JP2002315453A - Method for producing automatic tree climbing and branch cutting robot for cryptomeria japonica and white cedar, and method for handling and use therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for controlling an automatic tree climbing and branch cutting robot, with which an artificial forest is grew, lumbers with good quality are produced, manpower is reduced, a dangerous operation is avoided. SOLUTION: This branch cutting robot for Cryptomeria japonica and white cedar utilizes tack strength of three pairs of tree climbing low-pressure drive tire groups which hold a tree, is attached to a shrinkable long belt and changeable in angle and remote reverse rotation of two cycle engine. Since the robot is loaded with a diameter confirmation apparatus for a raw wood, the robot can move up and down. The method for abnormal tree thinning by making trees withered comprises using the robot.

Description

DETAILED DESCRIPTION OF THE INVENTION

{Industrial application fields} Due to the development of this device, the dangers and heavy labor involved in the work of pruning cedar cypress are avoided, and at the same time, the deforestation and degraded forests are depopulated by avoiding heavy labor. Developed a pruning robot in hopes of revival. The present invention utilizes the reverse rotation characteristics of a two-cycle engine. Power source is a two-stroke engine that can rotate forward and reverse. A pruning robot that prunes cedar and cypress. Equipped with a bending device that allows the device to go straight up to the target location, change the direction of travel by remote control on the tree, and move diagonally. Wheel deflection by low pressure driving wheel flat tire and remote control. Select reverse engine rotation. A pruning robot that can guide a raised pruning robot in reverse and recover it down

2. Description of the Related Art Conventionally, in a pruning operation, conventionally, a ladder is used to climb up to a target lower branch, use the branch as a scaffold to screw up to a target branch, and cut a branch with a hand ax with one hand from here. She holds the trunk, secures her body, cuts the branches downward and comes down. First-class hard work in forestry work, dangerous work with cuts and falling accidents,
Therefore, the number of workers is reduced, and as a result, the forestry is depleted and exhausted, and the present situation is achieved.

[0003] Problems to be Solved by the Invention [0005] Conventional work is dangerous and inefficient work due to heavy weight, labor is absorbed by modern urban industries, and forest trees that have been neglected lose their forest form. It is in the abandoned forest or on the verge of abandoned forest hiding in the shadow of the forest. I hope that this situation will be added to this structural recession, and that the employment recession will take the opportunity to participate in reforestation as a secondary occupation or a core business of those who are naturally interested. With or without experience. In search of a handy pruning robot that anyone can operate. I want to be bored with a managed society and designate forestry as an interesting occupation for those who are independent

{Means for Solving the Problems} In order to achieve the above object, a tree is held and held by a stretchable belt-like grasping method for holding the tree. Its shape is in a state where a human has a belly band. Raise and lower the tree, cut off the branches, work on the tree, select a soft low-pressure tire as the drive tire that securely grasps the tree, and incorporate a planetary reduction gear in the womb of the wheel. Prevent trouble. The vertical angle and diagonal ascending with the operation angle variable angle device, select the desired work angle by remote control, select remote control and forward or reverse rotation. The robot is installed in such a way that a branching device is wrapped around the trunk of the tree, and is attached to the rubber band so that it can move up and down. The power of the internal combustion engine is divided into two parts by an ohm reduction gear. Drive gear 31, flexible shaft 1
After 4 go to Chainsaw 3 and drive while cutting branches. The other is led to the gear case 17 through the primary shaft deceleration flexible shaft 15 by the omme gear 20 17A, 17
After the gear B, the direction of the flexible shaft 16 is changed to Y
The flexible shaft 16 penetrates through each drive wheel 18 to prevent slip trouble. Due to secondary deceleration by 19 planetary reduction gears. Driving force increases, operation status goes vertically up and down, spirals in an oblique direction, and when it arrives at the destination, it reverses the engine by remote control and returns to the starting point

The running condition is ascending and descending a tree according to the installation angle of the flexible tire. The tree sticks to the tree like a reptile gecko in a diagonal direction, moves diagonally in the vertical and diagonal directions, and cuts branches with a chain saw to raise and lower diagonally. robot

