JPH0753061B2 - Remotely controlled pruner with wireless height display - Google Patents

Description

The present invention relates to a remote-controlled pruning machine.

○ Conventional technology In the conventional pruning machine, the wireless remote control system that uses radio waves and ultrasonic waves to raise and lower the body and control the engine with respect to the trunk, and the manual remote control system that operates the lifting clutch using the control rod. Etc. are known.

○ Problems to be solved by the invention In the above-mentioned remote-controlled pruning machine, the operator visually checks the pruning machine at the time of operation and remotely controls it. It is difficult to perform the pruning work up to the height, and it is difficult to collect the pruning machine when the pruning machine stops by climbing to a position higher than the height of the operating rod.

The present invention relates to a rotation speed sensor (20) for detecting the rotation speed of an idler wheel (5) of a pruning machine attached to the pruning machine, and the rotation speed sensor (20). 20) A measuring unit (A) including a measuring transmitter (21) for generating a measuring signal based on the detection signal from
And a hand receiver (22) for receiving a measurement signal from the main unit measurement transmitter (21) and a height position of the pruning machine based on the reception signal of the hand receiver (22). A remote display unit (B) having a display device (23), and the remote receiver (B) has a remote control unit (22) having a speed change switch (24) and an engine high / low speed control switch (3).
0) is provided, the measurement unit (A) is provided with a servo motor (38) for controlling the engine high and low speeds, and a servo motor (18) for raising and lowering the pruning machine, and a microcomputer by the controller (17) or the controller (32). By controlling the operation of the servo motor (18) for raising and lowering the pruning machine and the servo motor (38) for controlling the engine high and low speeds, remote control of engine high and low speed rotation and lifting, lowering, and stopping of the pruning machine is performed. Provided is a remote control pruning machine having a wireless height display device, which is characterized by performing control.

○ Operation The rise and fall of the pruning machine is detected by the rotation speed sensor as the rotation speed of the idler wheel, and the transmitter of this machine sends a measurement signal indicating the rotation speed of the idler wheel.

The hand-held receiver receives the measurement signal from the transmitter of this machine, and the display device displays the height position of the pruning machine.

Examples Examples will be described below based on the examples shown in the drawings.

First, the schematic configuration of the pruning machine will be described with reference to FIGS.
As shown in the figure, a transmission case (4) provided with an engine (1), a chain saw (2), and an appropriate number of drive wheels (3).
And the idler wheels (5) and the like on the main frame (6) side, and an appropriate number of idler wheels (5) and the like on the winding frame (7) side. On the other hand, the winding frame (7) is pivotally mounted around the pivot pin (8) so that it can be freely opened and closed, and both frames (6) and (7) are elastically attached to the closed side by an engagement and disengagement spring (9). It is configured by energizing,
The drive wheel (3) is provided with a predetermined rising lead angle,
The drive wheel (3) and the idle wheel (5) are pressed against the circumference of the tree trunk (T) by the engagement and disengagement spring (9).

The power of the engine (1) is transmitted from the output shaft (1a) projecting in the transmission case (4) to the reduction gear group (11) and the transmission mechanism (1).
2), each pair of deceleration bevel gears (13) ... Is transmitted to the drive wheels (3) via the power transmission path (10), and also to the chain saw (2) via the output shaft (1a). Has been transmitted.

The speed change mechanism (12) loosely fits the forward rotation large gear and the reverse rotation sprocket, which are power-transmitted through the reduction gear group (11), onto the speed change shaft (12a) and slides on the speed change shaft (12a). The forward / reverse clutch body (14), which is freely spline-fitted, is attached to the speed change shaft (12) via a speed change arm (15) that rotatably supports it.
It is configured to slide along a) between a forward rotation position (U) and a reverse rotation position (D) via a neutral position (N), and selectively engage and disengage with a large forward rotation gear or a reverse rotation sprocket. ing. Therefore, when the speed change arm (15) is at the forward rotation position (U), the forward / reverse clutch body (14) is engaged with the forward rotation large gear, whereby the drive wheels (3) are normally driven to rotate. Is spirally raised with respect to the trunk (T) and is in the reverse position (D), it is engaged with the reverse sprocket, whereby it is driven in the reverse direction and is spirally lowered, and in the middle of both positions (U) and (D). When it is in a certain neutral position (N), it is not engaged with any of them and the power is cut off.

