Tree-climbing pruning device capable of being attached to peripheral bark of tree

Abstract

According to the tree climbing pruning device capable of being attached to the peripheral bark of the tree, a first clamping part and a second clamping part are connected through a flexible inhaul cable, the flexible inhaul cable comprises a winding part, an attaching part, a tensioning part and a connecting end part, the attaching part is sequentially connected with a first limiting sleeve, a rolling attaching assembly and a second limiting sleeve in a sleeving mode, and the rolling attaching assembly comprises a chain and a rolling wheel; the climbing walking wheels are controlled by the deviation motor to do circumferential rotation around a shaft relative to the main connecting part or the first holding and clamping part or the second holding and clamping part, and the climbing walking wheels can be driven by a wheel edge motor of the climbing walking wheels to do rotary motion. Auxiliary rolling wheels are further arranged below the climbing walking wheels, and the auxiliary rolling wheels are connected with the main connecting part or the first clamping part or the second clamping part through auxiliary supports. The rolling attaching assembly is connected to the attaching part in a sleeving mode, when the climbing walking wheel rotates to the inclined position and is driven by a wheel edge motor of the climbing walking wheel to rotate, the rolling wheel is attached to the trunk, sliding friction is converted into rolling friction, and the peripheral skin of the trunk is protected against damage.

Description

Technical Field

[0001] The utility model relates to the technical field of tree climbing devices, in particular to a tree climbing and pruning device capable of fitting the peripheral skin of a tree. Background Technique

[0002] After a tree is cut down, in order to carry out large-scale industrial transportation, a series of processing and preparation work is usually required. First of all, the side branches and leaves on the tree trunk usually need to be trimmed to reduce the resistance during transportation and protect the tree trunk from damage. The trimming work can be carried out at the logging site or after the tree is transported to the processing site. In addition, in order to protect the tree trunk from damage during transportation, sometimes the tree trunk is repaired to make its surface smooth. And through a tree climbing and pruning robot, the side branches and leaves on the tree trunk can be trimmed before the tree is cut down.

[0003] For example, a multifunctional automatic climbing and walking type branch trimming device capable of adjusting its clamping state relative to the tree trunk according to the actual working scenario and motion state given in the Chinese patent application document with the application number CN202420161891.8. The device includes an openable and closable movable clamping assembly, and the openable and closable movable clamping assembly includes a main connection block. A branch trimming assembly is installed on the upper part of the main connection block. A first clamping plate and a second clamping plate are respectively arranged on both sides of the main connection block. One end of the first clamping plate and one end of the second clamping plate are respectively hinged to both sides of the main connection block; it also includes a climbing and walking roller system for driving the whole device to move relative to the rod-shaped object, and a clamping control driving system for adjusting and controlling the opening and closing angle between the first clamping plate and the second clamping plate and the clamping force of the device clamped on the rod-shaped object.

[0004] However, the applicant found that in the above solution, either an openable and closable frame structure is adopted, and the fitting force between the climbing and walking wheels and the surface of the branch is realized through a flexible cable. The ends of the first clamping plate and the second clamping plate are tensioned by the flexible cable, and the supporting rollers and the climbing and walking rollers are used to realize crawling close to the tree trunk. However, during the up and down crawling process, the flexible cable rubs against the tree trunk, which will cause frictional damage to the tree trunk. If the flexible cable is not tensioned, there will be a problem of the automatic climbing and walking type branch trimming device falling during the crawling process.

[0005] In view of the above problems, the utility model provides a tree climbing and pruning device capable of fitting the peripheral skin of a tree and reducing the frictional damage between the flexible cable and the tree trunk. Content of the Utility Model

[0006] Aiming at the deficiencies existing in the above-mentioned prior art, the purpose of the present utility model is to provide a tree climbing and pruning device that can fit the tree's periderm and reduce the frictional damage between the flexible cable and the tree trunk.

