CN107306679A - Xiu Shu robots - Google Patents
Xiu Shu robots Download PDFInfo
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- CN107306679A CN107306679A CN201710422509.9A CN201710422509A CN107306679A CN 107306679 A CN107306679 A CN 107306679A CN 201710422509 A CN201710422509 A CN 201710422509A CN 107306679 A CN107306679 A CN 107306679A
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- hole
- motor
- tree
- disk
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- 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
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/088—Circular saws
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Jib Cranes (AREA)
Abstract
A kind of Xiu Shu robots, it includes support, left and right symmetrical mechanism of climbing tree, clamp system and disk saw device, wherein mechanism of climbing tree includes arm support, motor I, upper and lower wheel group and chain, upper and lower wheel group all include main shaft, sprocket wheel, fixed and moving cone pulley, auxiliary spring, main shaft is rotated with arm support end to be coupled, and motor I is connected with arm support, motor shaft is connected with the main shaft key of lower whorl group, and four cone pulleys for driving upper and lower wheel group by Chain conveyer are rotated；Clamp system includes motor II, screw mandrel, screw disk, draws, pressing spring, and left and right set, support slides axially and couple with left and right set, and left and right cover couples with the arm support rotation of left and right mechanism of climbing tree respectively；Motor II is connected with right set and screw mandrel, and eight cone pulleys of the left and right left and right mechanism of climbing tree of set driving are while Flexible Fixturing tree trunk, band Moving plate saw device repaiies tree.When the motor of the left and right mechanism of climbing tree of the present invention is mutually inverted and rotate in same direction, Xiu Shu robots lifting can be achieved and positive and negative revolution is climbed tree.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of Xiu Shu robots.
Background technology
Tree trimming is not only the maintenance of National Forest trees, the important means of rationally felling and forest fire protection, in city ring
It is also to cultivating trees quality, keeping good tree-like main method that border, which is afforested and beautified in engineering,.In Guang Mao forest areas, generally
Vehicle is difficult to enter depths, and trimming can only be completed manually the current substantial amounts of trees of China in time.Because artificial tree trimming is difficult
Degree is big, wastes time and energy, and is trimmed in time so substituting the artificial completion trees under the adverse circumstances such as heat, severe cold using robot,
The dream that always China forest workers strives for, is also the pursuit that urban environment afforests and beautifies personnel.Both at home and abroad gloomy
During woods trees are felled, generally using mechanical-stretching arm creeper truck driving handgrip is taken and disk saw is lumbered, or machine is manually taken
The saw lumbering of tool disk.The root that this method is only suitable for forest-tree in blocks is felled, and is not suitable for forest-tree curing period and to prevent fires
Trimmed for purpose trees upper end, more unsuitable urban environment afforestation project trees upper end trimming is required.In recent years, China is climbing tree
In terms of robot, Publication No. CN205649795U Chinese patent discloses a kind of robot capable of climbing trees protected for forestry, bag
Include top box housing, preceding fixed claw, preceding fixed claw support, kinematic link and steering wheel.Publication No. CN105947008A middle promulgated by the State Council
Bright patent discloses a kind of robot capable of climbing trees, including control system and multiple head and the tail mutually rotate the support for connecting into open loop support frame
Joint.Publication No. CN205469360U Chinese invention patent discloses a kind of quick robot capable of climbing trees, including crawler frame
People, acupuncture array, upper and lower end cohesion device, drawstring, take-up device, retractor device and expansion link.Publication No.
CN105109571B Chinese invention patent discloses a kind of folding telescopic robot capable of climbing trees, including mechanical module, steering wheel group, master
Controller and power module.Publication No. CN106335052A Chinese invention patent discloses a kind of hydraulic pressure climbing level robot machine
People is overall by the paw mechanism of upper, middle and lower three, body telescoping mechanism, guiding mechanism, electric hydraulic control unit and correlation
Annex is constituted.In terms of climbing level robot, Publication No. profit CN106347516A Chinese invention patent discloses a kind of pneumatic climb
Bar robot is constituted by two groups in the pole-climbing mechanism of cross intersection, and Liang Zu mechanisms, which intersect, does stretching retraction action realization to guide rod
Clamping and climb.Publication No. CN205928630U Chinese utility model patents are related to a kind of alternative expression climbing level robot, mould
Anthropomorphic trick is alternately climbed on electric pole.Although it is above-mentioned climb tree, climbing level robot technology has their own characteristics each, can only substantially climb
Rise, it is impossible to interact progress with revolution.How to ensure to climb tree, on the premise of climbing level robot structure and control system simplifying, make
Climb tree, climbing level robot can climb, and revolution can be interacted and repair tree, be always designer's striving direction.
