Tree hole repairing device for ancient and famous trees

Abstract

The invention provides a tree hole repairing device for ancient and famous trees, and belongs to the technical field of tree repairing equipment. In order to solve the problems that an existing ancient and famous tree hole repairing device is complex in structure, poor in using effect and poor in safety, the ancient and famous tree hole repairing device comprises a grinding head arranged in a mechanical arm moving cavity, a suction mechanism arranged on the grinding head in a sleeving mode and a protective cover; in the process that the grinding head grinds and repairs a tree hole, the outer side edge of the tree hole can be blocked by opening the protective cover, wood chips generated when the grinding head grinds the tree hole are prevented from falling to the outer side of an ancient tree, and the wood chips are sucked and collected into the wood chip box through the suction mechanism, so that the wood chips are prevented from scattering and falling off; and the potential safety hazard is reduced, and meanwhile, the operator can conveniently control the tree hole polishing degree.

Description

Technical Field

[0001] The invention belongs to the technical field of tree repair equipment, and in particular relates to a tree hole repair device for ancient and famous trees. Background Art

[0002] The old and famous trees that have experienced many vicissitudes of life are prone to decay of the trunk wood and formation of holes due to insect pests, mechanical damage, improper pruning and other reasons. If such tree holes are not repaired in time, they are more susceptible to pests and diseases after water accumulation, which will lead to large-scale decay or even hollowing of the trunk over time, and may lead to the death of the old and famous trees. The protection of old and famous trees needs to be carried out from many aspects, among which the repair of tree holes is its core technology. However, since old and famous trees are generally tall, for relatively high holes, the current practice is to build a ladder, and then the staff climb up to spray the holes of the old and famous trees with drugs or apply tree hole repair materials. This method has three disadvantages. First, it is easy to cause secondary damage to the old and famous trees; second, during the climbing process, someone needs to assist in fixing the ladder, which increases human capital to a certain extent in the case of a shortage of technicians for the restoration of old and famous trees; third, during the climbing process, the staff must carry potions or tree hole repair materials, such as traditional alkaline cement mortar, which is easy to splash on the staff and eyes, causing certain harm to personal safety.

[0003] The patent with the publication number CN114711084B discloses a tree hole filling and repairing device for ancient and famous trees, including a mounting column, the mounting column is fixedly connected to symmetrical vertical rods, the symmetrical vertical rods are respectively fixedly connected to T-shaped rods, the symmetrical vertical rods are respectively fixedly connected to cone-bottom barrels, the cone-bottom barrels are fixedly connected to horizontal plates, the cone-bottom barrels are fixedly connected to material pipes, the material pipes are fixedly connected to symmetrical track grooves, the material pipes are fixedly connected to round pipe 1, the material pipes are fixedly connected to the slide grooves, the T-shaped rods are fixedly connected to the rings, the round rings are fixedly connected to the symmetrical guide grooves, the round rings are fixedly connected to the fixing rods, the fixing rods are fixedly connected to the L-shaped rods, the round rings are fixedly connected to the L-plates, the horizontal plates are fixedly connected to the stirring mechanism, and the round rings are fixedly connected to the repairing mechanism. When in use, the moving mechanism is operated to move the rotating knife into the tree hole, the motor 2 is turned on, the motor 2 drives the gear 2 and the wheel 2 to rotate, the wheel 2 drives the wheel 1 and the round pipe 2 to rotate through the belt 1, and the round pipe 2 drives the nozzle to swing. Gear 2 drives gear ring 1 to rotate, gear ring 1 drives gear 1 to rotate, gear 1 drives wheel 5 to rotate, wheel 5 drives wheel 4 to rotate through belt 2, wheel 4 drives wheel 3 to rotate through belt 3, and wheel 3 drives the rotary cutter to rotate. Rotate screw 1, screw 1 drives bevel gear 1 to rotate, bevel gear 1 drives bevel gear 2 to rotate, bevel gear 2 drives the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel drives gear 3 to rotate, gear 3 drives gear ring 2 to rotate, gear ring 2 drives half gear ring to rotate, half gear ring drives connecting rod 3 to swing, connecting rod 3 drives wheel 4 to swing, wheel 4 drives connecting rod 2 to swing, connecting rod 2 drives wheel 3 and the rotary cutter to move, and wheel 3 drives the square rod to move along the guide groove so that the rotary cutter contacts the edge of the tree hole. Operate the moving mechanism to drive the device to swing back and forth, so that the rotary cutter rotates and swings back and forth around the center of the tree hole, and the tree hole is trimmed.