[0007] To achieve the above purpose, the present utility model provides the following technical solutions:

[0008] A tree climbing and pruning device that can fit the tree's periderm, comprising an opening and closing clamping mechanism. The opening and closing clamping mechanism includes a main connection part, a first clamping part, and a second clamping part. The first clamping part and the second clamping part are respectively connected to the left and right sides of the main connection part. A pruning operation module is provided at the upper end of the main connection part. The first clamping part and the second clamping part are connected by a flexible cable. The flexible cable includes a winding part, a fitting part, a tensioning part, and a connecting end part. The winding part is connected to the end of the first clamping part. The fitting part is sequentially sleeved with a first limiting sleeve, a rolling fitting component, and a second limiting sleeve. The rolling fitting component includes a chain and rolling wheels. The chain includes a plurality of chain segments. Adjacent chain segments are connected by a connecting shaft. The rolling wheels are connected to the chain segments through the connecting shaft. A second connecting piece is provided on the chain segment. A connecting hole is provided on the second connecting piece. The fitting part is connected to the connecting hole;

[0009] A climbing wheel is respectively provided at the same horizontal height of the main connection part, the first clamping part, and the second clamping part. The climbing wheel can rotate circumferentially around an axis relative to the main connection part, the first clamping part, or the second clamping part under the control of a biasing motor. The climbing wheel can perform a rotary motion under the drive of a wheel-side motor on its own.

[0010] An auxiliary roller is further provided below the climbing wheel. The auxiliary roller is connected to the main connection part, the first clamping part, or the second clamping part through an auxiliary bracket.

[0011] As a preference of the present utility model, a connection bin is provided at the end of the first clamping part. An opening is provided on the connection bin. A sliding wheel is axially connected in the inner cavity of the connection bin. The winding part is wound around the sliding wheel. A connection pull ring is provided on the side wall of the connection bin. The connection end part is sleeved in the connection pull ring.

[0012] As a preference of the present utility model, both the first limiting sleeve and the second limiting sleeve are flexible protective sleeves. The outer diameter length of the first limiting sleeve is at least greater than two-thirds of the opening width. The outer diameter length of the second limiting sleeve is at least greater than two-thirds of the opening width.

[0013] Preferably, the chain segment includes a pair of first connecting pieces and a connecting rib. The pair of first connecting pieces are respectively connected to both ends of the connecting rib. The connecting rib is disposed on the midline of the first connecting piece. The second connecting piece is connected to the connecting rib. The maximum radius of the rolling wheel is less than the distance from the axis of the connecting shaft to the connecting rib, and the maximum radius of the rolling wheel is greater than the height of the first connecting piece.

[0014] Preferably, the climbing and walking wheel is hinged inside the connecting bracket. The connecting bracket is connected to the first clamping portion or the second clamping portion through a sliding base. The deviation adjusting gear is disposed at the bottom of the sliding base. The connecting bracket is fixedly connected to the deviation adjusting gear. The deviation adjusting gear is connected to the driving gear through a belt. The driving gear is connected to the deviation motor. The connecting bracket rotates synchronously with the deviation adjusting gear.

[0015] The connecting bracket is connected to the main connecting portion through a fixed base. The deviation adjusting gear is disposed at the bottom of the fixed base. The deviation adjusting gear is connected to the driving gear through a belt. The driving gear is connected to the deviation motor. The connecting bracket is fixedly connected to the deviation adjusting gear, and the connecting bracket rotates synchronously with the deviation adjusting gear.

[0016] The auxiliary bracket includes a connecting platform, a main connecting bracket, and a movable arm. The connecting platform is connected to the main connecting portion, the first clamping portion, or the second clamping portion through a first shaft. The top of the connecting platform is fixedly connected to the main connecting bracket. A pair of movable arms are connected to the main connecting bracket through a second shaft. The rolling wheel is pivotally connected between the pair of movable arms.

