JP2021019584A - Pruning device - Google Patents

Abstract

To provide pruning devices that perform a pruning work without interruption by preventing the blade from getting caught.SOLUTION: A mount 212 that secures a chainsaw 210 is attached to a frame 211 and a pedestal 221 supporting the frame 211 is fixed on a traveling body 241 via a linear block 231. The traveling body 241 can circle on a rail 240 mounted so as to surround a trunk. When the chainsaw 210 comes into contact with a branch, the reaction force pushes the frame 211 and pulls a tension spring 222. A sensor 220 measures the displacement and changes the traveling speed of the traveling body 241 according to the value. The traveling speed of the traveling body is limited to the speed at which the branch can be cut or less, and the blade can be prevented from getting caught.SELECTED DRAWING: Figure 9

Description

The present invention relates to a branch cutting device.

For the purpose of improving the efficiency and safety of pruning work of standing trees, the device that moves the trunk up and down is equipped with a power blade that cuts branches such as chainsaws and circular saws, and ascends while turning around the trunk. Many automatic pruning machines have been devised to cut off.

Japanese Unexamined Patent Publication No. 2002-153148

When performing pruning work using an automatic pruning machine, there is often a problem that the blade bites into the branch and the device becomes inoperable. In that case, not only the work is interrupted, but also a person needs to climb a tree to release the bite, and the work efficiency is significantly reduced.

The biting of the blade occurs when the pruning machine advances beyond the speed at which the blade can cut the branch. A method of detecting the overload of the chainsaw and controlling the traveling speed of the pruning machine has been devised, but it is difficult to prevent the biting because the control is not in time because the biting occurs instantly when the load is high.

In the branch cutting device of the present invention, a traveling body that swivels around the outer circumference of the trunk, a blade body that is supported by the traveling body via an elastic material that expands and contracts in the traveling direction of the traveling body, and a displacement of the elastic material. It is characterized in that it is provided with a sensor for measuring the speed of the traveling body, and controls the traveling speed of the traveling body according to the measured value of the sensor.

That is, the traveling body is advanced to bring the blade body into contact with the branch, the reaction force received by the blade body is relaxed by the elastic material, and the traveling speed of the traveling body is controlled according to the displacement of the elastic material. .. By setting the elastic material so that its restoring force is equal to or less than the allowable cutting load of the blade, the traveling speed of the traveling body can be limited to the speed at which the branch of the blade can be cut.

Further, the blade body can move forward and backward in the direction of the trunk radius, the blade body has a variable tilt angle with respect to the trunk axis direction with the lower end as a fulcrum, and the blade body comes into contact with the tree trunk or branches at the upper and lower ends. It is characterized by including a cover for preventing the blade body, an elastic material for pressing the blade body against the tree trunk in the direction of the trunk radius, and an elastic material for pressing the blade body in a direction for reducing the tilt angle.

Further, in the branch cutting device of the present invention, the blade body is movable up and down, and an actuator for moving the blade body up and down is provided, and when the upper end cover of the blade body comes into contact with a branch, the actuator is driven to drive the branch. It is characterized by avoiding.

Further, the branch cutting device of the present invention is characterized in that it includes a rail that surrounds the circumference of the tree trunk, the traveling body orbits the rail, and the rail is mounted on an elevator that moves up and down the tree trunk.

Alternatively, the branch cutting device of the present invention is characterized in that, instead of being provided with the rail, the traveling body is an elevator that moves up and down while turning the trunk.

[First Example]
Hereinafter, the first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing a branch cutting device. The chainsaw 10 that cuts the branches stands upright along the trunk and is fixed to the mount 12. The mount 12 is attached to the main frame 11, and the sub-frame 21 supporting the main frame 11 is fixed on the traveling body 41 via the connecting block 31.

The traveling body 41 is provided with a traveling motor 42, and can rotate on the rail 40 by rotating a roller 43 pressed against the outer edge of the annular rail 40. The rail 40 is attached so as to surround the trunk. The rail 40 can be attached to and detached from the trunk by an opening / closing mechanism with the rotating shaft 44 as a fulcrum.

The device can be used as an automatic pruning machine by mounting it on an elevator that raises and lowers the trunk. An example thereof is shown in FIG. While driving the chainsaw 10, the elevator 50 can be raised and the traveling body 41 can be turned, and the branches can be cut while turning the outer circumference of the trunk 100.

