CN205511065U - Tree pruning is detachable trimming device for robot - Google Patents
Tree pruning is detachable trimming device for robot Download PDFInfo
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Abstract
The utility model relates to a tree pruning is detachable trimming device for robot, by the execution unit body, open close the mechanism, the enclasping mechanism that climbs, sword constitute apart from adjustment mechanism, cutter body and actuating mechanism, electric cabinet, the utility model discloses an open and to close the mechanism and realize parcel and separation to the trunk, through climb and hold steering mechanism tightly, the cooperation climb the wheelset, hold the flexible motor and the step motor that climbs tightly, realized functions such as the separability of a whole set of mechanism, climbing nature and interval adjustability, broken away from on the current market drawback that most trimming device's motion scope relied on arm length, can realize ten meters tree pruning work of tens of BRAT degree trees even. The utility model discloses fill in full -automatic blank of pruning machine people, high altitude tree trimming robot on the current market, improved tree pruning's efficiency, reduced staff's intensity of labour, reduced the operation cost of social public service.
Description
Technical field
This utility model relates to a kind of for the highest trees, pruning mechanism such as the trees such as willow, Firmiana platanifolia (Linn. f.) Marsili, it is specifically related to a kind of branch pruning machine people and prunes mechanism with detachable, can install and be arranged on pruning car or trimming machine cuts people, it is a kind of matching equipment and mechanism, belongs to machinery, automatization and robotics.
Background technology
Along with China's being continuously increased of green coverage, garden tree pruning begin to change in gardens construction one extremely lose time, the work of man power and material.Especially for the highest trees, such as willow etc., pollard difficulty is the biggest.At present, mainly by moveable lifting tool, prune several branch pruning workman's hand-held cutting tools.So pollard is relatively big to the labor intensity of workman, inefficient, and there is certain potential safety hazard during workman's operation.
On current market, existing pruning tool is the most backward, and commonly used hand electric trimmer, automaticity is low.It is primarily present following shortcoming: labor strength is big, the most laborious because of hand-held pruning tool, further aspect is that view trees usually need multiaspect to prune, workman is forced to bear a heavy burden and moves, inefficient the lowest.And when median operation, workman's personal safety hardly results in guarantee.
Patent of invention 201410512605.9 discloses a kind of branch and prunes pulverizing robot and method, the utility model discloses a kind of branch and prune pulverizing robot and method, including mechanical arm, be arranged on the pruning end effector of mechanical arm front end, control unit, video camera；This utility model set pair branch carries out selectivity beta pruning and is integrated with pulverizing, decreases in order to branch pulverizes the branch carrying link carried out, can pulverize in real time.And utilize that branch and leaves pulverize on the spot unqualified as organic fertilizer, return to, in soil, reduce production cost, decrease the crop usage amount to chemosynthesis fertilizer, promote the development of organic fruits industry.But there is a deadly defect in this utility model patent, it may be assumed that the branch of trees can be pruned scope and be restricted by mechanical hand length, and the pruning for those tall trees ebon branches or the branch of trees higher position is helpless.
Patent of invention 201410282752.1 discloses a kind of branch pruning mechanical arm, including: base, flap, turntable, bevel gear wheel, bevel pinion, motor, stand, lifting oil cylinder, underarm, telescopic arm, swivel head, pivot angle oil cylinder, circular saw telescopic oil cylinder, mechanical paw drive the parts such as oil cylinder, mechanical paw, circular saw, hydraulic motor.Turntable is driven by motor can make 360 degree of rotations.The elongation of console oil-lifting jar can make mechanical arm hold up.Telescopic arms is realized stretching out section by section or retracting by pull line or gear-rack drive.By controlling work head pivot angle oil cylinder, swivel head can make trimmer structure do 360 degree of rotations around its axis.Retract by controlling oil cylinder, mechanical paw can be made reliably to clamp branch to be pruned.Fluid motor-driven circular saw high-speed rotation, controls telescopic oil cylinder simultaneously and stretches out, make circular saw gradually cut off branch to be pruned.Branch pruning got off by console oil-lifting jar, telescopic arm and turntable reliably sends ground back to, completes the pruning of branch.But this mechanism is the mechanism that specific occasion uses, it is impossible to be applicable on other mobile chassis or pruning car.Further, owing to the length of trimmer mechanical arm determines the brachium of this mechanism's tensible, therefore, the branch pruning for slightly higher big trees is the most helpless.
