CN111202045A - Multifunctional tree climbing mechanism - Google Patents

Abstract

Translated fromChinese

本发明公开了一种多功能爬树机构，包括滑道、在所述滑道上移动的滑块、安装在所述滑块上的机械爪，所述机械爪对树干进行抱握，并在所述滑块的带动下在树干上进行爬行；所述滑道的顶部设有喷药装置，用于对树木进行喷药；所述滑道的侧部设有锯木装置，用于对树木进行修剪工作；所述滑道的侧部还安装有摄像头，用于对工作现场进行监控。本发明可以实时反馈，便于监管，工作安全可靠，可针对不同高度粗细的树木进行爬树检查、喷药和修剪工作。该多功能爬树机构，能够良好满足城市树木检查工作的连续化、标准化、智能化、少人化需求，能够使工作更加便捷，提高可靠性与工作效率，且节约人工成本，省时省力，降低工作强度。

The invention discloses a multifunctional tree-climbing mechanism, comprising a slideway, a slider moving on the slideway, and a mechanical claw mounted on the slider, the mechanical claw holds a tree trunk, and the The sliding block crawls on the tree trunk; the top of the slideway is provided with a spraying device for spraying the trees; the side of the slideway is provided with a sawing device for pruning the trees work; a camera is also installed on the side of the slideway for monitoring the work site. The present invention can provide real-time feedback, is convenient for supervision, works safely and reliably, and can perform tree climbing inspection, spraying and pruning for trees of different heights and thicknesses. The multi-functional tree climbing mechanism can well meet the needs of continuous, standardized, intelligent, and less labor-intensive inspection of urban trees, and can make the work more convenient, improve reliability and work efficiency, and save labor costs, time and effort. Reduce work intensity.

Description

Multifunctional tree climbing mechanism

Technical Field

The invention belongs to the technical field of intelligent robots, and particularly relates to a multifunctional tree climbing mechanism.

Background

At present, the planting of trees becomes a part of the current urban greening, but the natural growth process of the trees inevitably causes the phenomena of worm eating, corrosion of other substances, withering of branches and trunks and the like. This not only causes economic loss, but also threatens pedestrians and vehicles on the road side. The manual spraying is relatively troublesome to check whether the trees are corroded and the branch trimming work is relatively troublesome, a large amount of manpower and material resources are required, and certain dangerousness exists.

Therefore, it is necessary to design a multifunctional tree climbing mechanism to solve the above problems.

Disclosure of Invention

Based on the defects of the prior art, the technical problem to be solved by the invention is to provide a multifunctional tree climbing mechanism, wherein a mechanical claw is driven to move by a guide rail and a sliding block, so that the tree is walked on a trunk, insecticide spraying and wood sawing are carried out by an insecticide spraying device and a wood sawing device, and stable tree climbing is realized so as to meet the work requirement of tree inspection and insecticide spraying.

The invention mainly comprises a mechanical claw, electric guide rails, a pesticide spraying device, a wood sawing device, a slideway connecting piece and a camera, wherein the trunk part of the whole mechanism is composed of the two electric guide rails which are assembled together through the slideway connecting piece, the connecting pieces are movable mutually, the stable operation of the whole mechanism can be met, and the crawling of a part of bent trunks can be realized, thereby achieving the effect of stable and reliable work.

In order to solve the technical problems, the invention is realized by the following technical scheme: the invention provides a multifunctional tree climbing mechanism which comprises a slide way, a slide block and a mechanical claw, wherein the slide block moves on the slide way; the top of the slideway is provided with a pesticide spraying device for spraying pesticide to the trees; a wood sawing device is arranged on the side part of the slideway and is used for trimming trees; the lateral part of the slide is also provided with a camera for monitoring a working site.

By the aid of the tree pruning device, pesticide can be sprayed on trees through the pesticide spraying device, the saw blade reciprocates through the wood sawing device, and branches are pruned; through the installation camera, monitor the job site, satisfy the inspection function to trees, can regulate and control the course of work according to the live of feeding back, realize the visual and supervision effect of work.

Optionally, the mechanical claw comprises a steering engine mounted on the sliding block, a driving claw connected with the steering engine, and a driven claw connected with the driving claw in a meshing manner through a gear, and the driving claw and the driven claw can grab a trunk under the driving of the steering engine.

The mechanical claw is arranged on the sliding block of the electric guide rail, and the driving claw drives the driven claw through gear engagement under the action of the steering engine, so that the opening and closing of the claw and the holding of the mechanism to the trunk are realized. The claw of the mechanical claw is processed to form a certain pointed end, can be shallowly clamped in the bark of a tree and cannot be easily loosened.

