CN110692380A - High-efficient tall and big trees intelligence removes branch device - Google Patents
High-efficient tall and big trees intelligence removes branch device Download PDFInfo
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- CN110692380A CN110692380A CN201910995543.4A CN201910995543A CN110692380A CN 110692380 A CN110692380 A CN 110692380A CN 201910995543 A CN201910995543 A CN 201910995543A CN 110692380 A CN110692380 A CN 110692380A
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- control assembly
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- Mechanical Engineering (AREA)
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- Automation & Control Theory (AREA)
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- Forests & Forestry (AREA)
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Abstract
The invention provides an efficient intelligent tall tree branch removing device which comprises a lifting table, a rotary table, a mechanical arm and a branch cutting saw, wherein the lifting table is installed on a travelling frame and movably connected with the rotary table, the rotary table is movably connected with the branch cutting saw through the mechanical arm, the lifting table is connected with a lifting table control assembly, the rotary table is connected with a rotary table control assembly, the mechanical arm is connected with a mechanical arm control assembly, the branch cutting saw is connected with a branch cutting saw control assembly, the lifting table control assembly, the rotary table control assembly, the mechanical arm control assembly and the branch cutting saw control assembly are all connected with a control terminal, and the control terminal is connected with a camera. The invention has the advantages of flexible integral action, strong mechanical arm pruning and sawing power and long service life by the lifting platform and the rotating platform, and replaces the traditional handheld high-altitude pruning machine, thereby effectively avoiding personal electric shock and falling death and greatly improving the pruning efficiency.
Description
Technical Field
The invention relates to the technical field of power supply line branch removing, in particular to an efficient intelligent branch removing device for tall trees.
Background
Along with the rapid development of the domestic electric power industry, the domestic electric power supply full coverage is realized, various grades of power transmission lines are erected differently, the powerful guarantee is provided for the industrial development, but the erection of cables is visible everywhere in the open air or urban streets, the cables are penetrated in branches of tall trees, the branches growing at will easily cause short circuit of lines, the life and the work of urban residents are influenced, at present, the branches are still cut by manpower, a large number of workers are needed for each operation, the labor intensity is high, and in addition, the manual cutting difficulty is high for the narrow areas with the dense trees growing in the outdoor area, and the personal electric shock and the falling death are easily caused.
Disclosure of Invention
The invention provides an efficient intelligent tall tree branch removing device, and aims to solve the technical problems that branches on a traditional power transmission line are troublesome to cut manually, high in working strength and unsuitable for manual cutting in outdoor narrow areas.
In order to solve the above problems, the technical solution of the present invention is realized as follows:
the utility model provides a high-efficient tall and big trees intelligence removes branch device, includes elevating platform, revolving platform, arm and lopping saw, and the elevating platform is installed on the frame of going, elevating platform and revolving platform swing joint, and the revolving platform passes through arm and lopping saw swing joint, the elevating platform is connected with elevating platform control assembly, and the revolving platform is connected with revolving platform control assembly, and the arm is connected with arm control assembly, and the lopping saw is connected with lopping saw control assembly, and elevating platform control assembly, revolving platform control assembly, arm control assembly and lopping saw control assembly all are connected with control terminal, and control terminal is connected with the camera.
Preferably, the elevating platform control assembly comprises an elevating platform relay controller, the elevating platform relay controller is respectively connected with the elevating platform relays and the control terminal, the number of the elevating platform relays is at least four, the four groups of the elevating platform relays are respectively used for controlling the ascending, descending, stopping and emergency stop states of the elevating motor, the elevating platform relays are connected with the elevating motor, and the elevating motor is movably connected with the chassis in the rotary table.
Preferably, the rotary table control assembly comprises a PWM signal generator, the PWM signal generator is respectively connected with the control terminal and a rotary motor encoder, the PWM signal generator is connected with the industrial tablet computer through RS-485, the PWM signal generator outputs a pulse signal to the rotary motor encoder, the rotary motor encoder is connected with a rotary motor driver, the rotary motor encoder outputs a pulse signal to the rotary motor driver, the rotary motor driver is connected with the rotary motor, and the rotary motor driver controls the rotary motor to perform corresponding operation; the rotary table is fixedly connected with the mechanical arm.
Preferably, the mechanical arm control assembly comprises a mechanical arm action controller, the mechanical arm action controller is respectively connected with the control terminal and an electric cylinder encoder, the industrial tablet personal computer is connected with a CN3 port of the mechanical arm controller through an RS-485 bus, the electric cylinder encoder is connected with an electric cylinder driver, the electric cylinder driver is connected with an electric cylinder, and the electric cylinder is connected with the mechanical arm.
