CN108738811A - A trajectory-controllable robot tree climbing and pruning method - Google Patents

Abstract

The invention discloses a trajectory-controllable robot tree-climbing and pruning method, comprising: installing and fixing: installing the tree-climbing robot on the trunk of the tree to be pruned; adjusting the helix angle: adjusting the driving wheel of the tree-climbing robot and the axis of the trunk and select an angle position; tree climbing and pruning: control the tree climbing robot to climb up around the trunk surface at a certain helix angle, and at the same time control the electric chainsaw to work for pruning; adjust the helix angle midway: During the pruning process, adjust the angle between the driving wheel of the tree-climbing robot and the axis of the trunk at any time according to the actual position of the branch to be pruned, and change the helix angle; complete pruning: After the tree-climbing robot has finished pruning, control the electric chainsaw to turn off , take down the tree climbing robot. The invention controls the tree-climbing trajectory by adjusting the angle between the driving wheel of the tree-climbing robot and the axis of the trunk, has high practicability, can improve the efficiency of fast-growing forest pruning, and reduce the labor intensity of forestry workers.

Description

A trajectory-controllable robot tree climbing and pruning method

technical field

The invention belongs to the field of forestry machinery, and relates to a method for climbing trees and pruning branches of a robot with a controllable track.

Background technique

Fast-growing forest is an artificial forest with a short rotation period. It is in great demand in the field of industrial papermaking. Due to its fast-growing advantages, good material, and high survival rate of afforestation, it has good economic value. Reasonable pruning of fast-growing forests can promote the growth of trees, improve the straightness, roundness, bending strength and toughness of trees, improve the growth environment and fire prevention conditions of trees, and enhance the photosynthesis of upper parts.

The planting area of fast-growing forests in my country continues to expand, but the pruning methods of fast-growing forests are backward. In many areas, manual hand-held tools are still used for pruning. The labor load is large, the pruning efficiency is low, and it is dangerous to prune high trees; Tree-climbing robots perform pruning, but in the process of using existing methods for climbing and pruning trees, the climbing spiral angle of the tree-climbing robot is uncontrollable, and the tree-climbing trajectory is uncontrollable. It is necessary to consider the relationship between the diameter of the trunk and the length of the chain saw. Therefore, the trajectory of pruning cannot be controlled according to the trunk of the tree to be pruned, which leads to problems such as low pruning efficiency of forestry workers and high labor intensity of pruning, which has a negative impact on the economic benefits of large-scale planting of fast-growing forests.

Contents of the invention

In order to solve the deficiencies in the prior art, the present invention provides a trajectory-controllable robot tree-climbing and pruning method, by adjusting the angle between the driving wheel of the tree-climbing robot and the trunk axis, the tree-climbing trajectory is controlled, practical High performance, can improve the efficiency of fast-growing forest pruning, and reduce the labor intensity of forestry workers.

The technical scheme adopted by the present invention in order to solve the above problems is to provide a method for climbing trees and pruning branches of a robot with a controllable trajectory, comprising the following steps:

Installation and fixation: install the tree climbing robot on the trunk of the tree to be trimmed, so that the driving wheel of the tree climbing robot is close to the surface of the trunk;

Adjust the helix angle: adjust the angle between the driving wheel of the tree climbing robot and the trunk axis, and select an angular position;

Tree climbing and pruning: control the rotation of the driving wheel of the tree climbing robot, the tree climbing robot climbs up around the trunk surface at a certain spiral angle, and at the same time control the work of the electric chain saw of the tree climbing robot, so that the electric chain saw follows the tree climbing robot climbing for pruning;

Adjust the helix angle in the middle: During the pruning process, adjust the angle between the driving wheel of the climbing robot and the axis of the trunk at any time according to the actual position of the branch to be pruned, so as to change the helix angle;

Complete pruning: When the tree-climbing robot prunes to a certain height, control the electric chain saw to turn off, then control the tree-climbing robot to climb down the tree trunk until the forestry worker is standing, turn off the driving wheel of the tree-climbing robot, and remove the tree-climbing robot. Tree-climbing robot for next time.

