CN208113427U - A kind of push and block cutter structure for screen of trees cleaning air-robot - Google Patents
A kind of push and block cutter structure for screen of trees cleaning air-robot Download PDFInfo
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- CN208113427U CN208113427U CN201820320254.5U CN201820320254U CN208113427U CN 208113427 U CN208113427 U CN 208113427U CN 201820320254 U CN201820320254 U CN 201820320254U CN 208113427 U CN208113427 U CN 208113427U
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Abstract
The utility model discloses a kind of push and block cutter structures for screen of trees cleaning air-robot, including Y type toolframe, it is installed on two cutter motors of toolframe forward terminal, the two panels circular saw for being respectively driven and being located at below toolframe by two cutter motors, push and block device in front of the top of circular saw and cutter motor, two are symmetrically fixed on toolframe two sides and end is extended outwardly to forward guiding fork below circular saw, it is fixed on or is built in the cutter controller of toolframe, positioned at toolframe rear portion and the connector that is connect with air-robot mechanical arm, push and block device is " Ω " shape vertical baffle towards cutter cut direction, the rear part is equipped with horizontal stiffening plate, top sets flexible movable push, lower part is equipped with the level board with circular saw stack pile and same level face.The push and block forward of branch after cutting can be prevented top branch at the end of cutting from swinging to air-robot, improve robot flight stability and safety by the utility model.
Description
Technical field
The utility model relates to a kind of push and block cutter structures for screen of trees cleaning air-robot, belong to transmission line of electricity tree
Hinder cleaning plant technical field.
Background technique
Air-robot when clearing up power circuit channel screen of trees, cutter for same should be able to fly-cutting branch, together
When be avoided that influence to air-robot ontology posture again, and there are the safety precautions such as anti-block.
Gardens pruning branch mostly uses the cleaning cutter of single saw type at present, if such cutter is directly mounted at aerial machine
Screen of trees cleaning is carried out on device people, the horizontal force of cutter is asymmetric, brings course repulsion torque to air-robot, influences aerial
The balance of Robot Force and torque, and cause the skidding between cutter and branch；Various forms are presented in screen of trees in practice, easily
It is not high to result in cutter cutting efficiency for the effective operation region for skidding off cutter, and branch easily swings to robot after cutting
The attitude stability of robot device, or even damage robot are caused in direction.
Summary of the invention
The utility model solve the technical issues of be：A kind of push and block cutter knot for screen of trees cleaning air-robot is provided
Structure, to solve problems of the prior art.
The technical solution that the utility model is taken is：A kind of push and block cutter structure for screen of trees cleaning air-robot,
Including Y type toolframe, two cutter motors being installed on toolframe forward terminal, by two cutter motors is respectively driven and be located at
The push and block device in the front of the two panels circular saw below toolframe, the top positioned at circular saw and cutter motor, push and block device and cutter
The bottom of frame or cutter motor is fixedly connected.
Preferably, above-mentioned a kind of push and block cutter structure for screen of trees cleaning air-robot further includes two symmetrical solid
Due to toolframe two sides and end is extended outwardly to forward the guiding fork below circular saw.
Preferably, above-mentioned two guiding forks constitute the preceding lead-in groove and one-shaped rear export slot of Y-shaped, preceding lead-in groove
For collapsing branch and being oriented to the common cutting region of double-arc spline saw, the rear slot that exports is used to guide the lower section branch after cutting automatic
It moves backward and is detached from cutter.
Preferably, the open angle of above-mentioned preceding lead-in groove is 30-150 degree.
Preferably, above-mentioned a kind of push and block cutter structure for screen of trees cleaning air-robot, further includes being fixed on or interior
It is placed in the cutter controller of toolframe.
Preferably, above-mentioned a kind of push and block cutter structure for screen of trees cleaning air-robot, further includes being located at toolframe
Rear portion and the connector being connect with air-robot mechanical arm.
Preferably, above-mentioned circular saw is the laminar circular saw of metal, ceramics or composite material quality.