Then, each shift position (U) of the shift arm (15)
Switching between (N) and (D) is performed by the receiver (16) shown in FIG.
It is performed by remote control via the controller (17), the servo motor (18), the receiver (19) outside the body, and the like.

For pruning work, attach the machine to the lower part of the trunk (T) to be pruned, start the engine (1), and then turn on and off the speed change switch (24) of the transmitter (19). When operated, ON / OFF signals are transmitted from the transmitting antenna (25). This signal is received by the receiving antenna (26), and the speed change arm (15) is in the neutral position via the receiver (16), controller (17), servo motor (18), disc (36) and rod (37). (N) is switched to the forward rotation position (U), whereby the drive wheels (3) are driven in the forward rotation, so that the aircraft spirally rises with respect to the trunk (T), and the branches in the middle of the climb are sawn. It is cut in (2). Next, when the aircraft is raised to the desired height, the operator can
4) is turned on and off again, the transmission arm (1
5) is switched from the forward rotation position (U) to the reverse rotation position (D), whereby the drive wheels (3) are switched to reverse rotation drive,
The aircraft is descending spirally. Then, when the gearshift switch (24) is turned on and off while the aircraft is descending (in this case, it will be lowered by its own weight), the gearshift arm (15) is in the reverse position (D). To the neutral position (N), the engine (1) is stopped, and a series of work is completed. If there is a problem such as the drive wheel (3) slipping or the chain saw (2) branches while the machine is climbing, the machine is lowered from that location in the same way, It is constructed so that it can be collected.

In addition, in the above-mentioned pruning machine, the transmission mechanism (12) is operated by a transmitter (19) outside the fuselage so that the receiver (1
6), the controller (17), the servomotor (18), etc. are remotely operated so that the shift can be switched, and the wireless remote control system is used. However, the shift arm (15) in the shift mechanism (12) described above is used. ), The operating rod (not shown) is projected to the outside of the machine so that the operator can operate the operating rod via the operating rod (not shown), and it can be used together with wireless remote control (or wireless remote control). Alternatively, manual remote control may be possible.

The present invention relates to the pruning machine having the above-mentioned general structure, wherein the pruning machine includes a rotation speed sensor (20) for detecting the rotation speed of the idler wheel (5) and a measuring transmitter (21) of the machine. ) Is attached to the controller (17) to input a detection signal indicating the rotation speed of the idle wheel (5) by the rotation speed sensor (20) to the controller (17).
The position signal is calculated by the calculation processing by the transmitter of this unit (21)
To the transmitter antenna (2) of the measuring transmitter (21)
7) A measuring unit (A) is formed by transmitting a position signal indicating the height position of the pruning machine, and a remote display unit (B) constitutes a wireless height display device of the pruning machine. It is a thing.

In the remote display unit (B), a display device (23) for displaying the height position of the pruning machine is attached to the local receiver (22) having the local reception antenna (28), and the received position signal is displayed. A device (23) was attached to the display device (23) to display the height of the pruning machine based on the received position signal. It should be noted that the structure is integrated with the transmitter (19) of the wireless remote control device shown in FIG. 2, and the speed change switch (2
4) The engine high / low speed control switch (30) and the engine high / low speed control servo motor (38) were attached. Further, an alarm setting switch (31) such as buttons and dials and an alarm buzzer (29) are provided, and an alarm is issued when the height position indicated by the display device (23) reaches the setting position indicated by the alarm setting switch (31). The controller (microcomputer) (32) was programmed to activate the buzzer (29) automatically. Furthermore, by the microcomputer control of the controller (32),
When the height position reaches the setting position, the speed change switch (24) and the engine high / low speed control switch (30) are configured to be operated. The speed change switch (24) controls the raising, lowering and stopping of the pruning machine, and the engine high / low speed control switch (30) increases the engine speed during work through the operation of the servo motor (38) to improve work efficiency. Measure

The controller (17) of the pruning machine is made to function in place of the above controller (32), and the ascending / descending servo motor (18) and the engine high / low speed servo motor (3
The operation of 8) can be stopped or lowered by the microcomputer control when the set value is reached. In FIG. 1, (39) is a height setting machine for microcomputer program control of the controller (CUP) (17) (main body measurement values such as pruning start height and pruning end maximum height), (33) Is the engine charge coil, (34) is the regulator charger,
(35) is a battery.