When adjusting the helix angle in the middle, first control the driving wheel of the tree climbing robot to stop rotating, and then repeat the action of adjusting the helix angle, so that the driving wheel of the tree climbing robot forms a new angle with the axis of the trunk, and then repeat the tree climbing and pruning action.

The tree climbing robot includes a drive module, a battery controller module, an electric chainsaw module and a wire locking hand crank module;

There are three drive modules, each of which has the same structure and is evenly spaced in a ring around the trunk, and the gaps between the drive modules are respectively recorded as the first interval position, the second interval position and the third interval position;

The drive module includes a drive frame, a motor bracket, a hub motor, a linear motor and a steering push rod. The drive frame is a T-shaped frame structure, and the motor bracket is hinged to the middle of the drive frame through a pin shaft. The hub motor is The drive wheel, the wheel shaft of the hub motor is rotatably connected to the motor bracket and the hub of the hub motor is in rolling contact with the trunk, the linear motor is arranged horizontally and one end of the linear motor is fixed on the inner side wall of the drive frame body, and the steering rod One end is hinged to one end of the movable rod of the linear motor, and the other end of the steering push rod is hinged to the outer wall of the motor bracket;

The battery controller module is arranged at the first interval position. The battery controller module includes a battery frame body, and a controller and a storage battery for supplying power to the hub motor are fixedly installed in the battery frame body. The storage battery and the controller are electrically connected through wires, and the controllers are respectively Electrically connect with the hub motors in each drive module through wires;

The electric chainsaw module is arranged at the second spaced position, the electric chainsaw module includes a chainsaw frame body and an electric chainsaw fixedly mounted on the chainsaw frame body, and the saw blade of the electric chainsaw faces towards the top of the trunk;

The wire locking hand crank module is arranged at the third interval position, and the wire locking hand crank module includes a hand crank frame and a wire lock hand crank fixedly installed on the hand crank frame;

The battery frame, the chain saw frame, the hand crank frame and the drive frames of each drive module are respectively connected as a whole through springs, and the steel wire locking hand crank is respectively connected to the drive frames in the drive modules on both sides through steel wires. connect.

Preferably, the T-shaped frame structure of the drive frame is composed of a vertical frame and a horizontal bracket arranged perpendicular to each other, the vertical frame is a square structure and is arranged parallel to the axis of the trunk, the horizontal bracket is horizontally arranged in the outer middle of the vertical frame and the horizontal bracket The two ends are fixedly connected with the left and right side panels of the vertical frame respectively.

Preferably, the motor bracket is a groove-shaped structure, the opening of the motor bracket faces the tree trunk, and the outer plate of the motor bracket is hinged to the horizontal bracket through a pin shaft.

Preferably, the number of hub motors in each drive module is two, and the outer plate of the motor bracket is fixedly connected to the side facing the trunk with a partition, and the partition divides the motor bracket into two installation spaces, The two hub motors are respectively located in two installation spaces.

Preferably, there are two springs respectively connected between the battery frame, the chain saw frame, the hand crank frame and the driving frame of each driving module.

Adopt above-mentioned technical scheme, the present invention has the following advantages:

The present invention controls the tree-climbing trajectory of the tree-climbing robot in the process of pruning, that is, adjusts the helical angle of the tree-climbing robot so that branches at any position on the trunk can be trimmed without considering the relationship between the diameter of the trunk and the length of the chainsaw , higher practicability, prevents forestry workers from climbing to the height of the trunk to trim branches, avoids danger in the climbing process, and can improve pruning efficiency.

The tree-climbing robot in the present invention adopts a modular design, and the structure is simple and reliable. As the tree-climbing robot spirals up, the electric chain saw trims the branches; The helical ascent angle of the tree-climbing robot can thereby trim branches at any position on the trunk without considering the relationship between the diameter of the trunk and the length of the chain saw.

