CN210808361U - Tree climbing and pruning robot - Google Patents

Tree climbing and pruning robot Download PDF

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Publication number
CN210808361U
CN210808361U CN201921276515.9U CN201921276515U CN210808361U CN 210808361 U CN210808361 U CN 210808361U CN 201921276515 U CN201921276515 U CN 201921276515U CN 210808361 U CN210808361 U CN 210808361U
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China
Prior art keywords
arm
saw
main
tail
driven gear
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CN201921276515.9U
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Chinese (zh)
Inventor
吴江华
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Sichuan Xiaotu Intelligent Technology Co., Ltd
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Chengdu Yiji Wisdom Technology Co ltd
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Abstract

The utility model discloses a climb tree pruning robot, its characterized in that: the electric saw comprises a main body, two mechanical arm systems and an electric saw system, wherein the electric saw system is arranged on the main body, and the two mechanical arm systems are respectively arranged on two sides of the main body. The utility model discloses can replace artifical pruning branch, automatic climb the tree, carry out branch pruning, easy operation is convenient, prunes branch on the tree, can not occupy other places, when carrying out urban street tree pruning, can not block up the traffic.

Description

Tree climbing and pruning robot
Technical Field
The utility model relates to a robot especially relates to a robot of branch is pruned to trees.
Background
In the process of tree growth, pruning is an indispensable work, and traditional tree pruning work is usually completed manually through a handheld tool, and the labor capacity is large, and work has certain danger for higher trees.
Chinese patent CN 102283026 a discloses a fruit tree pruning machine, which needs to be carried on the back by manpower, and for pruning high branches, the lengthened aluminum tube needs to be replaced, so that the labor intensity is high, and the working efficiency is low. Chinese patent CN 105940975A discloses a fruit tree pruning machine, the executing component of the pruning machine is mounted on a power locomotive, pruning is carried out by means of a mechanical arm, the occupied area of the equipment is large, the mechanical structure is complex, and the manufacturing cost is high.
SUMMERY OF THE UTILITY MODEL
The utility model provides a solve above-mentioned technical problem, a tree climbing pruning robot is provided, this robot can replace artifical pruning branch, automatic tree climbing carries out branch pruning, and easy operation is convenient, prunes branch on the tree, can not occupy other places, when carrying out city street tree pruning, can not block up the traffic.
In order to solve the technical problem, the utility model discloses a technical scheme is:
the utility model provides a climb tree pruning robot which characterized in that: the electric saw is arranged at the top of the main body, and the two sets of mechanical arm systems are respectively arranged on two sides of the main body.
The mechanical arm system comprises a main arm assembly, a connecting arm assembly and a tail arm assembly, wherein the main arm assembly comprises a main arm and a main arm driving mechanism, a walking slideway is arranged on the side surface of a main body, the main arm is installed in the walking slideway, the main arm driving mechanism is installed on the main arm, the main arm is driven to slide in the walking slideway, the connecting arm assembly comprises a connecting arm and a connecting arm rotating mechanism, the connecting arm is hinged to the main arm, the connecting arm rotating mechanism is installed on the main arm, the driving connecting arm rotates around a hinged point, the tail arm assembly comprises a tail arm and a tail arm rotating mechanism, the tail arm is hinged to the connecting arm, the tail arm rotating mechanism is installed.
The telescopic boom is characterized in that a telescopic cylinder I is installed on the main boom, the connecting arm is hinged to an ejector rod of the telescopic cylinder I, a telescopic cylinder II is installed on the connecting arm, the tail boom is hinged to an ejector rod of the telescopic cylinder II, and the telescopic action of the connecting arm and the tail boom is realized through the action of the two telescopic cylinders.
The walking slide is an oval walking slide.
The main arm driving mechanism comprises a main arm driving motor, a main arm driving gear and a main arm driven gear, the main arm driving gear is sleeved on the main arm driving motor and is meshed with the main arm driven gear, the main arm driven gear is sleeved on a transmission shaft, the transmission shaft is installed on the main arm, the other end of the transmission shaft is sleeved with a roller, and the roller is located in a walking slideway.