[0004] The above technical solution repairs the tree hole by setting a rotating knife, a second motor, a second gear, a ring and a belt, but the mechanism for repairing the tree hole is complex. In addition, due to the different depths of different tree holes, although the above solution can move the position of the rotating knife by operating the moving mechanism, the rotating knife cannot penetrate into the tree hole due to the obstruction of the surface of the ancient tree, and the inside of the tree hole cannot be thoroughly repaired and polished, resulting in poor use effect.

[0005] Moreover, in the process of enlarging and grinding the tree hole, a large amount of sawdust will be generated, which will affect the operator's line of sight, and the above-mentioned technical scheme cannot solve this technical problem, and there is a safety hazard. Therefore, a tree hole repair device for ancient and famous trees is further designed, which can collect sawdust during the grinding process, so as to avoid blocking the operator's line of sight and improve the safety of the device. Summary of the invention

[0006] The purpose of the present invention is to overcome the problems of complex structure, poor use effect and poor safety of existing tree hole repair devices for ancient and famous trees.

[0007] In order to achieve the above-mentioned purpose, the technical idea adopted by the present invention is: to set up a tree hole repair device for ancient and famous trees, including a grinding head arranged in the movable cavity of a mechanical arm, and a suction mechanism and a protective cover mounted on the grinding head; in the process of the grinding head grinding and repairing the tree hole, the protective cover can be opened to seal the outer edge of the tree hole to prevent the wood chips generated by the grinding head when grinding the tree hole from falling to the outside of the ancient tree, and the wood chips are sucked and collected into the wood chip box by the suction mechanism, thereby avoiding the wood chips from scattering and falling, blocking the operator's line of sight, reducing safety hazards, and facilitating the operator to control the degree of grinding of the tree hole.

[0008] Based on the above technical ideas, the technical solution adopted by the present invention is: A tree hole repair device for ancient and famous trees comprises a lifting base and a mechanical arm arranged on the lifting base, wherein an active cavity is provided at the movable end of the mechanical arm, and the active cavity is provided with: a first telescopic rod; A suction mechanism, one end of which is connected to the output end of the first telescopic rod, and the other end of which passes through the active cavity and is connected to the wood chip collection box outside the mechanical arm; A grinding head is arranged on one end of the suction mechanism connected to the output end of the first telescopic rod; The protective cover is sleeved on the suction mechanism and is located at one end close to the grinding head.

[0009] In the above technical solution, preferably, the attraction mechanism includes: A suction head is connected to the grinding head, and a protective cover is sleeved on the suction head; A suction tube, one end of which is connected to the suction head, and the other end of which is connected to the wood chip collection box.

[0010] As a further limitation of the above technical solution, the suction head is a tubular structure, and the suction head is connected to the grinding head through a limiting plate.

[0011] To further limit the above technical solution, the limiting piece includes: A connecting ring connected to the end of the grinding head; At least two limit blocks are symmetrically arranged on the side of the connecting ring, one end of the limit block is connected to the connecting ring, and the other end is connected to the suction head.

[0012] Further limitations on the above technical solution also include: The spreader is sleeved on the suction head, one end of the spreader is connected to the protective cover, and the other end of the spreader is connected to the second telescopic rod arranged in the active cavity.

[0013] In a further limitation of the above technical solution, the expander comprises: A sliding ring is sleeved on the suction head; the rear end of the sliding ring is connected to the second telescopic rod; A plurality of V-shaped folding rods are arranged radially and evenly spaced with the sliding ring as the center, and one end of each V-shaped folding rod is connected to the front end of the sliding ring, and the other end is connected to the outer edge of the anti-slip cover.

[0014] A further limitation of the above technical solution is that it also includes a repair mechanism for filling the tree hole; the repair mechanism includes: Material storage boxes; A spray filling pipe has one end connected to the material storage box and the other end arranged on the mechanical arm and the spray filling pipe is located at the bottom end of the mechanical arm.

[0015] Further limitations on the above technical solution also include: The camera is connected to the suction head through a connecting piece.

[0016] As a further limitation of the above technical solution, a plurality of auxiliary grinding heads are evenly spaced along the circumferential direction on the outer side of the grinding head.

[0017] As a further limitation of the above technical solution, the protective cover is made of transparent material. Beneficial Effects

[0018] 1. The present invention combines a grinding head, a suction mechanism and a protective cover. When the grinding head is grinding and repairing a tree hole, the protective cover can be used to seal the outer edge of the tree hole to prevent wood chips generated by the grinding head when grinding the tree hole from falling to the outside of the ancient tree. At the same time, the suction mechanism can be used to attract and collect the wood chips into a wood chip box, thereby avoiding the situation where wood chips block the operator's line of sight, reducing safety hazards, and making it convenient for the operator to observe the grinding situation in the tree hole, thereby further controlling the grinding time of the grinding head, preventing the tree hole from being over-grinded or under-grinded, and improving the grinding and repair efficiency of the tree hole.

