Intelligent felling and pruning robot
阅读说明:本技术 一种智能采伐修枝机器人 (Intelligent felling and pruning robot ) 是由 潘振建 潘振蒙 尹燕峰 林本娟 黄轶群 于 2019-02-26 设计创作,主要内容包括:本发明涉及伐木机械技术领域,且公开了一种智能采伐修枝机器人,包括轨道支架,所述轨道支架的外侧固定安装有外框架,所述外框架的顶部和底部均固定安装有齿圈,所述轨道支架的内部固定安装有等距离均匀分布的支柱,所述支柱的顶部固定安装有位于齿圈上方的护盖,所述外框架的外侧开设有滑槽,所述滑槽的内部滑动安装有一端延伸至外框架外侧的安装座。该智能采伐修枝机器人,具备角度可调节的等优点,解决了伐木打枝机只能用于剪切树枝等容易锯断的支杆,对于直径较宽的支杆不适用该设备,容易使机器损坏或者掉落,且角度不能调节,对于一些结构复杂弯曲的树干,无法调节角度进行伐木的问题。(The invention relates to the technical field of felling machinery and discloses an intelligent felling and pruning robot which comprises a rail support, wherein an outer frame is fixedly arranged on the outer side of the rail support, gear rings are fixedly arranged at the top and the bottom of the outer frame, struts which are uniformly distributed at equal intervals are fixedly arranged in the rail support, a protecting cover positioned above the gear rings is fixedly arranged at the tops of the struts, a sliding groove is formed in the outer side of the outer frame, and a mounting seat with one end extending to the outer side of the outer frame is slidably arranged in the sliding groove. This intelligence pruning robot that fells possesses advantages such as angle adjustable, has solved the lumbering lopping machine and can only be used for shearing branch easy sawed off's branch, is not suitable for this equipment to the branch of diameter broad, makes the machine damage or drop easily, and the angle can not be adjusted, to the trunk of some structure complicacies bending, the unable angle regulation problem of lumbering.)
1. The utility model provides an intelligence pruning robot, includes rail brackets (1), its characterized in that: the outer side fixed mounting of track support (1) has outer frame (7), the equal fixed mounting in top and the bottom of outer frame (7) has ring gear (5), the inside fixed mounting of track support (1) has pillar (2) of equidistance evenly distributed, the top fixed mounting of pillar (2) has protecting cover (3) that is located ring gear (5) top, spout (6) have been seted up in the outside of outer frame (7), the inside slidable mounting of spout (6) has mount pad (24) that one end extends to outer frame (7) outside, one side fixed mounting that outer frame (7) were kept away from in mount pad (24) has first rotary gear motor (16), one side fixed mounting that outer frame (7) were kept away from in mount pad (24) has second rotary gear motor (22) that are located first rotary gear motor (16) below, the top fixed mounting of mount pad (24) has roating seat (18), the top fixed mounting of roating seat (18) has stopper (25), the top fixed mounting of stopper (25) has battery (19), the inside movable mounting of stopper (25) has flexible slider (17), the top fixed mounting of flexible slider (17) has flexible rack (4), the right side fixed mounting of flexible slider (17) has rotating assembly (27), the right side fixed mounting of rotating assembly (27) has headstock (21), the top movable mounting of headstock (21) has electric saw (20), the equal fixed mounting of output shaft of first rotary gear motor (16) and second rotary gear motor (22) has rotary power gear (15) with ring gear (5) meshing, the bottom fixed mounting of outer frame (7) has flexible pipe (14) of equidistance evenly distributed, the bottom fixed mounting of flexible pipe of pressure (14) has ratchet power battery (13), the one end fixed mounting that ratchet power battery (13) was kept away from in pressure extension pipe (14) has last ratchet motor (23), the output fixed mounting who goes up ratchet motor (23) has last ratchet (8), the bottom fixed mounting of outer frame (7) has equidistant evenly distributed's spring drum (9), the inside movable mounting of spring drum (9) has pressure arm (12) that one end extends to spring drum (9) outside, the one end fixed mounting that spring drum (9) were kept away from in pressure arm (12) has lower ratchet motor (10), the output fixed mounting of lower ratchet motor (10) has lower ratchet (11).
2. The intelligent harvesting pruning robot of claim 1, wherein: the track support (1) is designed in an annular shape, and the inside of the track support (1) is a plane.
3. The intelligent harvesting pruning robot of claim 1, wherein: the sliding groove (6) is designed in an annular shape, and the outer side of the sliding groove (6) is in an open shape.
4. The intelligent harvesting pruning robot of claim 1, wherein: the number of the struts (2) is three, and the tops of the struts (2) extend to the top of the gear ring (5).
