side of the lower driving platform is fixedly connected with the head end of the lower left clamping arm and the head end of the lower right clamping arm, the tail end of the upper left clamping arm is hinged with the right side of the upper left driving steering device, the tail end of the upper right clamping arm is hinged with the left side of the upper right driving steering device, the tail end of the lower left clamping arm is hinged with the right side of the lower left driving steering device, and the tail.
The cutting mechanism comprises an electric slide rail, an electric slide rail supporting plate, a saw chain motor bracket, a saw chain motor and a saw chain; the bottom of the electric slide rail is fixed with the electric slide rail supporting plate, the top end of the sliding block in the electric slide rail is fixed with the bottom of the saw chain motor support, the shaft extension of the saw chain motor is fixed with the left side of the saw chain motor support, and the output shaft of the saw chain motor is fixed with the saw chain.
As a further improved technical scheme of the invention, the left clamping device and the right clamping device have the same structure and respectively comprise an upper clamping block and a lower clamping block, the lower end of the upper clamping block and the upper end of the lower clamping block are fixed through bolts, and the middle of the semicircular pipe is clamped between the upper clamping block and the lower clamping block.
As a further improved technical scheme, the connecting device comprises an upper steering block, a lower steering block, an upper clamping block and a lower clamping block, the lower end of the upper steering block and the upper end of the lower clamping block are fixed through bolts, the left end of the right semicircular tube is clamped between the upper steering block and the lower clamping block, the upper end of the lower steering block and the lower end of the upper clamping block are fixed through bolts, and the left end of the left semicircular tube is clamped between the lower steering block and the upper clamping block.
As a further improved technical solution of the present invention, the locking device includes an upper locking block, a lower locking block, an upper fixing block, and a lower fixing block, the lower end of the upper locking block and the upper end of the lower fixing block are fixed by a bolt, the right end of the right semicircular tube is sandwiched between the upper locking block and the lower fixing block, the upper end of the lower locking block and the lower end of the upper fixing block are fixed by a bolt, and the right end of the right semicircular tube is sandwiched between the lower locking block and the upper fixing block.
As a further improved technical scheme, the upper driving table and the lower driving table are identical in structure and respectively comprise a U-shaped fixing plate, a driving motor, a left boss gear and a right boss gear, the left boss gear is fixed on the left side of the middle of the U-shaped fixing plate, the right boss gear is fixed on the right side of the middle of the U-shaped fixing plate, the output shaft side of the driving motor is fixed on the top side of the U-shaped fixing plate, and a driving shaft of the driving motor is fixed with an inner hole of a boss of the left boss gear through a jackscrew.
As a further improved technical scheme of the invention, the U-shaped fixing plate comprises a function plate and a right-angle connecting plate, and the right side of the function plate is fixedly connected with the left side of the right-angle connecting plate through a bolt.
As a further improved technical scheme of the invention, the left upper clamping arm, the right upper clamping arm, the left lower clamping arm and the right lower clamping arm have the same structure and respectively comprise a steering connecting rod, a rotating shaft connecting rod, a driven steering connecting rod and a fixed connecting rod, the head end of the steering connecting rod is welded with the upper end of a boss gear on the same side, the tail end of the steering connecting rod is fixed with the head end of the rotating shaft connecting rod through a bolt, the head end of the driven steering connecting rod is hinged with the upper end of the function board, and the tail end of the driven steering connecting rod is fixed with the head end.
As a further improved technical scheme of the invention, the left upper driving steering device, the right upper driving steering device, the left lower driving steering device and the right lower driving steering device have the same structure and respectively comprise a device supporting plate, a motor fixing plate, a motor connecting plate, a servo motor and Mecanum wheels, wherein the upper side of the device supporting plate is fixedly connected with the lower side of the motor fixing plate through bolts, the left side of the motor connecting plate is fixedly connected with the motor fixing plate through bolts, the outer side of the motor fixing plate is fixedly connected with one side of a servo motor driving shaft through bolts, and the Mecanum wheels are arranged on the driving shaft of the servo motor.