[0019] 2. The present invention sets the grinding head on the end of the first telescopic rod through the suction head. When in use, the position of the grinding head in the horizontal direction can be adjusted by controlling the extension and retraction of the first telescopic rod. Moreover, the position of the grinding head in the vertical direction can be adjusted by manually controlling the mechanical arm so that the grinding head can enter the interior of the tree hole and extend out, so as to completely grind the inner wall of the tree hole, and the use effect is good.

[0020] 3. The present invention, through the combined arrangement of the protective cover and the expander, can adjust the expansion degree of the protective cover through the expander according to the inner diameter of the tree hole, so as to be suitable for tree holes of different sizes, so that the protective cover can block tree holes of different sizes. After use, the expander drives the outer edge of the protective cover to retract until the protective cover fits the outer surface of the suction head, so that the anti-slip cover moves with the suction head, ensuring that the polished and repaired tree hole can be disinfected and filled with repair materials normally.

[0021] 4. The anti-slip cover provided by the present invention is made of transparent material. Through the joint setting of the protective cover and the camera, the operator does not need to climb or use other lifting tools to reach the high tree hole position, and the tree hole can also be repaired. That is, the operator can check the situation inside the tree hole through the remote control on the ground, so that the operator can manually control the operation of the robotic arm, grinding head, protective cover and suction mechanism, thereby ensuring the safety of the operator.

[0022] 5. The spray filling tube in the repair mechanism provided by the present invention is a double-layer sleeve, which includes a first spray tube and a second spray tube. The first spray tube can be used to spray preservatives or disinfectants and other agents into the tree hole, and the second spray port can be used to fill the tree hole with repair materials.

[0023] 6. The present invention adopts the combined design of the camera, the grinding head and the suction head. When the suction head moves into the tree hole, the suction head simultaneously drives the grinding head and the camera to move into the tree hole, so that the camera can capture the situation inside the tree hole more clearly, thereby facilitating the operator to control the grinding head on the ground to grind the tree hole more clearly and meticulously.

[0024] 7. The present invention can further increase the grinding range by arranging multiple auxiliary grinding heads around the grinding head. The auxiliary grinding heads are relatively small. For positions that require fine grinding, such as the corners of tree holes, the auxiliary grinding heads can be used to perform more fine grinding on the tree holes, further improving the grinding effect of the grinding head. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the structure of a tree hole repair device for ancient and famous trees provided in Example 1; Figure 2 for Figure 1 The enlarged view of point A in the middle; Figure 3 for Figure 2 The enlarged view of point B in the middle; Figure 4 for Figure 1 A schematic diagram of the structure of the device shown in another perspective; Figure 5 for Figure 4 Enlarged view of point C in the middle; Figure 6 for Figure 5 The enlarged view of point D in the middle; Figure 7 for Figure 5 A schematic diagram of the structure of the device shown in another perspective; Figure 8 for Figure 5 A schematic diagram of the structure of the device shown in another perspective; Fig. 9 for Figure 1 A schematic diagram of the structure of the device shown in another perspective; Fig.10 It is a schematic diagram of the connection relationship between the attraction mechanism and the wood chip collection box; Fig.11 for Fig.10 Enlarged view of point E in the middle; Fig.12 It is a schematic diagram of the positional relationship between the protective cover and the suction head; Fig.13 for Fig.12 The enlarged view of F in the middle; Fig.14 It is a front view of the repair mechanism; Fig.15 for Fig.14 Enlarged view of G in the middle; Fig.16 for Fig.14 A schematic diagram of the structure of the device shown in another perspective; Fig.17 for Fig.16 The enlarged view of F in the middle; Fig.18 for Fig.17 Enlarged view of G in the middle; Fig.19 It is a schematic diagram of the structure of the end of the spray filling pipe; Fig. 20 is a schematic diagram of the structure of the second spray pipe; Fig.21 This is a diagram of the protective cover in an unused state; Fig. 22 for Figure 1 A diagram showing the device in use; Fig.23 for Fig. 22 The enlarged view of the H in the middle; Fig.24 A schematic diagram of the position relationship between a camera and a robotic arm provided in Example 3; Fig.25 for Fig.14 Schematic diagram of the connection relationship between the camera and the suction head; Fig.26A schematic diagram of the connection relationship between a grinding head and an auxiliary grinding head provided in Example 4.

