A tree - cutting robot

Abstract

The present invention belongs to the technical field of power equipment and discloses a tree-cutting robot. The tree-cutting robot includes a mobile vehicle, a lifting platform and a chain saw assembly. The mobile vehicle includes wheels and a vehicle body, and the wheels are rotatably arranged on the lower side of the vehicle body; the lifting platform is arranged on the vehicle body, and the lifting table surface of the lifting platform can move in a direction perpendicular to the bearing surface of the vehicle body; the chain saw assembly is arranged on the lifting table surface, and the chain saw assembly is configured to trim trees. By arranging the chain saw assembly on the mobile vehicle, the mobile vehicle carries the chain saw assembly to transfer positions, saving manpower; by arranging the lifting platform, the height of the chain saw assembly can be adjusted in a timely manner, so that the cutting position of the chain saw assembly on the tree can be flexibly adjusted according to the shielding situation of the tree on the transmission line.

Description

Technical Field

[0001] The invention relates to the technical field of power equipment, and in particular to a tree-cutting robot. Background Art

[0002] In the power system, the power wiring process often crosses mountains and ridges. There are often a large number of trees under the line corridor or a large number of trees up to tens of meters high are often planted near the line, which makes it difficult to ensure sufficient clearance safety distance between the line and the trees, which has a great impact on the safe and stable operation of the line. In order to reduce the impact of trees on the safe operation of the line, it is necessary to cut down the trees.

[0003] At present, traditional manual tree sawing tools are mostly used to remove tree obstacles from power transmission lines. This operation method has the disadvantages of high labor intensity and low efficiency. There are some devices for cutting trees, but these tree cutting devices can usually only cut trees at a certain height and cannot flexibly adjust the cutting position on the tree, resulting in unnecessary damage to the tree due to cutting too many branches and leaves, or insufficient cutting and the tree still affecting the line.

[0004] Therefore, there is an urgent need for a tree-cutting robot to solve the above problems existing in the prior art. Summary of the invention

[0005] The object of the present invention is to provide a tree-cutting robot, which solves the problem that the height of the chain saw of the existing tree-cutting robot cannot be adjusted, resulting in the inability to flexibly adjust the felling position on the tree.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A tree-cutting robot, comprising:

[0008] A mobile vehicle, the mobile vehicle comprising wheels and a vehicle body, the wheels being rotatably arranged on the lower side of the vehicle body;

[0009] A lifting platform is arranged on the vehicle body, and the lifting platform surface of the lifting platform can move in a direction perpendicular to the bearing surface of the vehicle body;

[0010] A chain saw assembly is arranged on the lifting platform, and the chain saw assembly is configured to prune trees.

[0011] As an optional solution, the lifting platform is a scissor-type structure and is lifted and lowered by an electric hydraulic jack.

[0012] As an optional solution, the mobile vehicle further includes:

[0013] The auxiliary climbing assembly is connected to the front side of the vehicle body, and the auxiliary climbing assembly is configured to assist the wheel to climb over an obstacle.

[0014] As an alternative, the auxiliary climbing assembly includes:

[0015] Two sets of triangular wheels, which are connected by a connecting shaft. The rolling direction of the triangular wheels is the same as that of the wheels, and the bottom rolling surface of the triangular wheels is higher than the bottom rolling surface of the wheels.

[0016] A fixed arm, with both ends of the fixed arm connected to the vehicle body and the connecting shaft respectively.

[0017] As an alternative, the chainsaw assembly includes:

[0018] A first chainsaw assembly, including a support column and a support arm. The support column is arranged vertically on the lifting table surface. The support arm is rotatably connected to the top end of the support column and extends towards the front side of the mobile vehicle. The first chainsaw assembly further includes a first chainsaw, with one end of the first chainsaw connected to the end of the support arm far from the support column, and the cutting edge of the first chainsaw is arranged vertically.

[0019] The first chainsaw assembly further includes a first electro-hydraulic strut. The fixed end and the driving end of the first electro-hydraulic strut are connected to the support column and the support arm respectively to drive the support arm to rotate around the support column.

[0020] As an alternative, the first chainsaw assembly further includes:

[0021] A second electro-hydraulic strut. The fixed end and the driving end of the second electro-hydraulic strut are connected to the first chainsaw and the support arm respectively to drive the first chainsaw to approach or move away from the support arm.

