Tree climbing device and tree maintenance apparatus

Abstract

This utility model relates to the field of tree repair technology, specifically disclosing a tree climbing device and tree repair equipment, including a tree climbing mechanism and a clamping mechanism. The clamping mechanism includes a driving part and a gripper part. The gripper part is composed of several chain links that are hinged in sequence, realizing the flexible deformation of the gripper part, which can adapt to the clamping of tree trunks of different thicknesses. Moreover, a first driving device drives a rotating shaft, and the rotating shaft drives the first rope and the second rope to wind, thereby pulling the chain links to deform and realizing rapid clamping.

Description

Technical Field

[0001] This utility model relates to the field of tree repair technology, and in particular to a tree climbing device and tree repair equipment. Background Technology

[0002] In the process of greening, the pruning and maintenance of trees are essential. However, the process of pruning tall trees often carries high safety risks, especially when workers need to climb to places five meters or even higher. Accidents can lead to serious consequences.

[0003] To address this problem, automated tree pruning devices have emerged. The core objective of these devices is to improve the safety and efficiency of tree pruning while reducing the risks associated with manual labor. An example is the automatic tree-climbing device and method disclosed in patent publication number CN108407911B, which includes an upper frame, a lower frame, a lifting mechanism, an upper climbing mechanism, a lower climbing mechanism, and a picking mechanism. Both the upper and lower climbing mechanisms include a second drive assembly, a deflection transmission assembly, a rotating shaft, and a clamping assembly. The clamping assembly includes a clamping frame, a clamping motor, a clamping screw, a clamping nut, a connecting rod, a flipping block, and a clamping claw. The upward climbing function is achieved by the upper and lower clamping assemblies alternately clamping the tree trunk.

[0004] The aforementioned automatic tree climbing device uses a clamping claw with a fixed shape. During operation, it may fail to clamp effectively due to the unsuitable thickness of the tree trunk, making it unsuitable for climbing tree trunks of various diameters.

[0005] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0006] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a tree climbing device and tree repair equipment to solve the above problems.

[0007] A tree-climbing device, comprising:

[0008] A tree-climbing mechanism includes a first mounting base, a second mounting base, and a telescopic drive assembly, wherein the telescopic drive assembly is used to drive the first mounting base and the second mounting base to move vertically relative to or opposite to each other;

[0009] The clamping mechanism is provided on both the first mounting base and the second mounting base;

[0010] The clamping mechanism includes a driving part and a gripper part;

[0011] The driving part includes a bracket fixed to the first mounting base or the second mounting base, a rotating shaft rotatably disposed on the bracket, and a first driving device fixed to the bracket and used to drive the rotating shaft to rotate.

[0012] The gripper portion includes two grippers, with an embracing area formed between the two grippers for encircling the trunk, and the grippers include a plurality of chain links that are hinged sequentially.

[0013] Each of the chain links is provided with a first limiting hole on the side facing the encircling area. A first rope is inserted into the first limiting hole. One end of the first rope is fixedly connected to the rotating shaft, and the other end is fixedly connected to the outermost chain link.

[0014] Each of the chain links is provided with a second limiting hole on the side away from the encircling area. A second rope is inserted into the second limiting hole. One end of the second rope is fixedly connected to the rotating shaft, and the other end is fixedly connected to the outermost chain link.

[0015] Specifically, the telescopic drive assembly includes a first motor fixed to the first mounting base, a lead screw connected to the output shaft of the first motor, and a slider that slides with the lead screw, the slider being fixed to the second mounting base.

[0016] Specifically, the first driving device includes a second motor fixed to the bracket, a driving wheel connected to the output shaft of the second motor, a driven wheel sleeved on the rotating shaft, and a belt for driving the driving wheel and the driven wheel to rotate synchronously.

[0017] Specifically, each of the chain links has anti-slip textures on its end face facing the encircling area.

[0018] Specifically, the end of the bracket facing the encircling area has an arc-shaped structure.