Preferably, the outside of above-mentioned double saw blade lamps structures, which is equipped with, prevents the safety flown after branches and leaves splashing or saw blade fragmentation from protecting
Shield.
Preferably, above-mentioned push and block device is " Ω " shape vertical baffle towards cutter cut direction, and rear portion is equipped with horizontal add
Strong plate.
Preferably, the top of above-mentioned push and block device is equipped with the movable push of the elasticity of push and block branch forward.
Preferably, the lower part of above-mentioned push and block device is equipped with level board identical with circular saw thickness, at level board and circular saw
In same level.
Temperature sensor, the edge of temperature sensor probe face circular saw, cutter electric machine built-in are installed on toolframe
Perceive the speed probe of circular saw revolving speed；Temperature sensor and speed probe are connected to cutter controller, cutter controller
It is built-in with the current sensor of detection cutter motor working current, cutter controller is connected to the flight control of air-robot
Device.
The beneficial effects of the utility model：Compared with prior art, the effect of the utility model is as follows：
1) push and block device is arranged in the utility model above circular saw, can to cutting carry out in the branch after the completion of cutting
Push and block are carried out, top branch is effectively prevent to swing to air-robot, improve the stability and safety of robot flight；
2) propose that the structure of double saw blade tools plus guiding fork utilizes guiding fork and double-arc spline while operation is pushed ahead
Inwardly opposite synchronized rotation, the common cutting region for sawing branch automatically into double-arc spline act on sky to be effectively reduced to saw
Horizontal out-of-balance force and torque in middle robot avoid the skidding between cutter and branch, improve the efficiency of screen of trees cleaning；
3) the utility model proposes double saw blade lamps structures, inwardly opposite same using double saws while operation is pushed ahead
Speed rotates, and double saw blade lamps structures have certain automatic gathering branch and cutting guiding role, keeps branch total automatically into double saws
Same cutting region avoids cutter and branch so that horizontal out-of-balance force and the torque acted on air-robot be effectively reduced
Between skidding, improve screen of trees cleaning efficiency；
4) the utility model is equipped with the movable push of the elasticity of push and block branch forward on the top of push and block device, should in cutting
Movable push is preceding to push and block power to the branch application above cutter always, acts on the backward cutting forces on branch with double saws and matches
The preceding torque for being formed and being applied on branch is closed, once cutting completes that branch can be pushed to the front of air-robot automatically, into
One step improves the safety of air-robot operation；
5) the utility model is equipped with level that is identical as circular saw thickness and being in same level in the lower part of push and block device
Plate can effectively prevent the branch on cutter top after the completion of cutting due to inertia enters the Delta Region that cutter-push and block device is constituted
Cause the card resistance of cutter；
5) cutter controller judges the mistake of circular saw by the revolving speed and electric current and saw blade temperature of acquisition cutter motor
Load, card resistance and faulted condition, the protectiveness for being advantageously implemented cutter and air-robot are kept out of the way, and realize double-arc spline saw operation
Dynamic equilibrium；
6) modular joint style, it can be achieved that cutter quick-replaceable, and it is convenient to load and unload storage and transportation, and connector rises
To the double action of mechanical connection and electrical connection, structure is more compact.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the front viewing angle constructions schematic diagram of the utility model；
Fig. 3 is the overlooking structure diagram of the utility model；
Fig. 4 is the present invention looks up structural representation of the utility model；
Fig. 5 looks up schematic perspective view for the utility model.
In figure, 1-toolframe, 2-cutter motors, 3-circular saws, 4-cutter controllers, 5-connectors, 6-temperature biography
Sensor, 7-guiding forks, 8-preceding lead-in grooves, 9-export slot afterwards, 10-push and block devices, 11-movable push, 12-torsional springs, and 13-
Level board.
Specific embodiment
With reference to the accompanying drawing and the utility model is described further in specific embodiment.
