4. DESCRIPTION
FIELD OF INVENTION.
The present invention is in the technical field of robotics. More deeply, the present invention is in the field of improvement in the climbing robotics. More deeply the invention is in the field of single stemmed tree climbing pneumatic semi automatic machine especially to climb on palm trees like coconut trees.
BACKGROUND OF INVENTION WITH REGARD TO THE DRAWBACK ASSOCIATED WITH KNOWN ART.
Even we don't have a good system for climbing the coconut trees for plucking the coconuts etc the present invention is especially to help farmers. Even the known ones are not easy to use and the cost is very high, some cheaper devices are there but a man should climb with the machine to satisfy the needs, but it is very difficult to use by women and lack of security . Some are using hydraulic machine to reach the top of the trees with a man, those are never suit for various land structures. So I started thinking to make one which will satisfy all the needs like cost effectiveness, weightless, man and women can operate very easily from ground, simple and with secure functionalities. The present invention is the machine which ensures the climbing; we can attach extra arms to this machine which may do the remaining works up the tree or where ever it climbs.
OBJECT OF INVENTION
A Palm tree climbing machine used to climb especially on Coconut Trees. STATEMENT OF INVENTION
The present invention is the first pneumatic semi automatic coconut tree climbing machine with added advantages such as, energy efficient, lightweight, compact and good for the Indian land structures, which can climb on coconut trees efficiently and any one can use this with less operational knowledge like farmers.
A SUMMARY OF INVENTION
Thus the first automatic coconut tree climbing device is invented. Now the problem associated with the life security of the tree climbing human being is reduced due to the operation from ground. This is a devise which comprised of many solenoid pneumatic valves attached with the pneumatic actuators to produce linear motion such as up or down motion of the lifter hand (y axis-against or towards the direction of growth of coconut tree) and left or right movement of catching hands (x axis-parallel to the ground/90 degree from y axis). All the operations are command oriented and semi automatic.
That is in the present operations such as 'catch', 'climb up', 'stop climbing up', 'climb down', 'stop climbing down' and 'release'. These commands are sent to the climber in digital formats from down through wireless with any available protocols such as 433 MHz ASK (Amplitude Shift Keying) wireless modules or zigbee wireless protocols or any high speed wireless protocols which enables more than 30 meter efficient communication. The command code sent to the device will be eight bit wide which enables 256 different- combinations. Which include all the operations and some reserved bytes for the other reserved applications. All the operations are controlled by some eight bit microcontrollers and some feedback is obtained through the vision and other suitable sensors.
A BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWING
Figure 1 shows the perspective view of the present invention without wheels and catching mechanism.
Figure 2 shows the back view of the present invention with catching hands from back side.
Figure 3 shows the top view of the present invention with the catching hand and the wheels.
Figure 4 shows the bottom view of the present invention with the catching hand and the wheels.
Figure 5 shows how the present' invented machine climbs on the palm tree like coconut tree wood.
Figure 6 shows the number of pneumatic equipment and the airflow pipe assembly in detail.
Figure 7 shows the connection diagram of the pneumatic accessories assembled in the present invention.
DETAILED DESCRIPTION OF THE INVENTION WITH REFERENCE TO DRAWING/EXAMPLES
In more detail of the present invention, from Figure 1 to Figure 5 shows the different views of the present invention and the drawing scale is 0.2 inch = 1 inch. From Figure 6 to Figure 7 shows the internal micro controlled distribution of pneumatic energy.
More details of the Figure 1: This is the perspective view of the machine. In more detail the 3, 6 denoting the upper arm. 3 and 6 work together for catching the coconut wood. This arm fixed on the machine. It cannot move independently but can be moved along with 4. 8, 10 denoting the lower arm. Which can independently move up and down as shown by the arrow mark 7, internally sliding through two metal rods. The center of this arm is fitted on a pneumatic piston which drives this arm up/down according to the air given to the piston. Part 5 shows the arc edged front side of the present invention. Which has a radius of 5.90-inches; this prevents the machine from touching/sliding on the tree wood while climbing up or down.
More details of the Figure 2: This is a back view of the present invention. In more detail the parts 13, 16, 18 and 19 shows the catching mechanism. 17 show the slid ability of the lower hand. With the present invention the machine can climb according to the piston length. The suitable length for this purpose is 300 centimeter. This gives the present invention to be used in any type of bending of coconut tree wood.
The relationship, between force on outstroke, pressure and radius, is as follows: Where:
F represents the force exerted r\ represents the radius of the piston cylinder r2 represents the radius of the piston rod 7t is pi, approximately equal to 3.14159.
In the present invention the piston can apply an outstroke force of 21 kg/cm2 at 5 bar pressure which is sufficient for this 5 kg device to lift, and this enables the speeding up the climbing process. The air cylinder and motor is placed on ground coupled with a long pneumatic pipe of desired length, which will be maximum of 30 meter long.
