JP3924640B2 - Branching lift - Google Patents

Description

  The present invention relates to a branching lift in forestry.

Patent Document 1 discloses that “the contraction force of the low-pressure tire (18), the restoring force of the leaf spring (5) that has been pre-curved, the contraction and the low-pressure of the protective rope (7) in which both ends of the belt (6) are tightly coupled. There is a description "a tree climbing and branching robot that can grasp a standing tree reliably by expansion and contraction of a tire."

  Patent Document 2 states that “a trunk formed by a main wheel and a sub-wheel by pulling an open / close arm and a winding arm with a highly responsive elastic material and pushing the open / close arms with a small spring constant large elastic elastic material. It is characterized in that the hulling force is generated and the pushing force of the small spring constant large elastic material at this time is balanced when the highly responsive elastic material extends to some extent when the secondary wheel hits the trunk. And “branching machine that makes the hugging force of the trunk by the main wheel and the sub wheel a small spring constant large elastic elastic material with a small spring constant over a long displacement, and a large spring constant, but sensitive to the displacement Because it is based on a highly responsive elastic material, it can generate almost constant pressing force even when the stem diameter changes, and is sensitive to the unevenness of the stem, slipping and wheel removal, etc. Does not occur. "

Patent Document 3 states that “When the driving wheels 24 and 32 are rotated forward, the pruning machine rises while spirally rotating around the trunk 10 in the direction of the inclination angle. In this example, there is a description that the pruning machine is set to rotate counterclockwise when ascending and to rotate clockwise when descending. "

Patent Document 4 states that “an electric circular saw is fixed to a moving arm that is electrically rotated 360 ° on the upper portion of a cylindrical body having an open trunk. Is always devised so that it can be cut off from the base of the branch with a circular saw. "

Patent Document 5 states that a “branching machine that holds a trunk around a driving unit and a mounting unit on which the driving unit is mounted and moves up and down in a spiral shape and cuts a branch with a chain saw of the driving unit during ascending. In the above, there is a description that each of the driving unit and the mounting unit has an independent integrated structure, and that both are coupled and separated by a simple operation.

JP 2002-315453 A JP 2000-295931 A JP-A-10-290637 Japanese Patent Laid-Open No. 2001-120084 Japanese Patent Laid-Open No. 10-052181

  However, in Patent Literature 1 and Patent Literature 2, those using a restoring force such as a leaf spring or a spring for fastening to the trunk when moving up and down do not have a function that can arbitrarily adjust the fastening pressure, so The above is effective for a trunk having a small diameter difference, but there is a problem that a trunk pressure having a large diameter difference becomes large and the weight of the body cannot be maintained because of a large difference in clamping pressure.

  In addition, in Patent Document 3, a thing that moves up and down in a spiral shape is not suitable for a thing with a high tree height because the trunk is greatly shaken by centrifugal force when the speed is increased and a stable ascending and descending cannot be obtained. is there.

Moreover, in patent document 4, since a chain saw is a fixed type, there is a problem that a branch can always be cut off only at a fixed position, and it is difficult to perform desired branching.

Moreover, in patent document 5, there exists a problem that it is not the structure which can be easily attached to the other various raising / lowering apparatuses with the mounting part to which the chain saw is attached.

  The present invention is applicable to the shape of a tree having various characteristics such as a large difference in diameter between the lower and upper parts of the trunk, and an extreme change in the diameter difference of the trunk in the middle part. An object of the present invention is to provide a branching lift that has the main characteristics of improving work efficiency and paying a desired branch into a desired shape.

As a result of intensive studies to solve the above problems, the inventors of the present invention have completed the invention by synchronizing the elevation and pressure control and making the chain saw movable.

The invention according to claim 1 is a traveling device that travels by rotating a wheel that is in pressure contact with the traveling target portion;
A tightening mechanism that generates pressure to directly or indirectly crimp the object;
A pressure control device having the tightening mechanism;
A debranching device for demerging tree branches,
The traveling device includes a driving wheel and an auxiliary wheel facing the center of the trunk, and a lifting drive motor that applies lifting power to the driving wheel.
The tightening mechanism includes a pantograph jack that moves to tighten or loosen a tree, and a pressure control motor that moves the pantograph jack to expand or contract,
The pressure control device includes a pressure sensor and a control circuit having a three-point pressure switch,
The branching device includes a chain saw, a turning mechanism for turning the branching device in the circumferential direction of the trunk, a tilt mechanism capable of arbitrarily adjusting an angle between the chain saw and a branch to be cut, and a cutting target of the chain saw. And a rotary mechanism capable of arbitrarily adjusting a cutting approach angle with respect to the branch .

