CN117397484B - Forestry is supplementary prunes with robot of crawling - Google Patents
Forestry is supplementary prunes with robot of crawling Download PDFInfo
- Publication number
- CN117397484B CN117397484B CN202311539579.4A CN202311539579A CN117397484B CN 117397484 B CN117397484 B CN 117397484B CN 202311539579 A CN202311539579 A CN 202311539579A CN 117397484 B CN117397484 B CN 117397484B
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- lifting
- rod
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- 230000009193 crawling Effects 0.000 title claims abstract description 19
- 244000141353 Prunus domestica Species 0.000 title description 4
- 230000009194 climbing Effects 0.000 claims abstract description 43
- 238000005507 spraying Methods 0.000 claims abstract description 14
- 238000013138 pruning Methods 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims 1
- 238000009966 trimming Methods 0.000 abstract description 14
- 210000003781 tooth socket Anatomy 0.000 abstract description 13
- 230000003014 reinforcing effect Effects 0.000 abstract description 7
- 239000000443 aerosol Substances 0.000 description 15
- 239000003973 paint Substances 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 239000007921 spray Substances 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012946 outsourcing Methods 0.000 description 3
- 238000007592 spray painting technique Methods 0.000 description 3
- 241000607479 Yersinia pestis Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
-
- 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
- A01G13/00—Protecting plants
-
- 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
-
- 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
- A01G13/00—Protecting plants
- A01G2013/004—Liquid mulch
Abstract
The invention discloses a crawling robot for forestry auxiliary trimming, which comprises a climbing mechanism, an anti-falling mechanism and a sawing mechanism, wherein the anti-falling mechanism is arranged on one side of the climbing mechanism, and the sawing mechanism is arranged on the other side of the climbing mechanism; the sawing mechanism comprises a movable seat, a third motor, a third gear, an adjusting frame, a reinforcing fork plate, an adjusting seat, a fourth motor, a fourth gear, a third tooth socket, a guide rod, a first screw rod, a saw seat, a fifth motor, a lifting mechanism, a spraying mechanism, a fifth gear, an eighth motor and a fourth tooth socket, wherein a fifth gear is arranged on the inner side of the top of the movable seat. According to the invention, the fifth motor provides power for the rotation of the first screw rod through the fifth gear box, the first screw rod further drives the saw seat to linearly move on the guide rod and the first screw rod, and the branches are sawn, so that the linear cutting is realized, the cutting direction is consistent with the width direction of the cutter body, the phenomenon that the arc cutting is easy to clamp is avoided, the cutting difficulty of sawing is reduced, and the pruning efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of forestry assistance, and particularly relates to a crawling robot for forestry assistance trimming.
Background
The tree branches are trimmed, so that the reasonable distribution of the nutrient substances of the tree can be regulated, the growth speed of the tree is improved, the tree branches are required to be trimmed in time according to the growth condition of the tree in the tree maintenance process, meanwhile, paint is sprayed at the trimmed cut positions, the situation that pests are in the deficiency state can be avoided, the loss of water can be reduced, and the health degree of the tree is improved;
the robot climbing pruning method with controllable track of application number 201810646393.1 comprises the following steps: and (3) mounting and fixing: mounting a tree climbing robot on a trunk of a tree to be trimmed; adjusting the helix angle: adjusting the angle between the driving wheel of the tree climbing robot and the axis of the trunk, and selecting an angle position; climbing and pruning: the control climbing robot climbs upwards around the trunk surface at a certain helix angle, and has the following problems in the treatment process: 1) In the spiral climbing process, the branches are trimmed through the electric saw, and the spiral climbing is arc-shaped, so that the sawing path of the branches is arc-shaped to feed around the tree body by the electric saw, and the clamping knife phenomenon can occur in the arc-shaped path feeding process due to the fact that the electric saw has a certain width, so that the sawing and feeding of the branches are difficult, and the trimming efficiency is greatly reduced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a crawling robot for forestry auxiliary pruning, which drives a sawing mechanism to move through a climbing mechanism, prunes branches through the sawing mechanism and can prevent the climbing mechanism from stalling and falling.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the crawling robot for forestry auxiliary trimming comprises a climbing mechanism, an anti-falling mechanism and a sawing mechanism, wherein the anti-falling mechanism is arranged on one side of the climbing mechanism, and the sawing mechanism is arranged on the other side of the climbing mechanism;