The invention has the beneficial effects that: (1) the whole robot body is designed in a light weight mode, is convenient to carry, is provided with a driving power supply, and is green and environment-friendly in energy; (2) the center of gravity of the robot is arranged on the outer side of the trunk to be trimmed, and the robot can be fixed on the tree by utilizing the self weight without consuming energy; (3) the robot has the advantages that the self weight is small, the required clamping force is small, and the damage of the robot to barks can be greatly reduced; (4) the robot uses Mecanum wheels as climbing and steering devices, can realize linear and spiral lifting on a trunk, and has a simpler structure; (5) the invention has high automation degree, improves the working efficiency of forestry production, reduces the labor intensity of workers and improves the safety of forestry operation.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a self-weight pruning machine based on Mecanum wheels according to the present invention;
FIG. 2 is a schematic view of the entire right side of a self-weight pruner based on Mecanum wheels according to the present invention;
FIG. 3 is a schematic top view of a self-weight pruner based on Mecanum wheels according to the present invention;
FIG. 4 is a schematic structural diagram of a circular frame of a self-weight pruning machine based on Mecanum wheels according to the present invention;
FIG. 5 is a schematic top view of a tree climbing mechanism of a self-weight pruning machine based on Mecanum wheels;
FIG. 6 is a schematic structural diagram of a tree climbing mechanism of a self-weight pruning machine based on Mecanum wheels;
FIG. 7 is a schematic diagram of a cutting mechanism of a self-weight pruner based on Mecanum wheels according to the present invention;
FIG. 8 is a schematic structural diagram of a circular frame of a self-weight pruning machine based on Mecanum wheels according to the present invention;
FIG. 9 is a schematic diagram of a self-weight pruner drive table based on Mecanum wheels according to the present invention;
FIG. 10 is a schematic structural view of a U-shaped fixing plate of a dead weight pruning machine based on Mecanum wheels according to the present invention;
FIG. 11 is a schematic diagram of a clamp arm of a self-weight pruner based on Mecanum wheels according to the present invention;
FIG. 12 is a schematic diagram of a self-weight pruner drive steering apparatus based on Mecanum wheels according to the present invention;
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Referring to fig. 1, 2 and 3, a self-weight pruning machine based on mecanum wheels includes a circular frame 1, a tree climbing mechanism 2 and a cutting mechanism 3.
As shown in fig. 4, the circular frame 1 of the present embodiment includes a left semicircular tube 4, a right semicircular tube 5, a left clamping device 6, a right clamping device 7, a connecting device 8, and a locking device 9; the left side and the right side of the connecting device 8 are respectively connected and fixed with one end of the left semicircular tube 4 and one end of the right semicircular tube 5, the left semicircular tube 4 and the right semicircular tube 5 can be opened in an arc shape as an axis according to the connecting device 8 after the connection and the fixation, the left clamping device 6 is fixed in the middle of the left semicircular tube 4, the right clamping device 7 is fixed in the middle of the right semicircular tube 5, the left side and the right side of the locking device 9 are respectively connected and fixed with the other end of the left semicircular tube 4 and the other end of the right semicircular tube 5, and the left semicircular tube 4 and the right semicircular tube 5 can be fixedly locked through.
As shown in fig. 5 and 6, the tree climbing mechanism 2 of the present embodiment includes an upper driving table 10, a lower driving table 15, an upper left clamping arm 11, an upper right clamping arm 12, a lower left clamping arm 16, a lower right clamping arm 17, an upper left driving steering device 13, an upper right driving steering device 14, a lower left driving steering device 18, and a lower right driving steering device 19; the left side and the right side of the upper driving platform 10 are respectively connected and fixed with the head end of a left upper clamping arm 11 and the head end of a right upper clamping arm 12, the left side and the right side of a lower driving platform 15 are respectively connected and fixed with the head end of a left lower clamping arm 16 and the head end of a right lower clamping arm 17, the lower driving platform 15 can respectively rotate the left lower clamping arm 16 and the right lower clamping arm 17 through connection and fixation, the tail end of the left upper clamping arm 11 is hinged with the right side of a left upper driving steering device 13, the tail end of the right upper clamping arm 12 is hinged with the left side of a right upper driving steering device 14, the tail end of the left lower clamping arm 16 is hinged with the right side of the left lower driving steering device 18, the tail end of the right lower clamping arm 17 is hinged with the left side of a right lower.