[0017] Preferably, damping holes are provided on the main connecting bracket. Damping members are inserted into the damping holes. The damping members extend upward out of the damping holes and are connected to the second shaft.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] By designing and optimizing the flexible cable connecting the first clamping portion and the second clamping portion, a rolling and fitting assembly is sleeved on the fitting portion where the flexible cable fits with the tree trunk. Then, when the climbing and walking wheel controlled by the deviation motor rotates to an inclined position relative to the tree trunk and performs a rotary motion under the drive of its own wheel-side motor, the entire tree climbing and pruning device moves obliquely and spirally upward or downward. By fitting the rolling wheel with the tree trunk, the sliding friction between the original flexible cable and the tree trunk is converted into rolling friction, greatly reducing the friction between the flexible cable and the tree trunk and protecting the tree bark from damage. Description of the Drawings

[0020] Other features, objectives, and advantages of the present utility model will become more apparent by reading the following detailed description of non - restrictive embodiments with reference to the accompanying drawings:

[0021] Figure 1 It is a schematic diagram of the main structure of the present utility model;

[0022] Figure 2 It is a schematic diagram of the main connection part of the present utility model after removing the cover plate;

[0023] Figure 3 It is a schematic diagram of a partial structure in the first clamping part of the present utility model;

[0024] Figure 4 It is a schematic diagram of a partial structure of the chain in the present utility model;

[0025] Figure 5 It is a schematic diagram of the structure of the auxiliary roller in the present utility model.

[0026] In the figure:

[0027] 1. Main connection part, 101. Fixed base, 102. Biasing adjustment gear;

[0028] 2. Pruning operation module;

[0029] 3. First clamping part, 301. Connection bin, 3011. Opening, 302. Sliding wheel, 303. Connection pull - ring, 304. Winding motor;

[0030] 4. Second clamping part, 401. Second connection bin;

[0031] 501. First limiting sleeve, 502. Second limiting sleeve;

[0032] 6. Rolling and fitting assembly, 601. Chain, 6011. Chain segment, 60111. First connection piece, 60112. Connection rib, 6012. Connection shaft, 602. Rolling wheel, 603. Second connection piece, 6031. Connection hole;

[0033] 7. Climbing and walking wheel, 701. Connection bracket;

[0034] 8. Auxiliary roller, 801. Auxiliary bracket, 8011. Connection platform, 8012. Main connection bracket, 80121. Damping hole, 8013. Movable arm, 8014. First shaft, 8015. Second shaft, 8016. Damping part;

[0035] 9. Biasing motor, 901. Driving gear;

[0036] 10. Sliding base;

[0037] 12. Flexible cable, 1201. Winding part, 1202. Fitting part, 1203. Tensioning part, 1204. Connecting end part. Detailed implementation manners

[0038] In order to make the technical means, creative features, achieved purposes and effects realized by the present utility model easy to understand, the present utility model will be further described below in conjunction with the specific implementation manners.

[0039] Refer to Atta Figure 1 to Atta Figure 5 As shown in the figures, a tree climbing and pruning device capable of fitting the tree periderm includes an opening and closing clamping mechanism. The opening and closing clamping mechanism includes a main connecting part 1, a first clamping part 3 and a second clamping part 4. The first clamping part 3 and the second clamping part 4 are respectively connected to the left and right sides of the main connecting part 1. A pruning operation module 2 is provided at the upper end of the main connecting part 1. The first clamping part 3 and the second clamping part 4 are connected by a flexible cable 12. The flexible cable 12 includes a winding part 1201, a fitting part 1202, a tensioning part 1203 and a connecting end part 1204. The winding part 1201 is connected to the end of the first clamping part 3. A first limiting sleeve 501, a rolling fitting assembly 6 and a second limiting sleeve 502 are sequentially sleeved on the fitting part 1202. The rolling fitting assembly 6 includes a chain 601 and a rolling wheel 602. The chain 601 includes a plurality of chain segments 6011. Adjacent chain segments 6011 are connected by a connecting shaft 6012. The rolling wheel 602 is connected to the chain segment 6011 by the connecting shaft 6012. A second connecting piece 603 is provided on the chain segment 6011. A connecting hole 6031 is provided on the second connecting piece 603. The fitting part 1202 is connected to the connecting hole 6031.