[0027] Among them, 1. Grinding head; 2. Suction mechanism; 21. Suction head; 22. Suction tube; 3. Protective cover; 4. Limiting piece; 41. Connecting ring; 42. Limiting block; 5. spreader; 51. sliding ring; 52. V-shaped folding rod; 52a. first folding rod; 52b. second folding rod; 6. Repair mechanism; 61. Material storage box; 62. Spray filling pipe; 62a. First spray pipe; 62a-1. Connecting part; 62a-2. Fixed cylinder; 62a-3. Sliding cylinder; 62b. Second spray pipe; 62b-1. Fixed part; 62b-2. Second telescopic part; 62c. Connecting piece; 7. Lifting base; 8. Robotic arm; 9. First telescopic rod; 10. Second telescopic rod; 11. Third telescopic rod; 12. Wood chip collection box; 13. Camera; 14. Ancient tree; 15. Connector; 16. Auxiliary grinding head. DETAILED DESCRIPTION

[0028] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0029] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by terms such as “upper”, “lower”, “front”, “rear”, “top”, “bottom”, “inside”, “outside”, “axial”, “radial”, and “circumferential” are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] In addition, features stated as “first” or “second” may explicitly or implicitly include one or more of such features.

[0031] In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The inventors have found that the existing ancient tree repair devices have the following problems and shortcomings: 1. The existing ancient tree repair devices have a complex structure; 2. The operator is required to climb or use other tools to reach the tree hole located at a high place; 3. The inside of the tree hole cannot be repaired and polished thoroughly; 4. During the polishing process, a large amount of wood chips and debris will be generated, which will affect the operator's line of sight, making it impossible to effectively control the degree of polishing.

[0034] Based on the above findings, the present application provides a tree hole repair device for ancient trees and famous trees, which includes a grinding head arranged in an active cavity of a movable section of a mechanical arm, and a suction mechanism and a protective cover sleeved on the grinding head; the present application achieves this by 1. In the process of the grinding head grinding and repairing the tree hole of the ancient tree, the protective cover is opened to seal the outer edge of the tree hole, so as to prevent the wood chips generated by the grinding head when grinding the tree hole from falling to the outside of the ancient tree, and at the same time, the suction mechanism attracts and collects the wood chips into the wood chip box, thereby preventing the wood chips from scattering and falling, and blocking the operator's line of sight, thereby reducing safety hazards; 2. The grinding head, suction mechanism, protective cover and repair mechanism and other components are all arranged on the mechanical arm, and the mechanical arm is connected to the wood chip collection box fixed on the lifting base. A camera is arranged at the end of the mechanical arm, so that when the operator is grinding and repairing the tree hole at a high place of the ancient tree, the operator cannot climb or use other lifting tools to reach the tree hole at a high place of the ancient tree to check the grinding and repairing of the tree hole; 3. The suction head is connected to the output end of the first telescopic rod and to the grinding head, so that the position of the grinding head can be adjusted in the horizontal direction, so that the grinding depth of the grinding head can be controlled so that the tree hole can be completely polished. Example

[0035] This embodiment provides a tree hole repair device for ancient trees and famous trees, such as Figure 1-13 As shown, it includes a grinding head 1, a suction mechanism 2, an anti-slip cover 3, a spreader 5, a lifting base 7, and a mechanical arm 8. The suction mechanism 2 includes a suction head 21 and a suction tube 22 sealedly connected to the suction head 21.

[0036] It should be noted that the lifting base 7 and the mechanical arm 8 provided in the embodiment of the present invention are both prior arts, and the embodiment of the present invention does not make any improvements thereto.

[0037] Specifically, Figure 1 and 10 As shown, a mechanical arm 8 is provided on the lifting base 7, and specifically, the end of the mechanical arm 8 is fixedly connected to a wood chip collection box 12 fixedly arranged on the lifting base 7. When in use, the mechanical arm 8 can be used to raise or lower the grinding head 1 located in the movable cavity at the movable end of the mechanical arm, so as to adjust the position of the grinding head 1 in the vertical direction, so that the grinding head 1 can grind the inside of the tree hole of the ancient tree 14.

[0038] The mechanical arm 8 is a multi-section rotating connecting rod, including a plurality of rotating connecting rods; specifically, the movable end of the mechanical arm 8 is provided with an active cavity, such as Fig.21 As shown, the movable cavity is used to install the grinding head 1, the suction mechanism 2 and the anti-slip cover 3. Specifically, the movable cavity is a circular groove, and a through hole communicating with the outside is provided at the inner bottom of the movable cavity so that the suction pipe 22 passes through and is connected to the wood chip collection box 12.