Optionally, the wood sawing device comprises a driving rod, a driven rod hinged to the driving rod, and a wood saw hinged to the driven rod, the wood saw reciprocates linearly under the action of a limiting block, one end of the driving rod is connected with a driving shaft of a motor, the other end of the driving rod is connected with the driven rod, and the wood saw reciprocates under the driving of the motor to saw off branches.

The wood sawing device is an eccentric crank-slider mechanism, eccentricity can exceed a dead point of the mechanism, and the whole crank-slider mechanism is driven by a motor to realize reciprocating motion of a saw blade, so that branches to be cut off are sawn, and branch trimming is realized.

Furthermore, the pesticide spraying device comprises a pesticide storage box and a rotating block located on the pesticide storage box, wherein a nozzle is installed on the rotating block, and the nozzle axially penetrates through the rotating block and is connected into the pesticide storage box.

By last, spout the nozzle of medicine device and be the level at ordinary times and place, when needs spout the medicine, inside motor can drive rotatory piece, and the angle of control nozzle changes and sprays the direction and enlarge whole working range.

Optionally, a driving motor is installed at the end of the slide way, an output shaft of the driving motor is connected with a lead screw, the lead screw is in threaded connection with the slide block, the lead screw is driven by the driving motor to rotate, and the slide block is driven to move linearly on the slide way through the threaded connection between the lead screw and the slide block.

Further, connect through the slide connecting piece between two slides, the slide connecting piece include the upper junction spare and with upper junction spare articulated lower connecting piece, it is articulated through the lug between upper junction spare and the lower connecting piece for realize crawling of the crooked trunk of part.

Therefore, the multifunctional tree climbing mechanism disclosed by the invention is smooth in operation and strong in flexibility through the mutual matching of the mechanical claw, the electric guide rail, the pesticide spraying device, the wood sawing device, the slideway connecting piece and other parts, solves the inconvenience and potential safety hazards caused by manual tree climbing, and is very convenient for checking the tree growth condition. The device is matched to realize function diversification, and tree climbing inspection, pesticide spraying and trimming can be carried out on trees with different heights and thicknesses. The tree climbing time can be doubled, time and labor are saved, live feedback can be carried out on the site by carrying the camera, and supervision and regulation are facilitated. The invention has the advantages of more convenient and rapid urban tree inspection, improved safety factor of a working site, reduced workload of people, high reliability, greatly improved working conditions of the site, meeting intelligent requirements, good application prospect and capability of providing a feasible and efficient tool for urban greening. The transmission mechanism has the advantages that each structure has enough structural strength, the durability is good, the transmission efficiency is high, and the phenomenon that the normal work of each part is influenced by deformation and breakage of each part in the working process is avoided.

The tree climbing mechanism has the advantages that the tree climbing function, the tree checking function and the pesticide spraying pruning function are realized stably, the tree climbing time can be shortened, the inconvenience of manual tree climbing checking, pesticide spraying and pruning work is avoided, and the potential safety hazard is eliminated better. The mechanism runs smoothly during working, has strong flexibility, small occupied space, light weight of materials and convenient transportation and assembly. The tree climbing detection system can feed back in real time, is convenient to monitor and control, works safely and reliably, and can perform tree climbing detection, pesticide spraying and trimming work aiming at trees with different heights and thicknesses. This multi-functional tree climbing mechanism can well satisfy serialization, standardization, intellectuality, the few humanized demand of city trees inspection work, can make work more convenient, improves reliability and work efficiency, and practices thrift the cost of labor, and labour saving and time saving reduces working strength.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following detailed description is given in conjunction with the preferred embodiments, together with the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.

FIG. 1 is a schematic structural diagram of a multifunctional tree climbing mechanism according to a preferred embodiment of the present invention;

FIG. 2 is a schematic structural view of a pesticide spraying device of the multifunctional tree climbing mechanism of the present invention;

FIG. 3 is a schematic structural view of a gripper of the multifunctional tree climbing mechanism of the present invention;

FIG. 4 is a schematic structural diagram of a wood sawing device of the multifunctional tree climbing mechanism of the present invention;

fig. 5 is a schematic structural view of an upper connecting member of the multifunctional tree climbing mechanism of the present invention.

In the figure, 1-pesticide spraying device, 2-mechanical claw, 3-electric guide rail, 4-camera, 5-slideway connecting piece, 6-sawmilling device, 7-nozzle, 8-rotating block, 9-pesticide storage box, 10-driven claw, 11-driving claw, 12-steering engine, 13-sliding block, 14-slideway, 15-driving rod, 16-driven rod, 17-limiting block and 18-sawsaw.