Embodiment 1：If Fig. 1-Fig. 5 shows, a kind of push and block cutter structure for screen of trees cleaning air-robot, including Y type
Toolframe 1, two cutter motors 2 for being installed on 1 forward terminal of toolframe are respectively driven by two cutter motors 2 and are located at knife
Have a push and block device 10 in 2 front of two panels circular saw 3, the top positioned at circular saw 3 and cutter motor of the lower section of frame 1, push and block device 10 with
The bottom of toolframe 1 and/or cutter motor 2 is fixedly connected.
Preferably, above-mentioned a kind of push and block cutter structure for screen of trees cleaning air-robot further includes two symmetrical solid
Due to 1 two sides of toolframe and end is extended outwardly to forward the guiding fork 7 of 3 lower section of circular saw；Two guiding forks 7 constitute Y-shaped
Preceding lead-in groove 8 and it is one-shaped after export slot 9, preceding lead-in groove 8 is used to collapse branch and is oriented to double-arc spline saw 3 and cuts jointly
Region is cut, the rear slot 9 that exports is used to that the lower section branch after cutting to be guided to move backward and be detached from cutter automatically, and preceding lead-in groove 8 is opened
Putting angle is 30-150 degree.
Preferably, above-mentioned a kind of push and block cutter structure for screen of trees cleaning air-robot, further includes being fixed on or interior
It is placed in the cutter controller 4 of toolframe 1.
Preferably, above-mentioned a kind of push and block cutter structure for screen of trees cleaning air-robot, further includes being located at toolframe 1
Rear portion and the connector 5 being connect with air-robot mechanical arm；Connector 5 is connected using ring flange or nut-screw rod quickly connects, phase
The connecting portion answered is equipped with electric connector head, therefore connector 5 has mechanically and electrically dual linkage function, compact-sized, can be real
The quick-replaceable of existing cutter.
Preferably, above-mentioned circular saw 3 is the laminar circular saw of metal, ceramics or composite material quality.
Preferably, the outside of above-mentioned double saw blade lamps structures, which is equipped with, prevents the safety flown after branches and leaves splashing or saw blade fragmentation from protecting
Shield.
Preferably, above-mentioned push and block device 10 is " Ω " shape vertical baffle towards cutter cut direction, and rear portion is equipped with horizontal
Stiffening plate, stiffening plate, which has, reinforces " Ω " shape vertical baffle, improves the effectiveness of baffle rigidity and intensity, and has concurrently push and block device 10
It is fixed on toolframe 1 and/or cutter motor 2 and acts on；The arcuate structure turning of 10 intermediate recess of push and block device and the rear part is played
Guiding is acted on push and block.
Preferably, the top of above-mentioned push and block device 10 is equipped with the movable push 11 of the elasticity of push and block branch forward, movable push
11 top is recurvate arc-shaped, in case with branch card resistance when being pushed forward branch, its underpart passes through articulated shaft and push and block device
10 form hingedly, and articulated shaft is coated with torsional spring 12, and leaning forward naturally for movable push 11 is consequently formed；When cutting, with branch quilt
Double saw " crawl " and the cutting regions that deepen continuously, movable push 11 constantly increase to the forward direction push and block power that the branch above cutter applies
Greatly, acted on double saws after the backward cutting force on branch matches, formed be applied on branch it is preceding fall torque, once cutting
Branch can be pushed to the front of air-robot by completion automatically, to avoid swinging to air-robot.
Preferably, the lower part of above-mentioned push and block device 10 is equipped with level that is identical as 3 thickness of circular saw and being in same level
Plate 13 can effectively prevent the branch on cutter top after the completion of cutting because inertia enters the Delta Region that cutter-push and block device is constituted
And cause the card resistance of cutter.
Preferably, temperature sensor 6 is installed on above-mentioned toolframe 1, the probe face circular saw 3 of temperature sensor 6
Edge, the speed probe of built-in perception 3 revolving speed of circular saw of cutter motor 2 can by temperature sensor 6, speed probe
It monitors the temperature and speed conditions of operation cutter in real time, to judge the operating status of operation cutter, improves operational safety.
