The invention discloses an electro-hydraulic gas hybrid control self-adaptive tree climbing and pruning method. The method comprises the steps of establishing Bluetooth communication between a mobile terminal and a pruning machine, presetting operation information, putting the pruning machine in place, controlling the pruning machine to operate by a PLC, obtaining sensor information and automatically feeding back a control system; the step of setting the preset operation information comprises the sub-steps of setting tree species, pruning height, trunk diameter and branch diameter information; the step of putting the pruning machine in place comprises the sub-steps of selecting a tree to be pruned and clamping a trunk by a clamping wheel and a cutter; the step of controlling the pruning machine to operate by the PLC comprises the sub-steps of controlling the pruning machine to climb at a constant acceleration, pruning at a constant speed, descending at a constant acceleration and descending at a constant deceleration by the PLC; and the automatic feedback control system comprises a hydraulic motor automatic speed regulating system, a hydraulic motor automatic pressure regulating system and an air cylinder automatic pressure regulating system. According to the technology, the pruning machine can adapt to the change of the trunk diameter, the trunk is clamped in real time, the trunk is prevented from falling down due to hitting, high-speed full-automatic pruning can be achieved by means of impact force, and the pruning efficiency is greatly improved.
本发明公开了一种电液气混合控制的自适应爬树整枝方法,包括移动端与整枝机建立蓝牙通讯、预设作业信息、整枝机设备就位、PLC控制整枝机作业、获取传感器信息和自动反馈控制系统;所述设置预设作业信息包括设置树种、整枝高度、树干直径和枝杈直径信息;所述整枝机设备就位包括选取待整枝树木和夹紧轮与刀具夹紧树干;所述PLC控制整枝机作业包括PLC控制整枝机匀加速爬升、匀速整枝、匀加速下降、匀减速下降四个阶段;所述自动反馈控制系统包括液压马达自动调速系统、液压马达自动调压系统和气缸自动调压系统。本技术能使整枝机自适应树干直径变化,实现实时夹紧树干,防止打滑下落,能依靠冲击力实现高速全自动整枝,极大的提高整枝效率。
Electro-hydraulic gas hybrid control self-adaptive tree climbing and pruning method
一种电液气混合控制的自适应爬树整枝方法
2021-12-07
Patent
Elektronische Ressource
Chinesisch
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