The invention according to claim 2, wherein the pressure control device includes a pressure sensor for sensing a crimping force between the stem and the drive wheel, the control circuit having a pressure switch of the 3-point,
The three-point pressure switch includes a lower limit switch in which a pressure value arbitrarily determined is set to a lower limit value, an intermediate switch in which a pressure value arbitrarily determined in the previous period is set to an intermediate value, and a pressure value arbitrarily determined in the previous period With an upper limit switch set to the upper limit value,
The three-point pressure switch rises (ON) when the pressure applied to the pressure sensor exceeds a pressure value arbitrarily determined in the previous period (ON), or rises (OFF) below a determined pressure value,
The control circuit adjusts the opening of the pantograph jack, which is a tightening mechanism, according to the state of the pressure switch of the three points for the change in pressure between the trunk and the drive wheel accompanying the lifting and lowering of the branching lift The change in the pressure can be corrected by driving the motor.

The terms used in the present invention conform to the following definitions.
The “traveling device” refers to a device that travels by rotating a wheel that is in pressure contact with the traveling target portion.
“Elastic wheel” refers to a wheel in which a rim is covered with an elastic material such as a rubber material or a resin material.
The “clamping mechanism” refers to a device that uses a contractible belt, spiral spring, pantograph jack, or the like to generate pressure for directly or indirectly pressing on an object.
The “pressure switch” refers to a switch that rises (ON) when the pressure applied to the pressure sensor is equal to or higher than a pressure value that is arbitrarily determined (OFF) or that rises below a determined pressure value (OFF).
A “control circuit” is a pressure control circuit used in a pruning device supported by a pressure load, and a circuit that corrects the tightening mechanism in conjunction with a change in pressure detected by a pressure sensor or the like as a result of elevation. Say.
The “branching device” refers to a device that has a turning mechanism, a tilt mechanism, and a rotation mechanism and that can perform desired branching.
“Tilt mechanism” refers to a device that can arbitrarily adjust the cutting angle between a chain saw and a branch to be cut.
“Rotating mechanism” refers to a device that can arbitrarily adjust the cutting approach angle with respect to a branch of a chain saw to be cut.
The “detachable mechanism” means a device that can be easily attached to and detached from the elevator of the present apparatus.

The branching lift of the present invention was able to vertically lift up and down trees without performing a spiral motion. Moreover, even if there was a sudden change in the shape of the trunk, the pressure sensor worked and could move up and down stably. When tightening the trunk, the pressure sensor attached to one end of the pantograph mechanism senses the tightening pressure, and the rotation direction of the pressure control motor can be switched so that the pressure is always constant. In the debranching device, the chain saw was accurately moved to the desired branch, and the desired cutting was achieved by freely changing the angle with the branch and trunk. As a result, the debranching work can be efficiently performed according to the type of tree.

Embodiments of the present invention will be described with reference to the drawings.
In FIG. 1 showing an example of the branching lift according to the present invention and in FIG. 2 showing the branching lift installed on a tree trunk, the branching lift has a traveling device 3, a tightening mechanism 5, and a tightening pressure adjusting function. It consists of a pressure control device 7 and a debranching device 9. These configurations will be specifically described.

[Running device 3]
As shown in FIGS. 3, 4, and 5, the traveling device 3 has a frame 10 and a subframe 12 that are connected by a hinge fitting 14 and can freely rotate. The frame 10 and the subframe 12 are made of a structural material. The latch lock 16 attached to the upper part and the lower part of the frame 10 is removed, the body frame is opened in two with the subframe 12, the trunk 1 is inserted in the center, and then the body crack is closed with the latch lock 16. A guide 18 is provided so that the latch 16 can be easily opened and closed.

