CN205158070U - Mechanical arm control device of tall and big trees pruning - Google Patents
Mechanical arm control device of tall and big trees pruning Download PDFInfo
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- CN205158070U CN205158070U CN201521019979.3U CN201521019979U CN205158070U CN 205158070 U CN205158070 U CN 205158070U CN 201521019979 U CN201521019979 U CN 201521019979U CN 205158070 U CN205158070 U CN 205158070U
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Abstract
The utility model relates to a mechanical arm control device of tall and big trees pruning, including video image acquisition unit and the control unit. Video image acquisition unit be used for shooing tall and big trees branch video image to convey to the industry panel computer. The video image that shoots according to video image acquisition unit of the control unit, operating personnel passes through video image and confirms prune saw and branch relative position, control is pruned the saw and is accomplished pruning work. Video image acquisition unit include digital wireless camera and USB digit wireless receiver. The control unit include touch screen formula industry panel computer module, elevating platform control module, carousel control module, arm control module and prune saw control module. The utility model discloses a dull and stereotyped computer control of industry, degree of automation is high, saves the labour, adopts wireless video image system, need not the manual work and participates in the pruning directly, and the security is high, application RS485 bus communication, communication distance is long, is fit for tall and big trees pruning operation, and overall structure is simple, and convenient operation is suitable for in the woodland operation of pruning.
Description
Technical field
The utility model belongs to forestry machinery field, especially relates to a kind of tall and big trees pruning manipulator control device, for the automatic control to tall and big trees pruner mechanical arm, completes pruning work.
Background technology
Trees pruning is an important process in production of forestry, and the pruning of tall and big trees occupies very large ratio in production of forestry management.Tall and big trees Pruning is mainly divided into two kinds: one is single and selects to prune, and mainly prunes trees withered or died branch, disease and pest branch, obstacle branch, wind fall; One is pruning, mainly prunes all branches in trunk middle and lower part.At present, the tall and big planting tree area of China constantly expands, but it is backward in technique to prune, and mechanization, automaticity are low.
At present, tall and big trees commonly use pruning machinery the various ways such as hand-held, vehicular.Hand-held pruning instrument is flexible Gao Zhiju mainly, on the basis of improve conventional handsaw, is provided with the working beam of Telescopic, use simple, cheap, but its height of pruning only have about 2 ~ 4 meters, there is the problem such as binding, disconnected saw, mechanization degree is not high.Vehicular pruner is folding-jib or telescopic boom high-altitude operation vehicle mainly, and rely on Operation Van to be lifted to around branch by operator, operation of manually pruning, exists the problems such as poor stability, labour intensity is large, automaticity is low.
There is robotization in trees pruner mechanical arm tool, intelligence degree is low for tall and big, and the problems such as blank still located by large tree pruning machinery, are badly in need of a kind of tall and big trees pruning manipulator control device of invention, complete the pruning work of tall and big trees.
Summary of the invention
The utility model provides a kind of tall and big trees pruning manipulator control device to solve tall and big trees pruning problem, make operating personnel according to video image, the interlock of controller mechanical arm, rotating disk and lifting table, realize pruner end trim saw all around, move up and down, to complete the pruning work of tall and big trees.
The technical scheme that a kind of tall and big trees pruning manipulator control device that the utility model relates to adopts: comprise video image acquisition unit and control module.Described video image acquisition unit for taking tall and big trees branch video image, and is sent to industrial panel computer.Described control module is according to the video image of video image acquisition unit photographs, and operating personnel, by video image determination trim saw and branch relative position, control trim saw and complete pruning work.
Described video image acquisition unit comprises digital radio camera and USB digital radio receiver.Described digital radio camera is fixed on trim saw front end and takes, and video image is sent to USB digital radio receiver by wireless signal.Described USB digital radio receiver is arranged on industrial panel computer by USB interface, receives the video image of digital radio camera shooting, and on industrial panel computer display video image.