In the present invention, each drive module of the tree-climbing robot is provided with two wheel hub motors, which are more stable when climbing up and pruning. The stability of the connection and the adaptability to changes in the diameter of the trunk.

In summary, the present invention is easy to operate, simple in structure, low in cost, realizes automatic tree climbing and pruning, is suitable for pruning operations in fast-growing forests, can improve the economic benefits of large-scale planting of fast-growing forests, and reduce the labor of forestry workers. Intensity, improving the efficiency of fast-growing forest pruning plays an important role in the development of fast-growing forest industry.

Description of drawings

Fig. 1 is the top view structural representation of tree-climbing robot among the present invention;

Fig. 2 is a front view structural schematic diagram of Fig. 1;

Fig. 3 is a schematic diagram of the right view structure of Fig. 2;

Fig. 4 is one of the three-dimensional structure schematic diagrams of tree climbing robot in the present invention;

Fig. 5 is the second three-dimensional structure schematic diagram of tree-climbing robot in the present invention;

Fig. 6 is a schematic diagram of the included angle formed between the motor bracket and the trunk of the tree climbing robot in the present invention.

Detailed ways

A kind of robot climbing tree pruning method of controllable trajectory of the present invention, comprises the following steps:

Installation and fixation: install the tree climbing robot on the trunk of the tree to be trimmed, so that the driving wheel of the tree climbing robot is close to the surface of the trunk;

Adjust the helix angle: adjust the angle between the driving wheel of the tree climbing robot and the trunk axis, and select an angular position;

Tree climbing and pruning: control the rotation of the driving wheel of the tree climbing robot, the tree climbing robot climbs up around the trunk surface at a certain spiral angle, and at the same time control the work of the electric chain saw of the tree climbing robot, so that the electric chain saw follows the tree climbing robot climbing for pruning;

Adjust the helix angle in the middle: During the pruning process, adjust the angle between the driving wheel of the tree climbing robot and the trunk axis at any time according to the actual position of the branch to be pruned to change the helix angle; when adjusting the helix angle in the middle, first control the The driving wheel of the tree-climbing robot stops rotating, and then repeats the action of adjusting the helix angle, so that the driving wheel of the tree-climbing robot forms a new angle with the axis of the trunk, and then repeats the tree-climbing and pruning action;

Complete pruning: When the tree-climbing robot prunes to a certain height, control the electric chain saw to turn off, then control the tree-climbing robot to climb down the tree trunk until the forestry worker is standing, turn off the driving wheel of the tree-climbing robot, and remove the tree-climbing robot. Tree-climbing robot for next time.

As shown in Figures 1 to 6, the climbing robot of the present invention includes a drive module 1, a battery controller module 2, an electric chainsaw module 3 and a wire locking hand crank module 4;

There are three drive modules 1, each drive module 1 has the same structure and is evenly spaced in a ring around the trunk 5, and the gaps between each drive module 1 are respectively marked as the first interval position, the second interval position and the third interval position;

As shown in Figure 2, the drive module 1 includes a drive frame body 101, a motor bracket 102, an in-wheel motor 103, a linear motor 104 and a steering push rod 105, the drive frame body 101 is a T-shaped frame structure, and the motor bracket 102 passes through The pin shaft is hinged at the middle part of the drive frame body 101, the hub motor 103 is the driving wheel, the wheel shaft of the hub motor 103 is connected to the motor bracket 102 and the hub of the hub motor 103 is in rolling contact with the trunk 5, and the linear motor 104 is horizontally arranged And one end of the linear motor 104 is fixed on the side inner wall of the drive frame body 101, one end of the steering push rod 105 is hinged with one end of the movable rod of the linear motor 104, and the other end of the steering push rod 105 is hinged on the motor bracket. on the outer wall of 102;

The linear motor 104 moves linearly in the horizontal direction, and drives the motor bracket 102 to rotate around the axis where the pin shaft is located through the steering push rod 105. After turning to a certain angle, the linear motor 104 stops, and the motor bracket 102 forms an angle α with the axis of the trunk 5, and the hub motor 103 forms an included angle β with the axis of the trunk 5, the sum of α and β is 90°, and β is less than or equal to 90°. When the hub motors 103 in all drive modules 1 rotate simultaneously, the present invention can form a spiral according to a certain helix angle. In summary, the crawling track of the present invention is adjusted by adjusting the inclination angle of the motor bracket 102, and the rising speed of the present invention is adjusted by adjusting the rotation speed of the hub motor 103.