A plate 20 is attached to the frame 10. Drive wheels 50 and auxiliary wheels 52 are attached to the plate 20. The drive wheel 50 is a wheel that transmits torque. The auxiliary wheel 52 is a wheel that does not transmit torque. As shown in FIG. 5, the drive wheel 50 is attached to the upper part of the frame 10. The auxiliary wheel 52 is attached to the lower part of the frame 10. A pair of left and right drive wheels 50 and auxiliary wheels 52 are provided in contact with the trunk 1 and are attached in a C-shape. The drive wheels 54 and 55 are attached to the tightening mechanism 5, and are attached in parallel to both sides of the lifting drive motor 72. The drive wheel 50, the auxiliary wheel 52, and the drive wheels 54 and 55 are disposed so as to face each other toward the trunk center. The driving wheels 50, 54, 55 and the auxiliary wheel 52 use elastic wheels to prevent the skin from being damaged.

[Tightening mechanism 5]
As shown in FIG. 3, the tightening mechanism 5 has a pantograph jack 22 attached to the center of the subframe 12 toward the center of the trunk. As shown in FIG. 5, drive wheels 54 and 55, a pressure sensor 60, and a pressure control motor 74 are attached to the pantograph jack 22. As shown in FIG. 6, a rail 24 for guiding the pantograph jack 22 is attached to the inside of the subframe 12. The plate 26 is attached to the drive wheels 54 and 55. The plate 26 and the rail 24 are connected by a shaft 28 so that the pantograph jack 22 can be guided. The pantograph jack 22 is expanded and contracted by a pressure control motor 74 operated by a pressure sensor 60. The pantograph jack 22 may be provided with a protective cover (not shown) in order to prevent the chips and chain saw oil from being cut and coming into contact with the branches.

[Pressure control device 7]
As shown in FIG. 5, in the pressure control device 7, the elevation drive motors 70 and 72 are connected to the drive wheels 50, 54, and 55, respectively. These are used to control the rise and fall. The pressure control motor 74 is rotated forward or backward to expand or contract the pantograph jack 22. The drive wheels 54, 55 connected to the pantograph jack 22 are pushed or pulled out to make a movement of tightening or loosening the trees. The pressure is controlled by this series of flows.

The pressure sensor 60 takes pressure as a voltage and monitors the strength of the pressure based on the voltage value. Further, the pressure sensor 60 was connected at three points with switches that turn ON or OFF depending on the pressure value. These three pressure switches are given by a lower limit switch 100, an intermediate switch 101, and an upper limit switch 102, which respectively define a lower limit value, an intermediate value, and an upper limit value. Using these three-point switches, as shown in FIG. 7, the pressure is reduced to four ranges: a range 110 below the lower limit, a range 120 between the lower limit and the middle, a range 130 between the middle and the upper limit, and a range 140 above the upper limit. Classified into range.

  The internal circuit 150 of the pressure control device of the present invention operates by turning on the automatic control ON / OFF switch 151.

[Pressure control at rest]
The stationary pressure control method of the present invention will be described with reference to the flowchart shown in FIG. If the lower limit switch 100 is OFF, the pressure control motor 74 is rotated forward and tightened, and the pressure is increased until the intermediate switch 101 is turned ON. If the lower limit switch 100 is ON and the upper limit switch 102 is OFF, the pressure control motor 74 is not operated. If the lower limit switch 100 and the upper limit switch 102 are ON, the pressure control motor 210 is reversed and loosened to reduce the pressure until the intermediate switch 101 is turned OFF. As described above, the pressure was always controlled to be in the intermediate range 120 or 130 when stationary.

[Pressure control during ascent]
The pressure control method during ascent of the present invention will be described with reference to the flowchart shown in FIG. The elevating drive motors 70 and 72 are operated in the ascending direction, and the ascent is started. After a certain time (0.1 to 2.0 seconds) has elapsed from the start of the ascent, the pressure control motor 74 is rotated forward and tightened. When the upper and lower drive motors 70 and 72 are in operation, the upper limit switch 102 is turned on, and when the current pressure enters the range 140 exceeding the upper limit, the pressure control motor 74 is reversed and loosened until the intermediate switch 101 is turned off. To weaken. When the intermediate switch 101 is turned off, the pressure control motor 74 is rotated forward and tightened.