Preferably, above-mentioned temperature sensor 6 and speed probe are connected to cutter controller 4, and cutter controller 4 is built-in with
The current sensor of 2 operating current of cutter motor is detected, cutter controller 4 is connected to the flight controller of air-robot；It is logical
Excess temperature sensor 6, speed probe and current sensor, cutter controller 4 can monitor in real time saw blade temperature, motor speed and
Current of electric judges the working condition of two circular saws 3, make course feed or retract protection or it is double saw dynamic cutting balance
Adjustment, while flight controller is sent by the status information, flight controller is implemented the feeding of air-robot accordingly or is moved back
It finely tunes out, the automatic cutting protection and effectively cutting for realizing cutter.
Photoelectric encoder or Hall sensor can be used in above-mentioned speed probe, and non-contact class may be selected in temperature sensor 6
The infrared temperature probe (such as MLX90614) of type, current transformer can be used in current sensor；The customization of cutter controller 4 is equipped with
For the analog quantity (voltage or electric current) of above-mentioned concrete type sensor or digital quantity (including bus), pulsed quantity, frequency quantity etc.
Style interface.
Double saw blade lamps structures obtain Tool Control instruction and driving power from air-robot platform by connector 5, are sent into
Cutter controller 4, to drive cutter motor 2 to rotate and control its revolving speed；When screen of trees is cleared up, two panels circular saw 3 is inwardly opposite etc.
Speed rotation, is cleaned branch and implements to cut to be involved in automatically.
Embodiment 2：A kind of control method of double saw blade lamps structures for screen of trees cleaning air-robot, this method are：
1. cutter controller 4 assesses circular saw 3 by the revolving speed of acquisition cutter motor 2 and the temperature of electric current and circular saw 3 in real time
Overload, card resistance and faulted condition export brake instruction to cutter motor 2, then drive once assessed value is more than predetermined threshold
Two panels circular saw 3 inverts simultaneously, so that being cleaned branch exits cutter, while sending back to the flight controller of air-robot
Instruction is moved back, is kept out of the way to implement protectiveness to air-robot and cutter；2. the balanced operation state to Double-blade detects
And implement compensation protection.
Preferably, the method for above-mentioned 3 operating status of assessment circular saw uses multi-sensor data thresholding decision algorithm or more
Data Fusion of Sensor detection algorithm, multi-sensor data thresholding decision algorithm are as follows：
A) if 3 revolving speed N of current circular saw≤its overloading threshold NoverloadOr current of electric I >=its overloading threshold
IoverloadOr saw blade temperature T >=its overloading threshold Toverload, determine that circular saw 3 is in overload, cutter controller 4 is accordingly
Make derotation rollback control；
B) if 3 revolving speed N of current circular saw≤its card resistance threshold value Nblocking, and current of electric I >=its card resistance threshold value
Iblocking, determine that circular saw 3 is in card resistance state, wherein Nblocking<Noverload, Iblocking≥Ioverload, cutter controller
4 make derotation rollback control accordingly；
C) if 3 revolving speed N of current circular saw >=its cut-in without ball threshold value Nempty, determine that circular saw 3 is in cut-in without ball state, wherein
NemptyThe given rotating speed of≤circular saw 3, cutter controller 4 make the stalling control of circular saw 3 accordingly；
D) if periodically pulsing occur in 3 revolving speed of circular saw or current of electric, determine that circular saw 3 has damage, reason exists
In, the cutter of working in reciprocating mode defect if it exists, dynamic balancing imbalance and the cyclically-varying of suffered screen of trees resistance will cause cutter
The periodically pulsing of revolving speed and current of electric；
When E) being not belonging to above situation, determine that circular saw 3 is currently operating in normal condition, cutter controller 4 is made accordingly
Normal dextrorotation feeding control；
Fusion detection algorithm：
If the lower threshold of 3 revolving speed of circular saw is N1, upper limit threshold N2, the lower threshold of current of electric is I1, upper limit threshold
Value is I2, the lower threshold of saw blade temperature is T1, upper limit threshold T2, 3 working condition composite index of circular saw is：
Wherein, CN、CI、CTThe respectively revolving speed weight, current of electric weight, saw blade temperature weight of circular saw 3；Area is set
Between threshold value f1、f2、f3, and have 0≤f1<f2<f3；
As F≤f1When, then determine that circular saw 3 works in cut-in without ball state, cutter controller 4 makes the stalling of circular saw 3 accordingly
Control；
Work as f1< F≤f2When, then determine that circular saw 3 works in normal condition, cutter controller 4 implements feeding of removing obstacles accordingly
Control；
Work as f2< F≤f3When, then determine that circular saw 3 works in overload, cutter controller 4 makes derotation rollback accordingly
Control；
As F > f3When, then determine that circular saw 3 works in card resistance state, cutter controller 4 makes derotation rollback control accordingly
System.