FIG. 3 shows a front view of the branch cutting device. The main frame 11 is movable at a constant angle about the rotation shaft 23. A tension spring 22 is connected between the main frame 11 and the sub-frame 21, and a sensor 20 for measuring the displacement of the tension spring 22 is attached to the main frame 11.

If the curved portion at the tip of the chainsaw 10 comes into contact with the branch, there is a problem that kickback and the quality of the cut surface of the branch become unstable, and it is desirable to avoid cutting at this portion. The curved portion does not come into contact with the branches due to the tip guard 36 mounted so as to cover the blade.

The mount 12 is supported by the slider 14 from both sides, and the slider 14 is movable up and down along the shaft 15 and is supported by the compression spring 18 from below. The servomotor 24 is connected to the lower part of the mount 12 via a wire 25.

FIG. 4 shows a cross section taken along the line AA of FIG. The sub-frame 21 is attached to the connecting block 31 so as to be able to move forward and backward in the radial direction of the trunk, and the sprocket cover 37 is pressed against the trunk by the compression spring 32. As a result, the chainsaw 10 keeps the distance constant without touching the surface of the trunk while approaching the surface of the trunk. The servomotor 34 is connected to the subframe 21 via a wire 35.

The mount 12 is movable at a constant angle around the rotation shaft 17, and the tip guard 16 is pressed against the trunk by the action of the compression spring 16. With this structure, the angle of the chainsaw 10 can follow the bending of the trunk.

The device includes a control circuit 70 (mounting position is not shown), and FIG. 5 shows a control block diagram. The control circuit 70 drives the chainsaw motor 13, the servo motor 24, the servo motor 34, and the traveling motor 42, and the drive thereof is controlled based on the output signals of each motor and the sensor 20.

At the time of pruning, the traveling body 41 is advanced while driving the chainsaw 10 under the control of the chainsaw motor 13 and the traveling motor 42. When the chainsaw 10 comes into contact with a branch, the reaction force pushes the main frame 11 and pulls the tension spring 22. The sensor 20 measures the displacement, and the traveling speed of the traveling body 41 is changed according to the value as shown in FIG. If the displacement becomes large, the traveling speed becomes 0 soon, but if the branch is cut by the restoring force of the tension spring 22, the displacement becomes small and the traveling body 41 starts traveling again. That is, by setting the restoring force of the tension spring 22 within the allowable cutting load range of the chainsaw 10, the traveling speed of the traveling body 41 is limited to the cutting speed or less.

When the state of the traveling speed of 0 continues for a certain period of time or more, the control circuit 70 determines that the device cannot proceed any further, retracts the traveling body 41, and retracts the chainsaw 10 from the branch.

If the branch comes into contact with the tip guard 36 and cannot be cut during the pruning operation, the control circuit 70 detects it, lowers the chainsaw 10 to avoid the branch, and cuts the branch in the next lap.

That is, when the branch comes into contact with the tip guard 36, the tension spring 22 is deformed and the measured value of the sensor 20 fluctuates. Since the measured value fluctuates even when the branch is cut, the control circuit 70 first determines whether or not the branch is being cut at that time. The current (rotational load) flowing through the chainsaw motor 13 is read, and if the value is the same as when the branch is not cut, it means that the branch is not being cut, and the control circuit 70 determines that the branch has come into contact with the tip guard 36. Then, in order to avoid the branches, the servo motor 24 is driven and the mount 12 is pulled downward. When the tip guard 36 reaches the height at which it passes through the branch, the tension spring 22 is restored, the measured value of the sensor 20 is restored, and the servomotor 24 is returned to the original angle to complete the branch avoidance.

By combining the above mechanism and control, the device can automatically proceed with the work without stopping the operation in the middle.

In the pruning work, it is desirable to stop the chainsaw 10 and increase the ascending / descending speed in order to shorten the working time and reduce the energy consumption in the portion where there is no branch of the standing tree or after the pruning is completed. At that time, in order to avoid troubles such as the chainsaw 10 getting caught in the bark, the servomotor 34 can be driven to pull the subframe 21 and the chainsaw 10 can be kept away from the trunk.

[Second Example]
When the elevator to which the branch cutting device of the present invention is attached is a mechanism for ascending and descending while turning the trunk together with the main body, and the ascending / descending speed thereof can be controlled, the connecting block 31 in the first embodiment is directly fixed to the elevator. , Can be used as an automatic pruning machine. An example thereof is shown in FIG.