If the state in which the upper limit switch 102 is ON continues for a certain time (0.1 to 2.0 seconds), the operation of the lifting drive motors 70 and 72 is stopped until the intermediate switch 101 is turned OFF. When the intermediate switch 101 is turned off, the operation of the pressure control motor 74 is stopped, and the operations of the lifting drive motors 70 and 72 are restarted. At this time, the operation of the pressure control motor 74 is resumed after the elapse of a certain time (0.1 to 2.0 seconds) from the resumption of the ascending operation, following the above-described ascent start.

If the lower limit switch 100 remains off for a certain period (0.05 to 1.5 seconds) during operation of the lift drive motors 70 and 72 and the pressure control motor 74, the intermediate switch 101 is turned on. The operation of the elevating drive motors 70 and 72 is stopped. When the intermediate switch 101 is turned on, the operation of the pressure control motor 74 is stopped, and the operations of the lifting drive motors 70 and 72 are restarted. At this time, the operation of the pressure control motor 74 is resumed after the elapse of a certain time (0.1 to 2.0 seconds) from the resumption of the ascending operation, following the above-described ascent start.

[Pressure control when descending]
The pressure control method during lowering according to the present invention will be described with reference to the flowchart shown in FIG. The raising / lowering driving motors 70 and 72 are caused to descend and start to descend. If the intermediate switch 101 is ON at the start of lowering, the pressure control motor 74 is reversed and loosened until the intermediate switch 101 is turned OFF.

If the upper limit switch 102 is turned on during the operation of the lifting drive motors 70 and 72 and the pressure control motor 74 and the state continues for a certain time (0.1 to 2.0 seconds), the intermediate switch 101 is The operation of the lifting drive motors 70 and 72 is stopped until it is turned off. When the intermediate switch 101 is turned off, the operation of the pressure control motor 210 is stopped, and the operations of the lifting drive motors 70 and 72 are restarted. After resuming, it follows the above-mentioned descent start.

When the lower limit switch 100 is turned off during the operation of the lifting drive motors 70 and 72, the pressure control motor 74 is rotated forward and the pressure is increased until the tightening intermediate switch 101 is turned on. At this time, if the lower limit switch 100 remains OFF for a certain time (0.05 to 1.5 seconds), the operation of the lifting drive motors 70 and 72 is stopped until the intermediate switch 101 is turned ON. When the intermediate switch 101 is turned on, the operation of the lifting drive motors 70 and 72 is resumed. After resuming, it follows the above-mentioned descent start.

As described above, the pressure is always controlled to be in the range 120 between the lower limit and the middle near the middle, or the range 130 between the middle and the upper limit. Also performs flexible control.

[Pruning device 9]
As shown in FIG. 12, the turning mechanism includes a rail part 200 and a turning part 210 as main parts. The rail part 200 is fixed to the center part of the upper rail 201 and the lower rail 202 by a driving guide plate 203 and a bracket 204 for supporting them in parallel. Moreover, the rail part 200 has a structure that can be attached to and removed from the traveling part with a bolt 205 for attachment.

The debranching device can move along the shape of the rail portion 200. Further, the driving guide plate 203 is for transmitting a driving force at the time of driving, and an anti-slip is attached to the upper surface of the driving guide plate 203.

  The swivel unit 210 has a total of three V-grooved rollers 212 mounted on the plate 211 for swiveling inside the rail unit 200 so that it can swivel around the trunk of the tree. . A slip stopper 213 is attached on the V-groove roller 212 so that the V-groove roller 212 is not removed from the rail portion 200 due to external force or vibration during driving.

A turning drive motor 214 is attached to the plate 211, a turning drive rubber roller 215 is attached to the shaft of the turning drive motor 214, and the turning drive rubber roller 215 is attached to the upper side of the drive guide plate 203. A cam floor 216 is attached to the lower side of the driving guide plate 203. The cam floor 216 is structured such that the position of the cam floor 216 and the turning driving rubber roller 215 can be changed in accordance with the thickness of the driving guide plate 203.

The rail unit 200 is attached with the upper and lower V-groove rollers 212 sandwiched therebetween. By sandwiching the driving guide plate 203 between the turning driving rubber roller 215 and the cam floor 216, the driving force of the turning driving motor 214 can be transmitted to the driving guide plate 203 by its pressure and frictional force. When the turning drive motor 214 is driven, the V-groove roller 212 can turn along the shape of the rail portion 200.