The battery controller module 2 is arranged at a first interval position, and the battery controller module 2 includes a battery frame body 201, a controller 202 and a battery 203 for supplying power to the hub motor 103 are fixedly installed in the battery frame body 201, and the battery 203 is connected with the controller The controller 202 is electrically connected through a wire, and the controller 202 is electrically connected with the hub motor 103 in each drive module 1 through a wire; the electric chainsaw module 3 is arranged at a second spaced position, and the electric chainsaw module 3 includes a chainsaw frame body 301 and The electric chainsaw 302 fixedly installed on the chainsaw frame body 301, the saw blade of the electric chainsaw 302 faces the top of the tree trunk 5; the electric chainsaw 302 is powered independently by an external power supply; the wire locking hand crank module 4 is arranged in the third interval position, the wire locking hand crank module 4 includes a hand crank frame 401 and a wire locking hand crank 402 fixedly installed on the hand crank frame 401; the battery frame 201, the chain saw frame 301, the hand crank The device frame body 401 and the drive frame body 101 of each drive module 1 are respectively connected as a whole through the spring 6, the spring 6 is detachable, and the steel wire locking hand crank 402 is respectively connected to the drive frame bodies in the drive modules 1 on both sides through the steel wire 7. 101 are connected. Use the steel wire locking hand crank 402 to tighten the steel wire 7, and then tighten each module, and finally make the controllable trajectory tree climbing and branch pruning robot of the present invention rest on the surface of the trunk 5 by relying on the friction between the hub motor 103 and the trunk 5 .

The electric chain saw 302 and the linear motor 104 in each drive module 1 are electrically connected to the controller 202 respectively. The controller 202 is an existing conventional device, and the specific structure will not be described in detail.

The controller 202 controls the in-wheel motor 103 to perform acceleration and deceleration motions by sending speed signals to each drive module 1, thereby controlling the complete machine of the controllable trajectory tree climbing and pruning robot of the present invention to perform acceleration and deceleration motions on the trunk 5. The linear motor 104 sends telescopic signals to control the linear motor 104 to do telescopic movement, to control the frictional force between the complete machine of the present invention and the trunk 5, and to achieve the purpose of adjusting the clamping force of the complete machine on the trunk 5. 1 Send forward and reverse signals to control the hub motor 103 to perform forward and reverse motion, thereby controlling the running direction of the complete machine of the present invention on the trunk 5.

As shown in Figure 3, the T-shaped frame structure of the drive frame body 101 is composed of a vertical frame 106 and a horizontal bracket 107 arranged perpendicularly to each other, the vertical frame 106 is a square structure and is arranged parallel to the axis of the trunk 5, and the horizontal bracket 107 is horizontally arranged At the outer middle of the vertical frame 106 and both ends of the horizontal bracket 107 are respectively fixedly connected to the left and right side panels of the vertical frame 106 .

The motor bracket 102 is a groove-shaped structure, the opening of the motor bracket 102 faces the tree trunk 5, and the outer plate of the motor bracket 102 is hinged with the horizontal bracket 107 through a pin shaft.

As shown in Figure 5, the number of hub motors 103 in each drive module 1 is two, and the outer plate of the motor bracket 102 is fixedly connected with a partition 108 toward the side facing the trunk 5, and the partition 108 will The motor bracket 102 is divided into two installation spaces, and the two hub motors 103 are respectively located in the two installation spaces.