Described control module comprises touch screen type industrial panel computer module, lifting table control module, rotating disk control module, mechanical arm control module and trim saw control module.Described touch screen type industrial panel computer module is used for display video image, and by other module of RS485 bus marco, described lifting table control module comprises lifting table, lifting table solenoid directional control valve and based on RS485 bus lifting table relay, described lifting table adopts hydraulic control mode, the described lifting table relay input end based on RS485 bus is connected with industrial panel computer by RS485 bus, its output terminal connects solenoid directional control valve, operating personnel operate industrial panel computer by the lifting table relay of RS485 bus marco based on RS485 bus, control solenoid directional control valve commutates, and realizes moving up and down of lifting table, described rotating disk control module comprises based on the PWM generator of RS485 bus, controllor for step-by-step motor and stepper motor, described controllor for step-by-step motor output terminal is connected stepper motor by control line with signal wire, the described PWM generator input end based on RS485 bus is connected with industrial panel computer by RS485 bus, its output terminal is connected with controllor for step-by-step motor, operating personnel operate industrial panel computer by the PWM generator of RS485 bus configuration based on RS485 bus, PWM generator based on RS485 bus sends pulse signal to controllor for step-by-step motor, by controllor for step-by-step motor control step electric machine rotation, realize the rotation of rotating disk, described mechanical arm control module comprises three electric cylinders, and each electric cylinder is made up of motor servo driver, servomotor and leading screw, described leading screw is fixed on servo motor output shaft, described motor servo driver signal input part is connected with industrial panel computer by RS485 bus, its output terminal connects servomotor, operating personnel operate industrial panel computer by RS485 bus marco motor servo driver, motor servo driver controls servomotor and rotates, drive lead screw transmission, realize the motion of mechanical arm, described trim saw control module comprises trim saw drive motor, swing bar drive motor, radial push rod drive motor and the trim saw relay based on RS485 bus, the described trim saw relay input end based on RS485 bus is connected with industrial panel computer by RS485 bus, output terminal connects trim saw drive motor respectively, swing bar drive motor and radial push rod drive motor, operating personnel operate industrial panel computer by the trim saw relay of RS485 bus marco based on RS485 bus, based on the start and stop of the trim saw Control trim saw drive motor of RS485 bus, the start and stop of swing bar drive motor and radial push rod drive motor and commutation, realize the start and stop of trim saw, the swing of swing bar and the flexible of radial push rod, carry out pruning work.
The beneficial effects of the utility model:
1, the utility model adopts industrial panel computer to control, and automaticity is high, saves a large amount of labour.
2, the utility model adopts wireless video picture system, and without the need to manually participating in pruning directly, security is high.
3, the utility model adopts RS485 bus communication, and communication distance is long, is applicable to tall and big trees pruning operation.
4, the utility model is according to the Inverse Kinematics Solution algorithm program of pruner, and adopt coordinated signals, work efficiency is high.
5, the utility model structure is simple, easy to operate, is suitable for carrying out pruning operation at woodland.
Accompanying drawing explanation
Fig. 1 is the overall pattern of the utility model tall and big trees pruner mechanical arm control structure;
Fig. 2 is the schematic diagram of tall and big trees pruner mechanical arm control structure;
Fig. 3 is industrial panel computer working interface figure;
Fig. 4 is tall and big trees pruner mechanical arm coordinated signals schematic diagram;
Fig. 5 is the upper (lower) motion control schematic diagram of tall and big trees pruner mechanical arm;
Fig. 6 is (afterwards) motion control schematic diagram before tall and big trees pruner mechanical arm;
Fig. 7 is a tall and big trees pruner mechanical arm left side (right side) motion control schematic diagram;
Fig. 8 is tall and big trees pruner mechanical arm workflow diagram;
Embodiment:
Below in conjunction with accompanying drawing, the utility model patent is described further.One described in the utility model tall and big trees pruning manipulator control device, as shown in Figure 1, 2.A kind of tall and big trees pruning manipulator control device comprises video image acquisition unit and control module.Described video image acquisition unit comprises digital radio camera and USB digital radio receiver.Described digital radio camera is fixed on trim saw front end and takes, and video image is sent to USB digital radio receiver by wireless signal.Described USB digital radio receiver is arranged on industrial panel computer by USB interface, receives the video image of digital radio camera shooting, and on industrial panel computer display video image.Described control module comprises touch screen type industrial panel computer module, lifting table control module, rotating disk control module, mechanical arm control module and trim saw control module.Described touch screen type industrial panel