CN102939863B - Wireless remote control robot capable of pruning standing trees - Google Patents

Abstract

The invention discloses a wireless remote control robot capable of pruning standing trees. The robot comprises a chain saw and a swing motor. The swing motor is fixed on a body of the robot and drives the chain saw to swing, and the chain saw slowly swings to saw off tree branches on the lower portion of the body. A rope gripper is installed on the upper portion of the body, and a gear drives a rack to vertically move to control opening and closing of the rope gripper. A rotating platform is installed at the tail of the body and connected with a tail seat, the tail seat is driven by the rotating platform to perform rotation movement relative to the body, a tail seat spring and a primary cylindrical arm are arranged in the tail seat, the primary cylindrical arm compresses the tail seat spring, a secondary cylindrical arm and a primary cylindrical arm spring are arranged in the primary cylindrical arm, the secondary cylindrical arm compresses the primary cylindrical arm spring, a rotation joint and a tail gripper are installed on the secondary cylindrical arm, a rope winding motor is fixed in the tail seat, the rope winding motor is fixed to a geneva wheel, a steel wire rope is wound on the geneva wheel, one end of the steel wire rope is connected with the rotation joint, and elongation amount of the secondary cylindrical arm and the primary cylindrical arm can be adjusted through the steel wire rope, the primary cylindrical arm spring and the tail seat spring. A front gripper and a rear gripper are installed on the lower portion of the body. The wireless remote control robot capable of pruning the standing trees is simple in structure, flexible in operation and suitable for pruning the standing trees and don't require to be mounted in vehicles.

Description

A wireless remote control standing tree pruning robot

technical field

The invention relates to a forestry machine used in garden management, in particular to a wireless remote control standing tree pruning robot, which is especially suitable for standing tree pruning operations.

Background technique

At present, in the tree pruning operation of the garden department, hand-held lengthened pruning machines can be used for operations below 4 meters, but due to insufficient rigidity, there is vibration of the pruning knife, it is difficult to accurately locate and the labor-intensive and large-diameter branches are pruned difficulties etc. The high-altitude pruning of more than 4 meters is usually pruned by a vehicle-mounted man for high-altitude operations, which has problems such as low efficiency and easy tipping of the lifting platform, and is prone to dangerous accidents such as electric shock or falling from a high altitude, and some forestry operations Cars cannot enter, and it is extremely difficult to trim the standing trees in this case. The existing high-altitude pruning operation has a single form, complicated operation, low efficiency and easy to be limited by the environment, and it is impossible to prune standing trees in some special positions.

Contents of the invention

Aiming at the above-mentioned defects in the operation of the standing tree pruning machine in the prior art, the present invention provides a wireless remote control standing tree pruning robot.

A wireless remote control standing tree pruning robot of the present invention includes a chain saw and a swing motor, and the swing motor is fixed on the body of the robot. branches below. The upper part of the fuselage is equipped with a rope grip, and the gear drives the rack to move up and down to control the opening and closing of the rope grip. The tail of the fuselage is equipped with a rotary table, which is connected with the tailstock. The tailstock is driven by the rotary table to rotate relative to the fuselage. The tailstock has a built-in tailstock spring and a first-stage barrel arm. The first-stage barrel arm compresses the tailstock spring. The first-stage barrel arm has a built-in second-stage barrel arm and first-stage barrel arm spring, and the second-stage barrel arm compresses the first-stage barrel arm spring. The second-stage barrel arm is equipped with a rotary joint and a tail catch. The rope-winding motor is fixed in the tailstock and winds The shaft of the rope motor is fixed to the sheave, the sheave is wound with a wire rope, and the other end of the wire rope is connected to the rotary joint, and the elongation of the second-stage barrel arm and the first-stage barrel arm is adjusted by the wire rope, the first-stage arm spring and the tailstock spring quantity. The lower part of the fuselage is equipped with a front gripper and a rear gripper.

The wireless remote control standing tree pruning robot of the present invention has a simple structure, does not need a vehicle, is convenient for one-man operation, is flexible in operation, is not affected by the geographical environment of the standing tree, reduces the labor intensity of workers, and is suitable for the standing tree pruning operation.

Description of drawings

Fig. 1 is the structural representation of wireless remote control standing tree pruning robot;

Fig. 2 is the schematic diagram of pruning standing tree;

Fig. 3 is a structural schematic diagram of the front gripper and the rear gripper.