There are two springs 6 respectively connected between the battery frame 201 , the chain saw frame 301 , the hand crank frame 401 and the drive frame 101 of each drive module 1 . The two springs 6 can enhance the stability of the connection between the modules and the adaptability when the diameter of the trunk 5 changes.

When applying the above-mentioned method for climbing and pruning trees of a robot with controllable trajectory and a tree-climbing robot for climbing and pruning trees, the following steps can be followed:

a installation and fixing: the controllable track climbing tree pruning robot of the present invention is installed on the trunk 5 of the tree to be pruned, and the steel wire 7 is tightened by the steel wire locking hand crank 402, so that the controllable track climbing tree pruning robot relies on The frictional force between each hub motor 103 and the trunk 5 is still on the surface of the trunk 5;

b Adjust the helix angle: the controller controls the linear motors 104 in each drive module 1 to start simultaneously, so that the movable rods of the linear motors 104 in each drive module 1 drive the motor bracket 102 to rotate through the steering push rod 105 at the same time, as shown in Figure 6 As shown, when the motor bracket 102 forms an included angle α with the trunk 5, the linear motors 104 are controlled to stop at the same time. At this time, the hub motors 103 in each drive module 1 form an included angle β with the axis of the trunk 5;

c tree climbing and pruning: through the controller 202, the hub motors 103 in each drive module 1 are controlled to rotate forward at the same time, and the controllable trajectory tree climbing and pruning robot climbs upwards at a certain helix angle, and at the same time, the controller controls the electric chainsaw 302 to start , to realize the simultaneous action of upward spiral climbing and pruning; the springs 6 connected between the modules can be adaptively adjusted according to the change in the diameter of the trunk 5, and when the diameter of the trunk 5 increases, the springs 6 are stretched between the trunks 5 When the diameter decreases, the springs 6 contract between each other;

d Adjust the helix angle in the middle: During the pruning process, adjust the helix angle of the controllable track climbing tree-climbing and pruning robot at any time according to the actual position of the branch to be pruned. The in-wheel motor 103 stops rotating, and then repeats step b, so that the in-wheel motor 103 forms a new angle β' with the axis of the trunk 5, and then repeats step c;

e Complete pruning: when the controllable track climbing tree pruning robot prunes to a certain height, the controller controls the electric chain saw 302 to close, and the controller 202 controls the hub motors 103 in each drive module 1 to reverse simultaneously, and the controllable track The tree-climbing and branch-pruning robot climbs down until the forestry worker is standing, controls each hub motor 103 to stop rotating through the controller 202, loosens the steel wire 7 through the steel wire locking hand crank 402, takes off and recycles the controllable motor 103 of the present invention. Track the tree climbing and pruning robot for the next use.

The hub motor 103, the linear motor 104, the controller 202, the electric chain saw 302 and the wire locking hand crank 402 are all existing conventional devices, and the specific structure will not be described in detail.

This embodiment does not impose any formal restrictions on the shape, material, structure, etc. of the present invention. All simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention belong to the protection of the technical solution of the present invention. scope.

Claims (7)

1. The pruning method 1. a kind of robot of controllable track climbs tree, it is characterised in that：Include the following steps：

   Installation is fixed：Robot capable of climbing trees is mounted on the trunk for waiting for pruning trees, the driving wheel of robot capable of climbing trees is made to be adjacent to tree Dry surface；

   Adjust helix angle：The angle between the driving wheel and trunk axis of robot capable of climbing trees is adjusted, and selectes an angle position It sets；

   It climbs tree pruning：The driving wheel rotation of robot capable of climbing trees is controlled, robot capable of climbing trees is with certain helix angle around trunk table Climb upwardly, at the same control robot capable of climbing trees electric chain saw work, make electric chain saw with robot capable of climbing trees climb into Row is pruned；

   Midway adjustment helix angle：During trimming, according to waiting for that the dry physical location situation of Pruning Away Branches adjusts tree-climbing machine at any time Angle between the driving wheel and trunk axis of people, to change helix angle；