computer module is used for display video image, and by other module of RS485 bus marco, described lifting table control module comprises lifting table, lifting table solenoid directional control valve and based on RS485 bus lifting table relay, described lifting table adopts hydraulic control mode, the described lifting table relay input end based on RS485 bus is connected with industrial panel computer by RS485 bus, its output terminal connects solenoid directional control valve, operating personnel operate industrial panel computer by the lifting table relay of RS485 bus marco based on RS485 bus, control solenoid directional control valve commutates, and realizes moving up and down of lifting table, described rotating disk control module comprises based on the PWM generator of RS485 bus, controllor for step-by-step motor and stepper motor, described controllor for step-by-step motor output terminal is connected stepper motor by control line with signal wire, the described PWM generator input end based on RS485 bus is connected with industrial panel computer by RS485 bus, its output terminal is connected with controllor for step-by-step motor, operating personnel operate industrial panel computer by the PWM generator of RS485 bus configuration based on RS485 bus, PWM generator based on RS485 bus sends pulse signal to controllor for step-by-step motor, by controllor for step-by-step motor control step electric machine rotation, realize the rotation of rotating disk, described mechanical arm control module comprises three electric cylinders, and each electric cylinder is made up of motor servo driver, servomotor and leading screw, described leading screw is fixed on servo motor output shaft, described motor servo driver signal input part is connected with industrial panel computer by RS485 bus, its output terminal connects servomotor, operating personnel operate industrial panel computer by RS485 bus marco motor servo driver, motor servo driver controls servomotor and rotates, drive lead screw transmission, realize the motion of mechanical arm, described trim saw control module comprises trim saw drive motor, swing bar drive motor, radial push rod drive motor and the trim saw relay based on RS485 bus, the described trim saw relay input end based on RS485 bus is connected with industrial panel computer by RS485 bus, output terminal connects trim saw drive motor respectively, swing bar drive motor and radial push rod drive motor, operating personnel operate industrial panel computer by the trim saw relay of RS485 bus marco based on RS485 bus, based on the start and stop of the trim saw Control trim saw drive motor of RS485 bus, the start and stop of swing bar drive motor and radial push rod drive motor and commutation, realize the start and stop of trim saw, the swing of swing bar and the flexible of radial push rod, carry out pruning work.
As shown in Figure 3, described touch screen type industrial panel computer interface comprises video image viewing area, coordinated signals pattern, one-step control pattern and trim saw control module.Described video image viewing area is for showing the video image of digital wireless camera shooting, and operating personnel observe branch position by video image, determine the motion of trim saw; Described coordinated signals pattern is used for the interlock of controller mechanical arm, rotating disk and lifting table, realizes the front, back, left, right, up, down motion of pruner end trim saw; Described one-step control pattern is backup control mode, independent control step motor module, servomotor module and lifting table module, realizes the motion of pruner end trim saw; Described trim saw control module is for operation of pruning, and swing bar drives trim saw to move to bottom branch, and radial push rod and trim saw cooperatively interact and carry out pruning operation.
As shown in Figure 4, described tall and big trees pruner mechanical arm coordinated signals, according to the inverse arithmetic program of pruner, calculate the anglec of rotation of the adjustable height of lifting table, stepper motor and servomotor, and be transferred to band RS485 lifting table relay, the PWM generator being with RS485 and motor servo driver by RS485 serial port protocol simultaneously, move while controller mechanical arm, rotating disk and lifting table, realize the motion of pruner end trim saw.
As shown in Figure 5, described tall and big trees pruner mechanical arm coordinated signals, realizes the upper (lower) motion of pruner end trim saw.Operator touches the upper (lower) displacement icon of industrial panel computer control inerface, according to the Inverse Kinematics Solution algorithm program of pruner, calculate the elongation of electric cylinder, the elongation calculated is extended by RS485 bus marco electric cylinder and shrinks by industrial panel computer, when the upper (lower) motion of pruner end trim saw is excessive, start lifting table, the rising of lifting table and the decline elongation and contraction that coordinate electric cylinder, realize the upper (lower) motion of pruner end trim saw.
As shown in Figure 6, described tall and big trees pruner mechanical arm coordinated signals, realizes (afterwards) motion before pruner end trim saw.(afterwards) displacement icon before operator touches industrial panel computer control inerface, according to the Inverse Kinematics Solution algorithm program of pruner, calculate the elongation of electric cylinder, the elongation calculated is extended by RS485 bus marco electric cylinder and shrinks by industrial panel computer, realizes (afterwards) before pruner end trim saw to move.