The content of the invention
It is an object of the invention to provide one kind it is simple in construction, compact, be easily controlled, can climb tree/bar, and can turn round and repair
The Xiu Shu robots of tree.
The present invention includes support, left and right symmetrical configuration and mechanism identical and climbed tree mechanism, clamp system and disk saw device,
Wherein, support is " king " glyph framework, the framework by three level boards in upper, middle and lower middle part it is vertical with riser be connected, in, under
Horizontal through hole is provided with the middle part of riser between level board；
The mechanism of climbing tree includes arm support, motor I, upper wheel group, lower whorl group and chain, wherein, arm support is mutually flat by two
The framework that row arm plate is constituted, arm support two ends and middle part are provided with three through holes of upright arm plate；Upper and lower wheel group structure is identical, wraps
Include main shaft, sprocket wheel, determine cone pulley, mantle wheel, auxiliary spring, wherein main shaft one end is provided with coaxial openings hole, the other end provided with thin axle and
Boss；The through hole of mainshaft snap nose end and arm support end, which is rotated, couple, main shaft middle part successively with sprocket wheel and determining cone pulley and being coaxially connected,
The thin shaft part of main shaft is connected with mantle wheel coaxially slide key, and it is relative with the small tapered end of mantle wheel to determine cone pulley, is set up and down on two sprocket wheels
There is chain；Auxiliary spring housing is against on mantle wheel and main shaft boss respectively at the thin shaft part of main shaft, auxiliary bullet two ends；Under motor I and arm support
End connection, motor I drive shafts are connected with the mainshaft snap nose end key of lower whorl group；Each determine to set on the circular conical surface of cone pulley and mantle wheel
There is a helical tooth, the cone pulley helical tooth for mechanism that the cone pulley helical tooth rotation direction of mechanism is climbed tree on a left side and the right side is climbed tree is oppositely oriented；
The clamp system includes motor II, left set, right set, leading screw, screw disk, end cap, two bearing pins, pressing spring, a left sides
Spring and right drawing spring are drawn, wherein, left and right set is rectangular block, and its one end center is equipped with large opening, and the other end is provided with opening
The concentric through hole in hole and vertical eccentric through-hole；It is left and right set with support in, lower horizontal board sliding contact, left and right set it is vertical
Eccentric through-hole is rotated with the arm support middle through-hole bearing pin of left and right mechanism of climbing tree respectively to be coupled；End cap is provided with central through hole, end cap
Coaxially it is connected with left set big opening nose end；Screw disk is provided with mutually concentric large and small cylinder and center tapped through hole, and screw disk is big
Cylinder slides key connecting with left set big opening hole sliding contact, screw disk small column with end cap central through hole；One end of leading screw is set
There are big cylinder and concentric perforate, the other end is provided with concentric threads small column；Motor II is coaxially connected with right set large opening end, motor
II drive shaft and the coaxial key connecting of the perforate of leading screw, the large opening of the big cylinder and right set of leading screw are slidably connected, threads of lead screw
The through hole of small column through right set, support riser and left set couples with screw valve snail line through hole whorl；It is big that pressing spring is located at left set
In perforate, its two ends is against screw disk and a left side is put；It is left and right drawing spring housing on leading screw, its two ends couple respectively it is left and right set with
Riser；
The disk saw device includes motor III and disk is sawed, and motor III drive shafts are coaxially connected with disk mandrel, and parallel master
The adjustable connection of upper level board conventional axial of axle, motor III and support.
It is of the invention with it is existing be exactly compared with have advantages below：
1st, it can lift, and can turn round, both interact repaiies tree with the disk saw device coordinated movement of various economic factors.
2nd, simple in construction, compact, lightweight, is easily controlled, and is adapted to variable diameters trees.
3rd, the frame structure of support is simple, can not only the strong left and right mechanism of climbing tree of support, clamp system and disk saw dress
Put, and the crooking ability for each gear grips tree trunk of contending with is strong.
4th, draw, the compound action of auxiliary spring on pressing spring and each main shaft, it is possible to achieve safe Flexible Fixturing tree trunk and soft
Property is climbed tree；In the small change of trees size or when running into burl, it can be ensured that gear grips tree trunk of climbing tree power will not be mutated reduction, and
Tree trunk can smoothly be got over has section.