More details of the Figure 3: No 20 gives the top view of the present invention. The part 21 refers to the fasteners that tights the catching mechanism on the machine's hands. The arms are having enough width, which enables the coconut tree to be inside the arms like the number 24 refers to the coconut tree cross section that is in between part 23 and 27. The part 23 and 27 are the highly griped metallic springs. The mechanism worked in such a way that, when air filled in the air bag 22 and 28 a rubber balloon placed inside of 22 and 28 will be enlarged, which will pull the structure 23 and 27 forward. This tights the machine's arms on the wood tightly as shown the arrow mark 26. This is done by opening the solenoid pneumatic valve 71 as shown in Figure 6. After certain time this valve will be closed. To release this hand 23 and 27 from the tree the air from these air bags 22 and 28 will be released through the solenoid valve as shown in 72 in Figure 6. This process enables the present invention useful in various tree sizes (diameter/width of the wood).
The part 31 and 35 refers to the pneumatic pipe which will supply air to or from the air bags 22 and 28. These pneumatic pipe is originated from one single solenoid valve which attached with a 'T' and divided the output in to two and connected to the both 22 and 23. The part 32 and 33 refers to the two upper wheels which enables the present invented machine to have a distance from tree, to ensure smooth up/down movement without touching the body of the present invention on the tree's surface. There are four such wheels present in the invention. 30 and 34 represents the upper arm.
More details of the Figure 4: No 36 shows the lower side of lower arm. This is working same as that of upper arm except its up/down movement, the part 37 and 47 are refers to the lower arm. 38 and 42 refers to the lower air bags, 39 and 41 refers to the catching part attached with the part 38 and 42. Which is some metallic spring, of highly griped. When air injected through the pneumatic pipes 43 and 46, through the valve 69 and released this air through the same 43 and 46 and the pneumatic valve 70. The rubber balloons are enlarged there by horizontal movements occurred as shown by the arrow marks on 36. This enables catching the wood 40 efficiently. 44 and 45 shows the lower two wheels.
More details of the Figure 5: This is the side view of the present invention not to scale, it is an example drawing of the machine, climbing on the tree 51.50 shows the upper arm, 51 shows the coconut tree wood, 49 shows the track in which the lower arm 55 moves up or down. 53 show the arrow, which is the maximum movable limit of the lower arm and its direction of movement. 52 show the back side of the machine.
The climbing mechanism comprised of synchronized movement of the up and down arms 50 and 55 respectively. The lower arm fitted with the piston's 58 rod and piston's 58 cylinder part is fitted on the machine itself. The lower arm 55 is mechanically coupled with the machine is by means of two metal rod as shown 79 and 80 on Figure 8.
That is when climbing up the lower arm 55 will be fixed on the tree 51 as described by the Figure 4. Then release the upper arm 50. Now open the valve 68 for the piston 78 outstroke, acts the machine to give a push up for the entire stoke length will be equal to the length of the piston's rod. After one outstroke the upper arm 50 will catch on the tree 51 as described by the Figure 3 and release the lower arm 55 from the tree. After this provide an in stroke for the piston through the valve 68. This again makes the lower arm 55 to move upwards through the metal rod 80 and 69. This process as said in this paragraph repeated for the climbing up process. Where as reversing this processes results climbing down actions. All these actions are done by an embedded system.
More details of the Figure 6: This shows the details of the internal pneumatic controls. In more detail part 59 shows the pictorial representation of the load. That is the load is the weight of the present invention. 58 is the mechanical coupling between the lower arm 55 and the piston 57 rod. 60 and 61 are the pneumatic pipes to energize this piston 57. Part 68 is the pneumatic valve to control the air. 62 and 63 are the upper arm's air bags with single acting mechanism. 71 and 72 shows the pneumatic valves for the air controls. 65 and 66 shows the air bags of the lower arm and corresponding pneumatic valves 69 and 70. 64 and 67 are the pneumatic pipes. 73 is the air exhaust point. 68 is the main air inlet pipes and the 74 is the air source.
More details of the Figure 7: 75 shows the pictorial representation of the internal pneumatic controls with more clear and without more markings like Figure 6. This shows more clear picture of the air control mechanism.
More details of the Figure 8: 76 is not drawn to scale. This shows the lower hand 82 and the upper hand 77 are attached with the piston 78. 79 and 80 are the metallic rods, this enables the lower arm 82 to easily slide up and down with the help of the piston 78. 81 showing the nut, this ensures the coupling between the piston rod and the lower arm.