As shown in Figure 7, described tall and big trees pruner mechanical arm coordinated signals, realizes a left side (right side) motion of pruner end trim saw.Operator touches an industrial panel computer control inerface left side (right side) displacement icon, according to the Inverse Kinematics Solution algorithm program of pruner, calculate the elongation of the stepper motor anglec of rotation and electric cylinder, the elongation calculated is passed through RS485 bus marco stepper motor and servomotor by industrial panel computer, realizes a pruner end trim saw left side (right side) motion.
Claims (1)
1. a control device for tall and big trees pruner mechanical arm, is characterized in that comprising video image acquisition unit and control module; Described video image acquisition unit for taking tall and big trees branch video image, and is sent to industrial panel computer; Described control module is according to the video image of video image acquisition unit photographs, and operating personnel, by video image determination trim saw and branch relative position, control trim saw and complete pruning work;
Described video image acquisition unit comprises digital radio camera and USB digital radio receiver; Described digital radio camera is fixed on trim saw front end and takes, and video image is sent to USB digital radio receiver by wireless signal; Described USB digital radio receiver is arranged on industrial panel computer by USB interface, receives the video image of digital radio camera shooting, and on industrial panel computer display video image;
Described control module comprises touch screen type industrial panel computer module, lifting table control module, rotating disk control module, mechanical arm control module and trim saw control module; Described touch screen type industrial panel computer module is used for display video image, and by other module of RS485 bus marco; Described lifting table control module comprises lifting table, lifting table solenoid directional control valve and based on RS485 bus lifting table relay; Described lifting table adopts hydraulic control mode; The described lifting table relay input end based on RS485 bus is connected with industrial panel computer by RS485 bus, and its output terminal connects solenoid directional control valve; Described rotating disk control module comprises based on the PWM generator of RS485 bus, controllor for step-by-step motor and stepper motor; Described controllor for step-by-step motor output terminal is connected stepper motor by control line with signal wire; The described PWM generator input end based on RS485 bus is connected with industrial panel computer by RS485 bus, and its output terminal is connected with controllor for step-by-step motor; Described mechanical arm control module comprises three electric cylinders, and each electric cylinder is made up of motor servo driver, servomotor and leading screw; Described leading screw is fixed on servo motor output shaft; Described motor servo driver signal input part is connected with industrial panel computer by RS485 bus, and its output terminal connects servomotor; Described trim saw control module comprises trim saw drive motor, swing bar drive motor, radial push rod drive motor and the trim saw relay based on RS485 bus; The described trim saw relay input end based on RS485 bus is connected with industrial panel computer by RS485 bus, and its output terminal connects trim saw drive motor, swing bar drive motor and radial push rod drive motor respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521019979.3U CN205158070U (en) | 2015-12-10 | 2015-12-10 | Mechanical arm control device of tall and big trees pruning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521019979.3U CN205158070U (en) | 2015-12-10 | 2015-12-10 | Mechanical arm control device of tall and big trees pruning |
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| CN205158070U true CN205158070U (en) | 2016-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201521019979.3U Withdrawn - After Issue CN205158070U (en) | 2015-12-10 | 2015-12-10 | Mechanical arm control device of tall and big trees pruning |
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| CN (1) | CN205158070U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105373050A (en) * | 2015-12-10 | 2016-03-02 | 山东农业大学 | Control device and control method of tall tree pruning mechanical arm |
| CN110692380A (en) * | 2019-10-18 | 2020-01-17 | 国网河南省电力公司濮阳供电公司 | High-efficient tall and big trees intelligence removes branch device |
| CN112544237A (en) * | 2020-12-25 | 2021-03-26 | 山东农业大学 | Automatic fruit tree pruning mechanical equipment and control method |
-
2015
- 2015-12-10 CN CN201521019979.3U patent/CN205158070U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105373050A (en) * | 2015-12-10 | 2016-03-02 | 山东农业大学 | Control device and control method of tall tree pruning mechanical arm |
| CN105373050B (en) * | 2015-12-10 | 2018-01-30 | 山东农业大学 | A kind of control device and control method of tall and big trees pruning mechanical arm |
| CN110692380A (en) * | 2019-10-18 | 2020-01-17 | 国网河南省电力公司濮阳供电公司 | High-efficient tall and big trees intelligence removes branch device |
| CN112544237A (en) * | 2020-12-25 | 2021-03-26 | 山东农业大学 | Automatic fruit tree pruning mechanical equipment and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160413 Effective date of abandoning: 20180130 |
|
| AV01 | Patent right actively abandoned |