Utilizing reverse rotation of a two-cycle engine. When the vehicle arrives at the target position, the engine can be remotely rotated in reverse or Identify the diameter and select automatic reverse rotation to start descent. In artificial plantation, the tree spacing is orderly, so the operation to move to the next work can be easily done

{Operation} The pruning device configured as described above is used. With the simple operation that an amateur gets close to forestry. Expecting the rehabilitation of the endangered forest, the radio control will make it easier to operate the machines at high altitudes.
Flexible tires-Flexible casters absorb changes in machine posture due to trunk flexion, stabilizing work posture. It is easy for amateurs to engage in forestry because they can rise and fall, and the labor force who avoided heavy labor and stayed away from forestry also wants to cooperate with the renewal of forestry that has been exhausted due to the recent U-turn and I-turn in the Heisei recession

<< Embodiment >> An explanation will be given with reference to the drawings based on the embodiment. In FIG. 1, the wide belt 9 is connected to the steel spring reinforcing material 5.
Vertical ball casters at upper end of spring
, A small spherical caster 4 is installed in the middle stage, a variable angle drive wheel 18 is mounted at the lower end, and a planetary reduction gear 19 is built in the variable angle drive wheel 18 to constitute a series of reinforcing members (FIG. 6). .
The steel plate spring reinforcements 5 are reinforced in parallel as shown in FIG. As shown in FIG. 2, the branches of the tree are cut off while holding the tree 1 and moving the tree up and down. The small spherical casters 4 are arranged on the inner surface of the belt 9 and the parallel leaf spring supporting plates 5 are bolted. The spherical casters that prevent the contact friction between the standing trees and the belt are not independent and operate as the variable-angle drive wheels travel. In FIG. 3, the power of the internal combustion engine 23 is divided into two parts, a worm gear drive gear 31 and a worm gear 20. One of them is guided to the chain 3 via the worm gear 31 and the flexible shaft 14, and the branches of the cedar are cut off by the chain. On the other hand, the primary reduction by the ohm reduction gear 20 is performed via the flexible shaft 15 and the gear case 1.
7, the flexible shaft 16 is deformed in the Y-direction through the built-in gears (17, A) (17, B), and one drive wheel 18 is connected to the drive wheels via the planetary reduction gears 19 included therein. A single drive is performed to raise and lower the standing tree to perform the pruning operation. The driving tire uses flexible foam rubber to cover the unevenness of the tree surface, which can respond to changes in the robot's posture due to the unevenness, and reduce slip trouble with the standing trees.
Avoid damage to standing trees caused by chain changes due to posture changes

In FIG. 9, a diameter discriminating device attached to a pruning robot has a signal source to a farogen lamp, a signal carrier to an optical fiber cable, and a light-receiving and power generating device to a battery-based farogen lamp based on an amorphous power generating element. Supply power. The halogen lamp 24 1 and the optical fiber cable 23 1 face each other to transmit light.
Fiber cable 23-1 and amorphous power generation element 2
5 No. 1 avoids the confronting face, confronts at the set position, receives light, generates power, and instructs reverse rotation by current. Therefore, identify the tree diameter and induce reverse rotation

[0010] Engine start. Explained engine reverse rotation guidance on the tree. When the engine is stopped or idling, the pressure reducing valve opens in conjunction with the throttle for light driving. Automatically releases the pressure reducing valve (24) when starting or inducing reverse rotation to reduce engine output. This reduces engine power, backlash and ketchin. Avoidance etc. and drive lightly. Reverse rotation can be selected automatically or manually. When the valve is opened and depressurized, start and reverse rotation can be easily performed. Conversely, during acceleration, the pressure reducing valve closes and performs strong operation

At the time of starting the reverse rotation, the pressure reducing valve is automatically opened in the reverse rotation state and idling, and the compression pressure is reduced by the automatic operation, whereby the engine power is attenuated to avoid the kicking and the backlash at the time of the reverse rotation to reverse. A drum-shaped torsion spring (27) for facilitating rotation induction is fixed to a spring anchor 29 which can be moved in and out. The spring (29) is pushed out instantaneously by the electromagnetic coil (26). The V-shaped notch (8A) of the end face of the crankshaft for idling is engaged with the end face of the drum-shaped reversing spring (27). It depends on the repulsion of the drum-shaped inversion spring (27).
Trigger the reversal of the cycle engine.