In order to improve the efficiency of branch pruning, it is suitable for the pruning of height trees branch as far as possible, reduces labor strength, and a kind of branch pruning machine people can be designed become necessary by detachable pruning mechanism, the versatility improving pruning mechanism.
Utility model content
The purpose of this utility model is for the deficiencies in the prior art, the detachable pruning mechanism that a kind of branch pruning machine people or pruning car use is provided, can realize the trees that willow, Firmiana platanifolia (Linn. f.) Marsili etc. are the highest are carried out the mechanism of branch pruning, this mechanism has versatility, through very simple retrofit work, this mechanism installing and using in other mobile chassis, mobile robot etc. can be completed.
This utility model solves its technical problem and be the technical scheme is that
A kind of branch pruning machine people prunes mechanism with detachable, by performance element body, open/close mechanism, climb hold-fast body, cutter distance regulating mechanism, cutter hub and drive mechanism, electric cabinet forms, described performance element body is cylindrical stent, described performance element body is connected with open/close mechanism, hold-fast body of climbing is positioned at inside performance element body, cutter distance regulating mechanism has two sets, lay respectively at downside and the upside of performance element body lower surface of performance element body upper surface, two set cutter distance regulating mechanisms are connected with two set cutter hubs and drive mechanism respectively, open/close mechanism, climb hold-fast body, cutter distance regulating mechanism, cutter hub and drive mechanism are all connected with electric cabinet.
Described performance element body is divided into two the semicolumn supporters in left and right: left half cylinder supporter, right half cylinder supporter, left half cylinder supporter, right half cylinder supporter are linked together by open/close mechanism.
Described open/close mechanism includes opening and closing support, opening and closing servomotor, described opening and closing support is two sets, connect left half cylinder supporter and right half cylinder supporter, and the rotating shaft of the most a set of connection opening and closing servomotor, the body of another set of connection opening and closing servomotor, by driving opening and closing servomotor, control the Guan Bi of opening and closing support and open, and then driving left half cylinder supporter and the opening and closing of right half cylinder supporter.
Described climbing holds steering mechanism tightly by wheels of climbing, hold telescope motor tightly, climb gear train, climb motor, turn to reducing motor, pressure transducer forms, described wheels of climbing are rubber wheels and supporting structure, totally eight, it is equally divided into upper and lower two groups, often group is diagonal distribution, it is distributed in the two ends up and down inside performance element body, coordinate performance element body and hold telescope motor tightly, hold telescope motor tightly and amount to eight, it is divided into two groups, often group four, and state is confined state, between two ends are fixed on outside the inner side of performance element body and wheels of climbing；Described gear train of climbing is common gear or belt composition, climbs wheels for connection and climbs motor, is transmitted by the power of motor of climbing and climbs on wheels to connection, and motor of climbing is fixed in performance element body medial cradle；Pressure transducer is arranged on climbs on wheels, turns to the body of reducing motor to be arranged on the telescoping mechanism holding telescope motor tightly, turns to the rotating shaft of reducing motor then to install on the body of wheels of climbing.
Described cutter distance regulating mechanism is two sets, described cutter distance regulating mechanism include cutter away from flexible motor, cutter away from regulation carrier platform, cutter connects on flexible stepping motor rotating shaft cutter hub and drive mechanism, and cutter moves forward and backward away from flexible stepping driven by motor cutter hub and drive mechanism；The cutter body away from flexible motor first set is fixed on the downside of performance element body upper surface, and another set of body is then fixed on the upside of performance element body lower surface.