[0022] As an alternative, the chainsaw assembly further includes:

[0023] A second chainsaw assembly, including a supporting member and a second chainsaw. The supporting member is connected to the lifting table surface, and the second chainsaw is arranged on the supporting member, with the cutting edge of the second chainsaw arranged horizontally.

[0024] As an alternative, there are three sets of the second chainsaws. The middle second chainsaw is arranged perpendicular to the advancing direction of the mobile vehicle, and the other two sets of second chainsaws are arranged on both sides of the middle second chainsaw and can swing.

[0025] As an alternative, the supporting member includes:

[0026] The fixedly connected fixed plate and the swing plate, there are two of the fixed plates, each of the fixed plates is connected to one of the swing plates, one end of the fixed plate is connected to the lifting platform, both ends of the middle second chain saw are respectively connected to the two fixed plates, and the other two second chain saws are respectively arranged on the two swing plates, and the swing plate can rotate horizontally to drive the corresponding second chain saw to swing.

[0027] As an alternative, the supporting member further includes:

[0028] A third electro-hydraulic strut, the fixed end and the driving end of the third electro-hydraulic strut are respectively connected to the fixed plate and the swing plate to drive the swing plate to rotate.

[0029] As an alternative, the supporting member further includes a limit baffle, the limit baffle is arranged on the fixed plate and is configured to limit the rotation range of the swing plate.

[0030] As an alternative, the tree-felling robot further includes:

[0031] A monitor configured to monitor the chain saw assembly and the working environment of the chain saw assembly;

[0032] A remote controller, and an operator operates the remote controller according to the image displayed in real time by the monitor to control the mobile vehicle, the lifting platform and the chain saw assembly to work.

[0033] Advantageous effects:

[0034] For the tree-felling robot proposed by the present invention, by arranging the chain saw assembly on the mobile vehicle, the mobile vehicle carries the chain saw assembly for position transfer, saving manpower; by arranging the lifting platform, the height of the chain saw assembly can be adjusted in a timely manner, so that the cutting position of the chain saw assembly on the tree can be flexibly adjusted according to the shielding situation of the tree on the transmission line, avoiding unnecessary damage to the tree caused by cutting off too many branches and leaves or insufficient cutting so that the tree still affects the line. Description of the drawings

[0035] Figure 1 is a schematic structural view of the tree-felling robot provided by the present invention;

[0036] Figure 2 is a partial structural schematic view of the lifting platform provided by the present invention;

[0037] Figure 3 is a top view of the auxiliary climbing assembly provided by the present invention;

[0038] Figure 4 is a connection schematic view of the shock absorber and the fixed arm provided by the present invention;

[0039] Figure 5 This is a schematic structural view of the second chainsaw in the closed state provided by the present invention;

[0040] Figure 6 This is a schematic structural view of the second chainsaw in the open state provided by the present invention;

[0041] Figure 7 This is a schematic structural view of the supporting member provided by the present invention.

[0042] In the figure:

[0043] 1. Mobile vehicle; 11. Wheels; 12. Vehicle body; 13. Auxiliary climbing assembly; 131. Triangular wheels; 132. Connecting shaft; 133. Fixed arm; 134. Shock absorber; 135. Third motor;

[0044] 2. Lifting platform; 21. Connecting rod; 22. Fixed shaft; 23. Electric hydraulic jack; 24. Rollers; 25. Lifting table surface;

[0045] 3. Second motor;

[0046] 4. First chainsaw assembly; 41. Support column; 42. Support arm; 43. First chainsaw; 44. First electric hydraulic strut; 45. Second electric hydraulic strut; 46. Fourth motor;

[0047] 5. Second chainsaw assembly; 51. Supporting member; 511. Fixed plate; 512. Swing plate; 513. Third electric hydraulic strut; 514. Baffle; 52. Second chainsaw; 521. Gear shaft; 53. Chain;

[0048] 6. Monitor. Detailed implementation manners

[0049] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention are shown in the drawings, rather than all the structures.

