CN110122102B - Tree climbing pruning robot based on flexible cutter - Google Patents
Tree climbing pruning robot based on flexible cutter Download PDFInfo
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- CN110122102B CN110122102B CN201910582217.0A CN201910582217A CN110122102B CN 110122102 B CN110122102 B CN 110122102B CN 201910582217 A CN201910582217 A CN 201910582217A CN 110122102 B CN110122102 B CN 110122102B
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- 238000013138 pruning Methods 0.000 title claims abstract description 198
- 230000009194 climbing Effects 0.000 title claims abstract description 61
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 18
- 238000000034 method Methods 0.000 description 8
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000006872 improvement Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 244000166124 Eucalyptus globulus Species 0.000 description 1
- 241000219000 Populus Species 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012258 culturing Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The technology discloses a flexible cutter-based tree climbing pruning robot, which comprises a left frame, a right frame, a tree climbing mechanism, a cohesion clamping mechanism and a pruning mechanism; the cohesion clamping mechanism comprises a left fixed clamping arm plate, a right fixed clamping arm plate, a left clamping arm, a right clamping arm, a left clamping electric push rod, a right clamping electric push rod, a left tire and a right tire; the tree climbing mechanism comprises a crawler, a crawler frame, a climbing motor, a driving wheel, a tensioning spring and a tensioning wheel, and comprises a left pruning electric push rod, a right pruning electric push rod, a left pipe tool rest, a right pipe tool rest, a left flexible tool, a right flexible tool, a left pruning arm, a right pruning arm, a left pruning motor and a right pruning motor; the technology is used for solving the problem of rapid pruning of branches of tall trees such as fast-growing forests, not only can automatically climb trees, but also prune the branches while climbing the trees, and can greatly improve pruning efficiency and reduce labor cost and labor cost.
Description
Technical Field
The technology relates to the technical field of tree pruning, in particular to a flexible cutter-based tree climbing pruning robot, and especially relates to rapid pruning of high-speed forest trees such as fast-growing poplar, fast-growing eucalyptus and hongsen locust.
Background
The Chinese is not only a large forestry production country, but also a large forest product consumption country. The fast-growing forest area is the first place in the world, has the characteristics of short growth period, high yield and the like, and has positive and important significance for restoring the ecological environment of forest resources and relieving the contradiction between supply and demand of increasingly tense wood resources. And pruning is a basic forest-culturing measure for fast-growing forest management, and reasonable pruning can improve the quality of wood, increase economic benefits and prevent forest disasters. However, at present, the research of the tree pruning machine in China is still in a starting stage, and the tree pruning machine is behind in pruning mode and has various forms such as hand-held type, backpack type, vehicle-mounted type, automatic type and the like. The hand-held backpack pruning machine is a main current using tool and is divided into an unpowered type and a powered type; the vehicle-mounted hydraulic folding arm is arranged on the upper side of the large tractor, the arm end is provided with a hydraulic shear capable of reciprocating, and the hydraulic shear is used for building large-area crowns, bushes or ground weeds, and some hydraulic folding arms are also used for conveying people to different height positions for operation through the vehicle-mounted automatic lifting platform; automatic trimmers have been able to remotely control the operation of the machine. For China, the problems of no pruning or improper pruning exist in many areas, the manual pruning is mainly adopted, the pruning mode is low in efficiency and quality, the labor intensity is high, the operation is dangerous, the degree of mechanization is low, and the method has a great gap from developed countries. Although a plurality of large-scale high-altitude pruning machines exist in China, the degree of automation and the pruning rate are high, but the method is not suitable for fast-growing forests with high planting density and poor roads.
