WO2023061779A1 - Procédé et dispositif d'ébranchage d'arbres vivants - Google Patents

Procédé et dispositif d'ébranchage d'arbres vivants Download PDF

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Publication number
WO2023061779A1
WO2023061779A1 PCT/EP2022/077348 EP2022077348W WO2023061779A1 WO 2023061779 A1 WO2023061779 A1 WO 2023061779A1 EP 2022077348 W EP2022077348 W EP 2022077348W WO 2023061779 A1 WO2023061779 A1 WO 2023061779A1
Authority
WO
WIPO (PCT)
Prior art keywords
branch
cutting tool
telescopic arm
chassis
separating tool
Prior art date
Application number
PCT/EP2022/077348
Other languages
German (de)
English (en)
Inventor
Frank Arntjen
Jan Eilers
Niklas Orth
Original Assignee
AgForTec GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by AgForTec GmbH filed Critical AgForTec GmbH
Publication of WO2023061779A1 publication Critical patent/WO2023061779A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/02—Transplanting, uprooting, felling or delimbing trees
    • A01G23/095—Delimbers
    • A01G23/0955—Self-propelled along standing trees
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
    • A01G3/02—Secateurs; Flower or fruit shears
    • A01G3/033—Secateurs; Flower or fruit shears having motor-driven blades
    • A01G3/037—Secateurs; Flower or fruit shears having motor-driven blades the driving means being an electric motor

