CN219919765U - Bionic pruning robot block structure for forest fire prevention - Google Patents
Bionic pruning robot block structure for forest fire prevention Download PDFInfo
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- CN219919765U CN219919765U CN202320926404.8U CN202320926404U CN219919765U CN 219919765 U CN219919765 U CN 219919765U CN 202320926404 U CN202320926404 U CN 202320926404U CN 219919765 U CN219919765 U CN 219919765U
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- fire prevention
- forest fire
- pruning robot
- bulb
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- 238000013138 pruning Methods 0.000 title claims abstract description 30
- 230000002265 prevention Effects 0.000 title claims abstract description 20
- 239000011664 nicotinic acid Substances 0.000 title abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 claims abstract description 7
- 230000003044 adaptive effect Effects 0.000 claims abstract description 6
- 230000003592 biomimetic effect Effects 0.000 claims 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 230000009193 crawling Effects 0.000 description 5
- 241000270295 Serpentes Species 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009194 climbing Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/28—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for farming
Abstract
The utility model relates to a bionic pruning robot block structure for forest fire prevention, which is characterized in that: including a plurality of chunks that connect gradually, the bottom surface of each chunk is equipped with the gyro wheel, connect through adaptive mechanism between the chunk is adjacent, adaptive mechanism is including being used for the ladder cover of inserting to fix in first chunk counter bore, be equipped with the bulb groove on the ladder cover, the bulb inslot rotation articulates there is the bulb, be connected with the inserted bar on the bulb, the inserted bar is used for inserting to fix in the installation slotted hole of adjacent second chunk. The bionic pruning robot block for forest fire prevention is reasonable in structural design, is beneficial to enabling the snake-shaped pruning robot to smoothly advance on a trunk, and is not easy to drop.
Description
Technical field:
the utility model relates to a block structure of a bionic pruning robot for forest fire prevention, in particular to a local component used on a tree branch cutting robot.
The background technology is as follows:
the electric power facilities and the electric power cables and the like are often installed in the jungle, and the branches of the trees are more and sometimes extend to the electric power cables and the electric poles, so that certain potential safety hazards are caused to the electric power facilities, even fire disasters are caused by the fact that the growing branches contact the electric power facilities and the electric power cables and the like, branches of some trees are required to be cut off, manual climbing is carried out on the branches of the trees in the past, and huge potential hazards exist for personal safety of workers in the work.
The utility model relates to a multi-section driving master-slave type snake-shaped robot of the current retrieved Chinese patent, and discloses a CN110065054A, which aims to solve the problems of poor ground adaptability, weak obstacle crossing capability and low environment interference resistance of the current snake-shaped robot; the first driving unit, the second driving unit and the third driving unit all comprise at least one driving component; the snake body connecting unit comprises at least one snake body module or a plurality of snake body modules connected in series; the driving assembly comprises a fixed component, a power mechanism and a travelling mechanism; the fixed component is connected with the adjacent snake body module, the power mechanism and the travelling mechanism are both arranged on the fixed component, and the power mechanism is connected with the travelling mechanism and can drive the travelling mechanism to travel.
The middle driving components of the multi-section driving master-slave type snake-shaped robot are all protruded downwards from the snake-shaped body component, so that the multi-section driving master-slave type snake-shaped robot is mainly suitable for being used on the ground, when the multi-section driving master-slave type snake-shaped robot is used for climbing trees, due to the fact that the multi-section driving master-slave type snake-shaped robot advances in a spiral winding mode, due to the fact that the multi-section driving master-slave type snake-shaped robot advances in the spiral winding mode, the multi-section driving master-slave type snake-shaped robot is unreasonable in component design, and is easy to advance clamping stagnation or fall from a trunk.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present utility model aims to provide a bionic pruning robot block structure for forest fire prevention, which has reasonable structural design, is favorable for enabling a snake-shaped pruning robot to smoothly travel on a trunk and is not easy to fall off.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model relates to a bionic pruning robot block structure for forest fire prevention, which is characterized in that: including a plurality of chunks that connect gradually, the bottom surface of each chunk is equipped with the gyro wheel, connect through adaptive mechanism between the chunk is adjacent, adaptive mechanism is including being used for the ladder cover of inserting to fix in first chunk counter bore, be equipped with the bulb groove on the ladder cover, the bulb inslot rotation articulates there is the bulb, be connected with the inserted bar on the bulb, the inserted bar is used for inserting to fix in the installation slotted hole of adjacent second chunk.