[0050] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0051] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0052] In the description of this embodiment, the orientation or positional relationships such as "up", "down", "left", "right", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0053] As Figure 1 shown, this embodiment provides a tree-felling robot, which includes a mobile vehicle 1, a lifting platform 2 and a chainsaw assembly. The mobile vehicle 1 includes wheels 11 and a vehicle body 12. The wheels 11 are rotatably arranged on the lower side of the vehicle body 12. The rolling of the wheels 11 can drive the movement of the vehicle body 12. The wheels 11 are driven to rotate by a first motor, and the first motor is equipped with a remote controller. The start and stop of the first motor are controlled through the remote controller, so as to control the travel and stop of the mobile vehicle 1. The lifting platform 2 is arranged on the vehicle body 12, and the lifting tabletop 25 of the lifting platform 2 can move in the direction perpendicular to the bearing surface of the vehicle body 12. The chainsaw assembly is arranged on the lifting tabletop 25, and the chainsaw assembly is configured to trim trees. By arranging the chainsaw assembly on the mobile vehicle 1, the mobile vehicle 1 carries the chainsaw assembly for position transfer, saving manpower; by arranging the lifting platform 2, the height of the chainsaw assembly can be adjusted in a timely manner, so that the cutting position of the chainsaw assembly on the tree can be flexibly adjusted according to the shielding situation of the tree on the transmission line.

[0054] Preferably, in combination with Figure 1 and Figure 2As shown, the lifting platform 2 is of a scissor structure and is lifted by an electric hydraulic jack 23. Specifically, the lifting platform 2 includes a lifting tabletop 25 and two sets of support frames arranged at intervals. The support frames include a plurality of connecting rods 21, and the plurality of connecting rods 21 are connected in a scissor manner between the lifting tabletop 25 and the vehicle body 12. The two sets of support frames are connected by a fixed shaft 22. The fixed end and the driving end of the electric hydraulic jack 23 are respectively connected to the vehicle body 12 and the fixed shaft 22. When the driving end of the electric hydraulic jack 23 moves, it drives the fixed shaft 22 to lift, thereby realizing the height adjustment of the lifting tabletop 25, and further adjusting the height of the chain saw assembly arranged on the lifting tabletop 25. The electric hydraulic jack 23 is equipped with a remote control, and the remote control is signal-connected to the electric hydraulic jack 23 to control the operation of the electric hydraulic jack 23 through the remote control.

[0055] Preferably, as Figure 1 and Figure 2 shown, rollers 24 are arranged at the connection points of the connecting rod 21 with the lifting tabletop 25 and the vehicle body 12, and the movement of the connecting rod 21 is made smoother by the rolling of the rollers 24. Corresponding grooves are provided on the lifting tabletop 25 and the vehicle body 12, and the rollers 24 are limited in the above grooves to prevent the connecting rod 21 from moving randomly and making the lifting platform 2 unstable.

[0056] Furthermore, as Figure 1 shown, the mobile vehicle 1 further includes an auxiliary climbing assembly 13. The auxiliary climbing assembly 13 is connected to the front side of the vehicle body 12 and is configured to assist the wheels 11 in climbing over obstacles, so that the mobile vehicle 1 is more adaptable to the uneven road surface in the mountain forest.

[0057] Specifically, as Figure 3 and Figure 4 shown, the auxiliary climbing assembly 13 includes a fixed arm 133 and two sets of triangular wheels 131. The two sets of triangular wheels 131 are connected by a connecting shaft 132. The rolling direction of the triangular wheels 131 is the same as the rolling direction of the wheels 11, and the bottom rolling surface of the triangular wheels 131 is higher than the bottom rolling surface of the wheels 11, so that the triangular wheels 131 can climb on higher places and make the mobile vehicle 1 more suitable for climbing upwards. The two ends of the fixed arm 133 are respectively connected to the vehicle body 12 and the connecting shaft 132 to connect the triangular wheels 131 to the vehicle body 12.

[0058] The auxiliary climbing assembly 13 further includes a third motor 135 for driving the triangular wheels 131 to rotate. In addition, the auxiliary climbing assembly 13 is also provided with a remote control, and the remote control is communicatively connected to the third motor 135 to control the start and stop of the third motor 135.

[0059] Preferably, a shock absorber 134 is provided at one end of the fixed arm 133 connected to the connecting shaft 132. The shock absorber 134 can reduce the vibration of the triangular wheels 131 and enable the chain saw assembly to maintain a relatively stable state. The shock absorber 134 is preferably a hydraulic shock absorber.