As shown in fig. 7, the cutting mechanism 3 of the present embodiment includes an electric slide rail 20, an electric slide rail support plate 21, a saw chain motor bracket 22, a saw chain motor 23, and a saw chain 24; the bottom of the electric slide rail 20 is fixed with the electric slide rail support plate 21, the top end of a slide block in the electric slide rail 20 is fixed with the bottom of the saw chain motor support 22, the shaft measuring side of the saw chain motor 23 is fixed with the left side of the saw chain motor support 22, the output shaft of the saw chain motor 23 is fixed with the saw chain 24, and the electric slide rail 20 and the saw chain motor 23 run to enable the saw chain 24 to be close to the trunk and rotate at a high speed.
As shown in fig. 8, the left clamping device 6 and the left clamping device 7 are identical in structure and each include an upper clamping block 25 and a lower clamping block 26; the lower end of the upper clamping block 25 and the upper end of the lower clamping block 26 are fixed through bolts, and the middle of the semicircular pipe is clamped between the upper clamping block 25 and the lower clamping block 26.
As shown in fig. 8, the connecting device 8 includes an upper steering block 27, a lower steering block 28, an upper clamping block 29, a lower clamping block 30; the lower end of the upper steering block 27 is fixed with the upper end of the lower clamping block 30 through a bolt, the left end of the right semicircular tube 5 is clamped between the upper steering block 27 and the lower clamping block 30, the upper end of the lower steering block 28 is fixed with the lower end of the upper clamping block 29 through a bolt, the left end of the left semicircular tube 6 is clamped between the lower steering block 28 and the upper clamping block 27, and the right semicircular tube 5 and the left semicircular tube 6 can rotate by taking the connecting device 8 as an axis through the connecting device 8.
As shown in fig. 8, the locking device 9 includes an upper locking block 34, a lower locking block 33, an upper fixing block 34, and a lower fixing block 31; the lower end of the upper locking block 32 is fixed with the upper end of the lower fixing block 31 through a bolt, the right end of the right semi-circular tube 5 is clamped between the upper locking block 32 and the lower fixing block 31, the upper end of the lower locking block 33 is fixed with the lower end of the upper fixing block 34 through a bolt, and the right end of the right semi-circular tube 5 is clamped between the lower locking block 33 and the upper fixing block.
As shown in fig. 9, the upper driving stage 10 and the lower driving stage 15 have the same structure and comprise a U-shaped fixing plate 35, a driving motor 37, a left boss gear 38 and a right boss gear 36; left boss gear 38 is fixed on the middle left side of U type fixed plate 35, and right boss gear 36 is fixed on the middle right side of U type fixed plate 35, and driving motor 37 goes out the axle side and fixes on U type fixed plate 35 top side, and driving motor 37's drive shaft is fixed through the jackscrew with the boss hole of left boss gear 38, and thereby driving motor 37 rotates and makes left boss gear 38 rotate and drive the tight trunk of upper left clamp arm 11 clamp.
As shown in fig. 10, the U-shaped fixing plate 35 includes a function plate 39, a right-angle connecting plate 40; the right side of the function plate 39 is fixedly connected with the left side of the right-angle connecting plate 40 through bolts.
As shown in fig. 11, the left upper clamp arm 11, the right upper clamp arm 12, the left lower clamp arm 16, and the right lower clamp arm 17 all include a steering link 41, a rotating shaft link 42, a passive steering link 43, and a fixed link 44; the head end of a steering connecting rod 41 is welded with the upper end of a boss gear on the same side, the tail end of the steering connecting rod 41 is fixed with the head end of a rotating shaft connecting rod 42 through a bolt, the head end of a driven steering connecting rod 43 is hinged with the upper end of a function plate 39, and the tail end of the driven steering connecting rod 43 is fixed with the head end of a fixed connecting rod 44 through a bolt.
As shown in fig. 12, the upper left driving steering device 13, the upper right driving steering device 14, the lower left driving steering device 18, and the lower right driving steering device 19 all include a device support plate 45, a motor fixing plate 46, a motor connecting plate 48, a servo motor 47, and a mecanum wheel 49; the upper side of the device supporting plate 45 is fixedly connected with the lower side of the motor fixing plate 46 through a bolt, the left side of the motor connecting plate 48 is fixedly connected with the motor fixing plate 46 through a bolt, the outer side of the motor fixing plate 46 is fixedly connected with one side of a driving shaft of the servo motor 47 through a bolt, and a Mecanum wheel 49 is arranged on the driving shaft of the servo motor 47.