5. The intelligent harvesting pruning robot of claim 1, wherein: the number of the pressure telescopic pipes (14) is three, and the length of the pressure telescopic pipes (14) is smaller than the radius of the outer frame (7).
6. The intelligent harvesting pruning robot of claim 1, wherein: the top of spring drum (9) is fixed with the installation pole, installation pole and outer frame (7) fixed connection, and the quantity of installation pole is three, and the quantity of spring drum (9) is the same with the quantity of installation pole.
7. The intelligent harvesting pruning robot of claim 6, wherein: the three pressure telescopic pipes (14) and the three spring drums (9) are mutually distributed in an inserting mode, one spring drum (9) is installed between every two adjacent pressure telescopic pipes (14), and one pressure telescopic pipe (14) is installed between every two adjacent spring drums (9).
8. The intelligent harvesting pruning robot of claim 1, wherein: outer frame (7), two parts about equally divide into in track support (1) and protecting cover (3), and divide into outer frame (7) of two parts, fix through locking bolt (28) between track support (1) and protecting cover (3), locking bolt (28) are to the half-split, and all with the two parts fixed connection of track support (1), the parting plane of locking bolt (28) is equipped with bolt (29) and bolt (29) assorted jack respectively, the quantity of bolt (29) is three and is equidistance evenly distributed, the quantity of jack is the same with the quantity of bolt (29), the outside threaded connection of locking bolt (28) has lock nut (26).
9. The intelligent harvesting pruning robot of claim 1, wherein: the output end of the battery (19) is electrically connected with the input ends of the first rotating gear motor (16) and the second rotating gear motor (22) respectively, and the output end of the ratchet wheel power battery (13) is electrically connected with the input ends of the upper ratchet wheel motor (23) and the lower ratchet wheel motor (10) respectively.
Technical Field
The invention relates to the technical field of felling mechanical equipment, in particular to an intelligent felling and pruning robot.
Background
The felling is the first procedure of forest felling operation, also called felling and tree placing, generally in a designated felling area, firstly determining the felling direction of standing trees, cleaning up the surrounding obstacles (shrubs, weeds, snow, and the like), opening up a safe road, and then felling the standing trees, and the felling machine is the equipment adopted for felling.
According to Chinese patent (CN201610329242.4), the reconfigurable felling and pruning machine has the characteristic of flexible use, but the device is simple in structure, can only be used for shearing branches and other easily sawn-off support rods, is not suitable for the device for the support rods with wider diameters, is easy to damage or drop, cannot adjust the angle, and cannot adjust the angle to fell trunks with complicated and bent structures, so that the intelligent felling and pruning robot is provided to solve the problems.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an intelligent felling and pruning robot which has the advantages of adjustable angle and the like, and solves the problems that a felling and pruning machine can only be used for cutting branches and other support rods which are easy to saw off, the equipment is not suitable for the support rods with wider diameters, the machine is easy to damage or drop, the angle cannot be adjusted, and the angle cannot be adjusted for some trunks with complicated and bent structures for felling.
(II) technical scheme
In order to achieve the purpose of adjusting the angle, the invention provides the following technical scheme: an intelligent pruning robot comprises a track support, wherein an outer frame is fixedly mounted on the outer side of the track support, gear rings are fixedly mounted at the top and the bottom of the outer frame, struts which are uniformly distributed at equal intervals are fixedly mounted in the track support, a protecting cover positioned above the gear rings is fixedly mounted at the tops of the struts, a sliding groove is formed in the outer side of the outer frame, a mounting seat with one end extending to the outer side of the outer frame is slidably mounted in the sliding groove, a first rotating gear motor is fixedly mounted on one side, away from the outer frame, of the mounting seat, a second rotating gear motor positioned below the first rotating gear motor is fixedly mounted on one side, away from the outer frame, of the mounting seat, a rotating seat is fixedly mounted at the top of the mounting seat, a limiting block is fixedly mounted at the top of the rotating seat, and a battery is, the inner movable mounting of the limiting block is provided with a telescopic sliding block, the top of the telescopic sliding block is fixedly provided with a telescopic rack, the right side of the telescopic sliding block is fixedly provided with a rotating assembly, the right side of the rotating assembly is fixedly provided with a power box, the top of the power box is movably provided with an electric saw, output shafts of the first rotating gear motor and the second rotating gear motor are fixedly provided with rotating power gears meshed with the gear ring, the bottom of the outer frame is fixedly provided with pressure telescopic pipes which are uniformly distributed at equal intervals, the bottom of the pressure telescopic pipes is fixedly provided with ratchet power batteries, one end of each pressure telescopic pipe, which is far away from the ratchet power batteries, is fixedly provided with an upper ratchet motor, an output end of the upper ratchet motor is fixedly provided with an upper ratchet, the bottom of the outer frame is fixedly provided with spring drums which are uniformly distributed at equal intervals, and the inner movable mounting of each spring, one end of the pressure arm, which is far away from the spring drum, is fixedly provided with a lower ratchet motor, and the output end of the lower ratchet motor is fixedly provided with a lower ratchet.