[0060] Further, please refer back to Figure 1 , the chainsaw assembly includes a first chainsaw assembly 4. The first chainsaw assembly 4 includes a support column 41 and a support arm 42. The support column 41 is arranged on the lifting table 25 in the vertical direction. The support arm 42 is rotatably connected to the top end of the support column 41 and extends towards the front side of the moving vehicle 1. The first chainsaw assembly 4 further includes a first chainsaw 43. One end of the first chainsaw 43 is connected to the end of the support arm 42 away from the support column 41. The cutting edge of the first chainsaw 43 is arranged vertically to cut the tree in the vertical direction. The first chainsaw assembly 4 further includes a first electro-hydraulic strut 44. The fixed end and the driving end of the first electro-hydraulic strut 44 are respectively connected to the support column 41 and the support arm 42 to drive the support arm 42 to rotate around the support column 41, so that the first chainsaw 43 moves and cuts in the vertical plane.

[0061] Preferably, please continue to refer to Figure 1 , the first chainsaw assembly 4 further includes a second electro-hydraulic strut 45. The fixed end and the driving end of the second electro-hydraulic strut 45 are respectively connected to the first chainsaw 43 and the support arm 42 to drive the first chainsaw 43 to approach or move away from the support arm 42, thereby adjusting the distance that the first chainsaw 43 extends out of the vehicle body 12. During actual work, the distance that the first chainsaw 43 extends out of the vehicle body 12 can be flexibly adjusted according to the growth condition of the tree.

[0062] Further, the first chainsaw assembly 4 further includes a fourth motor 46. The fourth motor 46 is used to drive the first chainsaw 43 to rotate. Preferably, the fourth motor 46 is also equipped with a remote controller, and the start and stop of the fourth motor 46 can be remotely controlled by operating the remote controller.

[0063] Further, in combination with Figure 1 and Figures 5 - 7 , the chainsaw assembly further includes a second chainsaw assembly 5. The second chainsaw assembly 5 includes a support member 51 and a second chainsaw 52. The support member 51 is connected to the lifting table 25. The second chainsaw 52 is arranged on the support member 51. The cutting edge of the second chainsaw 52 is arranged horizontally to cut the tree horizontally.

[0064] Preferably, as shown in Figure 5 and Figure 6As shown, the second chain saws 52 are provided in three groups. The middle second chain saw 52 is arranged perpendicular to the forward direction of the moving vehicle 1, and the other two groups of second chain saws 52 are arranged on both sides of the middle second chain saw 52 and can swing. The two second chain saws 52 on both sides swing outwards and can form almost a straight line with the middle second chain saw 52, so that the three groups of second chain saws 52 form a larger cutting range. Preferably, the three second chain saws 52 are driven by a chain 53, and the chain 53 is connected to the gear shaft 521 of the second chain saw 52. The rotation of the gear shaft 521 can drive the cutting blade of the second chain saw 52 to rotate and cut. Figure 1 As shown, the output shaft of the second motor 3 is also connected to the gear shaft 521, and three second chain saws 52 can be driven by setting a second motor 3. The second motor 3 is set on the lifting platform 25, and the second motor 3 is also equipped with a remote controller to remotely control the second chain saw 52 by operating the remote controller.

[0065] Furthermore, if Figure 7 As shown, the supporting member 51 includes a fixed plate 511 and a swinging plate 512 which are pivotally connected to each other. Two fixed plates 511 are provided, each fixed plate 511 is connected to a swinging plate 512, one end of the fixed plate 511 is connected to the lifting platform 25, and both ends of the middle second chain saw 52 are respectively connected to the two fixed plates 511, and the other two second chain saws 52 are respectively provided on the two swinging plates 512, and the swinging plates 512 can rotate horizontally to drive the corresponding second chain saw 52 to swing.

[0066] Preferably, if Figure 7 As shown, the supporting member 51 further includes a third electric hydraulic support rod 513, the fixed end and the driving end of the third electric hydraulic support rod 513 are respectively connected to the fixed plate 511 and the swing plate 512 to drive the swing plate 512 to rotate. The supporting member 51 further includes a limit baffle 514, which is arranged on the fixed plate 511, and the fixed plate 511 can block the swing plate 512 to limit the rotation range of the swing plate 512.

[0067] Furthermore, if Figure 1 As shown, the tree-cutting robot also includes a monitor 6, which is configured to monitor the chain saw assembly and the working environment of the chain saw assembly. The operator operates each remote controller according to the real-time display of the monitor 6 to control the mobile vehicle 1, the lifting platform 2 and the chain saw assembly to work.