[0012] Thinning method. Vulnerable densely planted forests that choose to die except for income thinning are single trees and cannot be grown. Withstands wind and snow damage in a mixed forest of live trees and dead and dead trees, vulnerable densely planted incense forest with joint defense of dead trees and live trees, winds with dead trees as canes,
Escaping the arrival due to snow damage｝ Effects of the Invention｝ The present invention has the following effects if configured as described above.

[0013] The first advantage is that the human is twisted up on the tree and freed from the dangerous work of pruning with a hatchet. With the simple task of monitoring the robot by the controller, it is expected that the labor will be reduced and the vitality of the depleted forestry will be restored. It has the effect that anyone, young and old, can work in forestry. I hope it will be a means of overcoming the structural recession. Vulnerable Densely planted plantations protect against wind and snow damage due to thinning and thinning

[Brief description of the drawings]

[Figure 1] Tree climbing band front view

Fig. 2 Tree climbing band wearing diagram

FIG. 3 Schematic diagram of the tree climbing device

FIG. 4 is an imaginary view attached to a standing tree.

FIG. 5: Exploded view of a flexible tire

[Fig. 6] Steel, leaf spring support base, side view

FIG. 7 is an explanatory view of inversion induction.

FIG. 8 is a plan sectional view of the diameter discriminating apparatus.

FIG. 9 is a side view of the diameter discriminating apparatus.

Fig. 10 Imaginary picture of densely planted mixed forest

[Explanation of symbols]

1 Standing tree 25 no 1 Amorphous power generation element 1 no 1 Thinned-out tree 27 Hourglass
Left and right rebound spring 2 no 1 peeling dead tree 28 2 large spherical caster 29 reverse induction electromagnet 3 chain saw plate 30 reverse,
Acceleration signal receiving antenna 4 Small ball type, caster 31 Omni gear driving small teeth 5 Steel leaf spring support bracket 32 Sections Projection 6 Belt protruding sleeve 7 Rubber, tight rope 8A Crank end face V-shaped cut 9 Wide belt 10 Ohm reduction gear box 11 Piston 12 Battery 13 Deflection drive motor 14 Chain drive flexible shaft 15 Driving wheel flexible shaft 16 Deflection tire drive flexible shaft 17 Flexible deflected gear case 17A Flexible deflected gear 1 17B Flexible deflected gear 2 18 Riveted flexible deflector wheel DESCRIPTION OF SYMBOLS 19 Inner vesicle, planetary gear 20 Homme gear 21 Deflection drive cable 22 Belt projecting sleeve 23 Engine main body 23 No. 1 fiber optic cable 23 No. 2 Cable support arm 24 Pressure reducing valve 24 No. 1 Phalogen bulb 25 Dynamic motor

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) A01G 23/00 A01G 23/00 512H B27B 17/00 B27B 17/00 D

Claims (6)