Along with the development of the times, in order to meet the requirement of continuous development of artificial forest cultivation, the tree trimmer is developing to the direction of automation, humanization, high efficiency, environmental protection, safety and reliability. Therefore, a robot which integrates the functions of climbing trees and pruning and can quickly prune branches of high-speed trees such as fast-growing forests is needed to replace a manual pruning mode, the high-altitude branches can be pruned while climbing the trees, the cost and the potential danger caused by manual pruning are greatly reduced, the working efficiency is improved in a multiplied mode during batch operation, and the time cost and the labor cost are saved.
Disclosure of Invention
The technical problem to be solved by the technology is to provide a flexible cutter-based tree climbing pruning robot aiming at the defects of the prior art, and the flexible cutter-based tree climbing pruning robot is used for rapidly pruning branches of tall trees such as fast-growing forests, and not only can automatically climb trees, but also prune the branches while climbing the trees, thereby greatly improving pruning efficiency and reducing labor cost and labor cost.
In order to achieve the technical purpose, the technical scheme adopted by the technology is as follows:
A flexible cutter-based tree climbing pruning robot comprises a left frame, a right frame, a tree climbing mechanism, a cohesion clamping mechanism and a pruning mechanism;
The cohesion clamping mechanism comprises a left fixed clamping arm plate, a right fixed clamping arm plate, a left clamping arm, a right clamping arm, a left clamping electric push rod, a right clamping electric push rod, a left tire and a right tire; the middle part of the left side wall of the left frame is fixedly connected with a left fixed clamping arm plate, the left clamping electric push rod and the left clamping arm are both hinged on the left fixed clamping arm plate, the tail end of a driving rod of the left clamping electric push rod is hinged with one end of the left clamping arm, and the other end of the left clamping arm is rotationally connected with a left tire; the middle part of the right side wall of the right frame is fixedly connected with a right fixed clamping arm plate, the right clamping electric push rod and the right clamping arm are both hinged on the right fixed clamping arm plate, the tail end of a driving rod of the right clamping electric push rod is hinged with one end of the right clamping arm, and the other end of the right clamping arm is rotationally connected with a right tire;
The tree climbing mechanism comprises a crawler, a crawler frame, a climbing motor, a driving wheel, a tensioning spring and a tensioning wheel, one end of the crawler frame is fixedly connected with the middle part of the right side wall of the left frame, the other end of the crawler frame is fixedly connected with the middle part of the left side wall of the right frame, the crawler frame is connected with the tensioning wheel through the tensioning spring, the climbing motor is fixedly connected to the left frame, a driving shaft of the climbing motor is connected with the driving wheel through a gear set, the crawler is sleeved on the driving wheel and the tensioning wheel, and the crawler frame is positioned in the middle part of the inner side of the crawler;
The pruning mechanism comprises a left pruning electric push rod, a right pruning electric push rod, a left pipe knife rest, a right pipe knife rest, a left flexible knife, a right flexible knife, a left pruning arm, a right pruning arm, a left pruning motor and a right pruning motor; the left pruning electric push rod is connected to the upper part of the left frame, the driving rod of the left pruning electric push rod is hinged with the left pruning arm, the end part of the left pruning arm is rotationally connected with the left frame, and the left pruning motor is connected to the upper part of the left frame; the right pruning electric push rod is connected to the upper part of the right frame, the driving rod of the right pruning electric push rod is hinged with the right pruning arm, the end part of the right pruning arm is rotationally connected with the right frame, and the right pruning motor is connected to the upper part of the right frame; one end of the left pipe knife rest is rotationally connected with the top of the right frame, the other end of the left pipe knife rest is fixedly connected with the left pruning arm, the left flexible knife is embedded in the left pipe knife rest, a strip-shaped opening extending along the length direction of the left pipe knife rest is formed in the left pipe knife rest, one end of the left flexible knife rest extends out of the top of the left pipe knife rest and the top of the right frame and is connected with a driving shaft of the right pruning motor, and the other end of the left flexible knife rest is flexibly connected with the end part of the left pruning arm through a sleeve cup positioned at the inner side of the left pipe knife rest; one end of the right pipe knife rest is rotationally connected with the top of the left frame, the other end of the right pipe knife rest is fixedly connected with the right pruning arm, the right flexible knife is embedded in the right pipe knife rest, a strip-shaped opening extending along the length direction of the right flexible knife is formed in the right pipe knife rest, one end of the right flexible knife extends out of the top of the right pipe knife rest and the top of the left frame and is connected with a driving shaft of the left pruning motor, and the other end of the right flexible knife is flexibly connected with the end part of the right pruning arm through a sleeve cup positioned on the inner side of the right pipe knife rest.