Definitions

  • the invention relates to a method for limbing living trees, in which a separating tool is moved up the trunk of a tree to be limbed on a helix-shaped climbing track, the separating tool is moved to the branch bases to be separated and the branches are severed.
  • the invention also relates to a device for pruning living trees with a motor-driven wheeled undercarriage on at least one helical climbing track and at least one separating tool having a force transmitter, the separating tool being adjustably held on a telescopic arm having a linear drive and the telescopic arm being adjustably held on the wheeled undercarriage.
  • a similar device is known from patent specification DD 51 482 A5 from 1965.
  • the device has a chassis with running and drive wheels, a drive motor, a deflection gear and a saw unit for cutting off the branches on a spiral track, on which the device moves up or down around the tree.
  • a generic device is the climbing saw “KS 31 “ from the company “Fichtel & Sachs”, whose cutting tool is a chainsaw.
  • a similar delimbing robot is built by the Japanese company "e-Valley”.
  • the "KS 31” climbing saw has 8 pneumatic wheels that can absorb the weight of the combustion engine on the trunks to be delimbed, Loss of pressure on the pneumatic tires regularly causes the chassis to tilt and thus injures the trunks to be limbed with the chainsaw blade. Fungal spores then penetrate the injuries, which can lead to lasting damage to the entire tree population.
  • the "KS 31" climbing saw is unsuitable for the growth period of the trees, if only because of its heavy weight, which the cambium layers of many tree species are unable to withstand.
  • the Japanese company "e-Valley” therefore developed a similar climbing saw, but the chain saw blade is driven by a significantly lighter electric motor.
  • the batteries must not be too heavy
  • this requirement is at the expense of uninterrupted operating times due to battery changes.
  • the invention is therefore based on the object of demonstrating a method and a device of the types mentioned at the outset, with which operationally reliable delimbing is ensured with extended operating times.
  • the method according to the invention for limbing living trees is characterized in that the positions of the branches to be severed on the trunk are measured without contact by collecting position data and that control commands are generated from the position data, with which the separating tool is positioned at the branch bases and actuated.
  • the contactless measurement of the branches to be separated enables an evaluation of the position data to determine branch arrangements, branch thicknesses and branch positions, which can endanger operationally reliable and thus trouble-free delimbing. Consequently, from the position data Control commands are generated with which identified dangers can be avoided.
  • the cutting tool is subjected to a cutting force that is less than the restoring force available for an opposing restoring movement. If the cutting force required to cut off a branch cannot be applied during a single cut, the increased restoring force advantageously prevents the cutting tool from getting stuck in the wood of the branch. Expensive interruptions to operations and often dangerous work assignments to free the cutting tool at a tree height of several meters are advantageously prevented.
  • the cutting tool is extended by means of linear movements in order to move it towards the branch bases of the branches to be cut, starting from the helical climbing path.
  • the linear movements each take place over a distance that corresponds at least to the gradient of the helical climbing path.
  • the cutting tool is pivoted towards the trunk having the branch bases by means of pivoting movements when it is moved towards the branch bases of the branches to be separated. After the branches have been cut off, the cutting tool is pivoted in the opposite direction, which advantageously means that the cutting tool can be guided around the trunk of the tree to be limbed on its helical climbing path on the way to further branch bases without collision.
  • Accelerated positioning of the cutting tool on the branch bases is preferably achieved in that the pivoting movements of the Cutting tool, the linear movements of the cutting tool are at least partially superimposed.
  • the incline of the helical climbing track is constantly and automatically adjusted to the respective climbing track diameter as the cutting tool is raised.
  • Changing climbing track diameters result from changing trunk circumferences, on which the vertical feed of the cutting tool can only be kept constant at the same driving speed of the wheeled chassis if the gradient of the helical climbing track is increased or decreased accordingly.
  • the separating tool traveling up the trunk of the tree to be limbed is steered via a chassis.
  • the device according to the invention for pruning living trees is characterized in that at least one non-contact branch detection sensor is arranged on the wheeled chassis, which is electronically connected via a control unit to the motor drives of the wheeled chassis, the force transmitter of the cutting tool and the linear drive of the telescopic arm.
  • the non-contact branch detection sensor enables contactless measurement of the branches to be separated by collecting position data.
  • the control unit is used to evaluate this position data to determine branch arrangements, branch thicknesses and branch positions and to generate control commands for controlling the motor drives of the chassis, the power transmitter of the cutting tool and the linear drive of the telescopic arm.
  • the linear drive of the telescopic arm also acts as a force transmitter for the cutting tool.
  • the contactless and thus early evaluation of the position data ensures a particularly reliable and thus trouble-free delimbing of living trees.
  • the branch detection sensor is held in a self-adjusting suspension actuated by gravity.
  • the gravity-actuated suspension reliably prevents temporary tilting of the wheeled chassis, which occurs when driving over stumps of branches and scarring in the tree bark, from leading to incorrect measurement of the branches still to be separated.
  • laser or infrared rays directed upwards into the branches to be pruned can be stabilized preferably in a vertical emission direction.
  • the separating tool has a single cutting edge working against an anvil.