Preferably, the branch cutting saw control assembly comprises a branch cutting saw relay controller, the branch cutting saw relay controller is respectively connected with a power mechanism, a branch cutting saw and a control terminal, the power mechanism is respectively connected with a swing push rod and a radial push rod, the radial push rod is fixedly connected with the mechanical arm, the radial push rod is fixedly connected with the swing push rod, and the swing push rod is fixedly connected with the branch cutting saw.
Preferably, the power mechanism comprises a first motor and a second motor, the first motor is connected with the pruning saw relay controller through a first relay and is connected with the swing push rod, the second motor is connected with the pruning saw relay controller through a second relay and is connected with the radial push rod.
Preferably, the relay controller of the pruning saw comprises at least six output ends, a first motor and a second motor in the power mechanism are respectively connected with 3 output ends, one group of the output ends is respectively connected with the other two groups of the output ends, and the other two groups of the output ends are respectively connected with positive and negative wiring ends of the first motor or the second motor.
Preferably, the control terminal comprises an industrial tablet personal computer, and the industrial tablet personal computer is respectively connected with the PWM signal generator in the rotation control assembly, the mechanical arm action controller in the mechanical arm control assembly and the relay controller in the pruning saw control assembly through an RS485 communication bus.
The invention has the beneficial effects that: the invention controls the lifting platform to adjust the operation height through the operator operation control terminal, controls the rotating platform to rotate to adjust the operation direction, then the operator observes the position condition of the mechanical arm through the camera, controls the electric cylinder on the mechanical arm to start and adjust the position of the mechanical arm, and simultaneously controls the radial push rod and the swing push rod at the front end of the mechanical arm to start and adjust the height and the cutting range of the pruning saw through the control terminal, thereby greatly improving the pruning efficiency, being flexible in integral cutting action, strong in horse power and long in service life of the mechanical arm pruning saw, and replacing the traditional handheld high-altitude pruning machine, thereby effectively avoiding personal electric shock and falling death.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a control schematic diagram of the present invention.
Fig. 3 is a control schematic diagram of the elevating platform of the present invention.
FIG. 4 is a control schematic diagram of the turntable of the present invention.
Fig. 5 is a control schematic diagram of the robot arm of the present invention.
FIG. 6 is a control schematic diagram of the lopping saw, the swing push rod and the radial push rod of the present invention.
In the figure, 1 is a pruning saw, 2 is a three-level electric cylinder, 3 is a two-level electric cylinder, 4 is a mechanical arm, 5 is a one-level electric cylinder, 6 is a rotary table, 7 is a cockpit, 8 is a control table, 9 is a steering handle, 10 is a camera, and 11 is a lifting table.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, an efficient intelligent tall tree branch removing device comprises a lifting table 11, a rotary table 6, a mechanical arm 4 and a branch cutting saw 1, wherein the lifting table 11 is mounted on a travelling crane frame, a cockpit 7 is further mounted on the travelling crane frame, a driving seat, a driving handle 9 and a control table 8 are arranged in the cockpit, the lifting table 11 is movably connected with the rotary table 6, the rotary table 6 is movably connected with the branch cutting saw 1 through the mechanical arm 4, the lifting table 11 is connected with a lifting table control assembly, the rotary table 6 is connected with a rotary table control assembly, the mechanical arm 4 is connected with a mechanical arm control assembly, the branch cutting saw 1 is connected with a branch cutting saw control assembly, and the lifting table control assembly, the rotary table control assembly, the mechanical arm control assembly and the branch cutting saw control assembly are all connected with a control terminal, as shown in fig. 2, the control terminal comprises an industrial tablet personal computer, and the industrial tablet computer is respectively connected with a PWM signal generator, arm motion control ware among the arm control assembly is connected with the relay control ware among the lopping saw control assembly, and control terminal is connected with camera 10, and the camera is digital wireless camera, and the camera is connected with industry panel computer through wireless wiFi, and the camera is installed and is used for gathering the lopping video of place ahead branch and lopping saw in the front portion of arm, helps the staff to control the cutting position of lopping saw according to the place ahead video.
As shown in fig. 3, the lifting platform control assembly includes a lifting platform relay controller, the lifting platform relay controller is respectively connected with the lifting platform relays and the control terminal, the number of the lifting platform relays is at least four groups, the four groups of lifting platform relays are respectively used for controlling the lifting motor to ascend, descend, stop and scram, the lifting platform relays are connected with the lifting motor, and the lifting motor is movably connected with the chassis in the rotary table 6.
As shown in fig. 4, the turntable control assembly includes a PWM signal generator, the PWM signal generator is respectively connected to the control terminal and the rotary motor encoder, the PWM signal generator is connected to the industrial tablet computer through RS-485, the PWM signal generator outputs a pulse signal to the rotary motor encoder, the rotary motor encoder is connected to the rotary motor driver, the rotary motor encoder outputs a pulse signal to the rotary motor driver, the rotary motor starter is connected to the rotary motor, and the rotary motor driver controls the rotary motor to perform corresponding operations; the rotary table 6 is fixedly connected with the mechanical arm 4.