When pruning with a pruning machine, the height to be pruned changes depending on the growth condition of trees and the condition of plantations.
The operator sets the pruning height and the height setting machine (3
9) Or set the alarm setting switch (31), which is the switch on the remote control side. As the pruning machine rises, the rotation speed sensor (20) extracts the rotation speed of the idler wheel (5) and inputs it to the controller (17) for arithmetic processing to raise the pruning machine, that is, the pruning machine. A measurement signal indicating the height position of the is output, and the measurement signal is transmitted from the measurement transmitter (21) of the unit.

The remote display unit (B) receives the measurement signal from the main unit measurement transmitter (21) of the measurement unit (A) and displays the display device (2).
Display the height position of the pruning machine according to 3).

In the measurement unit (A), the controller (1
The signal indicating the rotation speed by the rotation speed sensor (20) is transmitted as it is without performing the calculation processing by 7), and the calculation is performed by the controller (32) provided in the remote display section (B), and the display device (23) displays it. Of course, a measurement signal as a position signal may be sent.

The display of the display device (23) enables the operator to know the position of the pruning machine without looking up at the pruning tree, and the alarm device (29) activates the set value or more. It is possible to prevent the pruning machine from rising to the height (for example, the height position where the clutch operation by the operating rod becomes impossible).

Effect of the Invention In the present invention, since the height position of the pruning machine is displayed on the display device of the remote display unit at hand, the operator can pruning to a desired height without looking up at the tree during the pruning operation, There is an effect that the work can be easily performed without worrying that the pruning machine is lifted above a predetermined height.

Further, in addition to the height position of the pruning machine being displayed by the display device of the handheld remote display unit, the controller (1
7) Or by the microcomputer control by the controller (32),
By controlling the operation of the servo motor (18) for raising and lowering the pruning machine and the servo motor (38) for controlling the engine high and low speeds,
Remote control of engine high / low speed rotation and lifting / lowering / stopping of the pruning machine does not require the operator to always work upward, and the saw chips on the top of the tree can hurt the eyes. In addition, there is an effect that it is possible to prevent the danger that the tree is shaken due to the pruning machine being lifted to a narrow portion of the upper part of the tree which is higher than the set height.

Further, by operating the sub-transmission mechanism by interlocking the traveling speed of the machine body with the rotation of the engine, it is possible to improve the efficiency of the work by setting a low speed during work and a high speed outside the work.

[Brief description of drawings]

FIG. 1 is a schematic view showing the outline of a wireless height display device for a pruner embodying the present invention. FIG. 2 is an explanatory view showing an example of a wireless remote control device for a pruning machine. FIG. 3 is an explanatory view of a power transmission path of the remote-controlled pruning machine, and FIG. 4 is a plan view of the pruning machine. 5 ...... Idler wheel 18 ...... Servo motor for raising and lowering the pruning machine 20 ...... Rotation speed sensor 21 ...... This machine measurement transmitter 23 ...... Display device 24 ...... Shift switch 30 ...... Engine high and low speed control switch 38 …… Servo motor for engine high / low speed control A …… Measurement unit B …… Remote display

Claims (1)

[Claims] 1. A rotation speed sensor (20) for detecting the rotation speed of an idler wheel (5) of a pruning machine attached to the pruning machine, and a detection signal from the rotation speed sensor (20). A measurement unit (A) including a measurement transmitter (21) for generating a measurement signal, a hand-held receiver (22) for receiving a measurement signal from the measurement transmitter (21), A display device that displays the height position of the pruning machine based on the signal received by the local receiver (22) (2
3) and a remote display unit (B) having a remote display unit (B), the remote display unit (B) is provided with a speed change switch (24) and an engine high / low speed control switch (30) on the local receiver (22) for measurement. The unit (A) is provided with a servo motor (38) for controlling the engine high and low speeds and a servo motor (18) for raising and lowering the pruning machine, and the pruning machine is controlled by a microcomputer by the controller (17) or the controller (32). Servo motor for ascent and descent (18)
And a wireless height display device characterized by controlling the operation of a servomotor (38) for controlling the engine high / low speed to remotely control the engine high / low speed rotation and ascending / descending / stopping the pruning machine. Remote control pruning machine having.