[0040] A climbing walking wheel 7 is respectively provided on the main connecting part 1, the first clamping part 3 and the second clamping part 4 at the same horizontal height. The climbing walking wheel 7 can rotate around an axis relative to the main connecting part 1 or the first clamping part 3 or the second clamping part 4 under the control of a biasing motor 9. The climbing walking wheel 7 can perform a rotary motion under the drive of its own wheel side motor.

[0041] By designing and optimizing the flexible cable 12 connecting the first clamping part 3 and the second clamping part 4, a rolling fitting assembly 6 is sleeved on the fitting part 1202 where the flexible cable 12 fits the tree trunk. When the climbing walking wheel 7 controlled by the biasing motor 9 rotates to an inclined position relative to the tree trunk and performs a rotary motion under the drive of its own wheel side motor, the whole tree climbing and pruning device moves obliquely and spirally upward or downward. The rolling wheel 602 fits the tree trunk, converting the original sliding friction between the flexible cable 12 and the tree trunk into rolling friction, greatly reducing the friction between the flexible cable 12 and the tree trunk and protecting the tree periderm from damage.

[0042] An auxiliary roller 8 is also provided below the climbing walking wheel 7. The auxiliary roller 8 is connected to the main connecting part 1 or the first clamping part 3 or the second clamping part 4 through an auxiliary bracket 801.

[0043] Furthermore, connection bins 301 are provided at the ends of the first clamping part 3. An opening 3011 is provided on the connection bin 301. A sliding wheel 302 is pivotally connected in the inner cavity of the connection bin 301. The winding part 1201 is wound around the sliding wheel 302. A connection pull ring 303 is provided on the side wall of the connection bin 301. The socket at the connecting end 1204 of the winding part 1201 is sleeved in the connection pull ring 303.

[0044] Furthermore, both the first limiting sleeve 501 and the second limiting sleeve 502 are flexible protective sleeves. The outer diameter length of the first limiting sleeve 501 is at least greater than two-thirds of the width of the opening 3011. The outer diameter length of the second limiting sleeve 502 is at least greater than two-thirds of the width of the opening 3011. By designing the outer diameters of the first limiting sleeve 501 and the second limiting sleeve 502, it is ensured that the first limiting sleeve 501 will not enter the inner cavity of the connection bin 301. Similarly, the second limiting sleeve 502 will not enter the inner cavity of its second connection bin 401 on the second clamping part 4, so that the rolling and fitting assembly 6 can always effectively fit with the tree trunk.

[0045] Furthermore, the chain segment 6011 includes a pair of first connection pieces 60111 and a connection rib 60112. The pair of first connection pieces 60111 are respectively connected to both ends of the connection rib 60112. The connection rib 60112 is provided on the center line of the first connection piece 60111. The second connection piece 603 is connected to the connection rib 60112. The maximum radius of the rolling wheel 602 is less than the distance from the axis of the connection shaft 6012 to the first connection rib 60112, and the maximum radius of the rolling wheel 602 is greater than the height of the first connection piece 60111.

[0046] Furthermore, the climbing walking wheel 7 is hinged inside the connection bracket 701. The connection bracket 701 is connected to the first clamping part 3 or the second clamping part 4 through a sliding base 10. A deviation adjustment gear 102 is provided at the bottom of the sliding base 10. The connection bracket 701 is fixedly connected to the deviation adjustment gear 102. The deviation adjustment gear 102 is connected to the driving gear 901 through a belt. The driving gear 901 is connected to the deviation motor 9. The connection bracket 701 rotates synchronously with the deviation adjustment gear 102.