Detailed Description

Other aspects, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which form a part of this specification, and which illustrate, by way of example, the principles of the invention. In the referenced drawings, the same or similar components in different drawings are denoted by the same reference numerals.

Referring to fig. 1 to 5, the multifunctional tree climbing mechanism of the present invention comprises amechanical claw 2, anelectric guide rail 3, apesticide spraying device 1, awood sawing device 6, aslideway connecting piece 5 and acamera 4, wherein all parts are in mutual linkage and are mutually matched to realize tree climbing inspection, pesticide spraying, trimming and other functions. The multifunctional tree climbing mechanism provided by the invention has the advantages that the operation is stable, the tree climbing work of trees with different heights and thicknesses is met, all parts of the mechanism are light in weight, simple in structure and convenient to transport, the structure is manufactured according to actual requirements, the structural strength of the multifunctional tree climbing mechanism is guaranteed to meet the working requirements, and the field tree climbing work effect is guaranteed.

The nozzle 7 of thepesticide spraying device 1 axially penetrates through the rotatingblock 8 and is connected into the pesticide storage box 9, the rotatingblock 8 is connected with the pesticide storage box 9 through the rotating motor, the pesticide spraying function of the device is achieved, and the spraying angle of the nozzle 7 can be controlled through the rotatingblock 8, and the whole working range is enlarged. Thepesticide spraying device 1 is nested at one end of anelectric guide rail 3 at the front end, theelectric guide rail 3 consists of a slidingblock 13 and aslideway 14, the electric guide rail is driven by a motor to rotate after being electrified, and the slidingblock 13 can freely do vertical linear motion on theslideway 14 under the traction of a lead screw connected with the sliding block through threads.

Themechanical claw 2 comprises adriving claw 11 and a driven claw, the drivingclaw 11 is axially connected with a crankshaft of asteering engine 12, the drivingclaw 11 and the drivenclaw 10 are meshed through a gear to jointly form themechanical claw 2, and thesteering engine 12 rotates forwards and backwards to control themechanical claw 2 to open and grip. Thegripper 2 is connected with thesliding block 13 in a matching mode, thesliding block 13 drives thegripper 2 to do vertical linear motion together when the slidingway 14 moves, and the function that thegripper 2 of the mechanism freely moves on a trunk is achieved. The side surface of the front endelectric guide rail 3 close to one end of the nestedpesticide spraying device 1 is connected with thesawmilling device 6 in a matching way, so that the function of pruning branches is realized.

Thewood sawing device 6 is fixed on the side portion of theelectric guide rail 3, thewood sawing device 6 is composed of adriving rod 15, a drivenrod 16, alimiting block 17 and awood saw 18, one end of thedriving rod 15 is connected with a driving shaft of a motor, the other end of the driving rod is hinged with the drivenrod 16, the other end of the drivenrod 16 is hinged with thewood saw 18, and thewood saw 18 is arranged between thelimiting blocks 17 in a matched mode to form an eccentric crank sliding block mechanism of thewood sawing device 6. The eccentricity can pass through the dead point of the mechanism, and the wholesawmilling device 6 can realize the reciprocating motion of the saw blade under the driving of the motor, thereby sawing off the branches to finish the work.

Connect throughslide connecting piece 5 between two slides, slide connectingpiece 5 include the connecting piece and with go up connecting piece articulated lower connecting piece, go up between connecting piece and the lower connecting piece and articulate through the lug for realize crawling of the crooked trunk of part. Theslideway connecting piece 5 is connected with the bottom end of the front endelectric guide rail 3 in an embedded mode and used for being connected with the rear end electric guide rail, and finally the front end mechanism of the mechanism is formed.

The upper connecting piece of theslideway connecting piece 5 is hinged with the lower connecting piece, and the lower connecting piece is connected with the rear end electric guide rail in a nesting manner, so that the front part and the rear part can be moved alternately, the stable operation of the whole mechanism can be met, and the crawling of the partially bent trunk can be realized, and the stable and reliable working effect can be achieved. In a similar way, the slidingblock 13 of the rear endelectric guide rail 3 is also matched and connected with themechanical claw 2, the working condition of free up-and-down movement of the mechanical claw is met, thecamera 4 is arranged on the side face, close to one end of the nested sliderail connecting piece 5, of the rear endelectric guide rail 3, live observation of a working site is achieved, and supervision and control are conveniently carried out. The electric guide rails at the front end and the rear end finally form the multifunctional tree climbing mechanism, and the working requirements are met.