Linking arm slewing mechanism includes linking arm motor, linking arm drive gear and linking arm driven gear, and the linking arm motor is installed on the main arm, and linking arm drive gear cup joints on the output shaft of linking arm motor, and linking arm driven gear cup joints on the linking arm articulated shaft, linking arm driving gear and linking arm driven gear meshing, and the linking arm passes through the linking arm articulated shaft and articulates on the main arm, and linking arm driving motor rotates, drives linking arm drive gear and rotates to drive linking arm driven gear and rotate, and then drive the linking arm articulated shaft and rotate, finally drive the linking arm and rotate.
The connecting arm can be formed by hinging a plurality of connecting support arms, and each connecting support arm is provided with a connecting arm driving mechanism which respectively drives each connecting arm to rotate.
The tail arm rotating mechanism comprises a tail arm motor, a tail arm driving gear and a tail arm driven gear, the tail arm motor is installed on the connecting arm, the tail arm driving gear is sleeved on an output shaft of the tail arm motor, the tail arm driven gear is sleeved on the tail arm hinged shaft, the tail arm driving gear is meshed with the tail arm driven gear, the tail arm is hinged to the connecting arm through the tail arm hinged shaft, the tail arm driving motor rotates to drive the tail arm driving gear to rotate, the tail arm driven gear is driven to rotate, the tail arm hinged shaft is driven to rotate, and finally the tail arm is driven to rotate.
The tree pruning device is characterized in that a camera is mounted on the tail arm, a controller is mounted on the main body, the camera collects branch conditions of tree pruning and sends collected information to the controller, and the controller is connected with the mechanical arm system and the electric saw system to control the mechanical arm system and the electric saw system.
The electric saw system comprises a saw blade, a saw head, a saw blade rotating mechanism, a saw blade driving mechanism and a saw head rotating mechanism, wherein the saw head is installed on the main body, the saw head driving mechanism drives the saw head to rotate 360 degrees in the main body, the saw blade is installed on the saw head, the saw blade rotating mechanism drives the saw blade to rotate 180 degrees around the saw head, the saw blade driving mechanism is installed on the main body and connected with the saw blade, the saw blade is driven to work, and branches of the saw fall.
The saw head rotating mechanism comprises a rotating shaft, a saw head motor, a saw head driving gear and a saw head driven gear, the rotating shaft is installed on the main body through a bearing, the saw head driven gear is sleeved on the rotating shaft, the saw head driving gear is sleeved on the saw head motor, and the saw head driving gear is meshed with the saw head driven gear.
The saw bit slewing mechanism includes saw bit motor, saw bit driving gear, saw bit driven gear and saw bit articulated shaft, and the saw bit motor is installed on the saw head, and the saw bit driving gear cup joints on the saw bit motor, and saw bit driven gear and saw bit driving gear meshing, saw bit driven gear cup joint on the saw bit articulated shaft, and the saw bit passes through the saw bit articulated shaft and articulates on the saw head.
The main body is further provided with a laser positioning device, the laser positioning device is connected with the controller and used for positioning the cutting position and sending the cutting position information to the controller, and the controller controls the electric saw system to cut at the cutting position.
The bottom of the main body is provided with a walking pulley.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model discloses a main part, arm system and electric saw system, the electric saw is installed at the main part top, and arm system has two sets, installs the both sides in the main part respectively. The mechanical arm system comprises a main arm assembly, a connecting arm assembly and a tail arm assembly, wherein the main arm assembly comprises a main arm and a main arm driving mechanism, a walking slideway is arranged on the side surface of a main body, the main arm is installed in the walking slideway, the main arm driving mechanism is installed on the main arm, the main arm is driven to slide in the walking slideway, the connecting arm assembly comprises a connecting arm and a connecting arm rotating mechanism, the connecting arm is hinged to the main arm, the connecting arm rotating mechanism is installed on the main arm, the driving connecting arm rotates around a hinged point, the tail arm assembly comprises a tail arm and a tail arm rotating mechanism, the tail arm is hinged to the connecting arm, the tail arm rotating mechanism is installed. The telescopic mechanism is characterized in that a telescopic cylinder is installed on the main arm, the connecting arm is hinged to a mandril of the telescopic cylinder, the telescopic cylinder is installed on the connecting arm, the tail arm is hinged to the mandril of the telescopic cylinder, and the telescopic action of the connecting arm and the tail arm is realized through the action of the telescopic cylinder. Realize the action of cutting branch through the electric saw system, realize the action of whole robot climbing trees through arm system. The climbing action is realized by the rotation and the extension of the main arm, the connecting arm and the tail arm. The trunk is embraced by the connecting arm and the tail arm, and when the trunk encounters a branch, the branch is pulled to climb under the action of the connecting arm and the tail arm. Therefore, the tree pruning robot replaces manual tree pruning, does not occupy other space, and carries out branch pruning after climbing the tree.