Described cutter hub and drive mechanism are two sets, including cutter hub, direct current generator, described cutter hub is aluminium alloy saw blade, is fixed in the rotating shaft of direct current generator, is rotated by the cutter hub that rotarily drives of motor, and the axle center of aluminium alloy saw blade is level, it is perpendicular to the axle center at performance element body place；The cutter that described direct current generator is fixed on described cutter distance regulating mechanism is on regulation carrier platform, by the cutter telescopic action away from flexible motor, drives cutter hub and drive mechanism to move forward and backward, it is achieved cutter away from adjustable.
nullDescribed electric cabinet is by control chamber shell、Microcontroller、Climb stepper motor driver、Hold telescope motor driver tightly、Cutter is away from flexible stepper motor driver、DC motor driver、Power regulator module、Joint、Reducing motor driver is turned to form，Microcontroller、Climb stepper motor driver、Hold telescope motor driver tightly、Cutter is away from flexible stepper motor driver、DC motor driver、Power regulator module、Joint、Reducing motor driver is turned to be mounted in control chamber shell，Power regulator module and microcontroller are all connected with joint，Joint is connected with other robot base or pruning car by cable，Stepper motor driver of climbing drives motor of climbing，Hold telescope motor driver drives tightly and hold telescope motor tightly，Cutter drives cutter away from flexible motor away from flexible stepper motor driver，DC motor driver drives direct current generator，Reducing motor driver drives is turned to turn to reducing motor.
The beneficial effects of the utility model are:
(1) this utility model devises the brand-new detachable pruning mechanism can being used on branch pruning machine people or pruning car, thus realize the trees that willow, Firmiana platanifolia (Linn. f.) Marsili etc. are the highest are carried out the mechanism of branch pruning, this mechanism is owing to having versatility, through very simple retrofit work, this mechanism installing and using in other mobile chassis, mobile robot etc. can be completed, applied widely, can be with large-scale promotion.
(2) the special hold-fast body of climbing of the present utility model, coordinates wheels of climbing, the motor and hold telescope motor tightly of climbing.Achieve the friction of sleeve mechanism trunk, compress and climb function, and then achieve detachable pruning mechanism separate with all-purpose robot chassis, pruning car etc., break away from the drawback that major part on Vehicles Collected from Market prunes the range of movement dependence mechanical arm length of mechanism, it is possible to achieve the branch pruning work to ten meters the most tens of meters height trees.
(3) this utility model turns to reducing motor and cutter hub and drive mechanism by setting, it is achieved that to cutter hub and the rotation of drive mechanism, can overall branch disposable circumgyration incision around dry to one tree；Utilization cutter distance regulating mechanism, it is achieved that adjust cutter hub and drive mechanism with the real-time of trunk distance, goes for the branch pruning of the trunk of different-diameter, and the uneven branch pruning of body diameter of setting being particularly suitable for trunk top half and the latter half works；Use cutter hub and drive mechanism, can quickly realize the pruning to branch.
In a word, this utility model patent prunes mechanism by design one is the most detachable, not only achieves the clipping function of the branch of the trees relatively low to height, and due to its separability, is more suitable for the branch pruning work of the trees such as the highest willow.This utility model has filled up full-automatic trimming machine cuts people, the blank of high-altitude tree trimming machine people on Vehicles Collected from Market, improve the efficiency of branch pruning, reduce the labor intensity of staff, decrease the operation cost of social public service, automatic clipping function for follow-up full-automatic trimming machine cuts people has established solid foundation, for promoting to improve the modernization of China branch pruning machinery, intelligent and unmanned have immeasurable meaning.
Accompanying drawing explanation
Fig. 1 is the detachable perspective view pruning mechanism of this utility model.
Fig. 2 is the detachable plan structure schematic diagram pruning mechanism of this utility model.
Fig. 3 is the detachable main TV structure schematic diagram pruning mechanism of this utility model.
Fig. 4 is that this utility model climbing of mechanism of detachable pruning holds steering mechanism's structural representation tightly.
Fig. 5 is the detachable cutter distance regulating mechanism structural representation pruning mechanism of this utility model.
Fig. 6 is the detachable electric cabinet structure schematic diagram pruning mechanism of this utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of this utility model protection.
As Figure 1-3, a kind of branch pruning machine people prunes mechanism with detachable, by performance element body 1, open/close mechanism 2, climb hold-fast body 3, cutter distance regulating mechanism 4, cutter hub and drive mechanism 5, electric cabinet 6 forms, described performance element body 1 is cylindrical stent, described performance element body 1 is connected with open/close mechanism 2, hold-fast body 3 of climbing is positioned at inside performance element body 1, cutter distance regulating mechanism 4 has two sets, lay respectively at downside and the upside of performance element body 1 lower surface of performance element body 1 upper surface, two set cutter distance regulating mechanisms 4 are connected with two set cutter hubs and drive mechanism 5 respectively, open/close mechanism 2, climb hold-fast body 3, cutter distance regulating mechanism 4, cutter hub and drive mechanism 5 are all connected with electric cabinet 6.