Detailed ways

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a schematic structural diagram of a wireless remote-controlled standing tree pruning robot. Referring to FIG. 1 , the wireless remote-controlled standing tree pruning robot includes a chainsaw 1 and a swing motor 2 . As shown in Fig. 2, the schematic diagram of pruning the standing tree, during work, if the branches 21 and the branches 22 of the standing tree need to be trimmed, the operator throws the rope onto the branch 20 with a rope gun and hangs around the branch 20, and an iron ring is tied at one end of the rope, and the remote control The motor turns the gear 5 to drive the rack 3 to move down, so that the rope gripper 4 closes and grabs the hoop on the rope, pulls the rope, and the wireless remote control standing tree pruning robot is lifted to the bottom of the branch 21. Under the action of the elastic force of the tailstock spring 11, the secondary barrel arm 8 and the primary barrel arm 10 are in the longest elongated state, and the remote control rope winding motor 15 drives the sheave 14 to rotate, and the length of the steel wire rope 13 is adjusted to make the primary barrel arm spring 9 and tailstock spring 11 contraction, make tail grab 6 be in the height of branch 21 and remote control tail grab 6 and grab branch 21, remote control rope winding motor 15 rotates again, adjust the length of wire rope 13, make fuselage 17 be positioned at branch 22 top, remote control Adjust the rotation of the rotary joint 7 and the rotary table 16, and remotely control the front gripper 18 and the rear gripper 19 to grasp the branch 22, the remote control tail gripper 6 to loosen the branch 21, the remote control chain saw 1 to rotate, and the remote control swing motor 2 to drive the chain saw 1 to swing , along with the swing of the chain saw 1, the part in front of the branch 22 will be sawed off, so as to complete the pruning of the branch 22.

When pruning the branch 21, the remote control rope winding motor 15 rotates to increase the length of the steel wire rope 13, and the tail grab 6 moves to the position of the branch 20, and the remote control tail grabs 6 to grab the branch 20, and the remote control front gripper 18 and rear gripper 19 are released Branch 22, then the remote control rope winding motor 15 rotates, shrinks the wire rope 13, adjusts the fuselage 17 above the branch 21, remotely adjusts the rotation of the rotary joint 7 and the swivel table 16, and remotely controls the front gripper 18 and the rear gripper 19 to grasp the branch 21 , the remote control chain saw 1 rotates, and the remote control swing motor 2 drives the chain saw 1 to swing. With the swing of the chain saw 1, the part in front of the branch 21 will be sawed off, so as to complete the pruning of the branch 21.

A certain number of barrel arms and barrel arm springs can be added between the secondary barrel arm 8 and the tailstock 12 to increase the longest length of the entire tail.

Claims (1)

1. a wireless remote control standing tree beta pruning robot, comprise chain saw (1) and oscillating motor (2), described oscillating motor is fixed on robot fuselage (17), it is characterized in that: oscillating motor (2) drives chain saw (1) and swings, and chain saw (1) slowly swings the sawed-off branch that is positioned at fuselage (17) below, rope handgrip (4) is equipped with on fuselage (17) top, and gear (5) band carry-over bar (3) moves up and down, and controls rope handgrip (4) folding, fuselage (17) afterbody is equipped with turntable (16), turntable (16) is connected with tailstock (12), tailstock (12) drives relative fuselage (17) by turntable (16) and rotates, the built-in tailstock spring of tailstock (12) (11) and one-level cylinder arm (10), one-level cylinder arm (10) compression tailstock spring (11), one-level cylinder arm (10) built-in secondary cylinder arm (8) and one-level cylinder arm spring (9), secondary cylinder arm (8) compression one-level cylinder arm spring (9), rotary joint (7) and tail are housed on secondary cylinder arm (8) and grab (6), wiring motor (15) is fixed in tailstock (12), and wiring motor (15) axle and sheave (14) are fixing, be wound with steel wire rope (13) on sheave (14), the other end of steel wire rope (13) is connected with rotary joint (7), by steel wire rope (13), one-level cylinder arm spring (9) and tailstock spring (11) are adjusted the elongation of secondary cylinder arm (8) and one-level cylinder arm (10), front handgrip (18) and rear handgrip (19) are equipped with in fuselage (17) bottom.

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