FIG. 8 shows a control block diagram of the branch cutting device according to the second embodiment. This is the one in which the traveling motor 42 in the control block diagram (FIG. 5) in the first embodiment is replaced with the wheel motor 61. That is, in the present embodiment, the same effect as that of the first embodiment can be obtained by replacing the control of the traveling motor 42 in the first embodiment with the control of the wheel motor 61.

[Third Example]
Hereinafter, a third embodiment of the present invention will be described with reference to the drawings. FIG. 9 is a perspective view showing a branch cutting device. The chainsaw 210 that cuts the branches stands upright along the trunk and is fixed to the mount 212. The mount 212 is attached to the frame 211, and the pedestal 221 supporting the frame 211 is fixed on the traveling body 241 via the linear block 231.

The traveling body 241 is provided with a traveling motor 242, and can rotate on the rail 240 by rotating a roller 243 pressed against the outer edge of the annular rail 240. The rail 240 is attached so as to surround the trunk. The rail 240 can be attached to and detached from the trunk by an opening / closing mechanism with the rotating shaft 244 as a fulcrum.

The device can be used as an automatic pruning machine by mounting it on an elevator that raises and lowers the trunk. An example thereof is shown in FIG. The elevator 250 is an example of an elevator capable of linearly moving up and down the trunk by pressing wheels against the outer periphery of the trunk. While driving the chainsaw 210, the elevator 250 can be raised and the traveling body 241 can be turned, and the branches can be spirally cut while turning the outer circumference of the trunk 100. The blade for cutting the branch may be a chainsaw, a reciprocating saw that reciprocates the saw blade up and down, or an end mill that rotates a shaft with a blade on the side surface.

FIG. 11 shows a front view of the branch cutting device. The mount 212 is supported by the frame 211 via a compression spring 216 and can move up and down by a certain distance. The servomotor 224 is fixed to the frame 211 and is connected to the mount 212 via a belt 225.

The frame 211 is supported on the pedestal 221 by the link 214 and the link 215, has a parallel crank mechanism, and is movable to the left and right by a certain distance. A tension spring 222 is connected between the link 214 and the pedestal 221 and is always closer to the traveling direction side (left). A sensor 220 that measures the relative distance between the frame 211 and the pedestal 221 is attached to the pedestal 221.

If the curved portion at the tip of the chainsaw 210 comes into contact with the branch, there is a problem that kickback and the quality of the cut surface of the branch become unstable, and it is desirable to avoid cutting at this portion. The curved portion does not come into contact with the branches due to the tip guard 236 mounted so as to cover the blade.

FIG. 12 shows a BB cross section of FIG. The pedestal 221 is attached to the linear block 231 so as to be able to move forward and backward in the radial direction of the trunk, and the sprocket cover 237 is pressed against the trunk by the compression spring 232. As a result, the chainsaw 210 keeps the distance constant without touching the surface of the trunk while approaching the surface of the trunk.

The pedestal 221 is movable at a constant angle around the rotation shaft 223, and the tip guard 236 is pressed against the trunk by the action of the compression spring 226. With this structure, the angle of the chainsaw 210 can follow the bending of the trunk.

The device includes a control circuit 270 (mounting position is not shown), and FIG. 13 shows a control block diagram. The control circuit 270 drives a chainsaw motor 213, a servomotor 224, a servomotor 234, and a traveling motor 242, and the drive thereof is controlled based on the output signals of each motor and the sensor 220.

The instruction to start the pruning operation is given by wireless communication by the operator's remote control operation. At the time of pruning, the traveling body 241 advances while driving the chainsaw 210 under the control of the chainsaw motor 213 and the traveling motor 242. When the chainsaw 210 comes into contact with the branch, the reaction force pushes the frame 211 and pulls the tension spring 222. The sensor 220 measures the displacement, and the traveling speed of the traveling body 241 is changed according to the value as shown in FIG. If the displacement becomes large, the traveling speed becomes 0 soon, but if the branch is cut by the restoring force of the tension spring 222, the displacement becomes small, and the traveling body 241 starts traveling again. That is, by setting the restoring force of the tension spring 222 within the allowable cutting load range of the chainsaw 210, the traveling speed of the traveling body 241 is limited to the cutting speed or less. In addition to the tension spring, a rubber band may be used, or a winding spring may be attached to the joint between the link 214 and the pedestal 221 to utilize the restoring force thereof.