[0047] The connection bracket 701 is connected to the main connecting part 1 through a fixed base 101. A deviation adjustment gear 102 is provided at the bottom of the fixed base 101. The deviation adjustment gear 102 is connected to the driving gear 901 through a belt. The driving gear 901 is connected to the deviation motor 9. The connection bracket 701 is fixedly connected to the deviation adjustment gear 102, and the connection bracket 701 rotates synchronously with the deviation adjustment gear 102.

[0048] Further, the auxiliary support 801 includes a connecting platform 8011, a main connecting support 8012, and a movable arm 8013. The connecting platform 8011 is connected to the main connecting portion 1 or the first clamping portion 3 or the second clamping portion 4 through a first shaft 8014. The top of the connecting platform 8011 is fixedly connected to the main connecting support 8012. A pair of movable arms 8013 are connected to the main connecting support 8012 through a second shaft 8015. The rolling wheel 602 is pivotally connected between the pair of movable arms 8013.

[0049] Further, a damping hole 80121 is provided on the main connecting support 8012. A damping member 8016 is inserted into the damping hole 80121. The damping member 8016 extends upward out of the damping hole 80121 and is connected to the second shaft 8015.

[0050] Working principle:

[0051] Open the connecting buckle 3031 on the connecting pull ring 303 in the tree climbing and pruning device, remove the connecting end portion 1204 from the connecting pull ring 303, open the first clamping portion 3 and the second clamping portion 4, and surround them around the tree trunk. When the climbing and walking wheels 7 and the auxiliary rollers 8 on the main connecting portion 1, the first clamping portion 3, and the second clamping portion 4 all contact the tree trunk, put the connecting end portion 1204 back onto the connecting pull ring 303, start the winding motor 304 that controls the rotation of the sliding wheel 302 to wind and tighten the flexible cable 12. The rolling and fitting assembly 6 sleeved on the fitting portion 1202 contacts the tree trunk. Then start the deviation motor 9 to drive the climbing and walking wheels 7 and the auxiliary rollers 8 to rotate. When the climbing and walking wheels 7 and the auxiliary rollers 8 change from the horizontal or vertical state to the inclined state, start the wheel side motor on the climbing and walking wheel 7. The climbing and walking wheel 7 can move spirally upward or downward around the tree trunk under the drive of its own wheel side motor. At the same time, start the pruning operation module 2 to prune the lateral branches or leaves on the tree trunk to complete the trimming work of the tree trunk.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A tree climbing and pruning device capable of fitting the periderm of a tree, comprising an opening and closing clamping mechanism, characterized in that: The opening and closing clamping mechanism includes a main connection part (1), a first clamping part (3) and a second clamping part (4). The first clamping part (3) and the second clamping part (4) are respectively connected to the left and right sides of the main connection part (1). A trimming operation module (2) is provided at the upper end of the main connection part (1). The first clamping part (3) and the second clamping part (4) are connected by a flexible cable (12). The flexible cable (12) includes a winding part (1201), a fitting part (1202), a tensioning part (1203) and a connecting end part (1204). The winding part (1201) is connected to the end of the first clamping part (3). The fitting part (1202) is sequentially sleeved with a first limiting sleeve (501), a rolling fitting component (6) and a second limiting sleeve (502). The rolling fitting component (6) includes a chain (601) and a rolling wheel (602). The chain (601) includes a plurality of chain segments (6011). Adjacent chain segments (6011) are connected by a connecting shaft (6012). The rolling wheel (602) is connected to the chain segment (6011) through the connecting shaft (6012). A second connecting piece (603) is provided on the chain segment (6011). A connecting hole (6031) is provided on the second connecting piece (603). The fitting part (1202) is connected to the connecting hole (6031). A climbing walking wheel (7) is respectively provided at the same horizontal height on the main connection part (1), the first clamping part (3) and the second clamping part (4). The climbing walking wheel (7) can rotate circumferentially around an axis relative to the main connection part (1), the first clamping part (3) or the second clamping part (4) under the control of a biasing motor (9). The climbing walking wheel (7) can perform a rotary motion under the drive of its own wheel-side motor. An auxiliary roller (8) is further provided below the climbing walking wheel (7). The auxiliary roller (8) is connected to the main connection part (1), the first clamping part (3) or the second clamping part (4) through an auxiliary bracket (801).