5th, clamp system and left and right arms are rotated using bearing pin and coupled, it can be ensured that each cone pulley pressure with distribution.
6th, the upper level board of motor III and support changes disk saw and trees spacing using conventional adjustable connection.
7th, left and right drawing spring ensures that support riser is maintained in the middle part of the robot, and increases clamping trees power.
Brief description of the drawings
Fig. 1 is the front sectional view of the present invention；
Fig. 2 is Fig. 1 side view cutaway drawing.
In figure：Level board, 1-3- lower horizontal boards, 1-4- risers, 2- climb tree machine in the upper level board of 1- supports, 1-1-, 1-2-
Structure, 2-1- motor I, 2-2- arm support, 2-3- main shafts, 2-4- sprocket wheels, 2-5- determine cone pulley, 2-6- mantles wheel, the auxiliary springs of 2-7-, 2-8-
The left set of chain, 3-- tensioning mechanisms, 3-1- motors II, 3-2-, the right sets of 3-3-, 3-4- leading screws, 3-5- screws disk, 3-6- end caps, 3-
7- bearing pins, 3-8- pressing springs, 3-9- Zolas spring, 3-10- are right to draw spring, 4-1- motor III, 4-2- disk saw, 5- trees.
Embodiment
In the Xiu Shu robots schematic diagram shown in Fig. 1 and Fig. 2, support 1 is " king " glyph framework, and the framework is by upper level
Plate 1-1, middle level board 1-2 and lower horizontal board 1-3 is vertical with riser 1-4 is connected, in, be provided with the middle part of the riser between lower horizontal board
Horizontal through hole
Arm support 2-2 in mechanism of climbing tree 2 is the framework that arm plate constitutes that is parallel to each other by two, and arm support two ends and middle part are provided with
Three through holes of upright arm plate；Upper and lower wheel group structure is identical, including main shaft 2-3, sprocket wheel 2-4, determines cone pulley 2-5, mantle wheel 2-
6th, auxiliary spring 2-7, wherein main shaft one end are provided with coaxial openings hole, and the other end is provided with thin axle and boss；Mainshaft snap nose end and arm
The through hole in frame end portion is rotated in the middle part of connection, main shaft successively with sprocket wheel and determining cone pulley and being coaxially connected, and the thin shaft part of main shaft and mantle wheel are same
Axle slide key is connected, and it is relative with the small tapered end of mantle wheel determine cone pulley, and two sprocket wheels are provided with chain 2-8 up and down；Auxiliary spring housing exists
The thin shaft part of main shaft, auxiliary bullet two ends are against on mantle wheel and main shaft boss respectively；Motor I 2-1 are connected with arm support lower end, and motor I drives
Moving axis is connected with the mainshaft snap nose end key of lower whorl group；Each circular conical surface for determining cone pulley and mantle wheel is provided with helical tooth, and a left side is climbed
The cone pulley helical tooth for setting the cone pulley helical tooth rotation direction and right mechanism of climbing tree of mechanism is oppositely oriented；
Left set 3-2, right set 3-3 in clamp system 3 are rectangular block, and its one end center is equipped with large opening, the other end
Provided with through hole and vertical eccentric through-hole that perforate is concentric；It is left and right set with support in, lower horizontal board sliding contact, it is left and right
The vertical eccentric through hole of set is rotated with the arm support middle through-hole bearing pin 3-7 of left and right mechanism of climbing tree respectively to be coupled；End cap 3-6 is set
There is central through hole, end cap is coaxially connected with left set big opening nose end；Screw disk 3-5 is provided with mutually concentric large and small cylinder with
Heart tapped through hole, the big cylinder of screw disk is slided with left set big opening hole sliding contact, screw disk small column with end cap central through hole
Key connecting；Leading screw 3-4 one end is provided with big cylinder and concentric perforate, and the other end is provided with concentric threads small column；Motor II 3-1
Coaxially it is connected with right set large opening end, motor II drive shaft and the coaxial key connecting of the perforate of leading screw, big cylinder and the right side of leading screw
The large opening of set is slidably connected, and the through hole and screw valve snail line of threads of lead screw small column through right set, support riser and left set lead to
Hole thread connection；Pressing spring 3-8 is located in left set large opening, and its two ends is against screw disk and a left side is put；Zola's spring 3-9 and the right side
Spring 3-10 is drawn to be enclosed on leading screw, its two ends couples left and right set and riser respectively；
Motor III 4-1 drive shafts in disk saw device are coaxially connected with disk mandrel 4-2, and parallel main axis, motor III with
The adjustable connection of upper level board conventional axial of support.Eight cone pulleys of the left and right left and right mechanism of climbing tree of set driving are while Flexible Fixturing
The tree trunk of trees 5, band Moving plate saw device repaiies tree.