Described performance element body 1 be divided into left and right two semicolumn supporters: left half cylinder supporter 1-1, right half cylinder supporter 1-2.Performance element body 1 is as the supporter of package unit, and the function that should possess is that trunk realizes omnibearing parcel.Left half cylinder supporter 1-1, right half cylinder supporter 1-2 are linked together by open/close mechanism 2.
Described open/close mechanism 2 includes: opening and closing support 2-1, opening and closing servomotor 2-2.Described opening and closing support 2-1 is two sets, connects left half cylinder supporter 1-1 and right half cylinder supporter 1-2, and the rotating shaft of the most a set of connection opening and closing servomotor 2-2, the body of another set of connection opening and closing servomotor 2-2.Again can be with opening and closing between two set opening and closing support 2-1, therefore can be by driving opening and closing servomotor 2-2, thus control the Guan Bi of opening and closing support 2-1 and open, and then drive left half cylinder supporter 1-1 and the opening and closing of right half cylinder supporter 1-2, final drive opening and closing of performance element body 1, it is achieved to the performance element body 1 parcel to trunk.
As shown in Figure 4, climb described in hold tightly steering mechanism 3 by the wheels 3-1 that climbs, hold telescope motor 3-2, the gear train 3-3 that climbs, the motor 3-4 that climbs tightly, turn to reducing motor 3-5, pressure transducer 3-6 to form.The described wheels 3-1 that climbs is rubber wheels and supporting structure, wheel is mainly used to realize the stressed on friction effect with trunk, totally eight, it is equally divided into upper and lower two groups, often group presenting direction diagonal distribution, it is distributed in the two ends up and down inside performance element body 1, coordinates performance element body 1 and hold telescope motor 3-2 tightly, it is achieved trunk is held tightly effect.As above, hold telescope motor 3-2 tightly and amount to eight, it is divided into two groups, often group four, and state is confined state, between two ends are fixed on outside the inner side of performance element body 1 and the wheels 3-1 that climbs, telescope motor 3-2 and the distance climbed between wheels 3-1 is held tightly by control, the wheels force value with trunk thus regulation is climbed, and coordinate pressure transducer 3-6 to realize the real-time adjustment with trunk pressure, thus realize the effect to the wheels 3-1 constant compression force to trunk of climbing.The described gear train 3-3 that climbs is common gear or belt composition, climbs wheels 3-1 and climb motor 3-4 for connection, is transmitted by the power of the motor 3-4 that climbs to connecting and climbs on wheels 3-1, for connecting the rotation of rubber wheels on the wheels 3-1 that climbs.The motor 3-4 that climbs is mainly used in realizing the driving of rubber wheels on the wheels 3-1 that climbs, and is fixed in performance element body 1 medial cradle.Described pressure transducer 3-6 is arranged on and climbs on wheels 3-1, the pressure of wheels and trunk can be monitored in real time, send to controller, after analyzing and processing for controller, control to hold tightly the motion of telescope motor 3-2, it is adjustable with the distance of the wheels 3-1 that climbs to realize performance element body 1, thus control is climbed, wheels 3-1 is constant with the force value of trunk.The described body turning to reducing motor 3-5 is arranged on the telescoping mechanism holding telescope motor 3-2 tightly, the rotating shaft turning to reducing motor 3-5 is then installed on the body of the wheels 3-1 that climbs, effect is: by turning to the motion of reducing motor 3-5, can drive turning to of the wheels 3-1 that climbs, thus realization is climbed, wheels 3-1 turns at any angle.When the axis of the wheels 3-1 that climbs is vertical with the axis of trunk, now, the wheels 3-1 that climbs can drive a whole set of performance element body 1 to rotate along the tangential direction of trunk periphery, i.e. achieve the circular motion around trunk, if being now provided with branch pruning mechanism on performance element body 1, then can realize the pruning of branch on trunk.The more important thing is, arbitrarily angled adjustable due to the wheels 3-1 that climbs, the wheels 3-1 that climbs now can be driven along the arbitrarily angled realization climbing to trunk, do not affected by branch.