[0068] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A tree - cutting robot, characterized in that, Comprising: A mobile vehicle (1), the mobile vehicle (1) includes wheels (11) and a vehicle body (12), and the wheels (11) are rotatably arranged on the lower side of the vehicle body (12); A lifting platform (2), arranged on the vehicle body (12), and the lifting table surface (25) of the lifting platform (2) can move in a direction perpendicular to the bearing surface of the vehicle body (12); A chainsaw assembly, arranged on the lifting table surface (25), and the chainsaw assembly is configured to trim trees; The chainsaw assembly includes: A second chainsaw assembly (5), including a supporting member (51) and a second chainsaw (52), the supporting member (51) is connected to the lifting table surface (25), the second chainsaw (52) is arranged on the supporting member (51), and the cutting edge of the second chainsaw (52) is horizontally arranged; There are three groups of the second chainsaws (52), the middle second chainsaw (52) is arranged perpendicular to the advancing direction of the mobile vehicle (1), and the other two groups of second chainsaws (52) are arranged on both sides of the middle second chainsaw (52) and can swing.

2. The tree-cutting robot according to claim 1, characterized in that, The lifting platform (2) is of a scissor structure and is pushed to lift by an electric hydraulic jack (23).

3. The tree-cutting robot according to claim 1, characterized in that, The mobile vehicle (1) further includes: An auxiliary climbing assembly (13), connected to the front side of the vehicle body (12), and the auxiliary climbing assembly (13) is configured to assist the wheels (11) in climbing over obstacles.

4. The tree-cutting robot according to claim 3, characterized in that, The auxiliary climbing assembly (13) includes: Two groups of triangular wheels (131), connected by a connecting shaft (132) between the two groups of triangular wheels (131), the rolling direction of the triangular wheels (131) is the same as the rolling direction of the wheels (11), and the bottom rolling surface of the triangular wheels (131) is higher than the bottom rolling surface of the wheels (11); A fixed arm (133), with both ends of the fixed arm (133) connected to the vehicle body (12) and the connecting shaft (132) respectively.

5. The tree felling robot according to any one of claims 1-4, characterized in that, The chainsaw assembly includes: A first chainsaw assembly (4), including a support column (41) and a support arm (42), the support column (41) is arranged vertically on the lifting table surface (25), the support arm (42) is rotatably connected to the top end of the support column (41) and extends forward of the mobile vehicle (1), the first chainsaw assembly (4) further includes a first chainsaw (43), one end of the first chainsaw (43) is connected to the end of the support arm (42) away from the support column (41), and the cutting edge of the first chainsaw (43) is vertically arranged; The first chainsaw assembly (4) further includes a first electric hydraulic strut (44), and the fixed end and the driving end of the first electric hydraulic strut (44) are respectively connected to the support column (41) and the support arm (42) to drive the support arm (42) to rotate around the support column (41).

6. The tree-cutting robot according to claim 5, wherein, The first chainsaw assembly (4) further includes: A second electro-hydraulic strut (45), the fixed end and the driving end of the second electro-hydraulic strut (45) are respectively connected to the first chain saw (43) and the support arm (42) to drive the first chain saw (43) to approach or move away from the support arm (42).

7. The tree felling robot according to claim 1, characterized in that, The supporting member (51) includes: A fixed plate (511) and a swing plate (512) pivotally connected to each other. There are two fixed plates (511), and each fixed plate (511) is connected to one swing plate (512). One end of the fixed plate (511) is connected to the lifting platform (2). Two ends of the middle second chain saw (52) are respectively connected to the two fixed plates (511). The other two second chain saws (52) are respectively arranged on the two swing plates (512). The swing plate (512) can rotate horizontally to drive the corresponding second chain saw (52) to swing.

8. The tree-cutting robot according to claim 7, wherein The supporting member (51) further includes: A third electro-hydraulic strut (513), the fixed end and the driving end of the third electro-hydraulic strut (513) are respectively connected to the fixed plate (511) and the swing plate (512) to drive the swing plate (512) to rotate.

9. The tree-cutting robot according to claim 7, wherein, The supporting member (51) further includes a limit baffle (514), and the limit baffle (514) is arranged on the fixed plate (511) and is configured to limit the rotation range of the swing plate (512).

10. The tree-cutting robot according to any one of claims 1-4, characterized in that, The tree-felling robot further includes: A monitor (6), configured to monitor the chain saw assembly and the working environment of the chain saw assembly; A remote controller. An operator operates the remote controller according to the picture displayed in real time by the monitor (6) to control the mobile vehicle (1), the lifting platform (2) and the chain saw assembly to work.

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