Preferably, the rail bracket is designed in a ring shape, and the inside of the rail bracket is a plane.
Preferably, the sliding groove is designed in an annular shape, and the outer side of the sliding groove is in an opening shape.
Preferably, the number of the struts is three, and the tops of the struts extend to the top of the ring gear.
Preferably, the number of the pressure telescopic pipes is three, and the length of the pressure telescopic pipes is smaller than the radius of the outer frame.
Preferably, the top of the spring drum is fixedly provided with three mounting rods, the mounting rods are fixedly connected with the outer frame, and the number of the mounting rods is the same as that of the mounting rods.
Preferably, the three pressure telescopic pipes and the three spring drums are distributed in a mutually penetrating manner, one spring drum is arranged between every two adjacent pressure telescopic pipes, and one pressure telescopic pipe is arranged between every two adjacent spring drums.
Preferably, two parts about the frame is equallyd divide equally to outer frame, track support and protecting cover, and divide into between the frame, track support and the protecting cover of two parts and fix through the locking bolt, the locking bolt is to half-separating, and all with track support's two parts fixed connection, the parting plane of locking bolt is equipped with bolt and bolt assorted jack respectively, the quantity of bolt is three and be equidistance evenly distributed, the quantity of jack is the same with the quantity of bolt, the outside threaded connection of locking bolt has lock nut.
Preferably, the output end of the battery is electrically connected with the input ends of the first rotating gear motor and the second rotating gear motor respectively, and the output end of the ratchet wheel power battery is electrically connected with the input ends of the upper ratchet wheel motor and the lower ratchet wheel motor respectively.
(III) advantageous effects
Compared with the prior art, the invention provides an intelligent felling and pruning robot which has the following beneficial effects:
1. this intelligence pruning robot is felled to intelligence, through rotatory locking bolt with the track support split into two parts, carry out the clamping with the trunk, utilize the locking bolt to fix the track support of two parts again, make the bolt insert in the pinhole simultaneously, it is spacing, with lock nut threaded connection in the outside of locking bolt, accomplish the installation, flexible pipe and pressure arm of start pressure, make three pressure arm extension simultaneously, stabilize the centre gripping with the trunk, three pressure arm contracts simultaneously, make lower ratchet and trunk contact, start lower ratchet motor and last ratchet motor and can make lower ratchet and last ratchet rotate simultaneously, it removes on the trunk to drive intelligence pruning robot, need not the manual work and climb the tree and install, and the centre gripping is stable can not drop, thereby fixed stable has been reached, convenient to use's purpose.
2. The intelligent felling and pruning robot has the advantages that the electric saw can saw the support rods of the tree trunk by starting the electric saw to work, when the angle of the support rods of the tree trunk is too inclined or the main tree trunk needs to be sawed off, the telescopic rack can be started to drive the telescopic slide block to move outwards, the rotating assembly is started to rotate until the electric saw is far away from the main tree trunk, the rotating assembly drives the electric saw to rotate, the electric saw stops when being horizontal to the telescopic slide block, the power box is started to drive the electric saw to work, the telescopic rack is started at the same time, the electric saw in work is driven to move towards the inner side of the rail support by the telescopic rack to saw the tree, the mounting seat can also drive the rotating power gear to rotate by the first rotating gear motor and the second rotating gear motor, the mounting seat slides in the sliding groove, the sawing angle and the sawing direction are adjusted, the purpose of adjusting the angle is achieved, and the problem that the felling and pruning machine can, the branch to the diameter broad is not suitable for this equipment, makes the machine damage or drop easily, and the angle can not be adjusted, to some trunks that the structure is complicated crooked, can't angle regulation carry out the problem of lumbering.
Drawings
FIG. 1 is a schematic structural view of an intelligent pruning robot according to the present invention;
FIG. 2 is a top view of an intelligent pruning robot according to the present invention;
fig. 3 is a cross-sectional view of a locking bolt structure of an intelligent pruning robot provided by the invention.
In the figure: the device comprises a
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, an intelligent pruning robot comprises a
the
To sum up, the intelligent pruning robot splits the
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
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