[0019] A tree trimming device, comprising:

[0020] The tree-climbing device;

[0021] The repair mechanism includes a robotic arm mounted on the first mounting base or the second mounting base, and an automatic scissors or an electric saw blade mounted on the robotic arm.

[0022] Specifically, the automatic scissors include a servo motor fixed to the swing end of the robotic arm, a first cutter connected to the output shaft of the servo motor, and a second cutter rotatably disposed at the swing end of the robotic arm. The first cutter has an annular first tooth portion, and the second cutter has an annular second tooth portion, with the first tooth portion meshing with the second tooth portion.

[0023] The beneficial effects of this utility model are:

[0024] The tree climbing device and tree repair equipment of this utility model adopt a clamping mechanism including a driving part and a gripper part. The gripper part is composed of several chain links that are hinged in sequence, so as to realize the flexible deformation of the gripper part and adapt to the clamping of tree trunks of different thicknesses. Moreover, a first driving device drives a rotating shaft, which in turn drives the first rope and the second rope to wind, thereby pulling the chain links to deform and achieve rapid clamping. Attached Figure Description

[0025] Figure 1 The three-dimensional tree repair equipment of this application embodiment Figure 1 ;

[0026] Figure 2 for Figure 1 Enlarged view of section A;

[0027] Figure 3 The three-dimensional tree repair equipment of this application embodiment Figure 2 ;

[0028] Figure 4 The three-dimensional clamping mechanism of this application embodiment Figure 1 ;

[0029] Figure 5 for Figure 4 Enlarged view of section B;

[0030] Figure 6 The three-dimensional clamping mechanism of this application embodiment Figure 2 ;

[0031] Figure 7 for Figure 6 Enlarged view of section C.

[0032] The attached figures are labeled as follows: tree climbing mechanism 10, first mounting base 11, second mounting base 12, telescopic drive assembly 13, clamping mechanism 20, drive part 21, gripper part 22, bracket 211, rotating shaft 212, first drive device 213, gripper 221, encircling area 222, chain link 2211, first limiting hole 2212, first rope 31, second limiting hole 2213, second rope 32, second motor 2131, drive wheel 2132, driven wheel 2133, belt 2134, anti-slip texture 2214, repair mechanism 40, robotic arm 41, automatic shears 42, electric saw blade 43, servo motor 421, first cutter 422, second cutter 423. Detailed Implementation

[0033] This utility model provides a tree climbing device and tree repair equipment. To make the purpose, technical solution, and effects of this utility model clearer and more explicit, the following describes this utility model in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0034] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0035] Please refer to Figures 1-7 As shown, this embodiment discloses a tree-climbing device, including:

[0036] The tree climbing mechanism 10 includes a first mounting base 11, a second mounting base 12, and a telescopic drive assembly 13. The telescopic drive assembly 13 is used to drive the first mounting base 11 and the second mounting base 12 to move vertically relative to or opposite to each other.

[0037] The clamping mechanism 20 is provided on both the first mounting base 11 and the second mounting base 12.

[0038] The clamping mechanism 20 includes a drive part 21 and a gripper part 22;

[0039] The drive unit 21 includes a bracket 211 fixed to the first mounting base 11 or the second mounting base 12, a rotating shaft 212 rotatably disposed on the bracket 211, and a first drive device 213 fixed to the bracket 211 and used to drive the rotating shaft 212 to rotate.

[0040] The gripper portion 22 includes two grippers 221, and an embracing area 222 for wrapping around the trunk is formed between the two grippers 221. The grippers 221 include a plurality of sequentially hinged links 2211.

[0041] Each link 2211 is provided with a first limiting hole 2212 on the side facing the encircling area 222. A first rope 31 is inserted into the first limiting hole 2212. One end of the first rope 31 is fixedly connected to the rotating shaft 212, and the other end is fixedly connected to the outermost link 2211.