5. CLAIM(S)
I claim,
1. A coconut tree climbing device comprised of one upper arm, lower arm are independently adjustable to any coconut tree size (diameter) automatically by air, springs, sensors thereof enables the climb-up/down process by the outstroke/in stroke of the air piston after fixing one of the arm on tree by air using arm's air bags , in which the piston cylinder, body of the machine, upper arm except lower arm are connected together with fasteners, where as the lower arm is fitted with the piston rod there by pushing up the machine while out stroking, there by sliding the upper part except the lower arm with the metallic rods with the help of air, wheels, arc structure between the wheels.
2. The device as claimed in Claim 1 wherein one arm comprised of two airbags provides the horizontal movements of the metal structure in front of the air bag resulting a force to excrete towards the center of the wood from sides, this metal part provides enough grip results in jamming the arm with the wood, this provides the machine to be fixed on the tree at any height from ground securely without falling from it.
3. The coconut tree climbing device mentioned in Claim 1 wherein the piston's rod is fixed on the lower arm helps the whole machine to lift up using its outstroke force while climbing up, while climbing down it does not requires that much force due to gravity, thus in stroke is utilized for holding whole body weight while climbing down.
4. The coconut tree climbing device mentioned in Claim 1 wherein the metal rods are inserted through the lower arm and fixed on the remaining body, provides the smooth sliding path for the lower arm up or down, thereof eliminating the tendency of the lower arm from rotating on piston rod or bending towards sides or from vibration.
5. The coconut tree climbing device mentioned in claim 1 wherein the upper and lower arm having a synchronized method of catching on tree, that is when climbing up lower arm is fixed, then outstroke occurred, during this time remaining body has moved up thereof upper arm catches on the tree, there after lower arm released from tree then an in stroke is occurred in the piston, this moves the lower arm towards up and catches on the tree.
6. The coconut tree climbing device mentioned in claim 1 wherein the structure enables the whole body to have a distance from the tree wood, that is the arc shape, four wheels are eliminates the chances of touching the body from round shaped coconut tree wood, this enhances the machine to move up/down easily.
7. The coconut tree climbing device mentioned in claim 1 wherein the machine contains plastic, steel, aluminum, rubber, PVC, copper wires, antenna, battery, dynamo, sensors, embedded system.
8. The coconut tree climbing device comprised of four air bags provides catching from sides without contacting from all the sides or around the tree enables ease of fixing this machine on the tree.
9. A coconut Climbing Machine substantially as herein described and illustrated in the figures of the accompanying drawings.

5. CLAIM(S)
I claim,
1. A coconut tree climbing device comprised of one upper arm, lower arm are independently adjustable to any coconut tree size (diameter) automatically by air. springs, sensors thereof enables the climb-up/down process by the outstroke/in stroke of the air piston after fixing one of the arm on tree by air using arm's air bags , in which the piston cylinder, body of the machine, upper arm except lower arm are connected together with fasteners, where as the lower arm is fitted with the piston rod there by pushing up the machine while out stroking, there by sliding the upper part except the lower arm with the metallic rods with the help of air, wheels, arc structure between the wheels.
2. The device as claimed in Claim 1 wherein one arm comprised of two airbags provides the horizontal movements of the metal structure in front of the air bag resulting a force to excrete towards the center of the wood from sides, this metal part provides enough grip results in jamming the arm with the wood, this provides the machine to be fixed on the tree at any height from ground securely without falling from it.
3. The coconut tree climbing device mentioned in Claim 1 wherein the piston's rod is fixed on the lower arm helps the whole machine to lift up using its outstroke force while climbing up, while climbing down it does not requires that much force due to gravity, thus in stroke is utilized for holding whole body weight while climbing down.
4. The coconut tree climbing device mentioned in Claim 1 wherein the metal rods are inserted through the lower arm and fixed on the remaining body, provides the smooth sliding path for the lower arm up or down, thereof eliminating the tendency of the lower arm from rotating on piston rod or bending towards sides or from vibration.
5. The coconut tree climbing device mentioned in claim 1 wherein the upper and lower arm having a synchronized method of catching on tree, that is when climbing up lower arm is fixed, then outstroke occurred, during this time remaining body has moved up thereof upper arm catches on the tree, there after lower arm released from tree then an in stroke is occurred in the piston, this moves the lower arm towards up and catches on the tree.
6. The coconut tree climbing device mentioned in claim 1 wherein the structure enables the whole body to have a distance from the tree wood, that is the arc shape, four wheels are eliminates the chances of touching the body from round shaped coconut tree wood, this enhances the machine to move up/down easily.
7. The coconut tree climbing device mentioned in claim 1 wherein the machine contains plastic, steel, aluminum, rubber, PVC, copper wires, antenna, battery, dynamo, sensors, embedded system.
8. The coconut tree climbing device comprised of four air bags provides catching from sides without contacting from all the sides or around the tree enables ease of fixing this machine on the tree.
9. A coconut Climbing Machine substantially as herein described and illustrated in the figures of the accompanying drawings.