Preferably, its above-mentioned Double-blade balanced operation state-detection and compensation guard method are as follows：
1) detection method of Double-blade balanced operation state
If the mean speed of two circular saws 3 is respectivelyTransient speed is respectively Na、Nb；If motor is averaged
Electric current is respectivelyTransient current is respectively Ia、Ib；If the mean temperature of saw blade is respectivelyTransient temperature point
It Wei not Ta、Tb。
The mean speed for defining two circular saws 3 is poorTransient speed difference Δ N=Na-Nb；Motor is put down
Equal current differenceTransient current difference Δ I=Ia-Ib；The average temperature difference of saw bladeTransient temperature is poor
Δ T=Ta-Tb；Have：
A) if|ΔN|≥δN、|ΔI|≥δI、|ΔT|≥δTIn it is any at
It is vertical, determine that two 3 balanced operations of circular saw are not normal, it is thereinδN、δI、δT>=0, respectively each corresponding physics
The balanced operation decision threshold of parameter；
B) ifDetermine that two circular saws 3 balance
Operation is not normal, δ >=0 therein, is balanced operation comprehensive judgement threshold value, k1~k6For weight coefficient.
2) Double-blade is balanced compensated and protects control method
By the revolving speed of each circular saw 3, current of electric, saw blade temperature and balanced operation status information feedback to air-robot
Flight controller, if it is determined that two 3 balanced operations of circular saw are not normal, then
A derotation controls after) cutter controller 4 makes first brake immediately, and circular saw 3 is made to exit operation, while to aerial machine
The flight controller of device people sends protectiveness back-off instruction；
B it) is moved from flight controller control air-robot to the side circular saw 3 that revolving speed is high, electric current is small, temperature is low micro-
It adjusts, it is balanced compensated to implement Double-blade.
With the determination of upper threshold value and weight coefficient, the theoretical calculation based on physical principle can be used, divided based on experimental data
The methods of the empirical statistics of analysis, modeling neural network based training are completed.
Example above description is only a specific implementation of the present invention, the protection scope of the utility model not office
It is limited to this.Be familiar with the those skilled in the art within the technical scope disclosed by the utility model, can easily find variation or
Alternative, these should be covered within the scope of the utility model.For this purpose, the protection scope of the utility model should be with
Subject to the scope of protection of the claims.
Claims (7)
1. a kind of push and block cutter structure for screen of trees cleaning air-robot, it is characterised in that：Including Y type toolframe (1), peace
Two cutter motors (2) loaded on toolframe (1) forward terminal are respectively driven by two cutter motors (2) and are located at toolframe
(1) the two panels circular saw (3) below, the push and block device (10) above circular saw (3) and in front of cutter motor (2), push and block device
(10) it is fixedly connected with the bottom of toolframe (1) or cutter motor (2).