When the state of the traveling speed of 0 continues for a certain period of time or more, the control circuit 270 determines that the device cannot proceed any further, retracts the traveling body 241 and retracts the chainsaw 210 from the branch.

If the branch comes into contact with the tip guard 236 during the pruning operation and cannot be cut, the control circuit 270 detects it, lowers the chainsaw 210 to avoid the branch, and cuts it in the next lap.

That is, when the branch comes into contact with the tip guard 236, the tension spring 222 is deformed and the measured value of the sensor 220 fluctuates. Since the measured value fluctuates even when the branch is cut, the control circuit 270 first determines whether or not the branch is being cut at that time. The current (rotational load) flowing through the chainsaw motor 213 is read, and if the value is the same as when the branch is not cut, it means that the branch is not being cut, and the control circuit 270 determines that the branch has come into contact with the tip guard 236. Then, in order to avoid the branches, the servo motor 224 is driven and the mount 212 is pulled downward. When the tip guard 236 reaches a height that allows it to pass through the branch, the tension spring 222 is restored, the measured value of the sensor 220 is returned to the original angle, and the servomotor 224 is returned to the original angle to complete the branch avoidance.

By combining the above mechanism and control, the device can automatically proceed with the work without stopping the operation in the middle. The device stops the pruning operation when a stop instruction by the operator's remote control operation or a pre-input end condition such as an operation time or a traveling distance is satisfied.

As shown in FIG. 9, the servomotor 234 fixed to the pedestal 221 is connected to the linear block 231 via the belt 235. In the pruning work, it is desirable to stop the chainsaw 210 and increase the ascending / descending speed in the part where there is no branch of the standing tree or after the pruning is completed in order to shorten the working time and reduce the energy consumption. At that time, in order to avoid troubles such as the chainsaw 210 getting caught in the bark, the servo motor 234 can be driven to pull the pedestal 221 toward the linear block 231 and the chainsaw 210 can be retracted away from the trunk.

When the chainsaw 210 is retracted from the trunk, the chainsaw 210 tilts toward the trunk due to the action of the compression spring 226. Therefore, in order to surely separate the chainsaw 210 from the trunk, it is sufficient to allow the pedestal 221 to tilt the chainsaw 210. You need to move the distance. Then, it is necessary to increase the strength of the linear block 231 that supports the device and a space that secures a wide movable range.

To avoid such disadvantages, the device is equipped with a mechanism that allows the chainsaw 210 to stand upright when it leaves the trunk. FIG. 15a shows the state around the pedestal 221 when tilted at the BB cross-sectional position of FIG. The spring pedestal 227 that supports the compression spring 226 is limited in a certain range in relative angle to the pedestal 221. The spring pedestal 227 includes casters 228 and moves on the traveling body 241 following the movement of the pedestal 221.

The path of the caster 228 on the traveling body 241 has a slope shape, and the height at the retracted position is low. That is, the chainsaw 210 stands upright when retracted by equalizing the inclination of the pedestal 221 due to the height difference of the slope and the maximum angle of the pedestal 221 with respect to the spring pedestal 221. The situation is shown in FIG. 15b.

[Fourth Example]
When the elevator to which the branch cutting device of the present invention is attached is a mechanism for ascending and descending while turning the trunk and the ascending / descending speed thereof can be controlled, the linear block 231 in the third embodiment is directly fixed to the elevator and automatically It can be used as a pruning machine. An example thereof is shown in FIG.

The elevator 260 is composed of a main frame 261, a sub frame 262, wheels 263, and a tension spring 265. The main frame 261 and the sub frame 262 are oscillatingly connected at one end, and have a structure that can be opened and closed so as to surround the trunk. Each wheel 263 is fixed to the main frame 261 and the sub frame 262 at a constant angle with respect to the trunk axis direction. By surrounding the trunk with the main frame 261 and the sub-frame 262 and connecting the ends with tension springs 265, each wheel 263 is subjected to contact pressure with respect to the trunk, and the elevator 260 can be attached to the trunk by tightening. .. By driving the wheel motor 264 provided on the wheel 263, the elevator 260 spirally raises and lowers the trunk.

FIG. 17 shows a control block diagram of the branch cutting device in the fourth embodiment. This is the case where the traveling motor 242 in the control block diagram (FIG. 13) in the third embodiment is replaced with the wheel motor 264. In this embodiment, the control of the traveling motor 242 in the third embodiment is replaced with the control of the wheel motor 264, and the same control as in the third embodiment is performed. Then, the device can proceed with the pruning work as in the third embodiment.