[0039] like Figure 3-8 As shown, the grinding head 1 is arranged in the movable cavity, and the outer side of the grinding head 1 is provided with an attraction head 21; wherein, the grinding head 1 is fixedly connected to the attraction head 21 through a limit plate 4. Specifically, the attraction head 21 is a cylindrical structure. Specifically, a rotating motor (not shown in the figure) is arranged at the end of the grinding head 1, and the rotating motor is fixedly connected to the limit plate 4, that is, the driving motor is located between the grinding head 1 and the limit plate 4, and when in use, the rotating motor is used to control the rotation of the grinding head 1.

[0040] It should be noted that the embodiment of the present invention does not limit the fixed connection method between the driving motor and the limiting plate 4. For example, the driving motor and the limiting plate 4 are fixedly connected by bolts or buckles.

[0041] The side of the attraction head 21 is connected to the first telescopic rod 9 fixedly arranged on the inner wall of the movable cavity of the robotic arm 8. Specifically, the side of the attraction head 21 is connected to the output end of the first telescopic rod 9. In actual application, in order to facilitate the normal operation of the first telescopic rod 9, a movable groove is also provided on the side wall of the accommodating cavity of the robotic arm 8 so that the first telescopic rod 9 can be extended or retracted.

[0042] When in use, the first telescopic rod 9 drives the attraction head 21 to move linearly in the horizontal direction by controlling the attraction head 21 to extend or retract. Since the attraction head 21 is fixedly connected to the grinding head 1 through the limiting plate 4, the grinding head 1 and the attraction head 2 move synchronously.

[0043] Specifically, Fig.13As shown, the limiting plate 4 includes a connecting ring 41 and two limiting blocks 42 symmetrically arranged outside the connecting ring 41; wherein the connecting ring 41 is a circular sheet structure, and the connecting ring 41 and the limiting blocks 42 are integrally connected. When in use, the connecting ring 41 is connected to the rotating motor located at the end of the grinding head 1; and the end of the limiting block 42 away from the connecting ring 41 is fixedly connected to the suction head 21.

[0044] The embodiment of the present invention does not limit the shape of the limit block 42. For example, the limit block 42 can be a straight rod, an iron mesh or an arc-shaped piece. The embodiment of the present invention is described by taking the limit block 42 as an arc-shaped piece as an example.

[0045] It should be noted that the embodiment of the present invention does not limit the fixed connection method between the limit plate 4 and the grinding head 1, and the fixed connection method between the limit plate 4 and the attraction head 21. By way of example, the fixed connection method between the limit plate 4 and the grinding head 1, and the fixed connection method between the limit plate 4 and the attraction head 21 are both welding.

[0046] In practical applications, such as Fig.14 As shown, there is a gap between the suction head 21 and the grinding head 1. In this way, when the grinding head 1 is grinding the tree hole of the ancient tree 14, the debris generated by the tree hole is sucked into the gap between the suction head 21 and the grinding head 1 by the negative pressure suction device (not shown in the figure) connected to the suction tube 22, and then through the suction tube 21 provided at the end of the suction head 21, and finally collected into the wood chip collection box 12. It should be noted that the negative pressure suction device in the embodiment of the present invention is a prior art, and the embodiment of the present invention does not improve this. For example, the negative pressure suction device is a suction pump.

[0047] like Fig.11 As shown, the suction pipe 22 is a corrugated pipe, one end of which is fixedly connected to the suction head 21, and the other end of which passes through the movable cavity of the mechanical arm 8 and communicates with the wood chip collection box 12 disposed outside the mechanical arm 8. When in use, the suction pipe 22 can be retracted or stretched as the suction head 21 moves, while ensuring that the wood chips are collected in the wood chip collection box 12. In actual application, the suction pipe 22 is fixed to the bottom end of the mechanical arm 8 by a fixing belt.

[0048] The protective cover 3 is a circular ring structure. Figure 3-6 As shown, the inner side of the protective cover 3 is provided with a fixing ring, which is used to be fixedly connected to the suction head 21, and the outer edge of the protective cover 3 is fixedly connected to the opener 5. Among them, the protective cover 3 is made of transparent material, so that the camera 13 set on the mechanical arm 8 can transmit the captured video to the display, so that the operator can observe the situation in the tree hole in real time.

[0049] When in use, the protective cover 3 moves with the grinding head 1, and the opening size of the protective cover can be adjusted by the expander 5 connected to the protective cover 3, so that the anti-slip cover 3 blocks the edge of the tree hole of the ancient tree 14, thereby preventing the wood chips and debris generated by the grinding head 1 during the grinding of the tree hole from splashing to the outside of the tree hole.