Claims (1)
1. a kind of robot capable of climbing trees, it include support, left and right symmetrical configuration and mechanism identical climb tree mechanism, clamp system and
Disk saw device, it is characterised in that：The support is " king " glyph framework, the framework by the middle part of three level boards in upper, middle and lower with
Riser is vertically connected, in, horizontal through hole is provided with the middle part of riser between lower horizontal board；
The mechanism of climbing tree includes arm support, motor I, upper wheel group, lower whorl group and chain, wherein, arm support is by two arms that are parallel to each other
The framework that plate is constituted, arm support two ends and middle part are provided with three through holes of upright arm plate；Upper and lower wheel group structure is identical, including master
Axle, sprocket wheel, determine cone pulley, mantle wheel, auxiliary spring, wherein main shaft one end is provided with coaxial openings hole, and the other end is provided with thin axle and boss；
The through hole of mainshaft snap nose end and arm support end, which is rotated, couple, and main shaft middle part is successively with sprocket wheel and determining cone pulley and being coaxially connected, main shaft
Thin shaft part is connected with mantle wheel coaxially slide key, determines that cone pulley is relative with the small tapered end of mantle wheel, and two sprocket wheels are provided with chain up and down
Bar；Auxiliary spring housing is against on mantle wheel and main shaft boss respectively at the thin shaft part of main shaft, auxiliary bullet two ends；Motor I connects with arm support lower end
Connect, motor I drive shafts are connected with the mainshaft snap nose end key of lower whorl group；Each circular conical surface for determining cone pulley and mantle wheel is provided with spiral shell
The cone pulley helical tooth of rotation tooth, the cone pulley helical tooth rotation direction of left mechanism of climbing tree and right mechanism of climbing tree is oppositely oriented；
The clamp system includes motor II, left set, right set, leading screw, screw disk, end cap, two bearing pins, pressing spring, Zola's bullets
Spring and right drawing spring, wherein, left and right set is rectangular block, and its one end center is equipped with large opening, and the other end is provided with same with perforate
The through hole of the heart and vertical eccentric through-hole；It is left and right set with support in, lower horizontal board sliding contact, the vertical eccentric of left and right set
Through hole is rotated with the arm support middle through-hole bearing pin of left and right mechanism of climbing tree respectively to be coupled；End cap is provided with central through hole, end cap and a left side
Set big opening nose end is coaxially connected；Screw disk is provided with mutually concentric large and small cylinder and center tapped through hole, the big cylinder of screw disk
With left set big opening hole sliding contact, screw disk small column slides key connecting with end cap central through hole；One end of leading screw is provided with big
Cylinder and concentric perforate, the other end are provided with concentric threads small column；Motor II is coaxially connected with right set large opening end, motor II's
Drive shaft and the coaxial key connecting of perforate of leading screw, the large opening of the big cylinder and right set of leading screw are slidably connected, threads of lead screw roundlet
The through hole of post through right set, support riser and left set couples with screw valve snail line through hole whorl；Pressing spring is located at left set large opening
Interior, its two ends is against screw disk and a left side is put；Left and right drawing spring housing is on leading screw, and its two ends couples left and right set with standing respectively
Plate；
The disk saw device includes motor III and disk is sawed, and motor III drive shafts are coaxially connected with disk mandrel, and parallel main axis, electricity