The utility model discloses install the camera on the trailing arm, install the controller in the main part, the branch condition of trees is pruned in the camera collection to give the controller with the information transmission who gathers, the controller links to each other with mechanical arm system and electric saw system, controls mechanical arm system and electric saw system. Image information through the camera collection transmits for the controller, and the controller just can automatic control climbing and cutting, also can keep away the barrier automatically.
The utility model discloses still install laser positioning device in the main part, this laser positioning device links to each other with the controller, and laser positioning device is used for fixing a position cutting position to with cutting position information transmission for the controller, controller control electric saw system cuts at cutting position. The cutting position is calculated and positioned through the laser positioning device, and accurate cutting is achieved.
The utility model discloses electric saw system includes saw bit, saw head, saw bit slewing mechanism, saw bit actuating mechanism and saw head slewing mechanism, the saw head is installed in the main part, and saw head actuating mechanism installs in the main part, and saw head actuating mechanism drives the saw head and carries out 360 rotations in the main part, the saw bit is installed on the saw head, and saw bit slewing mechanism installs on the saw head, and saw bit slewing mechanism drives the saw bit and carries out 180 rotations around the saw head, saw bit actuating mechanism installs in the main part, links to each other with the saw bit, and drive saw bit work, saw fall branch. The structure of the electric saw system can realize 360-degree dead-angle-free cutting of branches, and the purpose of accurate cutting is achieved.
The utility model improves the operating efficiency, changes the original manual operation into mechanical operation for the pruning of the arbor or the felling of the big tree, and reduces the labor intensity of the personnel; the operation quality is improved, and the low quality accident caused by uneven levels of operators is avoided; by mechanical operation, the safety accidents of high-altitude operation are effectively reduced, and the personal safety guarantee is improved; the required operation space is small, and the operation is favorably carried out in a high-density environment.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a schematic diagram of a robot system;
FIG. 4 is a schematic diagram of the electric saw system;
reference numeral 1, a main body, 2, a robot arm system, 20, a main arm assembly, 200, a main arm, 201, a traveling slide, 202, a main arm driving motor, 203, a main arm driving gear, 204, a main arm driven gear, 205, a transmission shaft, 206, a roller, 207, a telescopic cylinder i, 21, a connecting arm assembly, 210, a connecting arm, 211, a connecting arm motor, 212, a connecting arm driving gear, 213, a connecting arm driven gear, 214, the articulated shaft, 215, the telescopic cylinders II, 22, the tail arm assembly, 220, the tail arm, 221, the tail arm motor, 222, the tail arm driving gear, 223, the tail arm driven gear, 224, the tail arm articulated shaft, 3, the electric saw system, 30, the saw blade, 31, the saw head, 310, the rotating shaft, 311, the saw head motor, 312, the saw head driving gear, 313, the saw head driven gear, 4, the laser positioning device, 5, the controller, 6 and the walking pulley.
Detailed Description
The present invention will be further described with reference to the following examples, which are only some, but not all, of the examples of the present invention. Based on the embodiments in the present invention, other embodiments used by those skilled in the art without creative work belong to the protection scope of the present invention.
The utility model discloses a climb tree pruning robot, it includes main part 1, arm system 2 and electric saw system 3, and electric saw system 3 installs at 1 top in the main part, and arm system 2 has two sets, installs respectively in the both sides of main part 1.
The mechanical arm system 2 comprises a main arm assembly 20, a connecting arm assembly 21 and a tail arm assembly 22, the main arm assembly comprises a main arm 200 and a main arm driving mechanism, a walking slideway 201 is arranged on the side surface of the main body 1, the main arm 200 is installed in the walking slideway 201, the main arm driving mechanism is installed on the main arm 200 and drives the main arm to slide in the walking slideway, the connecting arm assembly 21 comprises a connecting arm 210 and a connecting arm rotating mechanism, the connecting arm 210 is hinged on the main arm 200, the connecting arm rotating mechanism is installed on the main arm 200 and drives the connecting arm 210 to rotate around a hinged point, the tail arm assembly comprises a tail arm 220 and a tail arm rotating mechanism, the tail arm 220 is hinged on the connecting arm 210, the tail arm rotating mechanism is installed on the connecting.