the saw cutting mechanism comprises a movable seat, a third motor, a third gear, an adjusting frame, a reinforcing fork plate, an adjusting seat, a fourth motor, a fourth gear, a third tooth socket, a guide rod, a first lead screw, a saw seat, a fifth motor, a lifting mechanism, a spraying mechanism, a fifth gear, an eighth motor and a fourth tooth socket, wherein the inner side of the top of the movable seat is provided with the fifth gear, the fifth gear is connected with the output end of the eighth motor, the eighth motor is connected with the movable seat, one side of the movable seat is provided with the third motor, the output end of the third motor is connected with the third gear, the third gear is connected with the movable seat, the bottoms of two sides of the adjusting frame are respectively connected with the movable seat in a sliding manner, the inner side of the adjusting frame is provided with the reinforcing fork plate, the tops of two sides of the adjusting seat are connected with the adjusting seat in a sliding manner, one side of the adjusting seat is provided with the fourth motor, the output end of the fourth motor is connected with the fourth gear, the fourth gear is connected with the adjusting seat, two sides of the adjusting frame are respectively provided with the third tooth socket, the fourth gear is meshed with the fourth gear, the bottom of the fourth gear is meshed with the third gear, the fourth tooth socket is meshed with the fifth gear, the fifth gear is fixedly connected with the two ends of the guide rod, the two ends of the saw seat are fixedly connected with the guide screw and the saw seat are movably connected with the two ends of the saw seat, and the guide screw is connected with one side of the saw seat through the guide screw.
Preferably, the lifting mechanism comprises a rotating shaft, a sixth motor, a connecting arm, a fixed plate, a second screw rod, a seventh motor, a lifting frame, a fixed plate, lifting arms, lifting blocks, sliding columns and grooves, wherein the rotating shaft is movably connected with the adjusting frame, one end of the rotating shaft is connected with the output end of the sixth motor through a sixth gear box, the sixth motor is connected with the adjusting frame through a sixth gear box, the rotating shaft is connected with one ends of two groups of connecting arms, the connecting arms are slidably connected with the lifting frame, the lifting frame is slidably connected with the sliding columns, the outer sides of the sliding columns are provided with second springs, one sides of the lifting frames are provided with a plurality of grooves, the grooves correspond to the sliding columns and the second springs, the lifting frame is fixedly connected with the fixed plate, a group of connecting arms are provided with notches corresponding to the fixed plate, the fixed plate is movably connected with one ends of the lifting arms, two ends of the fixed plate are connected with the connecting arms, the lifting blocks are movably connected with the second screw rod through threads, one ends of the second screw rod are movably connected with the connecting arms, the other ends of the second screw rod are connected with the output ends of the seventh motor through the seventh gear box, and the seventh motor are connected with the seventh motor through the seventh gear box.
Preferably, a certain gap is formed between the two sides of the lifting frame and the inner side of the adjusting frame, so that the adjusting seat can slide conveniently.
Preferably, the upper surface of lifting frame, fixed plate, lifting arm and lifting piece when falling flush with the alignment jig upper surface, the upper surface of linking arm when falling, from the junction with the fixed plate to with lifting frame link, flush with the alignment jig upper surface, make things convenient for the saw bench to remove.
Preferably, the spraying mechanism comprises a second electric putter, the extension rod, the coaster, third electric putter, the control frame, auxiliary rod, the hoist and mount pole, the mounting bracket, the arc pole, the dead lever, the backplate, preceding baffle, second electric putter is connected with the adjustment frame, second electric putter output and extension rod are connected, extension rod both sides and coaster fixed connection, coaster and coaster sliding connection, coaster one end and adjustment frame fixed connection, coaster opposite side and reinforcement fork plate fixed connection, extension rod one end bottom and mounting bracket fixed connection, mounting bracket one end and preceding baffle fixed connection, mounting bracket and arc pole fixed connection, mounting bracket one side and dead lever pass through threaded connection, dead lever and backplate sliding connection, extension rod bottom side and third electric putter are connected, third electric putter output and control frame are connected, control frame one side is equipped with the auxiliary rod, in the middle of the auxiliary rod and hoist and mount pole swing joint, hoist and mount pole fixed connection, auxiliary rod one end sets up in preceding baffle below.