The multifunctional tree climbing mechanism disclosed by the invention can be multifunctional, and the functions of stably climbing trees, checking trees and insecticide spraying and pruning are realized. Adopt two segmentation structures, the simultaneous movement can shorten tree climbing time, has avoided the manual work to climb tree inspection, laxative and pruning work's inconvenience, greatly reduced workman intensity of labour, better elimination potential safety hazard when save time makes tree climbing work safe and reliable more.

The use of the multifunctional tree climbing mechanism of the present invention is described below with reference to fig. 1 to 5 and the description of the technical features:

as shown in figure 1, when a working instruction is sent, the twomechanical claws 2 grab a trunk under the driving of thesteering engine 12, theslide block 13 freely moves up and down on theslide rail 14, and the whole mechanism is driven to climb upwards along the trunk. While crawling, the worker can check and record the trees by the live condition fed back by thecamera 4. When climbing to a pruning work position, themechanical claw 2 tightly embraces the trunk and cannot be easily loosened under the action of thesteering engine 12. Thewood sawing device 6 starts to work, the motor drives thedriving rod 15 to rotate, thedriving rod 15 drives the drivenrod 16 to do crank linear motion, the drivenrod 16 drives the wood saw 18 to do reciprocating motion between the limitingblocks 17, and the tree branches needing to be cut are trimmed. After the trimming operation is finished, thesawmilling device 6 stops running and continues to climb to the next working position. When climbing to the work department that spills the medicine,gripper 2 still hugs the trunk tightly, spoutsmedicine device 1 and begins work, and the motor drivesrotatory piece 8 and rotates, and nozzle 7 follows the angle of the same rotatory control nozzle ofrotatory piece 8, changes and sprays the direction and enlarge whole working range, and then the medicine sprays through nozzle 7 from medicine storage box 9, accomplishes and sprays the medicine work. After the work is finished, themechanical claw 2 drives the whole mechanism to move downwards along the trunk to reach the ground, and then the work is finished.

The tree pesticide spraying device can be used for spraying pesticide on trees through thepesticide spraying device 1, and therotating block 8 is matched with the nozzle 7, so that the spraying direction can be changed, and the whole working range can be enlarged; the crawling of the partially bent trunk can be realized through theslideway connecting piece 5; live feedback is carried out on the site through thecamera 4, so that observation, supervision and regulation are facilitated; the reciprocating motion of the saw blade is realized through a crank slider mechanism of thewood sawing device 6, and the tree branches are trimmed.

While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.

Claims (6)

1. A multifunctional tree climbing mechanism is characterized by comprising a slide way, a slide block moving on the slide way, and a mechanical claw arranged on the slide block, wherein the mechanical claw grips a trunk and crawls on the trunk under the driving of the slide block;

the top of the slideway is provided with a pesticide spraying device for spraying pesticide to the trees;

a wood sawing device is arranged on the side part of the slideway and is used for trimming trees;

the lateral part of the slide is also provided with a camera for monitoring a working site.

2. The multifunctional tree climbing mechanism as claimed in claim 1, wherein the mechanical claw comprises a steering engine mounted on the sliding block, a driving claw connected with the steering engine, and a driven claw connected with the driving claw in a meshing manner through a gear, and the driving claw and the driven claw can grab a trunk under the driving of the steering engine.

3. The multifunctional tree climbing mechanism as claimed in claim 1, wherein the wood sawing device comprises a driving rod, a driven rod hinged to the driving rod, and a wood saw hinged to the driven rod, the wood saw is linearly reciprocated under the action of a limiting block, one end of the driving rod is connected to a driving shaft of a motor, and the other end of the driving rod is connected to the driven rod, and the wood saw is driven by the motor to reciprocate so as to cut off branches.

4. The multi-function tree climbing mechanism according to claim 1, wherein the spraying device comprises a medicine storage box, a rotary block on the medicine storage box, and a nozzle is mounted on the rotary block and axially passes through the rotary block and is inserted into the medicine storage box.

5. The multifunctional tree climbing mechanism as claimed in claim 1, wherein a driving motor is installed at an end of the slide way, an output shaft of the driving motor is connected with a lead screw, the lead screw is in threaded connection with the slide block, the lead screw is driven to rotate by the driving motor, and the slide block is driven to move linearly on the slide way by the threaded connection of the lead screw and the slide block.

6. The multifunctional tree climbing mechanism as claimed in claim 1, wherein the two slideways are connected by a slideway connector, the slideway connector comprises an upper connector and a lower connector hinged with the upper connector, and the upper connector and the lower connector are hinged by a lifting lug for climbing a partially bent trunk.

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