The telescopic boom type crane is characterized in that a telescopic cylinder I207 is installed on the main arm 200, the connecting arm is hinged to a mandril of the telescopic cylinder I207, a base of the telescopic cylinder I207 is installed on the main arm through a bearing, a telescopic cylinder II 215 is installed on the connecting arm, the tail boom is hinged to the mandril of the telescopic cylinder II 215, and a base of the telescopic cylinder II 215 is installed on the connecting arm through a bearing to achieve telescopic action of the connecting arm and the tail boom through the action of the telescopic cylinder.
The walking slideway 201 is an elliptical walking slideway.
The main arm driving mechanism comprises a main arm driving motor 202, a main arm driving gear 203 and a main arm driven gear 204, wherein the main arm driving gear is sleeved on the main arm driving motor, the main arm driving gear is meshed with the main arm driven gear, the main arm driven gear is sleeved on a transmission shaft 205, the transmission shaft 205 is installed on the main arm 200, the other end of the transmission shaft 205 is sleeved with a roller 206, and the roller is located in a walking slideway 201.
Linking arm slewing mechanism includes linking arm motor 211, linking arm drive gear 212 and linking arm driven gear 213, and the linking arm motor is installed on the main arm, and linking arm drive gear cup joints on the output shaft of linking arm motor, and linking arm driven gear cup joints on linking arm articulated shaft 214, linking arm driving gear and linking arm driven gear meshing, and the linking arm passes through the linking arm articulated shaft and articulates on the main arm, and linking arm driving motor rotates, drives linking arm drive gear and rotates to drive linking arm driven gear and rotate, and then drive the linking arm articulated shaft and rotate, finally drive the linking arm and rotate.
The connecting arm can be formed by hinging a plurality of connecting support arms, and each connecting support arm is provided with a connecting arm driving mechanism which respectively drives each connecting arm to rotate.
The tail arm rotating mechanism comprises a tail arm motor 221, a tail arm driving gear 222 and a tail arm driven gear 223, the tail arm motor is installed on the connecting arm, the tail arm driving gear is connected to the output shaft of the tail arm motor in a sleeved mode, the tail arm driven gear is connected to a tail arm hinge shaft 224 in a sleeved mode, a tail arm driving gear is meshed with the tail arm driven gear, the tail arm is hinged to the connecting arm through the tail arm hinge shaft, the tail arm driving motor rotates to drive the tail arm driving gear to rotate, the tail arm driven gear is driven to rotate, the tail arm hinge shaft is driven to rotate, and finally the tail arm is driven to rotate.
The tree pruning machine is characterized in that the tail arm is provided with a camera, the main body is provided with a controller 5, the camera collects the branch condition of the tree pruning and sends collected information to the controller, and the controller is connected with the mechanical arm system and the electric saw system to control the mechanical arm system and the electric saw system.
Electric saw system 3 includes saw bit 30, saw head 31, saw bit slewing mechanism, saw bit actuating mechanism and saw head slewing mechanism, saw head 31 is installed in main part 1, and saw head actuating mechanism installs in main part 1, and saw head actuating mechanism drive saw head carries out 360 rotations in the main part, saw bit 30 is installed on saw head 31, and saw bit slewing mechanism installs on saw head 31, and saw bit slewing mechanism drive saw bit carries out 180 rotations around the saw head, saw bit actuating mechanism installs in main part 1, links to each other with saw bit 30, and drive saw bit work, saws the branch.
The saw head rotating mechanism comprises a rotating shaft 310, a saw head motor 311, a saw head driving gear 312 and a saw head driven gear 313, the rotating shaft is installed on the main body through a bearing, the saw head driven gear is sleeved on the rotating shaft, the saw head driving gear is sleeved on the saw head motor, and the saw head driving gear is meshed with the saw head driven gear.
The saw bit slewing mechanism includes saw bit motor, saw bit driving gear, saw bit driven gear and saw bit articulated shaft, and the saw bit motor is installed on the saw head, and the saw bit driving gear cup joints on the saw bit motor, and saw bit driven gear and saw bit driving gear meshing, saw bit driven gear cup joint on the saw bit articulated shaft, and the saw bit passes through the saw bit articulated shaft and articulates on the saw head.
The main body is further provided with a laser positioning device 4, the laser positioning device 4 is connected with a controller 5, the laser positioning device is used for positioning the cutting position and sending the cutting position information to the controller, and the controller controls the electric saw system to cut at the cutting position.
The bottom of the main body is provided with a walking pulley 6.