As a further improved technical scheme of the technology, the left fixed clamping arm plate and the right fixed clamping arm plate have the same structure and comprise a cross plate and two strip-shaped inclined plates which are arranged in parallel, and one ends of the two strip-shaped inclined plates are respectively connected to the top and the bottom of one end of the cross plate;
The other ends of the two strip-shaped inclined plates of the left fixed clamping arm plate are hinged with the middle part of the left clamping arm, and the other ends of the cross plates of the left fixed clamping arm plate are hinged with the end parts of the cylinder bodies of the left clamping electric push rods through connecting lugs; the cross plate of the left fixed clamping arm plate is fixedly connected to the middle part of the left side wall of the left frame through bolts;
The other ends of the two strip-shaped inclined plates of the right fixed clamping arm plate are hinged with the middle part of the right clamping arm, and the other ends of the cross plates of the right fixed clamping arm plate are hinged with the end parts of the cylinder bodies of the right clamping electric push rods through connecting lugs; the cross plate of the right fixed clamping arm plate is fixedly connected to the middle part of the right side wall of the right frame through bolts.
As a further improved technical scheme of the technology, the tree climbing mechanism further comprises a thrust wheel, wherein the thrust wheel is positioned at the inner side of the crawler belt, a thrust wheel shaft is arranged in the middle of the thrust wheel, and two ends of the thrust wheel shaft are respectively and rotatably connected with the left frame and the right frame;
the crawler frame is in an inverted I shape, one end face of the crawler frame, the left frame and the cross plate of the left fixed clamping arm plate are fixedly connected through bolts, and the other end face of the crawler frame, the right frame and the cross plate of the right fixed clamping arm plate are fixedly connected through bolts;
The middle part of the tensioning wheel is provided with a tensioning wheel shaft, the crawler frame is connected with the tensioning wheel shaft through a tensioning spring, and two ends of the tensioning wheel shaft are respectively connected with the left frame and the right frame in a rotating way.
As the technical scheme of this technique further improvement, left side wall lower part of left frame is equipped with left backup pad, and climbing motor fixed connection is in left backup pad, and the gear train includes pinion and gear wheel, and the drive shaft of climbing motor passes left frame lateral wall and is connected with the pinion, and pinion and gear wheel meshing, gear wheel middle part and drive wheel middle part are connected through same root drive shaft, the both ends of drive shaft respectively with left frame and right frame swivelling joint, the surface of drive shaft and the internal surface meshing and the drive shaft of track are used for driving the track action.
As the technical scheme of this technique further improvement, right lateral wall lower part of right frame is equipped with right backup pad, install the power on the right backup pad, the power is connected with left clamp electric putter, right clamp electric putter, left pruning electric putter, right pruning electric putter, climbing motor, left pruning motor and right pruning motor electricity respectively.
As a further improved technical scheme of the technology, the left flexible cutter and the right flexible cutter have the same structure and comprise a steel wire rope and a plurality of hob, and the hob are connected in series and fixed on the steel wire rope to form the left flexible cutter or the right flexible cutter.