Preferably, climbing mechanism includes the equipment ring, supports slide rail, first tooth's socket, adapter sleeve, regulating arm, first screw thread tooth, thread bush, first gear box, first motor, first stopper, electric wheel, slip cap, first gear, first rack, outsourcing box, second motor, second gear, equipment ring both ends all with adapter sleeve fixed connection, connect through screw and adapter sleeve between the equipment ring, the equipment ring top is equipped with the support slide rail, support slide rail one side is equipped with first tooth's socket, first tooth's socket and third gear engagement, support slide rail and movable seat sliding connection, every group equipment ring and two sets of slip cap swing joint, slip cap one side is equipped with the thread bush, thread bush one side is equipped with a pair of first stopper, first stopper and equipment ring fixed connection, the thread bush outside is through first gear box and first motor output connection, first screw thread bush and regulating arm outside first screw thread tooth and slip cap sliding connection, regulating arm one end and a pair of electric wheel connection, the slip cap outside is equipped with first gear, first tooth and first tooth's socket and first motor tooth's socket are equipped with first rack, first rack outside is equipped with inside the outsourcing box, the first rack outside is equipped with the first gear outside the equipment ring outside, the first gear engagement is connected to the outsourcing box outside, the second rack outside is equipped with the first rack outside and the second rack.
Preferably, the anti-falling mechanism comprises a ratchet wheel, an anti-falling arm, a fixed seat, a guide rail, a first electric push rod, a push plate, a push frame, a first spring and a push connecting plate, wherein the fixed seat is fixedly connected with an assembly ring, one side of the fixed seat is provided with the first electric push rod, the output end of the first electric push rod is connected with the push plate, two sides of the push plate are slidably connected with the guide rail, the guide rail is fixedly connected with the fixed seat, the push plate is slidably connected with the push frame, the first spring is arranged on the outer side of the push frame, the push connecting plate is arranged on the bottom side of the push frame, the push connecting plate is fixedly connected with one end of the anti-falling arm, the bottom of the fixed seat is movably connected with the anti-falling arm, and the other end of the anti-falling arm is connected with the ratchet wheel.
Compared with the prior art, the invention has the beneficial effects that:
1) The eighth motor provides power for the rotation of the fifth gear during climbing, the fourth gear drives the adjusting frame to slide on the movable seat through the fourth tooth slot, the distance between the adjusting frame and the tree body is changed, the adjusting frame and the tree body are prevented from being scratched, the third motor provides power for the rotation of the third gear, the movable seat is driven to move on the climbing mechanism, the adjusting frame is driven to move, the relative position of the tree body and the adjusting frame is changed, the adjusting frame is positioned below a tree branch needing to be sawed, the fourth motor provides power for the rotation of the fourth gear, the fourth gear and the third tooth slot are matched to drive the adjusting seat to slide on the adjusting frame, so that the distance between the guide rod, the saw seat and the electric saw relative to the tree body and the tree branch is changed, the electric saw is started, the fifth motor provides power for the rotation of the first lead screw through the fifth gear box, the first lead screw drives the saw seat to move on the guide rod and the first lead screw in a straight line, and the tree branch is sawed, the cutting direction is kept consistent with the width direction of the cutter, the arc cutter is prevented from being blocked easily, and the cutting difficulty of the cutting cutter is reduced, and the cutting efficiency of sawing is improved;
2) The connecting arm is driven by the rotating shaft, the lifting frame is rotated and lifted, after the lifting, the second screw is rotated and provided with power by the seventh motor through the seventh gear box, the lifting block is driven by the second screw to move, the lifting block and the fixing plate slide relatively, the lifting frame is driven by the lifting arm and the fixing plate to slide on the connecting arm, the distance between the lifting frame and a branch needing sawing is adjusted, the bottom of the branch is supported by the lifting frame, the branch extrudes a sliding column below the branch to slide on the lifting frame, the second spring is compressed until the sliding column is pressed into the groove, and other sliding columns limit the two sides of the branch, so that the shaking of the branch is reduced, the branch can be kept in a stable state when the branch is sawed, and the sawing difficulty is reduced;
3) The third electric putter removes for the control frame and provides power, and the control frame then drives auxiliary rod and rotates in hoist and mount pole department, and the auxiliary rod then extrudees the push switch on the aerosol canister, spouts paint to incision department, and the seat that removes simultaneously reciprocates on climbing mechanism and slides, drives adjustment frame, extension rod, mounting bracket, aerosol canister reciprocating motion to carry out spraying paint to the incision to incision on the tree body forms the protection film, reduces the loss of moisture and reduces the invasion of insect pest.