Connection that machine III and support upper level board conventional axial are adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710422509.9A CN107306679B (en) | 2017-06-07 | 2017-06-07 | Xiu Shu robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710422509.9A CN107306679B (en) | 2017-06-07 | 2017-06-07 | Xiu Shu robot |
Publications (2)
| Publication Number | Publication Date |
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| CN107306679A true CN107306679A (en) | 2017-11-03 |
| CN107306679B CN107306679B (en) | 2019-11-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710422509.9A Active CN107306679B (en) | 2017-06-07 | 2017-06-07 | Xiu Shu robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107306679B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110122102A (en) * | 2019-06-30 | 2019-08-16 | 南京林业大学 | A kind of robot that prunes of climbing tree based on flexible cutter |
| CN108990584B (en) * | 2018-08-16 | 2020-07-21 | 燕山大学 | Split type branch trimmer |
| CN112715192A (en) * | 2020-12-28 | 2021-04-30 | 燕山大学 | Street bush trimming means |
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| FR2701628A1 (en) * | 1993-02-19 | 1994-08-26 | Cemagref | Autonomous machine for forest pruning |
| WO2007116291A3 (en) * | 2006-04-07 | 2007-12-21 | Politechnico Di Torino | Pruning machine |
| CN105109571A (en) * | 2015-09-18 | 2015-12-02 | 北京理工大学 | Folding type retractable tree climbing robot |
| CN205469360U (en) * | 2015-12-31 | 2016-08-17 | 天津禹汀科技有限公司 | Robot of climbing tree fast |
| CN205454786U (en) * | 2016-04-13 | 2016-08-17 | 山东农业大学 | Fast -growing woods spiral pruning machine people that climbs tree |
| CN105947008A (en) * | 2016-05-13 | 2016-09-21 | 福建省泉州市第七中学 | Tree climbing robot |
| CN205649795U (en) * | 2016-03-24 | 2016-10-19 | 杨志飞 | A robot of climbing tree for forestry protection |
| CN106335052A (en) * | 2016-11-08 | 2017-01-18 | 天津职业技术师范大学 | Hydraulic Pole-climbing Robot |
| CN106347516A (en) * | 2016-11-01 | 2017-01-25 | 新疆大学 | Design of loading platform of pneumatic pole climbing robot |
| CN205928630U (en) * | 2016-08-22 | 2017-02-08 | 常州信息职业技术学院 | Alternating pole -climbing robot |
| CN106688654A (en) * | 2017-03-21 | 2017-05-24 | 南京林业大学 | Triangular-prism-shaped electrically driven branch trimming robot |
-
2017
- 2017-06-07 CN CN201710422509.9A patent/CN107306679B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2701628A1 (en) * | 1993-02-19 | 1994-08-26 | Cemagref | Autonomous machine for forest pruning |
| WO2007116291A3 (en) * | 2006-04-07 | 2007-12-21 | Politechnico Di Torino | Pruning machine |
| CN105109571A (en) * | 2015-09-18 | 2015-12-02 | 北京理工大学 | Folding type retractable tree climbing robot |
| CN205469360U (en) * | 2015-12-31 | 2016-08-17 | 天津禹汀科技有限公司 | Robot of climbing tree fast |
| CN205649795U (en) * | 2016-03-24 | 2016-10-19 | 杨志飞 | A robot of climbing tree for forestry protection |
| CN205454786U (en) * | 2016-04-13 | 2016-08-17 | 山东农业大学 | Fast -growing woods spiral pruning machine people that climbs tree |
| CN105947008A (en) * | 2016-05-13 | 2016-09-21 | 福建省泉州市第七中学 | Tree climbing robot |
| CN205928630U (en) * | 2016-08-22 | 2017-02-08 | 常州信息职业技术学院 | Alternating pole -climbing robot |
| CN106347516A (en) * | 2016-11-01 | 2017-01-25 | 新疆大学 | Design of loading platform of pneumatic pole climbing robot |
| CN106335052A (en) * | 2016-11-08 | 2017-01-18 | 天津职业技术师范大学 | Hydraulic Pole-climbing Robot |
| CN106688654A (en) * | 2017-03-21 | 2017-05-24 | 南京林业大学 | Triangular-prism-shaped electrically driven branch trimming robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108990584B (en) * | 2018-08-16 | 2020-07-21 | 燕山大学 | Split type branch trimmer |
| CN110122102A (en) * | 2019-06-30 | 2019-08-16 | 南京林业大学 | A kind of robot that prunes of climbing tree based on flexible cutter |
| CN110122102B (en) * | 2019-06-30 | 2024-04-26 | 南京林业大学 | Tree climbing pruning robot based on flexible cutter |
| CN112715192A (en) * | 2020-12-28 | 2021-04-30 | 燕山大学 | Street bush trimming means |
| CN112715192B (en) * | 2020-12-28 | 2022-03-15 | 燕山大学 | Street bush trimming means |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107306679B (en) | 2019-11-01 |
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