As shown in fig. 5, the robot arm control assembly includes a robot arm motion controller, the robot arm motion controller is respectively connected with a control terminal and an electric cylinder encoder, the industrial tablet computer is connected with a CN3 port of the robot arm motion controller through an RS-485 bus for communication, the robot arm motion controller is connected with the electric cylinder encoder through a CN2 port and is connected with an electric cylinder power connector U, V, W for controlling the electric cylinder to perform corresponding motion, the electric cylinder encoder is connected with an electric cylinder driver, the electric cylinder driver is connected with an electric cylinder, the electric cylinder is connected with a robot arm 4, the number of the electric cylinders is three, the three sets include a first-level electric cylinder 5, a second-level electric cylinder 3 and a third-level electric cylinder 1, the first-stage electric cylinder 5, the second-stage electric cylinder 3 and the third-stage electric cylinder 1 are all connected with the mechanical arm 4, and the first-stage electric cylinder 5, the second-stage electric cylinder 3 and the third-stage electric cylinder 1 are respectively arranged at the upper node position of the mechanical arm and used for adjusting the mechanical arm to ascend or descend.
As shown in fig. 6, the branch cutting saw control assembly includes a branch cutting saw relay controller, the branch cutting saw relay controller is respectively connected with a power mechanism, a branch cutting saw 1 and a control terminal, the power mechanism is respectively connected with a swing push rod and a radial push rod, the swing push rod is used for controlling the lateral movement of the branch cutting saw, the radial push rod is used for controlling the up-and-down movement of the branch cutting saw, the radial push rod is fixedly connected with a mechanical arm 4, the upper portion of the radial push rod is fixedly connected with the front end of the mechanical arm, the radial push rod is fixedly connected with the swing push rod, the lower portion of the radial push rod is fixedly connected with the swing push rod through a fixing shell, the radial push rod drives the swing push rod to move up and down, the.
The power mechanism comprises a first motor and a second motor, the first motor is connected with the pruning saw relay controller through a first relay and is connected with the swing push rod, the second motor is connected with the pruning saw relay controller through a second relay and is connected with the radial push rod.
The branch cutting saw relay controller comprises at least six output ends, a swing push rod and a radial push rod are used for controlling the branch cutting saw to move up and down and left and right, wherein the swing push rod and the radial push rod need to extend and contract and need to be controlled to rotate forwards and backwards through a relay, a first motor and a second motor in a power mechanism are respectively connected with 3 output ends, one group of output ends are respectively connected with other two groups of output ends, one group of other two groups of output ends are respectively connected with positive and negative wiring ends of the first motor or the second motor, one group of output ends are a master switch, and the normal close and the normal open of the other two output ends are controlled to realize the forward and reverse rotation of the swing.
The branch and the lopping saw position are observed through the camera to the staff, through the ascending and then the height of adjustment arm of elevator motor in the operation panel control elevating platform, the rotary motor rotates and adjusts and controls the position that the electric cylinder started the adjustment arm on the arm of operation in the operation panel control revolving platform afterwards, the staff starts the height and the cutting scope of adjustment lopping saw through the radial push rod and the swing push rod of control terminal control arm front end simultaneously, the branch efficiency of removing has been improved greatly, the whole action of cutting is nimble, the arm lopping saw horse power of manipulator is powerful, long service life, traditional handheld high altitude branch removing machine has been replaced, thereby effectively avoid the personal electric shock, weigh down.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The utility model provides a high-efficient tall and big trees intelligence removes branch device, includes elevating platform (11), revolving platform (6), arm (4) and lopping saw (1), and elevating platform (11) are installed on the frame of being expert at, and elevating platform (11) and revolving platform (6) swing joint, revolving platform (6) are through arm (4) and lopping saw (1) swing joint, its characterized in that, elevating platform (11) are connected with elevating platform control assembly, and revolving platform (6) are connected with revolving platform control assembly, and arm (4) are connected with arm control assembly, and lopping saw (1) are connected with lopping saw control assembly, and elevating platform control assembly, revolving platform control assembly, arm control assembly and lopping saw control assembly all are connected with control terminal, and control terminal is connected with camera (10).
2. The high-efficiency intelligent tall tree delimbing device as claimed in claim 1, wherein the lifting platform control assembly comprises a lifting platform relay controller, the lifting platform relay controller is respectively connected with a lifting platform relay and a control terminal, the lifting platform relay is connected with a lifting motor, and the lifting motor is movably connected with a chassis in the rotary platform (6).