Drawings
FIG. 1 is a schematic structural diagram of a crawling robot for forestry auxiliary trimming;
FIG. 2 is an enlarged view of FIG. 1 at A;
FIG. 3 is a schematic structural view of a climbing mechanism in the crawling robot for forestry auxiliary trimming;
FIG. 4 is a schematic diagram of the internal structure of a climbing mechanism in the crawling robot for forestry auxiliary trimming;
FIG. 5 is an enlarged view of FIG. 4 at B;
FIG. 6 is a schematic structural view of a sawing mechanism in the crawling robot for forestry auxiliary trimming;
FIG. 7 is a schematic diagram of the other side structure of the sawing mechanism in the crawling robot for forestry auxiliary trimming;
FIG. 8 is a schematic view of a sawing mechanism in the crawling robot for forestry auxiliary trimming, which is provided by the invention;
FIG. 9 is a schematic structural view of a lifting mechanism in the crawling robot for forestry auxiliary trimming;
FIG. 10 is a schematic structural view of a spraying mechanism in the crawling robot for forestry auxiliary trimming;
in the figure: 1. a climbing mechanism; 11. assembling a ring; 12. supporting the slide rail; 121. a first tooth slot; 13. connecting sleeves; 14. an adjusting arm; 15. a first screw thread; 16. a thread sleeve; 17. a first gear box; 18. a first motor; 19. a first limiting block; 101. an electric wheel; 102. a sliding sleeve; 103. a first gear; 104. a first rack; 105. an outer packing box; 106. a second motor; 107. a second gear; 2. an anti-falling mechanism; 21. a ratchet wheel; 22. an anti-falling arm; 23. a fixing seat; 24. a guide rail; 25. a first electric push rod; 26. a pushing plate; 27. a pushing frame; 28. a first spring; 29. a connecting push plate; 3. a sawing mechanism; 31. a movable seat; 32. a third motor; 33. a third gear; 34. an adjusting frame; 341. reinforcing fork plates; 35. an adjusting seat; 36. a fourth motor; 37. a fourth gear; 38. a third tooth slot; 39. a guide rod; 301. a first lead screw; 302. saw base; 303. a fifth motor; 304. a lifting mechanism; 41. a rotating shaft; 42. a sixth motor; 43. a connecting arm; 44. a fixing plate; 45. a second lead screw; 46. a seventh motor; 47. a lifting frame; 48. a fixing plate; 49. lifting the arm; 401. lifting blocks; 402. a sliding column; 403. a groove; 305. a spraying mechanism; 51. a second electric push rod; 52. an extension rod; 53. a skid; 54. a sliding block; 55. a third electric push rod; 56. a control rack; 57. an auxiliary lever; 58. hoisting a rod; 59. a mounting frame; 501. an arc-shaped rod; 502. a locking lever; 503. a rear baffle; 504. a front baffle; 306. a fifth gear; 307. an eighth motor; 308. fourth tooth slot.
Detailed Description
The technical scheme of the present invention will be further specifically described below with reference to fig. 1 to 10 for the convenience of understanding of those skilled in the art.