As it is shown in figure 5, described cutter distance regulating mechanism 4 includes: cutter away from flexible motor 4-1, cutter away from regulation carrier platform 4-2.Described cutter distance regulating mechanism 4 is two sets, mechanical connection relation is: described cutter connects in flexible motor 4-1 rotating shaft cutter hub and drive mechanism 5, described cutter can realize the flexible of rotating shaft away from flexible motor 4-1, and then drive moving forward and backward of cutter hub and drive mechanism 5, and then realize the adjustment of distance at cutter hub 5-1 and performance element body 1 axle center.The described cutter body away from flexible motor 4-1 first set is fixed on the downside of performance element body 1 upper surface；Another set of body is then fixed on the upside of performance element body 1 lower surface.
Described cutter hub and drive mechanism 5 are also two sets, including: cutter hub 5-1, direct current generator 5-2.Described cutter hub 5-1 is aluminium alloy saw blade, is fixed in the rotating shaft of direct current generator 5-2, is rotated by the cutter hub 5-1 that rotarily drives of motor, it is achieved the cutting to branch.And the axle center of aluminium alloy saw blade is level, it is perpendicular to the axle center at performance element body 1 place.The cutter that described direct current generator 5-2 is fixed on described cutter distance regulating mechanism 4 is on regulation carrier platform 4-2, by the cutter telescopic action away from flexible motor 4-1, drives cutter hub and drive mechanism 5 to move forward and backward, it is achieved cutter away from adjustable.
As shown in Figure 6, electric cabinet 6 by control chamber shell 6-1, microcontroller 6-2, the stepper motor driver 6-3 that climbs, hold tightly telescope motor driver 6-4, cutter away from flexible stepper motor driver 6-5, DC motor driver 6-6, power regulator module 6-7, joint 6-8, turn to reducing motor driver 6-9 to form.All electronic control module in above-mentioned, it is all connected with power regulator module 6-7 including microcontroller 6-2, the stepper motor driver 6-3 etc. that climbs, power regulator module 6-7 and microcontroller 6-2 is all connected with joint 6-8, joint 6-8 can be connected uses by cable and other mechanism such as robot base or pruning car, provides electric energy or relevant control to instruct for the whole series detachable prunings mechanism.Microcontroller 6-2 is a whole set of control of intelligent robot, decision-making core, the stepper motor driver 6-3 that climbs realizes the driving to the motor 3-4 that climbs, hold telescope motor driver 6-4 tightly to realize the driving holding telescope motor 3-2 tightly, cutter then can realize the cutter driving away from flexible motor 5-1 away from flexible stepper motor driver 6-5, DC motor driver 6-6 realizes the driving to direct current generator 5-2, turns to reducing motor driver 6-9 to realize the driving turning to reducing motor 3-5.
The job step of detachable pruning mechanism relevant to above-mentioned frame for movement and electrical connection in this utility model is:
St1: this detachable pruning mechanism be may be mounted on the chassis such as trimming machine cuts people or other pruning car.Trimming machine cuts people or other pruning car arrive the trunk front needing to prune specified, and realize the progressive close of mechanism and trunk by mechanical hand or other mechanism.
St2: microcontroller 6-2 by driving opening and closing servomotor 2-2, thus control opening of opening and closing support 2-1, and then drive the opening of left half cylinder supporter 1-1 and right half cylinder supporter 1-2, final drive opening of performance element body 1, it is achieved to the performance element body 1 entrance to trunk.After performance element body 1 enters trunk, microcontroller 6-2 drives performance element body 1 to close by driving opening and closing servomotor 2-2, it is achieved the comprehensive parcel to trunk.