2. The tree climbing and pruning device capable of fitting the periderm of a tree according to claim 1, characterized in that, A connection bin (301) is provided at the end of the first clamping part (3). An opening (3011) is provided on the connection bin (301). A sliding wheel (302) is axially connected in the inner cavity of the connection bin (301). The winding part (1201) is wound around the sliding wheel (302). A connection pull ring (303) is provided on the side wall of the connection bin (301). The connecting end part (1204) is sleeved in the connection pull ring (303).

3. The tree climbing and pruning device capable of fitting the periderm of a tree according to claim 2, wherein Both the first limiting sleeve (501) and the second limiting sleeve (502) are flexible protective sleeves. The outer diameter length of the first limiting sleeve (501) is at least greater than two-thirds of the width of the opening (3011). The outer diameter length of the second limiting sleeve (502) is at least greater than two-thirds of the width of the opening (3011).

4. The tree climbing and pruning device capable of fitting the periderm of a tree according to claim 3, wherein The chain segment (6011) includes a pair of first connecting pieces (60111) and a connecting rib (60112). The pair of first connecting pieces (60111) are respectively connected to both ends of the connecting rib (60112). The connecting rib (60112) is arranged on the center line of the first connecting piece (60111). The second connecting piece (603) is connected to the connecting rib (60112). The maximum radius of the rolling wheel (602) is less than the distance from the axis center of the connecting shaft (6012) to the connecting rib (60112), and the maximum radius of the rolling wheel (602) is greater than the height of the first connecting piece (60111).

5. The tree climbing and pruning device capable of fitting the periderm of a tree according to claim 1, wherein The climbing and walking wheel (7) is hinged inside the connecting bracket (701). The connecting bracket (701) is connected to the first clamping part (3) or the second clamping part (4) through a sliding base (10). A deviation adjusting gear (102) is arranged at the bottom of the sliding base (10). The connecting bracket (701) is fixedly connected to the deviation adjusting gear (102). The deviation adjusting gear (102) is connected to the driving gear (901) through a belt. The driving gear (901) is connected to the deviation motor (9). The connecting bracket (701) rotates synchronously with the deviation adjusting gear (102). The connecting bracket (701) is connected to the main connecting part (1) through a fixed base (101). A deviation adjusting gear (102) is arranged at the bottom of the fixed base (101). The deviation adjusting gear (102) is connected to the driving gear (901) through a belt. The driving gear (901) is connected to the deviation motor (9). The connecting bracket (701) is fixedly connected to the deviation adjusting gear (102), and the connecting bracket (701) rotates synchronously with the deviation adjusting gear (102).

6. The tree climbing and pruning device capable of fitting the periderm of a tree according to claim 5, characterized in that, The auxiliary bracket (801) includes a connecting platform (8011), a main connecting bracket (8012), and a movable arm (8013). The connecting platform (8011) is connected to the main connecting part (1) or the first clamping part (3) or the second clamping part (4) through a first shaft (8014). The top of the connecting platform (8011) is fixedly connected to the main connecting bracket (8012). A pair of movable arms (8013) are connected to the main connecting bracket (8012) through a second shaft (8015). The rolling wheel (602) is axially connected between the pair of movable arms (8013).

7. The tree climbing and pruning device capable of fitting the periderm of a tree according to claim 6, characterized in that, A damping hole (80121) is provided on the main connecting bracket (8012). A damping member (8016) is inserted into the damping hole (80121). The damping member (8016) extends upward out of the damping hole (80121) and is connected to the second shaft (8015).

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