3. The intelligent high-efficiency tall tree delimbing device as claimed in claim 1, wherein the rotary table control assembly comprises a PWM signal generator, the PWM signal generator is respectively connected with the control terminal and a rotary motor encoder, the rotary motor encoder is connected with a rotary motor driver, and the rotary motor starter is connected with a rotary motor; the rotary table (6) is fixedly connected with the mechanical arm (4).
4. The intelligent efficient tall tree delimbing device as claimed in claim 1, wherein said robotic arm control assembly comprises a robotic arm motion controller, said robotic arm motion controller is connected to the control terminal and an electric cylinder encoder, said electric cylinder encoder is connected to an electric cylinder driver, said electric cylinder driver is connected to an electric cylinder, said electric cylinder is connected to the robotic arm (4).
5. The high-efficiency intelligent tall tree branch removing device according to claim 1, wherein the branch cutting saw control assembly comprises a branch cutting saw relay controller, the branch cutting saw relay controller is respectively connected with a power mechanism, the branch cutting saw (1) and a control terminal, the power mechanism is respectively connected with a swing push rod and a radial push rod, the radial push rod is fixedly connected with the mechanical arm (4), the radial push rod is fixedly connected with the swing push rod, and the swing push rod is fixedly connected with the branch cutting saw (1).
6. The intelligent high-efficiency tall tree pruning device according to claim 5, wherein the power mechanism comprises a first motor and a second motor, the first motor is connected with the pruning saw relay controller through a first relay and is connected with the swing push rod, the second motor is connected with the pruning saw relay controller through a second relay and is connected with the radial push rod.
7. The intelligent high-efficiency tall tree branch removing device as claimed in claim 5 or 6, wherein the branch cutting saw relay controller comprises at least six output ends, the first motor and the second motor in the power mechanism are respectively connected with 3 output ends, one output end is respectively connected with the other two output ends, and the other two output ends are respectively connected with the positive and negative terminals of the first motor or the second motor.
8. The high-efficiency and high-size tree intelligent delimbing device according to any one of claims 1-5, wherein the control terminal comprises an industrial tablet computer, and the industrial tablet computer is respectively connected with a PWM signal generator in the rotation control assembly, a mechanical arm action controller in the mechanical arm control assembly and a pruning saw relay controller in the pruning saw control assembly through RS485 communication buses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910995543.4A CN110692380A (en) | 2019-10-18 | 2019-10-18 | High-efficient tall and big trees intelligence removes branch device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910995543.4A CN110692380A (en) | 2019-10-18 | 2019-10-18 | High-efficient tall and big trees intelligence removes branch device |
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| CN110692380A true CN110692380A (en) | 2020-01-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910995543.4A Pending CN110692380A (en) | 2019-10-18 | 2019-10-18 | High-efficient tall and big trees intelligence removes branch device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111788952A (en) * | 2020-08-11 | 2020-10-20 | 广东电网有限责任公司 | Tree pruning machine |
| CN112841014A (en) * | 2021-02-25 | 2021-05-28 | 深圳市五谷网络科技有限公司 | Dragon fruit planting vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102668898A (en) * | 2012-06-13 | 2012-09-19 | 苑进 | High-altitude pruning manipulator |
| CN104221732A (en) * | 2014-09-29 | 2014-12-24 | 华南理工大学 | Robot and method for pruning and crushing twigs |
| CN205158070U (en) * | 2015-12-10 | 2016-04-13 | 山东农业大学 | Mechanical arm control device of tall and big trees pruning |
| CN105830755A (en) * | 2016-03-17 | 2016-08-10 | 山东农业大学 | Dynamic counterweight device of high-branch pruning machine and control method for dynamic counterweight device |
-
2019
- 2019-10-18 CN CN201910995543.4A patent/CN110692380A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102668898A (en) * | 2012-06-13 | 2012-09-19 | 苑进 | High-altitude pruning manipulator |
| CN104221732A (en) * | 2014-09-29 | 2014-12-24 | 华南理工大学 | Robot and method for pruning and crushing twigs |
| CN205158070U (en) * | 2015-12-10 | 2016-04-13 | 山东农业大学 | Mechanical arm control device of tall and big trees pruning |
| CN105830755A (en) * | 2016-03-17 | 2016-08-10 | 山东农业大学 | Dynamic counterweight device of high-branch pruning machine and control method for dynamic counterweight device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111788952A (en) * | 2020-08-11 | 2020-10-20 | 广东电网有限责任公司 | Tree pruning machine |
| CN112841014A (en) * | 2021-02-25 | 2021-05-28 | 深圳市五谷网络科技有限公司 | Dragon fruit planting vehicle |
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Application publication date: 20200117 |