Furthermore, the inserting rod is in clearance fit with the mounting groove hole, the inserting rod is provided with a strip-shaped groove, the second group block is provided with a bolt hole, the bolt penetrates through the bolt hole and penetrates through the mounting groove hole and the strip-shaped groove, and the inserting rod can freely stretch out and draw back in the mounting groove hole without being separated.
Furthermore, the ball head cannot be separated from the ball head groove, and the structure is a universal ball head structure.
Further, a cover sleeve limiting the ball head in the ball head groove is arranged on the outer side of the ball head groove, a through hole for the inserting rod to pass through is formed in the center of the cover sleeve, and the cover sleeve is locked on the end face of the step sleeve through a screw.
Further, the rollers are driven to rotate by motor in the block.
When the utility model works, the head end and the tail end are respectively connected with the head end and the tail end, the head end and the tail end are respectively provided with the driving wheels, the snake-shaped pruning robot is arranged on the lower part of the trunk of a target tree in advance under the assistance of manpower, the robot is wound and held tightly by a snake-shaped mode, when the robot advances, the driving wheels positioned at the head end pull a plurality of blocks to advance for one section in sequence, the interval between every two adjacent blocks reaches the maximum (namely, the strip-shaped groove stretches into the shallowest position of the mounting groove hole), then the driving wheels positioned at the tail end push a plurality of blocks to advance for one section in sequence, the interval between every two adjacent blocks reaches the shortest (namely, the strip-shaped groove stretches into the deepest position of the mounting groove hole), and the whole advancing process such as the movement of the caterpillar.
The bionic pruning robot block for forest fire prevention has reasonable structure design, is favorable for smooth and stable forward movement in the advancing process, and is not easy to fall off from a trunk.
Drawings
Fig. 1 and 2 are perspective views of a bionic pruning robot for forest fire prevention at different view angles;
FIG. 3 is another perspective partial perspective exploded view of a bionic pruning robot for forest fire prevention;
FIG. 4 is a schematic cross-sectional view of a block of the head end;
FIG. 5 is a perspective view of the middle chunk;
FIG. 6 is a perspective view of the other view of FIG. 5;
FIG. 7 is an exploded view of FIG. 5;
fig. 8 is a perspective view of a usage state of a bionic pruning robot for forest fire prevention.
Fig. 9 is a schematic diagram of a bionic pruning robot tiling and straightening state for forest fire prevention;
fig. 10 is a control schematic block diagram of each electronic component on the controller and pruning robot.
Detailed Description
The utility model will be further described with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the utility model. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs.
A bionical pruning robot for forest fire prevention is including a plurality of chunk 1 that connects gradually, and chunk 1 is the cuboid piece, and each chunk 1 shape and size can be the same, or different, and the size of the chunk 101 that is located the head end, the terminal chunk 102 of preferred is great.
The head end block 101 and the tail end block 102 are respectively and rotatably hinged with a swinging frame 2, the swinging frames are rotatably hinged with driving wheels 3, the swinging frames are in an inverted U shape, the upper ends of the swinging frames are fixedly connected with swinging rods 7 extending into the blocks, the swinging rods are driven to swing by steering gears 8 arranged in the blocks (the steering gears are conventional equipment, and fig. 4 only schematically illustrates the connection relation between the steering gears and the swinging rods 7); the driving wheel is embedded with a direct current motor 9, two ends of a rotating shaft 10 of the direct current motor are fixedly connected with two ends of the swinging frame, a rubber wheel 11 is sleeved on the periphery of a hub of the direct current motor, the rubber wheel 11 is in a circular ring shape and fixedly sleeved on the periphery of the hub of the direct current motor, and when the robot is in operation, the driving wheel is enabled to rotate leftwards or rightwards through the operation of a steering engine 8 so as to realize steering, and the robot is enabled to travel along a trunk or a branch spiral through the operation of the direct current motor 9.