[0050] The spreader 5 includes a sliding ring 51 and a plurality of V-shaped folding rods 52 radially arranged at equal intervals with the sliding ring 51 as the center. The sliding ring 51 is sleeved on the suction head 21, and the sliding ring 51 is connected to the second telescopic rod 10 fixedly arranged on the inner wall of the active cavity of the mechanical arm 8. Specifically, the sliding ring 51 is connected to the output end of the second telescopic rod 10.

[0051] Specifically, Figure 3 As shown, the V-shaped folding rod 52 includes a first folding rod 52a and a second folding rod 52b; when in use, the first folding rod 52a is fixedly set on the anti-slip cover 3, and each first folding rod 52a is arranged radially and evenly spaced around the center of the protective cover 3; one end of the second folding rod 52b is rotatably connected to the side of the first folding rod 52a, and the other end is rotatably connected to the sliding ring 51.

[0052] like Figure 7 , 22 -24, as shown, the sliding ring 51 is provided with a plurality of equally spaced limit grooves, and the positions of the plurality of limit grooves correspond one-to-one to the second folding rod 52b, so that after the grinding head 1 finishes grinding the tree hole, the second telescopic rod 10 can be controlled to extend to drive the second folding rod 52b to rotate until the second folding rod 52b is in a horizontal state. At this time, the second folding rod 52b overlaps with the first folding rod 52a, so that the protective cover 3 is folded, so that the V-shaped folding rod 52 slides tightly against the outer surface of the suction head 21, and then the protective cover 3 moves synchronously with the suction head 21 to achieve storage.

[0053] It should be noted that the drive motor, the first telescopic rod 9 and the second telescopic rod 10 provided in the embodiment of the present invention are all prior art, and the embodiment of the present invention does not improve them. For example, the model of the drive motor is KY200AS09100-30-FB; the first telescopic rod 9 and the second telescopic rod 10 can be electric push rods or hydraulic rods, etc., and for example, the specific model is HY02. Example

[0054] Based on Example 1, different from Example 1, Figure 14-23 As shown, the tree hole repairing device for ancient and famous trees provided in the embodiment of the present invention also includes a repairing mechanism 6 for filling the repairing material into the tree hole.

[0055] The repair mechanism 6 includes a material storage box 61 and a spray filling pipe 62 connected to the material storage box 61 .

[0056] The material storage box 61 is arranged on the lifting base 7; Fig.15 As shown, the material storage box 61 includes two mutually isolated storage chambers, one of which is used to store spray preservatives or disinfectants and other agents, and the other is used to store repair materials for filling tree holes.

[0057] The spray filling pipe 62 is a double-layer casing. Figure 15-19 As shown, the spray filling pipe 62 includes a first spray pipe 62a and a second spray pipe 62b sleeved in the first spray pipe 62a; The first spraying pipe 62a is communicated with the storage chamber for storing medicine in the material storage box 61; the second spraying pipe 62b is communicated with the storage chamber for storing repair material in the material storage box 61.

[0058] The first spray pipe 62a is fixedly arranged at the bottom end of the mechanical arm 8 by a fixing member, so that after the grinding head 1 finishes grinding and repairing the tree hole, the spray filling pipe 62 is raised by moving the mechanical arm 8, so that the spraying port of the spray filling pipe 62 is aimed at the tree hole of the ancient tree 14. It should be noted that the embodiment of the present invention does not limit the structure of the fixing member, and the embodiment of the present invention is described by taking the fixing member as a fixing belt as an example.

[0059] like Fig.19 As shown, the first spray pipe 62a includes a first hose 62a-1 and a fixed cylinder 62a-2 disposed at the end of the first hose 62a-1, and a sliding cylinder 62a-3 is slidably disposed inside the end of the fixed cylinder 62a-2 away from the first hose 62a-1. The fixed cylinder 62a-2 is fixedly connected to the first hose 62a-1. It should be noted that the embodiment of the present invention does not limit the fixed connection method of the fixed cylinder 62a-2 and the first hose 62a-1. For example, the fixed cylinder 62a-2 and the first hose 62a-1 are connected by gluing.

[0060] Specifically, the side surface of the sliding cylinder 62a - 3 is connected to the third telescopic rod 11 provided on the inner wall of the accommodating cavity of the robot arm 8 , so that the operator can control the sliding cylinder 62a - 3 to extend or retract by controlling the third telescopic rod 11 .