[0042] Each link 2211 has a second limiting hole 2213 on the side away from the encircling area 222. A second rope 32 is inserted into the second limiting hole 2213. One end of the second rope 32 is fixedly connected to the rotating shaft 212, and the other end is fixedly connected to the outermost link 2211.

[0043] In this embodiment, the tree-climbing device has a telescopic drive assembly 13 between the first mounting base 11 and the second mounting base 12. Both the first mounting base 11 and the second mounting base 12 are equipped with clamping mechanisms 20. When climbing a tree, the tree trunk is first clamped by the two clamping mechanisms 20. Then, the upper clamping mechanism 20 is released, and the telescopic drive assembly 13 drives the upper first mounting base 11 and clamping mechanism 20 to move upward by a certain stroke. Then, the upper clamping mechanism 20 re-clamps the tree trunk. Then, the lower clamping mechanism 20 is released, and the telescopic drive assembly 13 drives the lower second mounting base 12 and clamping mechanism 20 to move upward by a certain stroke. Then, the lower clamping mechanism 20 re-clamps the tree trunk. Through the above actions, automatic tree climbing is achieved, and the structure is ingenious.

[0044] Furthermore, the clamping mechanism 20 used in the tree climbing device of this embodiment includes a driving part 21 and a gripper part 22. The gripper part 22 is composed of several sequentially hinged chain links 2211, which realizes the flexible deformation of the gripper part 22 and can adapt to the clamping of tree trunks of different thicknesses. Moreover, the first driving device 213 drives the rotating shaft 212, and the rotating shaft 212 drives the first rope 31 and the second rope 32 to wind, thereby pulling the chain links 2211 to deform and realize rapid clamping.

[0045] It should be noted that in this embodiment, the first rope 31 and the second rope 32 corresponding to the gripper portion 22 are both wound on the same rotating shaft 212. The first rope 31 and the second rope 32 are located on both sides of the link 2211, and their winding directions are opposite. For example, when the rotating shaft 212 rotates clockwise, the first rope 31 is wound up and the second rope 32 is unwound. The winding of the first rope 31 will pull the gripper portion 22 to bend and deform toward the encircling area 222, thereby achieving a clamping action. When the rotating shaft 212 rotates counterclockwise, the second rope 32 is wound up and the first rope 31 is unwound. The winding of the second rope 32 will pull the gripper portion 22 to deform away from the encircling area 222, thereby achieving a releasing action.

[0046] For further details, please refer to... Figure 1 The telescopic drive assembly 13 in this embodiment includes a first motor fixed to the first mounting base 11, a lead screw connected to the output shaft of the first motor, and a slider that slides with the lead screw. The slider is fixed to the second mounting base 12 and is driven by the lead screw, resulting in high transmission accuracy and good stability.

[0047] For further details, please refer to... Figure 4The first drive device 213 includes a second motor 2131 fixed to the bracket 211, a drive wheel 2132 connected to the output shaft of the second motor 2131, a driven wheel 2133 sleeved on the rotating shaft 212, and a belt 2134 for driving the drive wheel 2132 and the driven wheel 2133 to rotate synchronously. The power of the drive wheel 2132 is transmitted to the driven wheel 2133 and the rotating shaft 212 through the belt 2134. The structure is ingenious.

[0048] Each link 2211 has anti-slip textures 2214 on its end face facing the embracing area 222. The spacing of the anti-slip textures 2214 can be set to 1mm, which greatly improves the friction of the gripper 221 and ensures the stability and reliability of the tree climbing mechanism 10 on the tree trunk.

[0049] For further details, please refer to... Figure 6 The end of the support 211 facing the embracing area 222 has an arc-shaped structure, which can better fit the shape of the tree trunk, increase the friction coefficient between it and the tree trunk, and prevent slippage.

[0050] Furthermore, this embodiment also discloses a tree trimming device, comprising:

[0051] Tree climbing device;

[0052] The repair mechanism 40 includes a robotic arm 41 mounted on a first mounting base 11 or a second mounting base 12, and an automatic shear 42 or an electric saw blade 43 mounted on the robotic arm 41. The automatic shear 42 is used to prune branches, and the electric saw blade 43 is used to saw off thicker branches.

