JPS62244321A - Prunning method and apparatus in prunning robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a robot that removes limbs from trees for lumber production, etc., and particularly relates to a method and device for removing limbs.

[Moan] Conventional technology This conventional seed-mouth bot supports the robot body in pressure contact with the tree trunk via rollers etc. using the elasticity of a spring, and rotates upward in a spiral around the tree trunk while cutting branches with a chainsaw fixed to itself. The base of each was cut one after another at ℃. That is, a method has been adopted in which a large number of branches are sequentially cut from the bottom to the top using the turning force of the robot body and the cutting blade of the chainsaw.

(c) Problems to be solved by the invention In the above-mentioned robot, since a chainsaw having a constant width is used, in the case of a thick branch, the cut into the branch is curved due to the spiral rotation of the robot body. However, since the guide bar of a chainsaw is a flat plate,
There is a problem in that the guide bar gets stuck in the cut and stops working, and cutting branches with a chainsaw requires the chainsaw to rotate around the tree trunk, which requires the robot to rotate and rise. However, due to the weight of the robot itself, the upper part of the tree trunk sways in an arc as it rises, which is unfavorable from both operational and safety standpoints.

B) Means for solving the problem Therefore, in the present invention, instead of the conventional chainsaw, a rotating ring that rotates at high speed around the tree trunk is provided, and this rotating ring is rotated at high speed and gradually raised vertically.
Cutting blades are placed at the tips of the many support arms provided on the rotating ring, and the cutting blades are brought elastically close to the tree trunk surface and moved from bottom to top by the aforementioned high-speed rotation of the rotating ring and the vertical rise of the robot body. It is designed to cut branches while
This solves the above-mentioned problems.

Hereinafter, the present invention will be described in detail based on embodiments shown in the drawings.

(E) Embodiment FIG. 1 is a plan view of the limb removal robot of the present invention, FIG. 2 is a front view of the same robot, FIG. 3 is a side view thereof, and FIG. 4 is an enlarged sectional view of the supporting arm portion.

In the drawing, a robot body 1 has a base plate 2 located above, side plates 6, 6, and a back plate 4. The base plate 2 has an opening 5 in the center for accommodating a tree trunk 6, and the base plate 2 is connected to the base plate through a hinge 7. The front half 2a of 2 is rotated away from the rear half 2b, and on the other hand, they are connected to each other by a locking fitting 8.

Reference numeral 10 denotes a rotary ring, the inner and outer edges of which are rotatably supported by a plurality of support wheels 12, 12, etc., and each of the support wheels 12 is mounted at a certain height above the substrate 2 by a bi/1 roller. When the substrate 2 is divided into two parts as described above, the rotating ring 10 is also divided into two parts.
It is intended to be joined by a fastener 11.11.

On this rotary ring 10, a large number of support arms 14, 14, . A support arm 17 is rotatably provided on a shaft 18, and a support piece 21 is fixed at right angles to the shaft 18, and rollers 20, 20 are mounted on both ends.
is a pivot support, while the tip of the support arm 17 has a cutting blade 1.
9 is the setting.

Reference numeral 9 denotes an auxiliary arm fixed to the base of the above-mentioned support arm 14, which has a weight 9a at its tip, and uses the centrifugal force caused by the high-speed rotation of the rotary ring 10 to move the above-mentioned rollers 20, 20 onto the tree trunk surface. It should be in pressure contact with the This pressing force is produced in cooperation with a spring 16 provided on the shaft support 15, and the two openings 220, 20 adjust the gap between the direction of the cutting blade 19 and the tree trunk surface. .

Next, the aforementioned rotating ring 10 is rotated at high speed via a belt 46, a pulley 45, and a drive wheel 22, which are driven by an internal combustion engine 37.

Next, reference numerals 25 and 25' denote air cylinders provided in two stages, upper and lower. For ease of explanation, we will discuss the air cylinder 25 side. Rocking pieces 27 and 27 that swing around shafts 26 and 26, respectively. At the tip of each of the rollers 3 for tree trunk pressure
1 and 31 are supported by a shaft 30, and the air cylinder 25
The front end of the cylinder and the tip of the piston rod 28 are the rocking piece 2.
7. The air cylinder 25 is attached to the shaft 29 at 27, respectively.
The clamping force between the rollers 31, 31 is adjusted by the operation of the rollers 31, 31. A fan-shaped gear 32.32 is fixed to the base of this swing piece 27.27, and both gears 32.32 face each other and mesh with each other so that the center of the distance between the rollers 31.31 is always constant. It is. As shown in the figure, a similar mechanism is also provided on the roller rollers 1' and 31'.