   It completes to prune：When robot capable of climbing trees is trimmed to certain altitude, control electric chain saw is closed, and robot capable of climbing trees edge is then controlled It trunk to climb downwards, until work on forestry personnel standing place, shuts down the driving wheel of robot capable of climbing trees, remove tree-climbing machine People, in case using next time.
2. The pruning method 2. a kind of robot of controllable track according to claim 1 climbs tree, it is characterised in that：Midway adjusts When helix angle, the driving wheel for first controlling robot capable of climbing trees stops operating, and repeats and is adjusted helix angle action, makes to climb tree The driving wheel of robot forms new angle with trunk axis, then repeats pruning action of climbing tree.
3. The pruning method 3. a kind of robot of controllable track according to claim 1 or 2 climbs tree, it is characterised in that：It climbs tree Robot includes drive module, battery controller module, electric chain saw module and steel wire lock tightening hand-operated device module；

   There are three drive module is set, the structure of each drive module is identical and circularizes uniform intervals setting, each drive around trunk Gap between dynamic model block is denoted as the first interval location, the second interval location and third interval location respectively；

   Drive module includes driving frame body, electric machine support, wheel hub motor, linear motor and turns to push rod, and the driving frame body is T Shape frame structure, the electric machine support are hinged on the middle part of driving frame body by axis pin, and wheel hub motor is driving wheel, wheel hub electricity The wheel shaft of machine is rotatably connected on electric machine support and the wheel hub of wheel hub motor is in rolling contact with trunk, and the linear motor level is set It sets and one end of linear motor is fixed on the side madial wall of driving frame body, turn to end and the linear motor of push rod Motion bar one end is hinged, another end for turning to push rod is hinged on the lateral wall of electric machine support；

   Battery controller module is arranged in the first interval location, and battery controller module includes battery frame body, is consolidated in battery carrier body Dingan County is equipped with controller and the accumulator for powering to wheel hub motor, and accumulator is electrically connected with controller by conducting wire, controls Device is electrically connected with the wheel hub motor in each drive module by conducting wire respectively；

   Electric chain saw module is arranged in the second interval location, and electric chain saw module includes chain saw frame body and is fixedly mounted on chain saw frame Electric chain saw on body, the saw blade of electric chain saw is towards at the top of trunk；

   Steel wire lock tightening hand-operated device module is arranged in third interval location, and steel wire lock tightening hand-operated device module includes hand-operated device frame body and consolidates Steel wire lock tightening hand-operated device of the Dingan County on hand-operated device frame body；

   Battery frame body, chain saw frame body, hand-operated device frame body and each drive module driving frame body be connected as one respectively by spring, Steel wire lock tightening hand-operated device is connected with the driving frame body in the drive module of both sides respectively by steel wire.
4. The pruning method 4. a kind of robot of controllable track according to claim 3 climbs tree, it is characterised in that：The driving The T shapes frame structure of frame body is made of the munnion frame and lateral frame being arranged in a mutually vertical manner, and munnion frame is square structure and and trunk Axis is arranged in parallel, and lateral frame is horizontally placed on the both ends of the outer middle side part of the munnion frame and lateral frame left and right with munnion frame respectively Both side plate is fixedly connected.
5. The pruning method 5. a kind of robot of controllable track according to claim 4 climbs tree, it is characterised in that：The motor Holder is groove type structure, and for the opening of electric machine support towards trunk, the outer panel of electric machine support is hinged by axis pin and lateral frame.
6. The pruning method 6. a kind of robot of controllable track according to claim 5 climbs tree, it is characterised in that：Each driving The quantity of mould wheel hub motor in the block is two, on the outer panel of electric machine support to the side towards trunk be fixedly connected with every Electric machine support is divided into two installation spaces by plate, the partition board, and described two wheel hub motors are located in two installation spaces.
7. The pruning method 7. a kind of robot of controllable track according to claim 6 climbs tree, it is characterised in that：Battery carrier The spring being separately connected between body, chain saw frame body, hand-operated device frame body and the driving frame body of each drive module is respectively two.