[0053] For further details, please refer to... Figure 1 and Figure 2 The automatic scissors 42 in this embodiment include a servo motor 421 fixed to the swing end of the robotic arm 41, a first cutter 422 connected to the output shaft of the servo motor 421, and a second cutter 423 rotatably disposed at the swing end of the robotic arm 41. The first cutter 422 is provided with an annular first tooth, and the second cutter 423 is provided with an annular second tooth. The first tooth and the second tooth mesh with each other. Driven by the servo motor 421, the rotation angle can be precisely controlled, thereby accurately controlling the opening size of the first cutter 422 and the second cutter 423.

[0054] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. A tree climbing apparatus, characterized in that, include: The tree climbing mechanism (10) includes a first mounting base (11), a second mounting base (12), and a telescopic drive assembly (13), wherein the telescopic drive assembly (13) is used to drive the first mounting base (11) and the second mounting base (12) to move vertically relative to or opposite to each other; The clamping mechanism (20) is provided on both the first mounting base (11) and the second mounting base (12); The clamping mechanism (20) includes a driving part (21) and a gripper part (22); The drive unit (21) includes a bracket (211) fixed to the first mounting base (11) or the second mounting base (12), a rotating shaft (212) rotatably disposed on the bracket (211), and a first drive device (213) fixed to the bracket (211) and used to drive the rotating shaft (212) to rotate. The gripper portion (22) includes two grippers (221), and an embracing area (222) for surrounding the trunk is formed between the two grippers (221). The grippers (221) include a plurality of sequentially hinged chain links (2211). Each of the chain links (2211) is provided with a first limiting hole (2212) on the side facing the encircling area (222). A first rope (31) is inserted into the first limiting hole (2212). One end of the first rope (31) is fixedly connected to the rotating shaft (212), and the other end is fixedly connected to the outermost chain link (2211). Each of the chain links (2211) is provided with a second limiting hole (2213) on the side away from the encircling area (222). A second rope (32) is inserted into the second limiting hole (2213). One end of the second rope (32) is fixedly connected to the rotating shaft (212), and the other end is fixedly connected to the outermost chain link (2211).

2. A tree climbing apparatus according to claim 1, wherein, The telescopic drive assembly (13) includes a first motor fixed to the first mounting base (11), a lead screw connected to the output shaft of the first motor, and a slider that slides with the lead screw. The slider is fixed to the second mounting base (12).

3. The tree climbing apparatus of claim 1, wherein, The first drive device (213) includes a second motor (2131) fixed to the bracket (211), a drive wheel (2132) connected to the output shaft of the second motor (2131), a driven wheel (2133) sleeved on the rotating shaft (212), and a belt (2134) for driving the drive wheel (2132) and the driven wheel (2133) to rotate synchronously.

4. The tree climbing apparatus of claim 1, wherein, Each of the links (2211) has anti-slip textures (2214) on its end face facing the enclosing region (222).

5. The tree climbing apparatus of claim 1, wherein, The bracket (211) has an arc-shaped structure at the end facing the encircling area (222).

6. A tree repair apparatus, characterised in that, include: The tree climbing device according to any one of claims 1 to 5; The repair mechanism (40) includes a robotic arm (41) mounted on the first mounting base (11) or the second mounting base (12), and an automatic scissors (42) or an electric saw blade (43) mounted on the robotic arm (41).

7. A tree repair apparatus according to claim 6, wherein The automatic scissors (42) include a servo motor (421) fixed to the swing end of the robotic arm (41), a first cutter (422) connected to the output shaft of the servo motor (421), and a second cutter (423) rotatably disposed at the swing end of the robotic arm (41). The first cutter (422) is provided with an annular first tooth, and the second cutter (423) is provided with an annular second tooth. The first tooth and the second tooth mesh with each other.

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