A bamboo debranching robot

Abstract

The application discloses a bamboo branch removing robot, which comprises a crawling assembly, a branch removing assembly arranged on the crawling assembly and a controller, the controller controls the crawling assembly and the branch removing assembly to work respectively, the crawling assembly is arranged in at least three groups, a plurality of the crawling assemblies are arranged around the periphery of the bamboo, the crawling assemblies are connected through connecting rods, one side of one of the crawling assemblies is movably connected with the connecting rod of the adjacent crawling assembly, the connecting rods between the remaining crawling assemblies are fixedly connected, the crawling assembly comprises a crawling piece, a translation driving piece and a driving motor for driving the crawling piece to climb up and down the bamboo pole, the translation driving piece drives the corresponding crawling piece to translate towards the bamboo through a translation support and press the crawling piece against the outer surface of the bamboo. According to the application, the bamboo branches can be quickly removed before the bamboo is cut, the difficulty of removing the branches when the bamboo is cut in the complex terrain of the mountain area is reduced, the labor intensity is reduced, and the efficiency and safety of cutting the bamboo are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of bamboo harvesting and processing technology, specifically a bamboo debranching robot. Background Technology

[0002] Bamboo is a green and environmentally friendly natural resource that can be recycled after felling. It usually matures in 3-5 years and can be harvested every year. Bamboo felling has the following characteristics: (1) Bamboo forests are usually natural forests that grow on steep mountain slopes with a slope of 20-50°. If forest roads are not built, general vehicles cannot pass through. (2) Bamboo needs to be thinned. For example, for moso bamboo, "keep three degrees, remove four degrees and do not leave seven degrees" (one degree is two years). This is conducive to the reproduction and development of bamboo forests. (3) The weight of a single bamboo is lighter than that of a tree. A single bamboo usually weighs 15-40kg, and it can be collected by manpower over short distances.

[0003] Current bamboo harvesting and transportation mainly relies on manual short-distance transport to the collection point, followed by transportation via pipelines or trolley towers. Therefore, before transportation, the branches and leaves of the bamboo need to be removed. This is usually done by cutting down the bamboo first and then manually removing the branches and leaves with knives or other auxiliary tools. However, this method is not only difficult to implement when harvesting bamboo in complex mountainous terrain, but also requires overcoming the terrain conditions, resulting in high labor intensity. Furthermore, the speed of branch removal cannot keep up with the speed of felling. This leads to low efficiency in branch removal and is time-consuming and labor-intensive when harvesting large quantities of bamboo. This invention aims to solve this technical problem. Summary of the Invention

[0004] To address the aforementioned shortcomings in existing technologies, the present invention aims to provide a bamboo debranching robot. This invention can quickly remove bamboo branches before felling, reducing the difficulty of debranching in complex mountainous terrain, lowering labor intensity, and greatly improving bamboo felling efficiency and safety.

[0005] The technical solution adopted by the present invention to achieve the above objectives is as follows: a bamboo debranching robot, comprising a crawling component, a debranching component disposed on the crawling component, and a controller. The controller controls the operation of the crawling component and the debranching component respectively. The crawling component is provided in at least three groups, with multiple crawling components arranged around the outer periphery of the bamboo. The crawling components are connected to each other by connecting rods. One side of one group of crawling components is movably connected to the connecting rod of the adjacent crawling component, while the connecting rods between the remaining crawling components are fixedly connected. The crawling component includes a crawling part, a translation drive component, and a drive motor that drives the crawling part to crawl up and down along the bamboo pole. The translation drive component drives the corresponding crawling part to translate towards the bamboo through a translation bracket 5 and presses the crawling part against the outer surface of the bamboo.

[0006] Furthermore, the crawling component includes a drive wheel, a driven wheel, and a track that covers and cooperates with the drive wheel and the driven wheel. The driven wheel and the drive wheel are vertically installed through a track beam. The crawling surface of the track faces the bamboo. The drive wheel is connected to a drive motor.

[0007] Furthermore, the translation drive component includes a telescopic rod and a hydraulic cylinder, and the translation bracket 5 includes a crossbeam connected to the telescopic rod. Connecting rods are provided on both sides of the crossbeam, and the connecting rods are hinged to one side of the corresponding track beam.

[0008] Furthermore, the hydraulic cylinder is provided with support columns at both the top and bottom, and the support columns are connected to telescopic guide rods. The telescopic end of the telescopic guide rod is hinged to the track beam.