The bottom surface of each group block between head end and terminal group block is equipped with gyro wheel 4, have the breach 5 that extends from the bottom surface to the top surface on head end and terminal group block, swing frame 2 and drive wheel 3 set up in breach 5 position to make the lower extreme of drive wheel be in same horizontal plane with the lower extreme of each gyro wheel (each group block is under the state of flare), be equipped with breach 5 on through head end and terminal group block, thereby can hold swing frame 2 and drive wheel 3 in making this breach space, thereby make the lower extreme of drive wheel and the lower extreme of each gyro wheel can be in same horizontal plane under the state of flare in each group block, reduce the drive wheel lower bulge and go forward the jamming that produces the travel of gyro wheel 4, when the lower extreme of drive wheel and the lower extreme of each gyro wheel are in same horizontal plane, make the travel more smooth and more, thereby can improve the speed of traveling.
In order to realize sawing of target branches (namely, branches of a power cable and a telegraph pole are blocked or affected), one of the blocks is connected with an electric saw 6 for sawing the branches, the body of the electric saw 6 is fixedly connected to an output shaft of a second steering engine, and when the second steering engine works, the body of the electric saw 6 can be swung to different directions, so that the branches in different direction positions can be sawed conveniently.
The adjacent blocks are connected through a self-adaptive mechanism A, the self-adaptive mechanism A comprises a step sleeve A1 which is used for being inserted and fixed in a counter bore A5 of one block (a first block), a ball head groove A2 is arranged on the step sleeve, a ball head A3 is rotatably hinged in the ball head groove A2, a plug rod A4 is fixedly connected to the ball head A3, the plug rod A4 is used for being inserted and fixed in a mounting slot A6 of the other block (a second block), counter bores A5 and mounting slots A6 are arranged on each block positioned in the middle, the ball head A3 cannot be separated from the ball head groove A2, the structure is as a universal joint structure, a cover sleeve A7 which limits the ball head A3 in the ball head groove A2 can be arranged outside the ball head groove A2, a through hole for allowing the plug rod A4 to pass through is arranged in the center of the cover sleeve A7, and the cover sleeve A7 can be locked on the end face of the step sleeve A1 through screws; the inserted link A4 and the installation slot A6 can be fixed through tight fit or through a bolt.
In a first embodiment of the utility model, the travelling power of the pruning robot is derived from the travelling power provided by the driving wheel and the roller (the motor for driving the roller to travel is arranged in the block).
In the second embodiment, the travelling power of the pruning robot is only derived from the driving wheel, the rollers do not provide power, in this case, if the pruning robot is rigid in the length direction (i.e. the length cannot stretch) and the driving wheel positioned at the head end and the tail end drives the pruning robot to travel in a spiral shape, namely, the situation that the pruning robot falls off from the trunk easily occurs, therefore, optimally, the inserting rod A4 is in clearance fit with the mounting groove hole A6, the inserting rod A4 can stretch freely in the mounting groove hole A6, the inserting rod A4 is provided with the strip-shaped groove A10, the second group block is provided with the inserting pin hole A8, the inserting pin A9 penetrates through the mounting groove hole A6 and the strip-shaped groove A10, so that the inserting rod A4 can stretch freely in the mounting groove hole A6 without being separated, and therefore, when travelling, the driving wheel positioned at the head end pulls a plurality of groups of blocks forwards in sequence, the spacing between adjacent groups reaches the maximum (i.e. the strip-shaped groove A7 stretches into the mounting groove A6 shallowest position), and then the driving wheel positioned at the tail end drives the driving wheel positioned at the tail end to sequentially move forward a plurality of groups of adjacent groups of blocks, the spacing between the adjacent groups reaches the shortest distance between the hair-shaped groove A6, and the shortest travelling distance between the adjacent groups A reaches the shortest distance between the hair-shaped groove A.
The structure and the working method are beneficial to ensuring that the pruning robot is stable, reliable and not easy to fall off when advancing, and can save a motor for providing driving power for each roller, driving power and a power supply.
However, in the case of the second embodiment, in order to increase the traveling speed, the rollers may be driven to rotate by a motor located in the block, and the moving traveling speed may be increased by rotationally traveling the leading and trailing driving wheels and the rollers.
The power supply of the direct current motor and the steering engine can be powered by a generator or a storage battery positioned on the ground.
In order to facilitate the operator to observe the situation at any time, so as to conveniently adjust the advancing speed and saw cut branches, the upper surfaces of the head end and tail end blocks are connected with a camera 12, a wireless receiver is arranged in each block, and the wireless receiver establishes wireless communication with a controller of the operator.