St3: being hereafter this detachable pruning mechanism and trimming machine cuts people or the separation phase of other pruning car, concrete step needs to transform according to different mechanisms.When after detachable pruning organizational separation, described climbing is held steering mechanism 3 tightly and is started working, process is: owing to the described wheels 3-1 that climbs is rubber wheels and supporting structure, wheel is mainly used to realize the stressed on friction effect with trunk, microcontroller 6-2 is climbed stepper motor driver 6-3 and then realize driving to the motor 3-4 that climbs by control, gearing by the gear train 3-3 that climbs, realize the driving to the wheels 3-1 that climbs, rubber wheels on wheels 3-1 of now climbing starts to rotate on trunk, and then drive a whole set of separable end performance element 3 to rise along trunk.Certainly, in this process, it is initially separated with the release of the most supporting performance element and recovering mechanism due to separable end performance element 3.Simultaneously, in this process, described pressure transducer 3-6 is arranged on and climbs on wheels 3-1, the pressure of wheels and trunk can be monitored in real time, send to controller, after analyzing and processing for controller, control to hold tightly the motion of telescope motor 3-2, it is adjustable with the distance of the wheels 3-1 that climbs to realize performance element body 1, thus control is climbed, wheels 3-1 is constant with the force value of trunk.
St4: climb and hold (needing the branch position pruned) stop motion after steering mechanism 3 continuously rises to certain altitude tightly, initially enter cutter away from adjustment process, detailed process is: microcontroller 6-2 drives cutter to realize the flexible of rotating shaft away from flexible motor 5-1 by controlling cutter away from flexible stepper motor driver 6-5, and then drive moving forward and backward of cutter hub and drive mechanism 5, and then realize the adjustment of distance at cutter hub 6-1 and performance element body 1 axle center.After being adjusted in place, climb and hold steering mechanism 3 tightly and quit work.
St5: this process is that cutter hub 6-1 rotates and cutting process, certainly rotates and cutting process is to carry out simultaneously, particularly as follows:
1. rotary course.The described body turning to reducing motor 3-5 is arranged on the telescoping mechanism holding telescope motor 3-2 tightly, the rotating shaft turning to reducing motor 3-5 is then installed on the body of the wheels 3-1 that climbs, effect is: by turning to the motion of reducing motor 3-5, can drive turning to of the wheels 3-1 that climbs, thus realization is climbed, wheels 3-1 turns at any angle.When the axis of the wheels 3-1 that climbs is vertical with the axis of trunk, now, the wheels 3-1 that climbs can drive a whole set of performance element body 1 to rotate along the tangential direction of trunk periphery, i.e. achieve the circular motion around trunk, if being now provided with branch pruning mechanism on performance element body 1, then can realize the pruning of branch on trunk.The more important thing is, arbitrarily angled adjustable due to the wheels 3-1 that climbs, the wheels 3-1 that climbs now can be driven along the arbitrarily angled realization climbing to trunk, do not affected by branch.
2. cutting process.In above-mentioned rotary course, owing to a whole set of cutter hub and drive mechanism 5 can touch the branch needing to prune, therefore during being somebody's turn to do, microcontroller 6-2 controls DC motor driver 6-6 and drives direct current generator 5-2 high speed rotating, and then drive the aluminium alloy saw blade high speed rotating of cutter hub 6-1, it is achieved treat the pruning effect of pollard.
St6: when the rotary course in said process and cutting process carry out all after date, then the unnecessary branch in this trunk region has been trimmed to about, has understood totally, if needing the branch continuing to prune top, now needs repetition St3-St5 process.
St7: after the branch that be there is a need to prune on a trunk is trimmed to about, separable end performance element 3 on trimming machine cuts people initially enters recovery stage, concrete is: as step St5 process is about the same, simply climbs and holds steering mechanism 3 tightly and start to work downwards, enters the decline stage.When dropping to relatively low height, the height at mechanical hand or other mechanism place on the chassis such as the height holding steering mechanism 3 place tightly and trimming machine cuts people or other pruning car of now climbing is basically identical, starts to realize the detachable recovery pruning mechanism according to concrete recovering mechanism.
St8: then into the separation process of separable end performance element 3 with trunk.Particularly as follows: microcontroller 6-2 is by driving opening and closing servomotor 2-2, thus control opening of opening and closing support 2-1, and then drive opening of left half cylinder supporter 1-1 and right half cylinder supporter 1-2, final drive opening of performance element body 1, it is achieved to separable to trunk of performance element body 1.So far, full-automatic branch pruning machine people completes the branch pruning work that one tree is dry.