[0009] A branch removal mounting frame is provided above the driven wheel. The branch removal mounting frame is fixed to both sides of the driven wheel by ear plates. The branch removal assembly is provided on the branch removal mounting frame. The branch removal assembly includes a first movable blade group, a second movable blade group, and a fixed blade group. The first movable blade group, the second movable blade group, and the fixed blade group are staggered in the longitudinal direction.

[0010] Furthermore, the first movable blade assembly includes a stepper motor, a gear set, and a first blade. The stepper motor is mounted on one side below the debranching mounting frame, and the gear set is mounted above the debranching mounting frame. The gear set is electrically connected to the stepper motor, and the first blade is connected to the gear set via a rotating connecting rod.

[0011] Furthermore, limit posts are provided on both sides of the gear set, and the limit posts restrict the rotation position of the rotating connecting rod driving the blade.

[0012] Furthermore, the fixed blade assembly includes a tool mounting plate and a third blade, the third blade being a fixed blade mounted on the edge of the tool mounting plate, and the second movable blade assembly being disposed on the lower end face of the tool mounting plate.

[0013] Furthermore, the second movable blade assembly includes a second rotating connecting rod and a second blade. One end of the second rotating connecting rod is rotatably connected to the tool mounting plate, and the other end is fixedly connected to the second blade. The tool mounting plate has a travel limiting groove, and one end of a lever is connected to the travel limiting groove. The other end of the lever is connected to the second rotating connecting rod via a connecting rod. The lever moves within the travel limiting groove, limiting the rotation range of the second rotating connecting rod via the connecting rod. The travel limiting groove is arranged along the edge of the tool mounting plate at the rotating end of the second rotating connecting rod and is an elongated groove. A groove is provided at the end away from the rotating end of the second rotating connecting rod. When it is necessary to put the second rotating connecting rod in an open-locked state, the lever is moved into the groove to lock the second rotating connecting rod.

[0014] Furthermore, a telescopic spring is connected below the tool mounting plate, and the other end of the telescopic spring is connected to a rotating connecting rod two that is close to one end of the blade two.

[0015] The beneficial effects of this invention are as follows: This invention is equipped with multiple sets of crawling components, which are connected by connecting rods. One side of one set of crawling components is movably connected to the connecting rod of the adjacent crawling component. When the robot of this invention moves to the bamboo to be debranched, it brings multiple crawling components close to the bamboo. By pulling apart the movably connected crawling components, the bamboo to be debranched is covered between the multiple crawling components. The translation drive of the crawling components is activated to drive the crawling components to the bamboo to be debranched. After the crawling components are pressed against the outer surface of the bamboo by the translation drive, the drive motor and the debranching component are activated. Each set of drive motors synchronously drives the corresponding crawling component to crawl upward along the bamboo and remove its branches and leaves through the debranching component, thereby realizing automatic debranching before the bamboo is cut down.

[0016] The bamboo debranching robot of this invention reduces the difficulty of debranching bamboo in complex mountainous terrain. A single worker can directly operate the robot to achieve automatic debranching. After debranching, the bamboo can be directly felled and slid down the mountain to the distribution point to remove the bamboo tips. This avoids the need for manual handling of bamboo for debranching after felling, especially in complex mountainous terrain. Debranching after felling, whether done manually or by machine, is not only labor-intensive but also poses certain construction dangers. Therefore, the bamboo debranching robot of this invention improves debranching efficiency, reduces labor intensity, and ensures the personal safety of bamboo felling workers. It is suitable for large-scale bamboo felling and debranching. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this embodiment; Figure 2 This is a top view of this embodiment; Figure 3 This is a schematic diagram of the structure of the second movable blade assembly in this embodiment; Figure 4 This is a side view of the second movable blade assembly in this embodiment. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1-3 As shown, a bamboo debranching robot includes a crawling component, a debranching component mounted on the crawling component, and a controller. The controller controls the operation of the crawling component and the debranching component. In this embodiment, three sets of crawling components are preferably used. The crawling components are connected to each other by connecting rods 1. One side of one set of crawling components is movably connected to the connecting rod 1 of the adjacent crawling component, while the connecting rods 1 of the remaining crawling components are fixedly connected. The movably connected crawling components facilitate the robot's automatic debranching operation on the bamboo when it moves to the bamboo to be debranched, by moving the movable crawling components around the bamboo.