The working process of the embodiment is as follows: the self-weight pruning machine based on Mecanum wheels is placed at the bottom of a trunk, bolt holes of an upper fixing block 34 and a lower fixing block 31 are aligned and fixedly locked through bolts, at the moment, a left upper driving steering device 13, a right upper driving steering device 14, a left lower driving steering device 18 and a right lower driving steering device 19 are tightly attached to the trunk, the left upper clamping arm 11, a right upper clamping arm 12, a left lower clamping arm 16 and a right lower clamping arm 17 are all used for clamping the trunk by controlling a driving motor 37, when the pruning machine is in a horizontal state, the driving motor 37 stops working, a servo motor 47 is controlled to operate to enable the pruning machine to start to ascend along the trunk, when the pruning machine ascends to a certain height, the combined mode of the Mecanum wheels 49 is adjusted through the servo motor 47 to realize the spiral ascending of the machine, meanwhile, an electric slide rail 20 is controlled to advance for a certain distance, a saw chain motor 23 is started to enable a saw chain 24 to rotate at a high speed, at the moment, the pruning, after the tree branches are cut after the tree branches are spirally lifted to a certain height, the saw chain motor 23 is controlled to be shut down to stop the saw chain 24, the electric slide rail 20 is controlled to return to the initial position, the combination mode of the Mecanum wheels 49 is adjusted through the servo motor 47, the pruning machine is spirally lifted, when the tree branches are lifted to a certain distance, the combination mode of the Mecanum wheels 49 is adjusted through the servo motor 47, the pruning machine is linearly lifted to return to the bottom of the trunk, and the tree pruning work is finished.
The center of gravity of the pruning machine is positioned at the outer side of the trunk, the pruning machine can be fixed on the tree by utilizing the self weight without consuming energy, the whole machine has lighter weight and convenient carrying, can adapt to an artificial forest with the diameter of 10-20 cm, has the maximum pruning diameter of 3.5 cm, has high working efficiency of the whole machine, strong adaptability to the environment, safe and reliable operation process and great utilization value.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A self-weight pruning machine based on Mecanum wheels is characterized by comprising a circular frame, a tree climbing mechanism and a cutting mechanism;
the circular ring frame comprises a left semicircular pipe, a right semicircular pipe, a left clamping device, a right clamping device, a connecting device and a locking device; the left side and the right side of the connecting device are respectively connected and fixed with one end of the left semicircular tube and one end of the right semicircular tube, the left clamping device is fixed in the middle of the left semicircular tube, the right clamping device is fixed in the middle of the right semicircular tube, and the left side and the right side of the locking device are respectively connected and fixed with the other end of the left semicircular tube and the other end of the right semicircular tube;
the tree climbing mechanism comprises an upper driving table, a lower driving table, an upper left clamping arm, an upper right clamping arm, a lower left clamping arm, a lower right clamping arm, an upper left driving steering device, an upper right driving steering device, a lower left driving steering device and a lower right driving steering device; the left side and the right side of the upper driving table are respectively connected and fixed with the head end of a left upper clamping arm and the head end of a right upper clamping arm, the left side and the right side of the lower driving table are respectively connected and fixed with the head end of a left lower clamping arm and the head end of a right lower clamping arm, the tail end of the left upper clamping arm is hinged with the right side of a left upper driving steering device, the tail end of the right upper clamping arm is hinged with the left side of a right upper driving steering device, the tail end of the left lower clamping arm is hinged with the right side of the left lower driving steering device, and the tail end of the right;
the cutting mechanism comprises an electric slide rail, an electric slide rail supporting plate, a saw chain motor bracket, a saw chain motor and a saw chain; the bottom of the electric slide rail is fixed with the electric slide rail supporting plate, the top end of the sliding block in the electric slide rail is fixed with the bottom of the saw chain motor support, the shaft extension of the saw chain motor is fixed with the left side of the saw chain motor support, and the output shaft of the saw chain motor is fixed with the saw chain.
2. The mecanum wheel-based pruner of claim 1, wherein: the left clamping device and the right clamping device are identical in structure and comprise an upper clamping block and a lower clamping block, the lower end of the upper clamping block and the upper end of the lower clamping block are fixed through bolts, and the middle of the semicircular pipe is clamped between the upper clamping block and the lower clamping block.