2. a kind of push and block cutter structure for screen of trees cleaning air-robot according to claim 1, it is characterised in that：
Further include two and is symmetrically fixed on toolframe (1) two sides and end is extended outwardly to forward guiding fork below circular saw (3)
(7)；Two guiding forks (7) constitute the preceding lead-in groove (8) of Y-shaped and one-shaped rear export slot (9), preceding lead-in groove (8) are used
In collapse branch and be oriented to double-arc spline saw (3) common cutting region, afterwards export slot (9) be used for guide cut after lower section branch
Automatically it moves backward and is detached from cutter.
3. a kind of push and block cutter structure for screen of trees cleaning air-robot according to claim 2, it is characterised in that：
Further include the cutter controller (4) for being fixed on or being built in toolframe (1), be located at toolframe (1) rear portion and and air-robot
The connector (5) of mechanical arm connection.
4. a kind of push and block cutter structure for screen of trees cleaning air-robot according to claim 1, it is characterised in that：
Push and block device (10) is " Ω " shape vertical baffle towards cutter cut direction, and rear portion is equipped with horizontal stiffening plate.
5. a kind of push and block cutter structure for screen of trees cleaning air-robot according to claim 1, it is characterised in that：
The top of push and block device (10) is equipped with the movable push (11) of the elasticity of push and block branch forward.
6. a kind of push and block cutter structure for screen of trees cleaning air-robot according to claim 1, it is characterised in that：
The lower part of push and block device (10) is equipped with level board (13) identical with circular saw (3) thickness, and level board (13) is in circular saw (3)
Same level.
7. a kind of push and block cutter structure for screen of trees cleaning air-robot according to claim 1, it is characterised in that：
It is equipped on toolframe (1) temperature sensor (6), the edge of the probe face circular saw (3) of temperature sensor (6), cutter electricity
The speed probe of built-in perception circular saw (3) revolving speed of machine (2)；Temperature sensor (6) and speed probe are connected to cutter control
Device (4) processed, cutter controller (4) are built-in with the current sensor of detection cutter motor (2) operating current, cutter controller (4)
It is connected to the flight controller of air-robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820320254.5U CN208113427U (en) | 2018-03-08 | 2018-03-08 | A kind of push and block cutter structure for screen of trees cleaning air-robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820320254.5U CN208113427U (en) | 2018-03-08 | 2018-03-08 | A kind of push and block cutter structure for screen of trees cleaning air-robot |
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| Publication Number | Publication Date |
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| CN208113427U true CN208113427U (en) | 2018-11-20 |
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ID=64205306
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| CN201820320254.5U Active CN208113427U (en) | 2018-03-08 | 2018-03-08 | A kind of push and block cutter structure for screen of trees cleaning air-robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109304738A (en) * | 2018-12-05 | 2019-02-05 | 宁波宝尼尔厨具电器有限公司 | Number of cutters selects platform |
| CN109362386A (en) * | 2018-11-23 | 2019-02-22 | 云南电网有限责任公司普洱供电局 | A kind of the screen of trees cleaning plant and control method of the collaboration of three saws |
| CN111328573A (en) * | 2019-12-09 | 2020-06-26 | 许志云 | Fruit tree garden pruning machine |
| CN112075229A (en) * | 2020-09-14 | 2020-12-15 | 闫保良 | Gardens are with pruning shovel adjustment mechanism |
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2018
- 2018-03-08 CN CN201820320254.5U patent/CN208113427U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109362386A (en) * | 2018-11-23 | 2019-02-22 | 云南电网有限责任公司普洱供电局 | A kind of the screen of trees cleaning plant and control method of the collaboration of three saws |
| CN109304738A (en) * | 2018-12-05 | 2019-02-05 | 宁波宝尼尔厨具电器有限公司 | Number of cutters selects platform |
| CN109304738B (en) * | 2018-12-05 | 2021-09-17 | 宁波宝尼尔厨具电器有限公司 | Tool quantity selecting platform |
| CN111328573A (en) * | 2019-12-09 | 2020-06-26 | 许志云 | Fruit tree garden pruning machine |
| CN112075229A (en) * | 2020-09-14 | 2020-12-15 | 闫保良 | Gardens are with pruning shovel adjustment mechanism |
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