[0020] Each set of crawling components has a unified structure and function. The crawling components include crawling parts 2, translation drive parts 3, and drive motor 4 that drives crawling parts 2 to crawl up and down along the bamboo. The translation drive parts 3 drive the corresponding crawling parts 2 to move towards the bamboo through the translation bracket 5 and press the crawling parts 2 firmly against the outer surface of the bamboo.

[0021] In this embodiment, after the crawling component is placed around the bamboo to be debranched, the controller synchronously controls the translation drive 3 to move the crawling component 2 closer to the bamboo and press it against the bamboo surface. Then, the drive motor 4 and the debranching component are started. Each set of drive motors 4 synchronously drives the corresponding crawling component 2 to crawl upward along the bamboo and remove its branches and leaves through the debranching component, thereby realizing automatic debranching before bamboo felling. Through this embodiment, the difficulty of debranching when felling bamboo in complex mountainous terrain is reduced. A single worker can directly operate the robot to achieve automatic debranching. After debranching, the bamboo can be directly felled and the felled bamboo can be directly slid down the mountain to the collection and distribution point. This avoids the need for manual handling of bamboo to facilitate debranching after felling, especially in complex mountainous terrain. Debranching after felling, whether by manpower or machine, requires placing the bamboo in a place where it is easy to debranch, which is not only labor-intensive but also poses certain construction dangers.

[0022] The specific structures of the crawling component and the branch removal component in this embodiment are as follows: The crawling assembly includes a crawling component 2, a translational drive component 3, and a drive motor 4 that drives the crawling component 2 to crawl up and down along the bamboo.

[0023] The crawling component 2 uses track components, including a drive wheel 6, a driven wheel 7, and a track 9 that covers and cooperates with the drive wheel 6 and the driven wheel 7. The driven wheel 7 and the drive wheel 6 are vertically installed through the track beam 10. The crawling surface of the track 9 faces the bamboo. The drive wheel 6 is connected to the drive motor 4.

[0024] The translation drive component 3 includes a telescopic rod 11 and a hydraulic cylinder 12. The translation support 5 includes a crossbeam 13 connected to the telescopic rod 11. Translation connecting rods 14 are provided on both sides of the crossbeam 13. The translation connecting rods 14 are hinged to one side of the corresponding track beam 10.

[0025] The hydraulic cylinder 12 is equipped with support columns 15 at both the top and bottom. The support columns 15 are connected to telescopic guide rods 16, and the telescopic end of the telescopic guide rods 16 is hinged to the track beam 10.

[0026] In this embodiment, the crawler track component, under the constant thrust of the hydraulic cylinder 12, moves the three crawler parts 2 (i.e., track components) towards the center of the bamboo through the track translation bracket 5, and presses the track 9 of the crawler parts 2 onto the bamboo. Thus, the three sets of tracks 9 clamp the bamboo through the hydraulic cylinder 12 and the translation bracket 5. Since the bamboo is approximately a conical cylinder, and the translation connecting rod 14 of the translation bracket 5 is hinged to the track beam 10, and the telescopic guide rod 16 set above and below the hydraulic cylinder 12 is also hinged to the track beam 10, that is, the track 9 and the translation drive component 3 are movable and finely adjustable. Thus, under the thrust, the track 9 will tilt in the direction of the bamboo's taper. At the same time, under the action of the telescopic guide rod 16, the track 9 is prevented from rotating around the central axis.

[0027] The debranching assembly includes a first movable blade group 17, a second movable blade group 18, and a fixed blade group 19. The first movable blade group 17, the second movable blade group 18, and the fixed blade group 19 are staggered in the longitudinal direction. The debranching assembly is fixed to the upper end of the walking track 9. A debranching mounting bracket 20 is provided above the driven wheel 7. The debranching mounting bracket 20 is fixed to both sides of the driven wheel 7 through ear plates.

[0028] The first movable blade assembly 17 includes a stepper motor 21, a gear set 22, and a blade 23. The stepper motor 21 is mounted on one side below the debranching mounting frame 20. The gear set 22 is mounted on the top of the debranching mounting frame 20 and is electrically connected to the stepper motor 21. The blade 23 is connected to the gear set 22 via a rotating connecting rod 24. The stepper motor 21 drives the gear set 22 to rotate, and the gear set 22 drives the blade 23 to rotate. The gear set 22 has a gear mounting frame on the debranching mounting frame 20. Limiting posts 25 are provided on both sides of the gear mounting frame. The limiting posts 25 also serve as support posts for the gear mounting frame. When the gear set 22 drives the blade 23 to rotate, the limiting posts 25 limit the rotational opening angle of the blade 23.