As a further improved technical scheme of the technology, a left upper plate and a left top plate are arranged at the upper part of the left side wall of the left rack, the left top plate is positioned above the left upper plate, one end of a left pruning arm is rotationally connected with the left top plate and the left upper plate through a rotating shaft, and a left pruning motor is fixedly connected to the left upper plate; one end of the right pipe knife rest is rotationally connected with the left top plate, and one end of the right flexible knife extends out of the right pipe knife rest and the left top plate and is connected with a driving shaft of a left pruning motor positioned on the left upper plate; the upper part of the right side wall of the right frame is provided with a right upper plate and a right top plate, the right top plate is positioned above the right upper plate, one end of the right pruning arm is rotationally connected with the right top plate through a rotating shaft, and the right pruning motor is fixedly connected to the right upper plate; one end of the left pipe knife rest is rotationally connected with the right top plate, and one end of the left flexible knife tool extends out of the left pipe knife rest and the right top plate and is connected with a driving shaft of a right pruning motor positioned on the right upper plate.
As the technical scheme of this technique further improvement, the tip of left flexible cutter has the axle section through the shaft coupling, and the outside fixed cover of this axle section is equipped with the axle sleeve, the inboard of sleeve cup is equipped with the outer lane of bearing groove and bearing inslot fixedly connected with bearing, axle sleeve and the inner circle fixed connection of bearing, sleeve cup is located the tip inboard of left side pipe knife rest and sleeve cup can be at the inboard axial displacement of left side pipe knife rest, and sleeve cup tip passes through extension spring and left pruning arm flexonics, and the tip of left side pipe knife rest passes through the tip fixed connection of tight snap ring and left pruning arm.
As the technical scheme of this technique further improvement, the tip of right flexible cutter has the axle section through the shaft coupling, and the outside fixed cover of this axle section is equipped with the axle sleeve, the inboard of cup is equipped with the outer lane of bearing groove and bearing inslot fixedly connected with bearing, axle sleeve and the inner circle fixed connection of bearing, the cup is located the tip inboard of right pipe knife rest and the cup can be at the inboard axial displacement of right pipe knife rest, and the cup tip passes through extension spring and right pruning arm flexonics, and the tip of right pipe knife rest passes through the tip fixed connection of tight snap ring and right pruning arm.
As a further improved technical scheme of the technology, the left pipe knife rest and the right pipe knife rest are both steel pipe knife rests; the lower surfaces of the left pipe knife rest and the right pipe knife rest are respectively provided with a plurality of connecting plates, each connecting plate is provided with a plurality of parallel mounting holes, one end of a wheel bracket is connected with the connecting plates through the mounting holes, and the other end of the wheel bracket is rotationally connected with a stump regulating wheel;
the tail end of the driving rod of the left clamping electric push rod is fixedly connected with a buffer spring, the other end of the buffer spring is connected with a spring guide rod, and the spring guide rod is hinged with one end of the left clamping arm; the tail end of the driving rod of the right clamping electric push rod is fixedly connected with a buffer spring, the other end of the buffer spring is connected with a spring guide rod, and the spring guide rod is hinged with one end of the right clamping arm.
The beneficial effects of the technology are as follows:
(1) The technology adopts the left flexible cutter and the right flexible cutter (the steel wire rope is supported in the hob, the outer sleeve is a thin-wall steel pipe, namely a steel pipe tool rest), so that the cutters can be better attached to branches on a trunk, and simultaneously, under the condition that the left pruning electric push rod and the right pruning electric push rod drive the left pruning arm and the right pruning arm to enable the trunk thickness in the same tree to be different, the left flexible cutter and the right flexible cutter can be attached to the branches of the trunk in real time, and pruning quality of the whole tree is improved.
(2) The left pipe knife rest and the right pipe knife rest of the technology are provided with the stump adjusting wheel for adjusting the length of the reserved stump after cutting, and the damage of the knife rest to the bark can be reduced while pruning, the length of the reserved stump can be reserved according to the requirement, and the adaptability is stronger.
(3) The whole robot body of the robot adopts a light-weight design, is compact in structure, is provided with a driving power supply, is free of cable winding problem, is driven by electricity, and is environment-friendly.