It is a perspective view which shows the branch cutting apparatus in 1st Example which concerns on this invention. It is a perspective view which shows the automatic pruning machine which attached the branch cutting device in 1st Example to an elevator. It is a front view of the branch cutting apparatus in 1st Example. FIG. 3 is a cross-sectional view taken along the line AA of FIG. It is a control block diagram of the branch cutting apparatus in 1st Example. It is a relationship diagram of the traveling body traveling speed and the tension spring displacement in the 1st Example. It is a perspective view which shows the automatic pruning machine in 2nd Example. It is a control block diagram of the branch cutting apparatus in 2nd Example. It is a perspective view which shows the branch cutting apparatus in the 3rd Example which concerns on this invention. It is a perspective view which shows the automatic pruning machine which attached the branch cutting device in 3rd Example to an elevator. It is a front view of the branch cutting apparatus in 3rd Example. FIG. 11 is a cross-sectional view taken along the line BB of FIG. It is a control block diagram of the branch cutting device in 3rd Example. It is a relationship diagram of the traveling body traveling speed and the tension spring displacement in the 3rd Example. It is explanatory drawing of the mechanism which stands upright at the time of the trunk separation of the branch cutting device in the 3rd Example. FIG. 15a shows when tilted and FIG. 15b shows when standing upright. It is a perspective view which shows the automatic pruning machine in 4th Example. It is a control block diagram of the branch cutting apparatus in 4th Example.

10 Chainsaw 11 Main frame 12 Mount 13 Chainsaw motor 14 Slider 15 Shaft 16 Compression spring 17 Rotating shaft 18 Compression spring 20 Sensor 21 Subframe 22 Tension spring 23 Rotating shaft 24 Servo motor 25 Wire 31 Connecting block 32 Compression spring 33 Shaft 34 Servo motor 35 Wire 36 Chip guard 37 Sprocket cover 38 Shaft fastening 40 Rail 41 Traveling body 42 Traveling motor 43 Roller 44 Rotating shaft 45 Lock pin 50 Elevator 60 Elevator 61 Wheel motor 70 Control circuit 100 Tree trunk 101 Branch 210 Chainsaw 211 Frame 212 Mount 213 Chainsaw motor 214 Link 215 Link 216 Compression spring 217 Shaft 220 Sensor 221 Pedestal 222 Tension spring 223 Rotating shaft 224 Servo motor 225 Belt 226 Compression spring 227 Spring pedestal 228 Caster 231 Linear block 232 Compression spring 233 Shaft 234 Servo motor 235 Belt 236 Chip guard 237 Sprocket Cover 238 End block 240 Rail 241 Traveling body 242 Traveling motor 243 Roller 244 Rotating shaft 245 Lock pin 250 Elevator 260 Elevator 261 Main frame 262 Subframe 263 Wheels 264 Wheel motor 265 Tension spring 270 Control circuit

Claims (5)

A traveling body that swivels around the outer circumference of the trunk, a blade that is supported by the traveling body via an elastic material that expands and contracts in the traveling direction of the traveling body, and a sensor that measures the displacement of the elastic material are provided. A branch cutting device that controls the traveling speed of the traveling body according to the measured value of the sensor. In the branch cutting device according to claim 1, the blade body can advance and retreat in the direction of the trunk radius, the blade body has a variable tilt angle with respect to the trunk axis direction with the lower end as a fulcrum, and the blade body has an upper end. A cover that prevents contact with the trunk or branches at the lower end, an elastic material that presses the blade against the trunk in the direction of the trunk radius, and an elastic material that pressurizes the blade in a direction that reduces the tilt angle. A branch cutting device equipped with. In the branch cutting device according to claim 2, the blade is movable up and down, includes an actuator for moving the blade up and down, and when the upper end cover of the blade comes into contact with a branch, the actuator is driven to drive the actuator. A branch cutting device that avoids branches. The branch cutting device according to any one of claims 1 to 3, further comprising a rail surrounding the circumference of the tree trunk, the traveling body orbits the rail, and the rail is mounted on an elevator for raising and lowering the trunk. Branch cutting device. The branch cutting device according to any one of claims 1 to 3, wherein the traveling body is an elevator that moves up and down while turning the trunk.

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