[0061] The output end of the third telescopic rod 11 is fixedly connected to the side of the sliding cylinder 62a-3 through a connecting rod. In practical applications, the bottom end of the mechanical arm 8 is provided with a movable groove for moving with the connecting rod arranged on the output end of the third telescopic rod 11.

[0062] like Fig. 20 As shown, the second spray pipe 62b includes a second hose 62b-1 and a telescopic tube 62b-2 disposed on the end of the second hose 62b-1. Specifically, the telescopic tube 62b-2 is a corrugated tube.

[0063] One end of the telescopic tube 62b-2 away from the second hose 62b-1 is connected to the sliding cylinder 62a-3 through the connecting piece 62c to prevent the telescopic tube 62b-2 from shaking in the sliding cylinder 62a-3.

[0064] In practical applications, the two storage chambers of the material storage box 61 are respectively connected to the delivery pump; it should be noted that the delivery pump provided in the embodiment of the present invention is a prior art, and the embodiment of the present invention does not improve it. The delivery pump can be a screw pump or a magnetic pump. For example, the model of the delivery pump is Huanmeng G25-1, GY-405PW-F, etc. Example

[0065] Based on Example 1, what is different from Examples 1 and 2 is that Fig.24 and Fig.25 As shown, the camera 13 in the tree hole repairing device for ancient and famous trees provided in an embodiment of the present invention is connected to the suction head 21 through a connecting piece 15.

[0066] Specifically, the camera 13 is disposed at the upper end of the mechanical arm 8, and the camera 13 is fixedly connected to the outer surface of the suction head 21 through the connecting member 15. It should be noted that the embodiment of the present invention does not limit the fixing method of the camera 13 to the connecting member 15 and the suction head 21, and for example, the camera 13 is welded to the connecting member 15 and the suction head 21, respectively.

[0067] Correspondingly, such as Fig.24 As shown, in order to facilitate the camera 13 to move with the suction head 21, a slide slot is provided at the upper end of the mechanical arm 8 to facilitate the movement of the camera 13. In this way, when the suction head 21 moves into the tree hole, the suction head 21 drives the grinding head 1 and the camera 13 to move into the tree hole at the same time, so that the camera 13 can more clearly capture the situation in the tree hole, thereby facilitating the operator to more clearly and more meticulously control the grinding head 1 on the ground. Example

[0068] Based on Example 1, what is different from Examples 1-3 is that Fig.26 As shown, the tree hole repairing device for ancient and famous trees provided by the embodiment of the invention also includes a plurality of auxiliary grinding heads 16 arranged in a circle with equal intervals around the grinding head 1 as the center, the diameter of the plurality of auxiliary grinding heads 16 is smaller than the diameter of the grinding head 1, and the auxiliary grinding heads 16 are located on the rear side of the grinding head 1; in this way, in the process of grinding the tree hole, the plurality of auxiliary grinding heads 16 can expand the grinding range of the tree hole, and for the edges and corners of the tree hole and other positions that require fine grinding, the auxiliary grinding heads 16 can be used to perform more fine grinding on the tree hole.

[0069] The specific usage process is: Step 1: Move the lifting base 7 to one side of the tree hole of the ancient tree; Step 2: The operator starts the robot arm 8 according to the monitoring picture captured by the camera 13, so that the grinding head 1 at the end of the robot arm 8 is aimed at the tree hole; Step 3: The operator starts the first telescopic rod 9, and the first telescopic rod 9 drives the grinding head 1 to move linearly in the horizontal direction through the suction head 21 until the grinding head 1 is located at the position to be ground in the tree hole; Step 4: The operator starts the second telescopic rod 10, and the second telescopic rod 10 drives the sliding ring 51 to move away from the protective cover 3, so that the sliding ring 51 drives the V-shaped folding rod 52 to be opened, and then the protective cover 3 is opened by the V-shaped folding rod 52. At this time, the opening of the protective cover 3 expands, and the tree hole of the ancient tree 14 is sealed; Step 5: The operator starts the driving motor to grind the tree hole through the grinding head 1; at the same time, the negative pressure suction device connected to the suction pipe 22 is started to suck the wood chips generated by grinding into the suction pipe 22 while grinding the tree hole, and then the wood chips are sucked and collected into the wood chip collection box 12; Step 6: After finishing the grinding of one position in the tree hole, repeat the above steps 3 to 5 to grind other positions of the tree hole until the grinding and repair of the tree hole is completed; Step 7: After the grinding is completed, the operator starts the second telescopic rod 10 and controls the second telescopic rod 10 to extend toward the end where the grinding head 1 is provided, so that the protective cover 3 is folded and retracted; Step 8: The operator controls the first telescopic rod 9 to retract, and the first telescopic rod 9 drives the suction head 21 and the grinding head 1 located in the suction head 21 to withdraw from the tree hole until the grinding head 1 and the protective cover 3 enter the movable cavity of the robot arm 8, so as to subsequently repair the ground tree hole; Step nine: The operator adjusts the height of the robotic arm 8 according to the monitoring image captured by the camera 13 so that the spraying port of the spray filling pipe 62 is aligned with the inside of the tree hole; Step 10: The operator starts the third telescopic rod 11, so that the third telescopic rod 11 extends, and the third telescopic rod 11 drives the sliding cylinder 62a-3 and the second telescopic part 62b-2 to extend into the tree hole; in this process, the second telescopic part 62b-2 is stretched; Step 11: The operator turns on the delivery pump connected to the storage chamber for storing the agent in the material storage box 61, so that the disinfectant and other agents are sprayed from the spraying port of the first spraying pipe 62a into the tree hole; Step 12: After the tree hole is disinfected, the operator closes the delivery pump connected to the storage chamber for storing the agent, and opens the delivery pump connected to the storage chamber for storing the repair material in the material storage box 61, so that the repair material can be sprayed into the tree hole from the spray port of the second spray pipe 62b. At this time, the repair of the tree hole of the ancient tree 14 is completed.