(4) The climbing mechanism adopts the climbing rubber crawler, the required clamping force can be smaller due to larger adhesive force of the crawler, the damage failure of the left tire and the right tire is avoided, the requirement on the smoothness of the trunk surface is low, the contact area with the trunk is larger, and the climbing is more stable.
(5) The technology is high in automation, is used for rapidly pruning branches of tall trees such as fast-growing forests, integrates the functions of climbing and pruning, can prune the branches at high altitude while climbing the tree, greatly reduces the cost and potential danger caused by manual pruning, and improves the working efficiency in batch operation in a multiple way, thereby saving the time cost and the labor cost.
Drawings
Fig. 1 is a schematic diagram of the structure of the present embodiment.
Fig. 2 is a schematic structural diagram of the second embodiment.
Fig. 3 is a schematic structural view of the left or right fixed clamping arm plate of the present embodiment.
Fig. 4 is a tree-embracing top view of the embracing clamping mechanism of the present embodiment.
Fig. 5 is a schematic structural view of the tree climbing mechanism of the present embodiment.
Fig. 6 is a schematic view of the structure of the inside of the crawler belt of the tree climbing mechanism of the present embodiment.
Fig. 7 is a schematic view of a part of the structure of the present embodiment.
Fig. 8 is a schematic view of the right tube blade carrier of fig. 7 after the hidden portion thereof.
FIG. 9 is a partial cross-sectional view of the concealed hob, right tube holder and post-snap ring sleeve of FIG. 8.
Fig. 10 is a top view of the tree holding structure of the present embodiment.
Detailed Description
A further description of embodiments of the present technology is provided below with reference to fig. 1-10:
referring to fig. 1 and 2, a flexible cutter-based tree climbing pruning robot comprises a left frame 1-1, a right frame 1, a tree climbing mechanism, a cohesion clamping mechanism and a pruning mechanism.
The cohesion clamping mechanism comprises a left fixed clamping arm plate 2-1, a right fixed clamping arm plate 2, a left clamping arm 3-1, a right clamping arm 3, a left clamping electric push rod 4-1, a right clamping electric push rod 4, a left tire 5-1 and a right tire 5; the middle part of the left side wall of the left frame 1-1 is fixedly connected with a left fixed clamping arm plate 2-1, the left fixed clamping arm plate 2-1 outwards pays out, the cylinder end of the left clamping electric push rod 4-1 and the middle part of the left clamping arm 3-1 are both hinged on the left fixed clamping arm plate 2-1, the tail end of a driving rod of the left clamping electric push rod 4-1 is fixedly connected with a buffer spring 6, the other end of the buffer spring 6 is connected with a spring guide rod 7 (shown in figure 4), the spring guide rod 7 is hinged with one end of the left clamping arm 3-1, and the other end of the left clamping arm 3-1 is rotatably connected with a left tire 5-1 (an inert tire). The middle part fixedly connected with right fixed clamp arm board 2 and right fixed clamp arm board 2 outwards pay out of right side wall of right frame 1, the cylinder body tip of right clamp electric putter 4 and the middle part of right clamp arm 3 all articulate on right fixed clamp arm board 2, and the actuating lever end of right clamp electric putter 4 also fixedly connected with buffer spring 6 and buffer spring 6 other end are connected with spring guide arm 7 (as shown in fig. 4), and this spring guide arm 7 articulates with the one end of right clamp arm 3, and the other end rotation of right clamp arm 3 is connected with right tire 5 (inert tire).