The rotation of these rollers 61 and 31' is controlled by a reduction mechanism in the control box 36, which is controlled by the internal combustion engine 37.
Gear 65 via pulley 41, belt 43, and pulley 42
(on the right side in FIG. 2), and further rotates the gear 55 on the left side at the same speed. The rotation of the gear rollers 5 and 65 in the opposite direction is achieved through the gears 54 and the belt 6 rollers, respectively.
It is transmitted to the lower rows 261' and 61'.
It is also transmitted in the same way.

The compressed air is supplied to the air cylinders 25, 25' by means of high-pressure pipes from an above-ground compressor.

(f) Function According to the device of the present invention having the above configuration, in use, firstly, the front half 2a of the substrate 2 is opened via the hinge 7, and the rotating ring 10 is also opened to allow the tree trunk 6 to enter the opening 5. After inserting the robot body 1 into the tree trunk 6 and closing the board 2, a compressor (not shown) is started to send compressed air to the air cylinders 25 and 25', and the robot body 1 is moved to the tree trunk 6 by the rollers 31, 31, and 51.
', 31', and driven by the internal combustion engine 67, the reduction mechanism, belt 4, pulley 42, gear 35
．． 35, the rollers 61 and 61' are gently rotated, and the robot body 1 is pushed up substantially vertically without turning along the tree trunk.

At the same time, the pulley 44, belt 46, and pulley 45
, rotates the rotating ring 10 at high speed via the drive wheel 22,
Along with this, the tip of the support arm 14 is pressed against the surface of the tree trunk by the roller 20 due to the centrifugal force of the weight 9a and the restoring elasticity of the spring 16.
, 20, the cutting blade 19 rotates parallel to the surface of the tree trunk with a slight gap, so that the cutting blade 19 cuts the base of the branch together with the rise of the robot body.

These operations can be performed by several operating ropes 8, 38, etc. suspended from the control box 6, or by using a radio control device.

After the robot body 1 is raised to a desired position and the branches are cleared, the cutting blade is stopped and the robot body 1 is lowered.

(G) Effects of the Invention As described above, according to the present invention, the rotary ring 10 is rotated at high speed around the tree trunk, and the cutting blade at the tip of the supporting arm connected to the rotary ring 10 is used to remove branches. There is no need to rotate the tree trunk around the tree trunk, and the upper part of the tree trunk can be completely prevented from swinging in an arc. Since each cutting blade is equivalent to one tooth of a conventional chainsaw, it is possible to reliably eliminate biting by the guide bar, improving work reliability and safety. It is possible to provide a significantly superior limb removal method and device.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view of the limb removal robot of the present invention, FIG. 2 is a front view thereof, FIG. 3 is a side view thereof, and FIG. 4 is an enlarged sectional view of the supporting arm portion. 1-Mouth bot body 10-Rotating ring 12-Support wheel 14-Support arm 16-Spring 17-Support arm 19-Cutting blade 20-Ro1 2 21-Support piece 31-Roller April 17, 1985 No. 3 Figure 4

Claims (2)

[Claims] (1) A rotating ring that rotates at high speed around the tree trunk is provided, and a large number of cutting blades close to the surface of the tree trunk are attached to the rotating ring, and at the same time as the rotating ring rotates at high speed, the robot body is gradually moved along the tree trunk. A method for removing limbs using a limb removal robot, characterized in that the limb removal robot automatically cuts a large number of branches sequentially from the bottom to the top by raising the branches vertically. (2) A rotating ring centered around the tree trunk is rotatably supported via a number of support wheels that support the outer and inner edges of the ring, and has an L-shaped support arm with a cutting blade at the tip. A large number of shaft-mounted support arms are each pivotally supported on the rotary ring at regular intervals, and each support arm is given a rotational tendency in one direction, while the shaft of the L-shaped support arm is A delimbing robot, characterized in that a support piece having rollers provided at both ends is fixed, and the pressure of the rollers against the tree trunk surface regulates the direction of the cutting blade of the support arm and the distance to the tree trunk surface. limb removal device.