The crawling robot for forestry auxiliary trimming comprises a climbing mechanism 1, an anti-falling mechanism 2 and a sawing mechanism 3, wherein the anti-falling mechanism 2 is arranged on one side of the climbing mechanism 1, and the sawing mechanism 3 is arranged on the other side of the climbing mechanism 1;
the sawing mechanism 3 comprises a movable seat 31, a third motor 32, a third gear 33, an adjusting frame 34, a reinforcing fork plate 341, an adjusting seat 35, a fourth motor 36, a fourth gear 37, a third tooth socket 38, a guide rod 39, a first screw 301, a saw seat 302, a fifth motor 303, a lifting mechanism 304, a spraying mechanism 305, a fifth gear 306, an eighth motor 307 and a fourth tooth socket 308, wherein the fifth gear 306 is arranged on the inner side of the top of the movable seat 31, the output end of the fifth gear 306 is connected with the output end of the eighth motor 307, the eighth motor 307 is connected with the movable seat 31, one side of the movable seat 31 is provided with the third motor 32, the output end of the third motor 32 is connected with the third gear 33, the third gear 33 is connected with the movable seat 31, the bottoms of the two sides of the adjusting frame 34 are respectively connected with the movable seat 31 in a sliding way, the reinforcing fork plate 341 is arranged on the inner side of the adjusting frame 34, the top of two sides of the adjusting seat 35 is slidably connected with the adjusting seat 35, one side of the adjusting seat 35 is provided with a fourth motor 36, the output end of the fourth motor 36 is connected with a fourth gear 37, the fourth gear 37 is connected with the adjusting seat 35, two sides of the adjusting frame 34 are provided with third tooth grooves 38, the fourth gear 37 is meshed with the third tooth grooves 38, the bottom side of the adjusting frame 34 is provided with fourth tooth grooves 308, the fourth tooth grooves 308 are meshed with a fifth gear 306, the two ends of the adjusting seat 35 are fixedly connected with two ends of a guide rod 39, two ends of a first lead screw 301 are movably connected with the adjusting seat 35, one end of the first lead screw 301 is connected with the output end of a fifth motor 303 through a fifth gear box, the first lead screw 301 is connected with a saw seat 302 through threads, the saw seat 302 is slidably connected with the guide rod 39, one side of the saw seat 302 is provided with an electric saw, one side of the adjusting frame 34 is provided with a lifting mechanism 304, and the other side of the adjusting frame 34 is provided with a spraying mechanism 305;
the climbing mechanism 1 is arranged on a tree body, the sawing mechanism 3 is climbed to a position needing sawing through the climbing mechanism 1, and the falling prevention mechanism 2 prevents the climbing mechanism 1 from stalling and falling;
the eighth motor 307 provides power for the rotation of the fifth gear 306 during climbing, and drives the adjusting frame 34 through the fourth tooth slot 308 to slide on the movable seat 31, the distance between the adjusting frame 34 and the tree body is changed, the adjusting frame 34 and the tree body are prevented from being scratched, the third motor 32 provides power for the rotation of the third gear 33, and then drives the movable seat 31 to move on the climbing mechanism 1, and then drives the adjusting frame 34 to move, so that the relative positions of the tree body and the adjusting frame 34 are changed, the adjusting frame 34 is positioned below branches needing to be sawed, the fourth motor 36 provides power for the rotation of the fourth gear 37, the fourth gear 37 and the third tooth slot 38 cooperate to drive the adjusting seat 35 to slide on the adjusting frame 34, so that the distance between the guide rod 39, the saw seat 302 and the electric saw relative to the tree body and the branches is changed, meanwhile, the electric saw is started, the fifth motor 303 provides power for the rotation of the first lead screw 301 through the fifth gear box, the first lead screw 301 drives the saw seat 302 to move on the guide rod 39 and the first lead screw 301, and then the adjustment frame 34 moves to saw the branches, and simultaneously the branches are sawed, and the lifting mechanism 304 cuts the branches until the branches are cut off, and the cut support is carried by the cutting mechanism, and paint is sprayed on the cut body.
The lifting mechanism 304 comprises a rotating shaft 41, a sixth motor 42, a connecting arm 43, a fixed plate 44, a second lead screw 45, a seventh motor 46, a lifting frame 47, a fixedly connected plate 48, a lifting arm 49, a lifting block 401, a sliding column 402 and a groove 403, wherein the rotating shaft 41 is movably connected with the adjusting frame 34, one end of the rotating shaft 41 is connected with the output end of the sixth motor 42 through a sixth gear box, the sixth motor 42 is connected with the adjusting frame 34 through the sixth gear box, one end of the rotating shaft 41 is connected with one end of two groups of connecting arms 43, the connecting arms 43 are slidably connected with the lifting frame 47, the lifting frame 47 is slidably connected with the sliding columns 402, a second spring is arranged outside the sliding column 402, one side of the lifting frame 47 is provided with a plurality of grooves 403, the grooves 403 correspond to the sliding columns 402 and the second spring, the lifting frame 47 is fixedly connected with the fixedly connected plate 48, one end of the fixedly connected plate 48 is arranged on one group of connecting arms 43, the fixedly connected plate 48 is movably connected with one end of the lifting arm 49, the other end of the lifting arm 49 is movably connected with the lifting block 401, one side of the fixed plate 44 is connected with the connecting arm 43, two ends of the fixed plate 44 are connected with the connecting arm 43 and the connecting arm 45 through the second lead screw 45 and the seventh motor 46, and the other end of the seventh motor is movably connected with the other end of the lifting arm 45 through the second lead screw 45 and the second lead screw 46;