[0070] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A tree hole repair device for ancient and famous trees, comprising a lifting base (7) and a mechanical arm (8) arranged on the lifting base (7), characterized in that: The movable end of the mechanical arm (8) is provided with an movable cavity, and the movable cavity is provided with: A first telescopic rod (9); A suction mechanism (2), one end of which is connected to the output end of the first telescopic rod (9), and the other end of which passes through the movable cavity and is connected to the wood chip collection box (12) outside the mechanical arm (8); A grinding head (1) is arranged on one end of the suction mechanism (2) connected to the output end of the first telescopic rod (9); The protective cover (3) is sleeved on the suction mechanism (2) and is located at one end close to the grinding head (1).

2. The tree hole repair device for ancient and famous trees according to claim 1 is characterized in that: Attraction agencies (2) include: A suction head (21) is connected to the grinding head (1), and a protective cover (3) is sleeved on the suction head (21); The suction pipe (22) has one end connected to the suction head (21) and the other end connected to the wood chip collection box (12).

3. The tree hole repairing device for ancient and famous trees according to claim 2 is characterized in that: The suction head (21) is a tubular structure, and the suction head (21) is connected to the grinding head (1) via a limiting plate (4).

4. The tree hole repairing device for ancient and famous trees according to claim 3 is characterized in that: The stopper (4) comprises: A connecting ring (41) connected to the end of the grinding head (1); At least two limit blocks (42) are symmetrically arranged on the side of the connecting ring (41), and one end of the limit block (42) is connected to the connecting ring (41), and the other end is connected to the suction head (21).

5. The tree hole repairing device for ancient and famous trees according to claim 2 is characterized in that: Also includes: The spreader (5) is sleeved on the suction head (21), and one end of the spreader (5) is connected to the protective cover (3), and the other end of the spreader (5) is connected to a second telescopic rod (10) arranged in the movable cavity.

6. The tree hole repairing device for ancient and famous trees according to claim 5 is characterized in that: The spreader (5) comprises: A sliding ring (51) is sleeved on the suction head (21); a rear end of the sliding ring (51) is connected to the second telescopic rod (10); A plurality of V-shaped folding rods (52) are arranged radially and at equal intervals with the sliding ring (51) as the center, and one end of each V-shaped folding rod (52) is connected to the front end of the sliding ring (51), and the other end is connected to the outer edge of the anti-slip cover (3).

7. The tree hole repairing device for ancient and famous trees according to claim 1 is characterized in that: It also includes a repair mechanism (6) for filling the tree hole; the repair mechanism (6) includes: Material storage box (61); A spray filling pipe (62) has one end connected to the material storage box (61) and the other end arranged on the mechanical arm (8), and the spray filling pipe (62) is located at the bottom end of the mechanical arm (8).

8. The tree hole repairing device for ancient and famous trees according to claim 2 is characterized in that: Also includes: The camera (13) is connected to the suction head (21) via a connecting piece (15).

9. The tree hole repairing device for ancient and famous trees according to claim 1 is characterized in that: A plurality of auxiliary grinding heads (16) are evenly spaced along the circumferential direction on the outer surface of the grinding head (1).

10. The tree hole repairing device for ancient and famous trees according to claim 1, characterized in that: The protective cover (3) is made of transparent material.

Images