  • This anvil principle also known from pruning shears, is more resistant than the classic shears principle with cutting edge and counter blade, in which splintering wood fibers can cause damage to the blades having the cutting edges can be driven apart or into one another and the cutting tool can be severely damaged as a result.
  • the cutting tool advantageously has a branch stripper associated with its cutting edge. This is positioned on the cutting edge in such a way that branches stuck on the cutting edge are stripped off when the cutting edge is moved past the branch stripper by opening the cutting tool.
  • the anvil is provided with gripping teeth incorporated into its anvil path. These advantageously prevent branches to be severed when Pressing the wide-open cutting tool can slip out of it again.
  • the operational reliability of the device according to the invention is improved in that the anvil has a branch insertion leg that protrudes beyond the cutting edge.
  • the branch insertion leg which is preferably positioned at an angle of 45° to the longitudinal axis of the telescope arm, acts as an aid for inserting a branch to be cut off into the cutting tool if the autonomous control of the branch should have taken place with insufficient precision.
  • the wheeled chassis has three wheel groups distributed around the circumference of the helix-shaped climbing track.
  • the wheel chassis on a tree to be limbed is advantageously self-centering in the manner of a tool held in a chuck.
  • at least two of the wheel groups each consist of at least two wheels with wheel axles running parallel to one another. The parallel dimensions of the wheel axles correspond to the wheelbase of the wheeled chassis.
  • the wheeled chassis has two chassis legs at an angle to one another, with these chassis legs being designed as spring struts on which one of the wheel groups is held in a longitudinally displaceable manner wheel groups held on the chassis legs are moved so far apart against the spring forces of the spring struts until there is a clear width between the two wheel groups that is larger than the diameter of the tree to be limbed of the undercarriage to the bark of guaranteed.
  • the two chassis legs are preferably at an angle of 60° to one another.
  • the telescopic arm is held on the wheel chassis so that it can be adjusted via a pivot joint, with the pivot joint being assigned an actuating mechanism which is produced via the linear drive of the telescopic arm and a ramp for the telescopic arm formed on the wheel chassis.
  • the telescopic guide With the telescopic guide, the pivoting movement and the linear movement of the telescopic arm are superimposed on one another, so that the positioning of the cutting tool on the branch bases is advantageously accelerated.
  • the slotted guide can be designed both with slide bearing surfaces and with roller bearing surfaces.
  • This position-fixed wheel group serves as an abutment for the wheel groups held on the chassis legs so that they can be displaced longitudinally, so that springing is not mandatory for their suspension on the wheel chassis.
  • the positionally fixed group of wheels preferably consists of at least two wheels arranged next to one another, the wheel axles of which are aligned tangentially to the helical climbing track. A structural space lying between the wheels of this positionally fixed wheel group is then preferably used for the constructive arrangement of the telescopic arm with the separating tool.
  • the motor drives of the wheel groups formed on the chassis legs are individually connected to the control unit. This interconnection enables the motorized drives to be controlled alternately at different speeds. In this way, the wheels of the wheel groups formed on the chassis legs are individually connected to the control unit.
  • a suitable rotational speed discrepancy between the wheel group arranged in a fixed position and one of the wheel groups held longitudinally displaceably on a chassis leg can be around 5%, for example.
  • Figure 1 A perspective view of the invention
  • FIG. 2 a first perspective view of a separating tool for the device according to FIG.
  • Figure 1 shows a perspective view of a device according to the invention for pruning living trees with a motor-driven carriage 1 on a helical climbing track and a separating tool 3 with a force transducer 2. This is held in a positionable manner on a telescopic arm 4 which has a linear drive 5.
  • the telescopic arm 4 is pivotably held on the wheel chassis 1 via a pivot joint 6 .
  • a non-contact branch detection sensor 7 is arranged on the wheeled undercarriage 1, which is connected via a control unit 8 to the motor drives 9, 10, 11 of the wheeled undercarriage 1, the power transmitter 2 of the cutting tool 3 and the linear drive 5 of the telescopic arm 4.
  • the cutting tool 3 has a single cutting edge 13 working against an anvil 12, to which a branch stripper 14 formed on the anvil 12 is assigned.
  • the anvil 12 has gripping teeth 15 incorporated in its anvil path and a knot insertion leg 16 protruding beyond its anvil path and the cutting edge 13 .
  • the wheeled chassis 1 has three arranged distributed on the circumference of its helical climbing path Wheel groups 17, 18, 19 and two undercarriage legs 20, 21 standing at an angle of 60° to one another, on which the wheel groups 17, 18, 19 are arranged. With the chassis legs 20, 21 a spring strut is formed, on which one of the wheel groups 17, 18 is held in a longitudinally displaceable manner.
  • the swivel joint 6 of the telescopic arm 4 is assigned an actuating mechanism which is produced via the linear drive 5 of the telescopic arm 4 and a ramp 22 formed on the wheel chassis 1 for a pair of rollers 23 of the telescopic arm 4.
  • the wheel group 19 is fixed in position in the bend between the two chassis legs 20, 21 arranged.
  • the motor drives 9 , 10 of the wheel groups 17 , 18 formed on the two chassis legs 20 , 21 are individually connected to the control unit 8 .
  • FIG. 2 shows a first perspective view of a separating tool for the device shown in FIG.
  • the enlarged representation of the cutting tool 3 shows the power transmitter 2 in a housing 26, from which a drive pinion 27 protrudes.
  • the drive pinion 27 is in engagement with a toothing 29 formed on a cutting blade receptacle 28 .
  • the cutting tool 3 and the telescopic arm 4 are an elastomer
  • FIG. 2 shows an electric motor 31 which is part of the linear drive 5 for the telescopic arm 4 .
  • the same components are provided with the same reference numbers.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Environmental Sciences (AREA)
  • Scissors And Nippers (AREA)