the adjusting seat 35, the guide rod 39 and the saw seat 302 slide on the adjusting frame 34 and are far away from the lifting frame 47, the lifting frame 47 is prevented from being interfered to rotate and lift, the sixth motor 42 provides power for the rotation of the rotation shaft 41 through the sixth gear box, the rotation shaft 41 drives the connecting arm 43 and the lifting frame 47 to rotate and lift, after lifting, the seventh motor 46 provides power for the rotation of the second lead screw 45 through the seventh gear box, the second lead screw 45 further drives the lifting block 401 to move, the lifting block 401 and the fixing plate 44 slide relatively, the lifting arm 49 and the fixing plate 48 further drive the lifting frame 47 to slide on the connecting arm 43, the distance between the lifting frame 47 and a branch needing sawing is adjusted, the lifting frame 47 supports the bottom of the branch, the branch extrudes the sliding column 402 below the lifting frame 47 to slide on the lifting frame 47, and compresses the second spring until the sliding column 402 is pressed into the groove 403, and other sliding columns 402 form limit on two sides of the branch, the branch is prevented from shaking greatly, and the electric saw is assisted to prune the branch.
The two sides of the lifting frame 47 have a certain gap with the inner side of the adjusting frame 34, so that the adjusting seat 35 can slide conveniently.
The upper surface of the lifting frame 47, the fixed plate 44, the lifting arms 49 and the lifting blocks 401 when being laid down is flush with the upper surface of the adjusting frame 34, and the upper surface of the connecting arms 43 when being laid down is flush with the upper surface of the adjusting frame 34 from the connection part with the fixed plate 44 to the connection end with the lifting frame 47, so that the saw base 302 can be conveniently moved.
The spraying mechanism 305 comprises a second electric push rod 51, an extension rod 52, a sliding frame 53, a sliding block 54, a third electric push rod 55, a control frame 56, an auxiliary rod 57, a lifting rod 58, a mounting frame 59, an arc-shaped rod 501, a locking rod 502, a rear baffle 503 and a front baffle 504, wherein the second electric push rod 51 is connected with the adjusting frame 34, the output end of the second electric push rod 51 is connected with the extension rod 52, two sides of the extension rod 52 are fixedly connected with the sliding block 54, the sliding block 54 is slidably connected with the sliding frame 53, one end of the sliding frame 53 is fixedly connected with the adjusting frame 34, the other side of the sliding frame 53 is fixedly connected with the reinforcing fork plate 341, one end bottom of the extension rod 52 is fixedly connected with the mounting frame 59, one end of the mounting frame 59 is fixedly connected with the front baffle 504, the mounting frame 59 is fixedly connected with the arc-shaped rod 501, one side of the mounting frame 59 is fixedly connected with the locking rod 502 through threads, the locking rod 502 is slidably connected with the rear baffle 503, the bottom side of the extension rod 52 is connected with the third electric push rod 55, the output end of the third electric push rod 55 is connected with the control frame 56, one side of the control frame 56 is provided with the auxiliary rod 57, the middle of the auxiliary rod 57 is movably connected with the lifting rod 58, the lifting rod 58 is fixedly connected with the lifting rod 58, one end of the lifting rod 58 is fixedly connected with the lifting rod 52, and the front baffle 57 is fixedly arranged below the front baffle 57;
before sawing, the disposable aerosol can is installed on the arc-shaped rod 501, and the spray painting end is installed at the front baffle 504, so that the spray nozzle of the aerosol can faces the direction of a tree body, the locking rod 502 is rotated, the aerosol can is clamped by the rear baffle 503 and the front baffle 504, after branches are sawn, the climbing mechanism 1 drives the adjusting frame 34 to move, the heights of the aerosol can and the tree body are adjusted, the spray nozzle of the aerosol can is positioned at the notch level, the second electric push rod 51 provides power for the movement of the extension rod 52, the extension rod 52 drives the sliding block 54 to slide on the sliding frame 53, the mounting frame 59 and the aerosol can are driven to move, the distance between the aerosol can and the notch is adjusted, the spray painting effect is guaranteed, the third electric push rod 55 provides power for the movement of the control frame 56, the control frame 56 drives the auxiliary rod 57 to rotate at the lifting rod 58, the auxiliary rod 57 presses the push switch on the aerosol can, the paint is sprayed to the notch, and the moving seat 31 slides back and forth on the climbing mechanism 1, and forth on the adjusting frame 34, the extension rod 52, the mounting frame 59 and the aerosol can reciprocate, and the aerosol can reciprocate to move to the notch, and spray paint.