[Claims] Claims 1. Based on the development of this device, avoid the danger and heavy labor involved in the work of cutting off cedar and cypress, and at the same time, avoid heavy labor in forestry, regenerate depopulated forestry, and restore degraded forests. Hope to develop a pruning robot. The shape of the device is cylindrical, with a two-stroke engine on the outside and a chain saw attached, a large and small spherical caster on the inside,
Cylindrical tree climbing robot with variable-angle drive wheels at the bottom. In Figure 2, the band (9) is on the trunk of Tachiki (1).
A small spherical caster of (4) was installed in parallel on the abdominal surface of the band (9) to secure a gap between the standing tree and the cylindrical abdomen, and a gap with the standing tree was secured. Payment robot. The shape is a wide belt shape, with humans wrapped around belly. In FIG. 2, a steel plate spring supporting member (5) curved and shaped is used as a reinforcing material, and bolts are installed in parallel on the abdominal surface of the belt (6). A large spherical caster (2) is installed at the upper end, and a small spherical caster (4) is installed at the lower end, and a drive wheel (18) capable of changing the angle is installed. Spherical casters are soft and consist of a sponge inside the womb. Low pressure drive wheel (18) at the bottom
Is installed so as to be able to change the angle, and a pair of steel upper and lower steel curved spring plates (5) are fixed to the inner surface of the belt (6) in parallel with the inner surface of the belt (6) by bolts. A planetary reduction gear (19) is built into the variable-angle low-pressure drive wheel (18) installed below the leaf spring (9) to reduce the speed. The low-pressure tire (18) has a wide adhesive surface and a non-slip tack on the surface. In addition to the use of adhesive friction to prevent slip trouble, the protruding section (32) of the tree, flexible tires and spherical casters include the protruding section, stabilizing the working posture of the robot. At the time of the work, as shown in Fig. 2, the tree is held up to the target branching point, holding the standing tree, and rising vertically. Drive wheels (18) from the destination
Deflection motor (13) is deflected by remote control via antenna (30A) and turns spirally toward the top at an oblique angle to the trunk. Progresses while cutting off branches with chain saw (3). The standing tree is secured by the contraction force of (18), the restoring force of the leaf spring (5) that has been curved and shaped in advance, the contraction of the rubber tie rope (7) that tightens both ends of the belt (6), and the expansion and contraction of the low-pressure tire. A tree climbing and pruning robot that can be grasped at a glance. To prevent the cutter chain from falling off, select a diamond-shaped plate to prevent the chain from falling off. 2. The tree (1) is wound around the outer circumference. The large spherical caster (2) installed on the upper end surface of the curved spring (5) mounted inside the wide belt (5) has no independence and operates as the variable drive wheel (18) moves. The drive wheel (18) climbs a speed reduction tree by a speed reduction planetary gear (19) included in the womb. As shown in Fig. 2, the procedure for attaching the standing tree is as shown in Fig. 2. The protruding sleeves (6, 22) are wrapped around the standing tree, and the protruding sleeves (6, 22) are held by the rubber band (7). The rotation of the two-cycle engine (23) is divided into two parts and guided to the chain saw (3) via the worm gear drive gear (31) and the flexible shaft (14), and is used as a drive source of the branching chain saw. The same drive source is guided to the gear case of (17) via the flexible shaft of the primary reduction gear (15) based on the worm gear of (20). Via gears (17A) (17B). The flexible shaft (16) is driven to change the angle in the Y-direction. The drive wheels (18) are driven collectively. Secondary deceleration is performed by a planetary gear (19) built in the driving wheel. A flexible shaft (16) penetrates each variable-angle drive wheel to perform collective drive.
The variable angle flexible tire (18) has a pillow-shaped circular shape with spikes on the surface to prevent slip trouble. Flexible shafts (16) penetrating the center gear of the planetary gear (19) included in the variable angle tire (18) respectively drive the driving wheels (18) collectively to enhance the tree climbing effect. 3. The driving tire of the pruning robot has a large bonding area as a feature of the flexible low-pressure tire, prevents slip trouble when climbing a tree by spike processing, and includes protrusions and measures (32) to grasp the standing tree. Ensures stability, absorbs posture changes due to tree irregularities, and secures a stable working posture irrespective of the unevenness of the adhesive surface. Ascends and descends perform reverse rotation operation by remote control utilizing the features of a two-cycle engine. Then, move straight up to the target location, switch the direction of travel, and perform pruning work diagonally. When the desired work is completed,