The controller establishes hot-spot wireless connection with the wireless receiver in the block, the control signal of the controller is sent to the receiving module in the block through the data transmission module and feeds back the state, the controller adopts a visual mobile terminal, and an APP based on an android system is installed, so that control and parameter adjustment operations can be carried out in an interface of the controller.
The above-mentioned operations of each driving wheel, the roller, the steering engine, the second steering engine, the electric saw 6, etc. are wirelessly controlled by the controller, and are technical means commonly used in the field of electronic technology, and will not be described here.
A working method of a bionic pruning robot for forest fire prevention,
(1) The whole equipment is divided into two sections or multiple sections, is carried to a working place to be connected into a whole, is arranged on the trunk of a target tree with the assistance of manpower, and enables a robot to twine and hold the trunk in a serpentine manner; (2) Starting the equipment, wherein the equipment moves in a snake-shaped posture under the assistance of the guide of a driving wheel positioned at the head and the driving wheel positioned at the tail, and the swing frame can adjust the angle so as to achieve the purpose of changing the crawling path; in the crawling process, trunks such as middle branches and small branches influence crawling, and the electric saw can be controlled to saw and clear obstacles; under the guidance of the video shot by the camera, the electric saw reaches a trimming target, and is controlled to carry out sawing trimming operation; (3) When the operation point is at the branch end of the tree, controlling the swing frame to adjust the crawling posture and crawling angle, so that the aim of crossing branches can be achieved; (4) After the operation is finished, the head and tail of the robot are changed in a snaking way under the assistance of the head driving wheel and the tail driving wheel, so that the return stroke is realized.
The bionic pruning robot for forest fire prevention has the advantages that as the swing frame and the driving wheels are arranged in the notch positions, the lower ends of the driving wheels and the lower ends of the rollers are positioned on the same horizontal plane, so that the robot cannot cause excessive friction force due to uneven travelling wheels in the travelling process, and the travelling smoothness and speed are affected.
The above-described embodiments are provided to further explain the objects, technical solutions, and advantageous effects of the present utility model in detail. It should be understood that the foregoing is only illustrative of the present utility model and is not intended to limit the scope of the present utility model. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without departing from the spirit and principles of the present utility model are intended to be included in the scope of the present utility model.
Claims (5)
1. A bionical pruning robot chunk structure for forest fire prevention, its characterized in that: including a plurality of chunks that connect gradually, the bottom surface of each chunk is equipped with the gyro wheel, connect through adaptive mechanism between the chunk is adjacent, adaptive mechanism is including being used for the ladder cover of inserting to fix in first chunk counter bore, be equipped with the bulb groove on the ladder cover, the bulb inslot rotation articulates there is the bulb, be connected with the inserted bar on the bulb, the inserted bar is used for inserting to fix in the installation slotted hole of adjacent second chunk.
2. The biomimetic pruning robot block structure for forest fire prevention according to claim 1, wherein: the inserted link and installation slotted hole clearance fit have a bar channel on the inserted link, are equipped with the bolt hole on the second group piece, and the bolt passes the bolt hole and pierces through installation slotted hole and bar channel, and the inserted link can freely stretch out and draw back in the installation slotted hole and can not break away from.
3. The biomimetic pruning robot block structure for forest fire prevention according to claim 1 or 2, wherein: the ball head cannot be separated from the ball head groove, and the structure is a universal ball head structure.
4. A biomimetic pruning robot block structure for forest fire prevention according to claim 3, wherein: the outer side of the ball head groove is provided with a cover sleeve limiting the ball head in the ball head groove, the center of the cover sleeve is provided with a through hole for the inserted rod to pass through, and the cover sleeve is locked on the end face of the step sleeve through a screw.
5. The biomimetic pruning robot block structure for forest fire prevention according to claim 1, wherein: the roller is driven to rotate by a motor positioned in the block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320926404.8U CN219919765U (en) | 2023-04-23 | 2023-04-23 | Bionic pruning robot block structure for forest fire prevention |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320926404.8U CN219919765U (en) | 2023-04-23 | 2023-04-23 | Bionic pruning robot block structure for forest fire prevention |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219919765U true CN219919765U (en) | 2023-10-31 |
Family
ID=88493992
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320926404.8U Active CN219919765U (en) | 2023-04-23 | 2023-04-23 | Bionic pruning robot block structure for forest fire prevention |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219919765U (en) |
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2023
- 2023-04-23 CN CN202320926404.8U patent/CN219919765U/en active Active
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