Claims (6)

1. The utility model provides a climb tree pruning robot which characterized in that: the electric saw comprises a main body, two mechanical arm systems and two electric saw systems, wherein the electric saw systems are arranged on the main body;
the mechanical arm system comprises a main arm assembly, a connecting arm assembly and a tail arm assembly, wherein the main arm assembly comprises a main arm and a main arm driving mechanism, a walking slideway is arranged on the side surface of a main body, the main arm is installed in the walking slideway, the main arm driving mechanism is installed on the main arm and drives the main arm to slide in the walking slideway, the connecting arm assembly comprises a connecting arm and a connecting arm rotating mechanism, the connecting arm is hinged on the main arm, the connecting arm rotating mechanism is installed on the main arm and drives the connecting arm to rotate around a hinged joint, the tail arm assembly comprises a tail arm and a tail arm rotating mechanism, the tail arm is hinged on the connecting arm, the tail arm rotating mechanism is installed;
the main arm driving mechanism comprises a main arm driving motor, a main arm driving gear and a main arm driven gear, the main arm driving gear is sleeved on the main arm driving motor and is meshed with the main arm driven gear, the main arm driven gear is sleeved on a transmission shaft, the transmission shaft is arranged on the main arm, the other end of the transmission shaft is sleeved with a roller, and the roller is positioned in the walking slideway;
the connecting arm rotating mechanism comprises a connecting arm motor, a connecting arm driving gear and a connecting arm driven gear, the connecting arm motor is installed on the main arm, the connecting arm driving gear is sleeved on an output shaft of the connecting arm motor, the connecting arm driven gear is sleeved on a connecting arm hinged shaft, the connecting arm driving gear is meshed with the connecting arm driven gear, the connecting arm is hinged on the main arm through the connecting arm hinged shaft, the connecting arm driving motor rotates to drive the connecting arm driving gear to rotate, so that the connecting arm driven gear is driven to rotate, the connecting arm hinged shaft is driven to rotate, and finally;
the tail arm rotating mechanism comprises a tail arm motor, a tail arm driving gear and a tail arm driven gear, the tail arm motor is installed on the connecting arm, the tail arm driving gear is sleeved on an output shaft of the tail arm motor, the tail arm driven gear is sleeved on the tail arm hinged shaft, the tail arm driving gear is meshed with the tail arm driven gear, the tail arm is hinged to the connecting arm through the tail arm hinged shaft, the tail arm driving motor rotates to drive the tail arm driving gear to rotate, the tail arm driven gear is driven to rotate, the tail arm hinged shaft is driven to rotate, and finally the tail arm is driven to rotate.
2. The tree-climbing pruning robot according to claim 1, wherein: the main arm is provided with a telescopic cylinder I, the connecting arm is hinged to an ejector rod of the telescopic cylinder I, the connecting arm is provided with a telescopic cylinder II, and the tail arm is hinged to an ejector rod of the telescopic cylinder II.