Reverse rotation of the engine (23) by remote control The variable-angle low-pressure flat tire, which is capable of rectilinear and diagonal traveling to perform downward recovery, is operated by changing the deceleration variable-angle motor shown in FIG.
A) A deceleration motor (13) performed by remote control via
A small cable (21) is wound endlessly around the shaft of (1), and the wheel is deflected on a tree by remote control via an antenna (30A). In the chain saw plate, a ball is embedded in the plane of the plate to prevent the stem from being damaged due to the movement of the apparatus, and the stem is prevented from being damaged due to the movement of the chain. 4. Description of the reverse rotation device of the two-stroke engine according to FIG. 7; when the engine is stopped or idling, the pressure reducing valve (24) is opened. When idling, the pressure reducing valve linked with the throttle valve is opened to perform low pressure operation. Ketchin and backlash, which occur at the time of reverse rotation start, are unlikely to occur. During acceleration, the pressure reducing valve (24) is closed in conjunction with the throttle to perform power operation. In FIG. 7, the two-cycle engine is operated in an idling state, and the pressure reducing valve (24) is operated. The compression pressure is reduced due to the automatic release of). This causes the engine power to be attenuated and smooth operation, thus avoiding kicking and backlash during reverse rotation, and facilitating reverse rotation induction. Reverse operation (according to FIG. 7) The drum-shaped torsion spring (27) is fixedly integrated with a spring anchor (29) that can be moved in and out. Electromagnetic coil (2
6) The spring anchor (29) is instantaneously pushed by the magnetic force of (6).
8A), the end face of the drum-shaped spring is engaged, and the crank rotation is reduced by the spring force to forcibly stop. At the same time, the repulsion of the drum-shaped torsion spring (27) induces reverse rotation of the two-cycle engine,
The drum-shaped torsion spring is restored simultaneously with reversal. The above operation is performed by the controller via the antenna (30).
To start the engine at the time of initial movement, the starting motor (25) is inserted into the V-shaped cut (8A) of the crankshaft and the drum-shaped reversing spring (2).
The center of step 7) is crimped down, and the engine is started in normal rotation. The opening and closing of the pressure reducing valve (24) is linked with the throttle. Therefore, when the throttle is closed, the pressure reducing valve opens and performs smooth operation 5. The robot performs a return after identifying and confirming the diameter of the standing tree. Explains the method of identifying the diameter of standing trees. The standard diameter is input and stored in the diameter identification sensor mounted on the pruning robot. Farogen light (24-1) and optical fiber cable (32
The optical signal is converted to electric current based on No. 1) and the amorphous power generation element (25 No. 1). Instructs 2-cycle engine to reverse rotation based on current. Guides the internal combustion engine to reverse rotation. Perform descending recovery.
The diameter discrimination operation of a standing tree is a phallogen lamp (24 no. 1).
The optical fiber cable (32
No. 1) for signal transfer. Arm supporting the center end of the cable (2
The cable is curved and the end face of the cable is installed at the same position as the amorphous power generation element (25 no. 1), and the facing position is related to the diameter of the tree. Photovoltaic power generation is performed facing the set position of the diameter. The reverse current is commanded to the two-cycle engine (23) triggered by the current generated by the power generating element (25-1). So the reversing device. Control is possible with two systems based on a hand controller and a diameter identification sensor. 6. A method for growing a densely-planted evil forest. These days. Due to the lack of maintenance of plantation forests, the forest is in the state of incense forest, densely planted evil forest, and on the verge of abandoned forest. There is no method of regeneration other than wiping and thinning methods. Select the selected tree in the middle of dense plantation and cut off the branches to grow the selected tree. For other trees, choose to peel off the epidermis and die off. {Fig. 10} (2 No. 1) Peel off the bark of a standing tree like a peeled dead tree, block the flow of sap, lead to asphyxia, (1 No. 1) Like (2) and (2 no 1) peeled dead trees. Constructs a mixed forest with dead trees. Trees selected for pruning can withstand wind and snow damage by hanging dead trees on their canes. Selected trees that have grown as squires are susceptible to wind and snow damage, but if they grow up leaning on dead trees to support them,
You can restore the original rooting and restore healthy cedar and cypress forests. As a result, daylighting is good, and lichen plants are thriving, and it can be expected that the ground strength will be restored. Definition Incense forest