The foregoing is only preferred embodiment of the present utility model; not in order to limit this utility model; all within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (7)
1. a branch pruning machine people prunes mechanism with detachable, it is characterized in that, by performance element body, open/close mechanism, climb hold-fast body, cutter distance regulating mechanism, cutter hub and drive mechanism, electric cabinet forms, described performance element body is cylindrical stent, described performance element body is connected with open/close mechanism, hold-fast body of climbing is positioned at inside performance element body, cutter distance regulating mechanism has two sets, lay respectively at downside and the upside of performance element body lower surface of performance element body upper surface, two set cutter distance regulating mechanisms are connected with two set cutter hubs and drive mechanism respectively, open/close mechanism, climb hold-fast body, cutter distance regulating mechanism, cutter hub and drive mechanism are all connected with electric cabinet.
2. branch pruning machine people as claimed in claim 1 prunes mechanism with detachable, it is characterized in that, described performance element body is divided into two the semicolumn supporters in left and right: left half cylinder supporter, right half cylinder supporter, left half cylinder supporter, right half cylinder supporter are linked together by open/close mechanism.
3. branch pruning machine people as claimed in claim 1 prunes mechanism with detachable, it is characterized in that, described open/close mechanism includes opening and closing support, opening and closing servomotor, described opening and closing support is two sets, connect left half cylinder supporter and right half cylinder supporter, and the rotating shaft of the most a set of connection opening and closing servomotor, the body of another set of connection opening and closing servomotor, by driving opening and closing servomotor, control the Guan Bi of opening and closing support and open, and then driving left half cylinder supporter and the opening and closing of right half cylinder supporter.
4. branch pruning machine people as claimed in claim 1 prunes mechanism with detachable, it is characterized in that, described climbing holds steering mechanism tightly by wheels of climbing, hold telescope motor tightly, climb gear train, climb motor, turn to reducing motor, pressure transducer forms, described wheels of climbing are rubber wheels and supporting structure, totally eight, it is equally divided into upper and lower two groups, often group is diagonal distribution, it is distributed in the two ends up and down inside performance element body, coordinate performance element body and hold telescope motor tightly, hold telescope motor tightly and amount to eight, it is divided into two groups, often group four, and state is confined state, between two ends are fixed on outside the inner side of performance element body and wheels of climbing；Described gear train of climbing is common gear or belt composition, climbs wheels for connection and climbs motor, is transmitted by the power of motor of climbing and climbs on wheels to connection, and motor of climbing is fixed in performance element body medial cradle；Pressure transducer is arranged on climbs on wheels, turns to the body of reducing motor to be arranged on the telescoping mechanism holding telescope motor tightly, turns to the rotating shaft of reducing motor then to install on the body of wheels of climbing.
5. branch pruning machine people as claimed in claim 1 prunes mechanism with detachable, it is characterized in that, described cutter distance regulating mechanism is two sets, described cutter distance regulating mechanism include cutter away from flexible motor, cutter away from regulation carrier platform, cutter connects on flexible stepping motor rotating shaft cutter hub and drive mechanism, and cutter moves forward and backward away from flexible stepping driven by motor cutter hub and drive mechanism；The cutter body away from flexible motor first set is fixed on the downside of performance element body upper surface, and another set of body is then fixed on the upside of performance element body lower surface.
6. branch pruning machine people as claimed in claim 1 prunes mechanism with detachable, it is characterized in that, described cutter hub and drive mechanism are two sets, including cutter hub, direct current generator, described cutter hub is aluminium alloy saw blade, it is fixed in the rotating shaft of direct current generator, rotated by the cutter hub that rotarily drives of motor, and the axle center of aluminium alloy saw blade is level, is perpendicular to the axle center at performance element body place；The cutter that described direct current generator is fixed on described cutter distance regulating mechanism is on regulation carrier platform, by the cutter telescopic action away from flexible motor, drives cutter hub and drive mechanism to move forward and backward, it is achieved cutter away from adjustable.
null7. branch pruning machine people as claimed in claim 1 prunes mechanism with detachable，It is characterized in that，Described electric cabinet is by control chamber shell、Microcontroller、Climb stepper motor driver、Hold telescope motor driver tightly、Cutter is away from flexible stepper motor driver、DC motor driver、Power regulator module、Joint、Reducing motor driver is turned to form，Microcontroller、Climb stepper motor driver、Hold telescope motor driver tightly、Cutter is away from flexible stepper motor driver、DC motor driver、Power regulator module、Joint、Reducing motor driver is turned to be mounted in control chamber shell，Power regulator module and microcontroller are all connected with joint，Joint is connected with other robot base or pruning car by cable，Stepper motor driver of climbing drives motor of climbing，Hold telescope motor driver drives tightly and hold telescope motor tightly，Cutter drives cutter away from flexible motor away from flexible stepper motor driver，DC motor driver drives direct current generator，Reducing motor driver drives is turned to turn to reducing motor.