3. The tree-climbing pruning robot according to claim 1, wherein: the tree pruning device is characterized in that a camera is mounted on the tail arm, a controller is mounted on the main body, the camera collects branch conditions of tree pruning and sends collected information to the controller, and the controller is connected with the mechanical arm system and the electric saw system to control the mechanical arm system and the electric saw system.
4. The tree-climbing pruning robot according to claim 1, wherein: the electric saw system comprises a saw blade, a saw head, a saw blade rotating mechanism, a saw blade driving mechanism and a saw head rotating mechanism, wherein the saw head is installed on the main body, the saw head driving mechanism drives the saw head to rotate for 360 degrees in the main body, the saw blade is installed on the saw head, the saw blade rotating mechanism drives the saw blade to rotate for 180 degrees around the saw head, the saw blade driving mechanism is installed on the main body, is connected with the saw blade and drives the saw blade to work.
5. The tree-climbing pruning robot according to claim 4, wherein: saw head slewing mechanism includes axis of rotation, saw head motor, saw head drive gear and saw head driven gear, and the axis of rotation passes through the bearing to be installed in the main part, and saw head driven gear cup joints in the axis of rotation, and saw head drive gear cup joints on saw head motor, saw head drive gear and the meshing of saw head driven gear, saw bit slewing mechanism includes saw bit motor, saw bit driving gear, saw bit driven gear and saw bit articulated shaft, and the saw bit motor is installed on the saw head, and the saw bit driving gear cup joints on the saw bit motor, saw bit driven gear and the meshing of saw bit driving gear, and saw bit driven gear cup joints on the saw bit articulated shaft, and the saw bit articulates on the saw head through the saw bit.
6. The tree-climbing pruning robot according to claim 1, wherein: the main body is further provided with a laser positioning device, the laser positioning device is connected with the controller and used for positioning the cutting position and sending the cutting position information to the controller, and the controller controls the electric saw system to cut at the cutting position.
CN201921276515.9U 2019-08-08 2019-08-08 Tree climbing and pruning robot Active CN210808361U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921276515.9U CN210808361U (en) 2019-08-08 2019-08-08 Tree climbing and pruning robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921276515.9U CN210808361U (en) 2019-08-08 2019-08-08 Tree climbing and pruning robot

Publications (1)

Publication Number Publication Date
CN210808361U true CN210808361U (en) 2020-06-23

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CN201921276515.9U Active CN210808361U (en) 2019-08-08 2019-08-08 Tree climbing and pruning robot

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111296104A (en) * 2020-02-25 2020-06-19 六安正辉优产机电科技有限公司 Crawler-type automatic climbing tree pruning method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111296104A (en) * 2020-02-25 2020-06-19 六安正辉优产机电科技有限公司 Crawler-type automatic climbing tree pruning method

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Address after: 610000 Shunsheng Road, Zhengxing Street, Tianfu New District, Chengdu City, Sichuan Province

Patentee after: Sichuan Xiaotu Intelligent Technology Co., Ltd

Address before: 610000 Shunsheng Road, Zhengxing Street, Tianfu New District, Chengdu City, Sichuan Province

Patentee before: Chengdu Yiji Wisdom Technology Co.,Ltd.