[0029] The fixed blade assembly 19 includes a tool mounting plate 26 and a third blade 27, which is a fixed blade installed on the edge of the tool mounting plate 26.

[0030] The second movable blade assembly 18 is disposed on the lower end face of the tool mounting plate 26. It includes a second rotating connecting rod 28 and a second blade 29. One end of the second rotating connecting rod 28 is rotatably connected to the tool mounting plate 26, and the other end is fixedly connected to the second blade 29. The tool mounting plate 26 has a stroke limiting groove 30. One end of a lever 31 is connected to the stroke limiting groove 30. The other end of the lever 31 is connected to the second rotating connecting rod 28 through a connecting rod 34. The lever 31 moves within the stroke limiting groove 30, and the connecting rod 34 limits the rotation range of the second rotating connecting rod 28. In this embodiment, the stroke limiting groove 30 is located near the second rotating connecting rod 28. The cutting tool mounting plate 26 at the rotating end is arranged in the shape of a long groove. A groove 32 is provided at the end away from the rotating end of the second rotating rod 28. When it is necessary to put the second rotating rod 28 into the open and locked state, the lever 31 is directly moved into the groove 32 to lock the second rotating rod 28. A telescopic spring 33 is also connected below the cutting tool mounting plate 26. The other end of the telescopic spring 33 is connected to the second rotating rod 28 close to the end of the second blade 29. When the lever 31 is pulled out from the groove 32, the lever 31 can move freely. Under the action of the telescopic spring 33, the second rotating rod 28 presses the second blade 29 against the surface of the bamboo.

[0031] In this embodiment, three sets of crawling components are used. The debranching components on the crawling components have the same structure and are controlled uniformly. The blades 1 23, blade 29, and blade 3 27 on each set of debranching components are arc-shaped and longitudinally staggered. The longitudinal height of blades 1 23, blade 29, and blade 3 27 in each set is uniform. In addition, blades 1 23 and blade 29 are movable blades, and the clamping force can be adjusted in real time by stepper motor 21 and telescopic spring 33. It can effectively cover the circumference of bamboo of different diameters, with 360 degrees without dead angles. It can effectively debranch when moving upwards and effectively clean the tip of bamboo branches when moving downwards.

[0032] The working process of the debranching robot of the present invention is as follows: In the initial state, the pruning robot is moved to the bamboo, and the movable crawling component is pulled open so that the bamboo is in the middle of the three crawling components. The lever 31 of the movable blade 29 above each crawling component is moved into the travel limit groove 30 and recess 32, so that the movable blade 29 is in the open state and locked.

[0033] In the pressing state, the controller synchronously controls the crawling components, controls the translation drive 3 to work, and moves the three crawling components 2 (track components) towards the bamboo position through the translation bracket 5, and presses the track 9 to the surface of the bamboo. The track 9 can tilt according to the taper direction of the bamboo to maintain the fit with the bamboo. Its hydraulic cylinder 12 always maintains a stable pressing force on the track 9 to ensure that the debranching robot hugs the bamboo tightly.

[0034] In the debranching operation, as the track 9 tilts with the bamboo's tapered angle, the debranching component's blades automatically adjust. After the track 9 is pressed down, blade 27 is positioned on the bamboo. The lever 31 is manually pulled out of the groove 32 of the travel limit slot 30, allowing the lever 31 to move freely. Under the action of the telescopic spring 33, the movable blade 29 always maintains a certain pre-pressure on the bamboo surface. The controller drives the stepper motor 21, and blade 23, driven by the gear set 22, is pressed against the bamboo. The controller then starts the drive motor 4 of the track drive wheel 6, and the three sets of tracks 9 synchronously climb upwards. The blades, under the influence of the stepper motor 21 and the telescopic spring 33... Driven by the constant proximity to the bamboo surface, the blades of the three sets of debranching components work synchronously, debranching 360 degrees without dead angles. When climbing to the top of the bamboo, the hydraulic cylinder 12 in the three sets of crawling components drives the track 9 to press it. Since the crawling components use fixed connecting rods 1, the distance is fixed, and the diameter of the bamboo can be obtained by the travel distance of the telescopic rod 11 driven by the hydraulic cylinder 12. When the diameter of the bamboo reaches 4cm, the controller controls the drive motor 4 to stop and controls the drive motor 4 to drive the track 9 to descend (the branches and leaves at the bamboo tip do not affect the bamboo's descent, and the bamboo tips can be cut off uniformly when reaching the collection point).