Abstract

L'invention concerne un procédé d'ébranchage d'arbres vivants dans lequel un outil de coupe (3) est déplacé vers le haut le long du tronc d'un arbre à ébrancher sur une voie de montée hélicoïdale, l'outil de coupe (3) est déplacé vers les bases des branches à couper, et les branches sont coupées. Selon l'invention, les positions des branches à couper sur le tronc sont mesurées sans contact par collecte de données de position, et des instructions de commande sont générées à partir des données de position, lesdites instructions de commande étant utilisées pour positionner l'outil de coupe (3) au niveau de la base des branches et pour l'actionner. L'invention concerne également un dispositif d'ébranchage d'arbres vivants comprenant un train de roulement à roues (1) qui est entraîné par un moteur sur au moins une voie de montée hélicoïdale, et au moins un outil de coupe (3) qui comporte un émetteur de force (2), l'outil de coupe (3) étant maintenu de manière positionnable sur un bras télescopique (4) ayant un entraînement linéaire (5), et le bras télescopique (4) étant maintenu de manière positionnable sur le train de roulement à roues (1). Selon l'invention, au moins un capteur de détection de branches fonctionnant sans contact (7) est disposé sur le train de roulement à roues (1) et est connecté électroniquement, par l'intermédiaire d'un dispositif de commande (8), aux entraînements de moteur (9, 10, 11) du train de roulement à roues (1), à l'émetteur de force (2) de l'outil de coupe (3), et à l'entraînement linéaire (5) du bras télescopique (4).
PCT/EP2022/077348 2021-10-13 2022-09-30 Procédé et dispositif d'ébranchage d'arbres vivants WO2023061779A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021126567.3 2021-10-13
DE102021126567.3A DE102021126567B3 (de) 2021-10-13 2021-10-13 Verfahren und Vorrichtung zum Entasten von lebenden Bäumen

Publications (1)

Publication Number Publication Date
WO2023061779A1 true WO2023061779A1 (fr) 2023-04-20

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DE (1) DE102021126567B3 (fr)
WO (1) WO2023061779A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117941554A (zh) * 2024-03-27 2024-04-30 河南天铁农业机械有限公司 一种林业树木用修枝装置及其使用方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2701628A1 (fr) * 1993-02-19 1994-08-26 Cemagref Machine autonome pour l'élagage forestier.
EP0614332B1 (fr) * 1991-11-27 1996-10-16 PESENTI, Bernard Machine pour faconner un arbre sur pied
FR2940591A3 (fr) * 2008-12-31 2010-07-02 Chervon Ltd Secateur electrique
US20140110021A1 (en) * 2012-10-24 2014-04-24 David H. Divine Robotic Tree Trimmer And Cutter

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0614332B1 (fr) * 1991-11-27 1996-10-16 PESENTI, Bernard Machine pour faconner un arbre sur pied
FR2701628A1 (fr) * 1993-02-19 1994-08-26 Cemagref Machine autonome pour l'élagage forestier.
FR2940591A3 (fr) * 2008-12-31 2010-07-02 Chervon Ltd Secateur electrique
US20140110021A1 (en) * 2012-10-24 2014-04-24 David H. Divine Robotic Tree Trimmer And Cutter

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117941554A (zh) * 2024-03-27 2024-04-30 河南天铁农业机械有限公司 一种林业树木用修枝装置及其使用方法
CN117941554B (zh) * 2024-03-27 2024-06-11 河南天铁农业机械有限公司 一种林业树木用修枝装置及其使用方法

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