The climbing mechanism 1 comprises an assembly ring 11, a support slide rail 12, a first tooth socket 121, a connecting sleeve 13, an adjusting arm 14, a first screw tooth 15, a screw sleeve 16, a first gear box 17, a first motor 18, a first limiting block 19, an electric wheel 101, a sliding sleeve 102, a first gear 103, a first rack 104, an outer packing box 105, a second motor 106 and a second gear 107, wherein two ends of the assembly ring 11 are fixedly connected with the connecting sleeve 13, the assembly ring 11 is connected with the connecting sleeve 13 through screws, the top of the assembly ring 11 is provided with the support slide rail 12, one side of the support slide rail 12 is provided with the first tooth socket 121, the first tooth socket 121 is meshed with a third gear 33, the support slide rail 12 is in sliding connection with a movable seat 31, each group of the assembly ring 11 is movably connected with two groups of the sliding sleeves 102, one side of the sliding sleeve 102 is provided with the screw sleeve 16, a pair of first limiting blocks 19 are arranged on one side of a threaded sleeve 16, the first limiting blocks 19 are fixedly connected with an assembly ring 11, the outer side of the threaded sleeve 16 is connected with the output end of a first motor 18 through a first gear box 17, the threaded sleeve 16 is connected with a first screw tooth 15 on the outer side of an adjusting arm 14 through threads, the adjusting arm 14 is connected with a first screw tooth 15 in a sliding mode with a sliding sleeve 102 in a sliding mode, one end of the adjusting arm 14 is connected with a pair of electric wheels 101, a first gear 103 is arranged on the outer side of the sliding sleeve 102, the first gear 103 is meshed with a first rack 104, a second tooth socket is arranged on one side of the first rack 104, an outer packaging box 105 is arranged on the outer side of the first rack 104, the outer packaging box 105 is connected with the inner side of the assembly ring 11, the second tooth socket is meshed with a second gear 107, the second gear 107 is connected with the output end of a second motor 106, and the second motor 106 is arranged on the outer side of the assembly ring 11;
the first motor 18 provides power for the rotation of the threaded sleeve 16 through the first gear box 17, the threaded sleeve 16 is matched with the first screw teeth 15 to drive the adjusting arm 14 to move, the distance between the electric wheel 101 and the tree body is adjusted, the electric wheel 101 is tightly attached to the tree body, the electric wheel 101 is rotated to drive the assembly ring 11 to move on the tree body, the second motor 106 provides power for the rotation of the second gear 107, the second gear 107 drives the first rack 104 to slide in the outer box 105 through the second tooth slot, the first gear 103 and the sliding sleeve 102 are driven to rotate, the first screw teeth 15 and the adjusting arm 14 are driven to rotate, the angle of the electric wheel 101 is adjusted, and the positions of the wheel and the tree body can be adjusted when the wheel moves on the tree body; the third gear 33 rotates to cooperate with the first tooth slot 121 to drive the movable seat 31 to slide on the supporting slide rail 12.
The anti-falling mechanism 2 comprises a ratchet wheel 21, an anti-falling arm 22, a fixed seat 23, a guide rail 24, a first electric push rod 25, a push plate 26, a push frame 27, a first spring 28 and a push plate 29, wherein the fixed seat 23 is fixedly connected with the assembly ring 11, one side of the fixed seat 23 is provided with the first electric push rod 25, the output end of the first electric push rod 25 is connected with the push plate 26, two sides of the push plate 26 are slidably connected with the guide rail 24, the guide rail 24 is fixedly connected with the fixed seat 23, the push plate 26 is slidably connected with the push frame 27, the outer side of the push frame 27 is provided with the first spring 28, the bottom side of the push frame 27 is provided with the push plate 29, one end of the push plate 29 is fixedly connected with one end of the anti-falling arm 22, the anti-falling arm 22 is movably connected with the bottom of the fixed seat 23, and the other end of the anti-falling arm 22 is connected with the ratchet wheel 21;
when climbing upwards, the first electric push rod 25 provides power for the movement of the push plate 26, the push plate 26 is close to the push connecting plate 29 to compress the first spring 28, the first spring 28 further provides elasticity for the push connecting plate 29 through the push frame 27, so that the anti-falling arm 22 drives the ratchet wheel 21 to cling to the tree body, and when the assembly ring 11 stalls and descends, the ratchet wheel 21 stops rotating and clamps the tree body to prevent the tree body from continuing descending.