[0035] In the return state, when the bamboo-removing robot descends one meter off the ground, the drive motor 4 stops working, the stepper motor 21 drives the blade 23 to open, and the manual moves the lever 31 to the groove 32 of the travel limit groove 30, which is in the open state. The hydraulic cylinder 12 drives the translation bracket 5 through the telescopic rod 11 to retract the crawler 2 to the initial state.

[0036] In this embodiment, the bamboo debranching robot is made of lightweight metal or non-metal materials. It is lightweight as a whole. When the debranching robot works on the bamboo, the bamboo is very tough. When it works on the upper part of the bamboo, the bamboo pole will be slightly bent due to the influence of the robot's gravity. However, since the track always fits the surface of the bamboo, the blade will not be misaligned, so the impact on debranching is not significant.

[0037] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0038] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A bamboo debranching robot, comprising a crawling component, a debranching component disposed on the crawling component, and a controller, wherein the controller controls the operation of the crawling component and the debranching component respectively, characterized in that, The crawling assembly comprises at least three sets, with multiple crawling assemblies arranged around the outer periphery of the bamboo. These assemblies are connected by connecting rods. One side of one set of crawling assemblies is movably connected to the connecting rod of an adjacent crawling assembly, while the connecting rods of the remaining crawling assemblies are fixedly connected. Each crawling assembly includes a crawling component, a translational drive component, and a drive motor that propels the crawling component up and down along the bamboo pole. The translational drive component, via a translational bracket, moves the corresponding crawling component towards the bamboo and presses it firmly against the outer surface of the bamboo. Each crawling component includes a drive wheel, a driven wheel, and a track that covers and cooperates with the drive and driven wheels. The driven and drive wheels are vertically mounted via track beams, with the crawling surface of the track facing the bamboo. The drive wheel is connected to the drive motor. The translation drive component includes a telescopic rod and a hydraulic cylinder. The translation support includes a crossbeam connected to the telescopic rod. Connecting rods are provided on both sides of the crossbeam, and the connecting rods are hinged to one side of the corresponding track beam. The hydraulic cylinder is equipped with support columns at both the top and bottom. The support columns are connected to telescopic guide rods, and the telescopic end of the telescopic guide rods is hinged to the track beam. A branch removal mounting frame is provided above the driven wheel, and the branch removal assembly is mounted on the branch removal mounting frame.

2. The bamboo debranching robot as described in claim 1, characterized in that, The debranching mounting bracket is fixed to both sides of the driven wheel via ear plates. The debranching assembly includes a first movable blade group, a second movable blade group, and a fixed blade group, which are staggered in the longitudinal direction.

3. The bamboo debranching robot as described in claim 2, characterized in that, The first movable blade assembly includes a stepper motor, a gear set, and a blade. The stepper motor is mounted on one side below the debranching mounting frame, and the gear set is mounted above the debranching mounting frame. The gear set is electrically connected to the stepper motor, and the blade is connected to the gear set via a rotating connecting rod.

4. The bamboo debranching robot as described in claim 3, characterized in that, Limiting posts are provided on both sides of the gear set, and the limiting posts restrict the rotation position of the rotating connecting rod one driving the blade one.

5. A bamboo debranching robot as described in claim 4, characterized in that, The fixed blade assembly includes a tool mounting plate and a third blade. The third blade is a fixed blade and is mounted on the edge of the tool mounting plate. The second movable blade assembly is located on the lower end face of the tool mounting plate.

6. A bamboo debranching robot as described in claim 5, characterized in that, The second movable blade assembly includes a second rotating connecting rod and a second blade. One end of the second rotating connecting rod is rotatably connected to the tool mounting plate, and the other end is fixedly connected to the second blade. The tool mounting plate has a travel limiting groove, and one end of a lever is connected to the travel limiting groove. The other end of the lever is connected to the second rotating connecting rod via a connecting rod. The lever moves within the travel limiting groove, limiting the rotation range of the second rotating connecting rod via the connecting rod. The travel limiting groove is located near the edge of the tool mounting plate at the rotating end of the second rotating connecting rod and is an elongated groove. A recess is provided at the end away from the rotating end of the second rotating connecting rod. When it is necessary to put the second rotating connecting rod in an open / locked state, the lever is moved into the recess to lock the second rotating connecting rod.

7. A bamboo debranching robot as described in claim 6, characterized in that, A telescopic spring is also connected below the tool mounting plate, and the other end of the telescopic spring is connected to a rotating connecting rod two that is close to one end of the blade.

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