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| CN201620297624.9U CN205511065U (en) | 2016-04-12 | 2016-04-12 | Tree pruning is detachable trimming device for robot |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106688654A (en) * | 2017-03-21 | 2017-05-24 | 南京林业大学 | Triangular-prism-shaped electrically driven branch trimming robot |
| CN107360871A (en) * | 2017-08-14 | 2017-11-21 | 国网山东省电力公司青州市供电公司 | Line corridor cleaning plant |
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| CN106688654A (en) * | 2017-03-21 | 2017-05-24 | 南京林业大学 | Triangular-prism-shaped electrically driven branch trimming robot |
| CN107360871A (en) * | 2017-08-14 | 2017-11-21 | 国网山东省电力公司青州市供电公司 | Line corridor cleaning plant |
| CN108499783A (en) * | 2018-03-28 | 2018-09-07 | 朱兰英 | A kind of trees automatic spray apparatus |
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| CN108668675A (en) * | 2018-05-08 | 2018-10-19 | 李文博 | A kind of special type trimmer |
| CN108476766A (en) * | 2018-05-26 | 2018-09-04 | 安徽工程大学 | A kind of robot for the trimming of bamboo branches and leaves |
| CN108476765A (en) * | 2018-05-28 | 2018-09-04 | 安徽工程大学 | A kind of device of trimming bamboo |
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| CN108738811A (en) * | 2018-06-21 | 2018-11-06 | 河南林业职业学院 | A kind of robot of controllable track climbs tree pruning method |
| CN108575387A (en) * | 2018-06-27 | 2018-09-28 | 安徽工程大学 | Wheel hub drives pruning car of climbing tree |
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| CN109328711A (en) * | 2018-12-09 | 2019-02-15 | 郑运长 | One kind can obstacle detouring branch pruning machine people |
| CN111602573A (en) * | 2019-02-26 | 2020-09-01 | 潘振建 | Intelligent felling and pruning robot |
| CN111602573B (en) * | 2019-02-26 | 2022-10-04 | 潘振建 | Intelligent felling and pruning robot |
| CN109911046A (en) * | 2019-03-12 | 2019-06-21 | 无锡金诚工程技术服务有限公司 | Suspension crawler type cable-climbing robot |
| CN109911046B (en) * | 2019-03-12 | 2023-12-15 | 无锡金诚工程技术服务有限公司 | Suspension crawler type climbing robot |
| CN110149944A (en) * | 2019-03-18 | 2019-08-23 | 金华绿川科技有限公司 | One kind is climbed tree the robot that prunes |
| CN109952881B (en) * | 2019-04-26 | 2023-09-26 | 陕西科技大学 | Branch trimming means based on pole-climbing robot |
| CN109952881A (en) * | 2019-04-26 | 2019-07-02 | 陕西科技大学 | Branch pruning device based on climbing level robot |
| CN111448902A (en) * | 2020-05-08 | 2020-07-28 | 温州伊诺韦特科技有限公司 | Branch pruning device and control method |
| CN111448902B (en) * | 2020-05-08 | 2022-12-06 | 福建铭泰集团有限公司 | Branch trimming device and control method |
| CN112369242A (en) * | 2020-11-23 | 2021-02-19 | 超杰人禾环境产业集团有限公司 | High-altitude nursery stock trimming device adopting high-speed water jetting |
| CN116530318A (en) * | 2023-05-14 | 2023-08-04 | 南通黄海药械有限公司 | A cleaning device for gardens plant diseases and insect pests |
| CN116530318B (en) * | 2023-05-14 | 2024-02-06 | 南通黄海药械有限公司 | A cleaning device for gardens plant diseases and insect pests |
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