3. The mecanum wheel-based pruner of claim 1, wherein: the connecting device comprises an upper steering block, a lower steering block, an upper clamping block and a lower clamping block, the lower end of the upper steering block and the upper end of the lower clamping block are fixed through bolts, the left end of the right semicircular tube is clamped between the upper steering block and the lower clamping block, the upper end of the lower steering block and the lower end of the upper clamping block are fixed through bolts, and the left end of the left semicircular tube is clamped between the lower steering block and the upper clamping block.
4. The mecanum wheel-based pruner of claim 1, wherein: the locking device comprises an upper locking block, a lower locking block, an upper fixing block and a lower fixing block, wherein the lower end of the upper locking block is fixed with the upper end of the lower fixing block through a bolt, the right end of the right half circular tube is clamped between the upper locking block and the lower fixing block, the upper end of the lower locking block is fixed with the lower end of the upper fixing block through a bolt, and the right end of the right half circular tube is clamped between the lower locking block and the upper fixing block.
5. The mecanum wheel-based pruner of claim 1, wherein: go up the drive table and drive table structure is the same down, all includes U type fixed plate, driving motor, left boss gear, right boss gear, and left boss gear is fixed in the centre left side of U type fixed plate, and right boss gear is fixed on the centre right side of U type fixed plate, and driving motor goes out the axle side and fixes on U type fixed plate top side, and driving motor's drive shaft is fixed through the jackscrew with left boss gear boss hole.
6. The mecanum wheel-based pruner of claim 5, wherein: the U-shaped fixing plate comprises a function plate and a right-angle connecting plate, and the right side of the function plate is fixedly connected with the left side of the right-angle connecting plate through a bolt.
7. The mecanum wheel-based pruner of claim 1, wherein: the upper left clamping arm, the upper right clamping arm, the lower left clamping arm and the lower right clamping arm are the same in structure and comprise a steering connecting rod, a rotating shaft connecting rod, a passive steering connecting rod and a fixed connecting rod, the head end of the steering connecting rod is welded with the upper end of a boss gear on the same side, the tail end of the steering connecting rod is fixed with the head end of the rotating shaft connecting rod through a bolt, the head end of the passive steering connecting rod is hinged to the upper end of a function board, and the tail end of the passive steering connecting rod is fixed with the head end.
8. The mecanum wheel-based pruner of claim 1, wherein: the upper left drive turns to the device, the upper right drive turns to the device, lower left drive turns to the device, lower right drive turns to the device structure the same, all include the device backup pad, the motor fixed plate, the motor connecting plate, gear motor, mecanum wheel, it is fixed that bolted connection is passed through with motor fixed plate downside to device backup pad upside, motor connecting plate left side is fixed with the motor fixed plate through bolted connection, the outside of motor fixed plate passes through bolted connection with gear motor drive shaft one side, mecanum wheel is equipped with in gear motor's the drive shaft.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110020325.6A CN112703910A (en) | 2021-01-07 | 2021-01-07 | Dead weight formula pruning machine based on mecanum wheel |
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| CN202110020325.6A CN112703910A (en) | 2021-01-07 | 2021-01-07 | Dead weight formula pruning machine based on mecanum wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114667855A (en) * | 2022-04-20 | 2022-06-28 | 南京国骄装饰工程有限公司 | Afforestation pruning equipment |
| CN115157402A (en) * | 2022-08-01 | 2022-10-11 | 南京林业大学 | Crawling type bamboo delimbing machine |
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| CN109819798A (en) * | 2019-03-15 | 2019-05-31 | 广西大学 | It is a kind of to be climbed the eucalyptus pruner of power using self gravity increase |
| CN111386886A (en) * | 2020-04-19 | 2020-07-10 | 朱若良 | Rapid repairing method for branch of landscaping nursery stock |
| CN111864621A (en) * | 2020-06-15 | 2020-10-30 | 广东电网有限责任公司 | Climbing device |
| CN112141235A (en) * | 2020-09-21 | 2020-12-29 | 桂林电子科技大学 | Bionic tree-inhabiting reconnaissance monitoring robot |
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| CN114667855A (en) * | 2022-04-20 | 2022-06-28 | 南京国骄装饰工程有限公司 | Afforestation pruning equipment |
| CN115157402A (en) * | 2022-08-01 | 2022-10-11 | 南京林业大学 | Crawling type bamboo delimbing machine |
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