A crawling robot for forestry auxiliary trimming has the following working process:
sawing:
before sawing operation, the disposable aerosol can is arranged on the arc-shaped rod, the spray painting end is arranged at the front baffle plate, the spray nozzle of the aerosol can faces the direction of the tree body, the locking rod is rotated, the aerosol can is clamped by the rear baffle plate and the front baffle plate, the climbing mechanism is arranged on the tree body, the electric wheel is tightly attached to the tree body, the electric wheel further rotates to drive the assembly ring to move on the tree body, the sawing mechanism is climbed to the position needing sawing through the climbing mechanism,
the eighth motor provides power for the rotation of the fifth gear during climbing, the fourth gear drives the adjusting frame to slide on the movable seat, the distance between the adjusting frame and the tree body is changed, the adjusting frame and the tree body are prevented from being scratched, the third motor provides power for the rotation of the third gear, the rotation of the third gear is matched with the first gear groove to drive the movable seat to slide on the supporting sliding rail, and further the adjusting frame is driven to move, so that the relative position of the tree body and the adjusting frame is changed, the adjusting frame is positioned below a tree branch to be sawed, the fourth motor provides power for the rotation of the fourth gear, the fourth gear is matched with the third gear groove to drive the adjusting seat to slide on the adjusting frame, so that the distance between the guide rod, the saw seat and the tree body is changed, the electric saw is started, the fifth motor provides power for the rotation of the first screw through the fifth gear box, and the first screw is further driven to move linearly on the guide rod and the first screw, and the tree branch is sawed;
before sawing operation, the adjusting seat, the guide rod and the saw seat slide on the adjusting frame and are far away from the lifting frame, so that interference of rotation and lifting of the lifting frame are avoided, a sixth motor provides power for rotation of the rotating shaft through a sixth gear box, the rotating shaft drives the connecting arm and the lifting frame to rotate and lift, sawing operation is performed after the rotating shaft is lifted, a seventh motor provides power for rotation of a second screw rod through a seventh gear box, the second screw rod further drives the lifting block to move, the lifting block and the fixing plate slide relatively, the lifting arm and the fixing plate drive the lifting frame to slide on the connecting arm, the distance between the lifting frame and a branch needing to be sawed is adjusted, the lifting frame supports the bottom of the branch, the branch extrudes a sliding column below the lifting frame to slide on the lifting frame, and compresses a second spring until the sliding column is pressed into the groove, and other sliding columns form limit positions on two sides of the branch, so that the branch is prevented from shaking greatly, and the branch is trimmed by the auxiliary saw;
and (3) spraying:
after the branches are sawed, the climbing mechanism drives the adjusting frame to move, the heights of the aerial fog cans and the tree body are adjusted, the nozzle of the aerial fog cans is positioned at the notch level, the second electric push rod provides power for the movement of the extension rod, the extension rod drives the sliding block to slide on the sliding frame, the mounting frame and the aerial fog cans are driven to move, the distance between the aerial fog cans and the notch is adjusted, the paint spraying effect is guaranteed, the third electric push rod provides power for the movement of the control frame, the control frame further drives the auxiliary rod to rotate at the lifting rod, the auxiliary rod further presses the pressing switch on the aerial fog cans to spray paint to the notch, and meanwhile the moving seat slides back and forth on the climbing mechanism to drive the adjusting frame, the extension rod, the mounting frame and the aerial fog cans to reciprocate, so that paint is sprayed on the notch.
The foregoing is merely illustrative and explanatory of the invention, as it is well within the scope of the invention as claimed, as it relates to various modifications, additions and substitutions for those skilled in the art, without departing from the inventive concept and without departing from the scope of the invention as defined in the accompanying claims.
Claims (3)
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| CN202311539579.4A CN117397484B (en) | 2023-11-18 | 2023-11-18 | Forestry is supplementary prunes with robot of crawling |
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