As shown in FIG. 13, the tilt mechanism 220 is provided with brackets 221 for attaching a chain saw to both sides of the plate 211 of the turning unit 210. The bracket 221 is fixed by a tilt turning shaft 222. A plate 223 for attaching the chain saw 224 is provided at the end of the bracket 221 so that the chain saw 224 can be easily detached and fixed with bolts. Further, a tilt motor 225 having a gear box for converting the rotational motion into a straight path is fixed to the plate 211 with a hinge 226. A gear is provided on the gear head of the tilt motor 225. The rotation of the gear is transmitted to the rack in the linear guide 227. Thereby, the linear guide 227 reciprocates. A bracket 228 is attached to the tip of the linear guide 227. Furthermore, the bracket 228 and the bracket 221 are connected by the shaft 229.

When the tilting motor 225 rotates, the rotational motion is transmitted to the gears in the gear box. This rotational motion is transmitted to the linear guide 227 and causes the linear guide 227 to reciprocate. This reciprocating motion is transmitted to the bracket 221 from the shaft 229 attached to the hole of the bracket 228, and the angle between the chain saw 224 and the branch is arbitrarily adjusted.

The rotation mechanism 230 includes a rotation motor 231 fixed to a chain saw fixing bracket 221. The chain saw 223 is attached to the tip of the rotating plate 232 attached to the tip of the motor shaft, so that the chain saw 224 can rotate around the rotating shaft of the motor 231 for rotation.

When the rotating motor 231 fixed to the chain saw fixing bracket 221 rotates, the rotational motion is transmitted to the rotating plate 232 and can be adjusted at an arbitrary angle by rotating the chain saw 224 attached to the rotating plate 232.

  Hereinafter, an embodiment in which the branching lift according to the present invention is applied to a Washington insulator as shown in FIG. 14 will be described.

The latch 16 attached to the frame 10 is removed and the body is split into two. The subframe 12 is opened until the inner distance of the apparatus exceeds the outer diameter of the trunk 1. The sub-frame 12 that has been cracked after putting a tree in the center is closed with a latch 16. In this state, the drive wheels 54 and 55 are separated from the trunk 1. Therefore, the pressure applied to the pressure sensor 60 is in a range 110 below the lower limit, the pressure control motor 74 works, and the pantograph jack 22 extends toward the trunk 1. Since the pantograph jack 22 is guided by the rail 24, it goes vertically to the trunk core. When the driving wheels 54 and 55 are in contact with the trunk 1 and the pressure applied to the pressure sensor 60 enters the range 130 between the middle and the upper limit, the pantograph jack 22 stops, and the driving wheels 50 and the auxiliary wheels 52 and the driving wheels 54 and 55 are stopped. Hold the aircraft and the aircraft will stabilize. The drive wheels 50, 54, 55 and the auxiliary wheel 52 are completely pressed around the trunk 1 so that the apparatus can run.

The pressure sensor 60 moves straight up and down with respect to the tree while monitoring the pressure-bonding force between the trunk 1 and the drive wheels 54 and 55. When the pressure applied to the airframe becomes excessive during ascending / descending, the pressure control motor 74 works to contract the pantograph jack 22. On the other hand, when the pressure applied to the machine body is too low during ascending / descending, the pressure control motor 74 works to expand the pantograph jack 22. Further, if the pressure is excessively high or low, the pressure control motor 74 is operated, and the elevation is interrupted until the pressure enters a stable range. However, this is not the case when the pressure temporarily becomes excessively high or low due to irregularities such as bumps. In this way, the pressure sensor 60 constantly monitors the pressure-bonding force and continuously applies a stable pressure to the machine body.

The pressure-bonding force is constantly monitored and controlled by the pressure sensor 60 according to the change in the trunk diameter. Therefore, the drive wheels 50 and 54 and the auxiliary wheel 52 can reliably come into contact with the trunk, and the ascending and descending operation can be performed in a stable state without causing the machine body to slip or derail.

The branching device is fixed to the elevator and moves to a predetermined height. The branch can be cut by moving the chain saw 224 and turning it by the turning unit 210. At the same time, by moving the tilt mechanism 220 and the rotation mechanism 230 and changing the angle of the chain saw 224, a desired branch can be removed in a desired shape.

The branching lift according to the present invention works by wired or wireless operation from a remote location, and avoids the danger of falling branches that have been cut at high places. Although raising and lowering and branching are automatic operations, they can also be performed manually by switching an automatic control ON / OFF switch 151. And a traveling part comprising a plurality of drive wheels and auxiliary wheels that are raised and lowered by the action mechanism of the raising and lowering drive motor, and a tightening mechanism comprising a pantograph jack for adjusting the pressure by the action mechanism of the pressure control motor, In addition, the pressure control device including the pressure sensor and the control circuit is adapted to the shape of the tree as described above, and ascends and descends stably, and includes a chain saw, a turning mechanism, a tilt mechanism, and a rotation mechanism. A novel branching lift that has a main feature that a desired branch is removed in a desired shape by the branching device is realized.

It is a perspective view which shows an example of the branching lift of this invention. It is a side view which shows the state which mounted | wore the trunk with the branching lift of this invention. It is a top view which shows the state which mounted | wore the trunk with the branching lift of this invention. It is a top view which shows the state before mounting | wearing the trunk with the branching lift of this invention. FIG. 3 is a partial detail view of FIG. 2. It is sectional drawing which shows the slide mechanism of a pantograph jack. It is drawing which shows the monitoring and control switching mechanism of a pressure. It is a flowchart figure which shows the pressure control at the time of stillness. It is a flowchart figure which shows the pressure control at the time of a raise. It is a flowchart figure which shows the pressure control at the time of descent | fall. It is a control circuit diagram which shows a control circuit. It is an apparatus perspective view which shows an example of a branching apparatus. It is a perspective view which shows the detail of the turning mechanism of the branching device, the tilt mechanism, and the rotation mechanism. It is drawing which shows the Example of the deduction of Washington lion.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Trunk 3 Traveling device 5 Tightening mechanism 7 Pressure control device 9 Pruning device 22 Pantograph jack 30, Square screw 50, 54, 55 Drive wheel 52 Auxiliary wheel 60 Pressure sensor 70, 72 Lifting drive motor 74 Pressure control motor 210 Turning Part 220 tilt mechanism 224 chain saw 230 rotation mechanism

Claims (2)

A traveling device that travels by rotating the wheel pressed against the traveling target part; and
A tightening mechanism that generates pressure to directly or indirectly crimp the object ;
A pressure control device having the tightening mechanism;
A debranching device for demerging tree branches,
The traveling device includes a driving wheel and an auxiliary wheel facing the center of the trunk, and a lifting drive motor that applies lifting power to the driving wheel.
The tightening mechanism includes a pantograph jack that moves to tighten or loosen a tree, and a pressure control motor that moves the pantograph jack to expand or contract,
The pressure control device includes a pressure sensor and a control circuit having a three-point pressure switch,
The branching device includes a chain saw, a turning mechanism for turning the branching device in the circumferential direction of the trunk, a tilt mechanism capable of arbitrarily adjusting an angle between the chain saw and a branch to be cut, and a cutting target of the chain saw. And a rotary mechanism capable of arbitrarily adjusting a cutting approach angle with respect to the branch . The pressure control device includes a control circuit having a pressure sensor that senses a pressure- bonding force between a trunk and the driving wheel, and the three-point pressure switch .
The three-point pressure switch includes a lower limit switch in which a pressure value arbitrarily determined is set to a lower limit value, an intermediate switch in which a pressure value arbitrarily determined in the previous period is set to an intermediate value, and a pressure value arbitrarily determined in the previous period With an upper limit switch set to the upper limit value,
The three-point pressure switch rises (ON) when the pressure applied to the pressure sensor exceeds a pressure value arbitrarily determined in the previous period (ON), or rises (OFF) below a determined pressure value,
The control circuit adjusts the opening of the pantograph jack, which is a tightening mechanism, according to the state of the pressure switch of the three points for the change in pressure between the trunk and the drive wheel accompanying the lifting and lowering of the branching lift The branching lift according to claim 1, wherein the change in the pressure is corrected by driving a motor for driving .

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