The left fixed clamping arm plate 2-1 and the right fixed clamping arm plate 2 in the embodiment have the same structure and are symmetrically arranged, and as shown in fig. 3, each of the left fixed clamping arm plate and the right fixed clamping arm plate comprises a cross plate 8 and two strip-shaped inclined plates 9 which are arranged in parallel, and one ends of the two strip-shaped inclined plates 9 are respectively connected to the top and the bottom of one end of the cross plate 8. The other ends of the two strip-shaped inclined plates 9 of the left fixed clamping arm plate 2-1 are hinged with the middle part of the left clamping arm 3-1, and the other ends of the cross plates 8 of the left fixed clamping arm plate 2-1 are hinged with the end part of the cylinder body of the left clamping electric push rod 4-1 through connecting lugs 10; the cross plate 8 of the left fixed clamping arm plate 2-1 is fixedly connected to the middle part of the left side wall of the left frame 1-1 through bolts. The other ends of the two strip-shaped inclined plates 9 of the right fixed clamping arm plate 2 are hinged with the middle part of the right clamping arm, and the other ends of the cross plates 8 of the right fixed clamping arm plate 2 are hinged with the end part of the cylinder body of the right clamping electric push rod 4 through connecting lugs 10; the cross plate 8 of the right fixed clamping arm plate 2 is fixedly connected to the middle part of the right side wall of the right frame 1 through bolts.
As shown in fig. 5 and 6, the tree climbing mechanism comprises a crawler belt 11 (a climbing rubber crawler belt), a crawler belt frame 12, a climbing motor 13, a driving wheel 14, a tensioning spring 15 and a tensioning wheel 16, wherein the crawler belt frame 12 is in an inverted-I shape, the left end face of the crawler belt frame 12 is fixedly connected with the middle part of the right side wall of the left rack 1-1, the right end face of the crawler belt frame is fixedly connected with the middle part of the left side wall of the right rack 1, a protruding spring guide rod is arranged on one side of the crawler belt frame 12, the spring guide rod is connected with and supports the tensioning wheel 16 through the tensioning spring 15, the climbing motor 13 is fixedly connected to the left rack 1-1, a driving shaft of the climbing motor 13 penetrates through the side wall of the left rack 1-11 and is connected with the driving wheel 14 through a gear set, the crawler belt 11 is sleeved on the driving wheel 14 and the tensioning wheel 16, the crawler belt 11 is tensioned by the tensioning wheel 16, and the crawler belt frame 12 is positioned at the middle part inside the crawler belt 11. The side walls of the left frame 1-1 and the right frame 1 of the embodiment are perforated for installing wheel shafts such as a driving wheel 14, a tensioning wheel 16, a supporting wheel 17 and the like.
As shown in fig. 5 and 6, the tree climbing mechanism of the present embodiment further includes two thrust wheels 17, both of the two thrust wheels 17 are located inside the crawler belt 11, a thrust wheel shaft is disposed in the middle of the thrust wheel 17, and two ends of the two thrust wheel shafts are respectively rotatably connected with holes in the left frame 1-1 and the right frame 1 and supported on the left frame 1-1 and the right frame 1. The inside of the tensioning wheel 16 is provided with a tensioning wheel shaft, a spring guide rod on the track frame 12 is connected with the tensioning wheel shaft through a tensioning spring 15 (namely, one end of the tensioning spring 15 is sleeved in the position of the spring guide rod on the front side of the track frame 12, the other end of the tensioning spring abuts against the guide rod extending out of the middle of the tensioning wheel 16), and two ends of the tensioning wheel shaft are respectively connected with holes on the left frame 1-1 and the right frame 1 in a rotating mode. The left end face of the crawler frame 12, the left frame 1-1 and the cross plate 8 of the left fixed clamping arm plate 2-1 are fixedly connected through bolts, and the right end face of the crawler frame 12, the right frame 1 and the cross plate 8 of the right fixed clamping arm plate 2 are fixedly connected through bolts.
The function of the thrust wheel 17 in this embodiment is mainly to bear the dead weight of the machine, and for the climbing robot, the crawler belt 11 is subjected to the reaction force of the trunk, so the thrust wheel 17 is required to have high strength, especially the rim and the rolling surface should have high strength and wear resistance. The idler 16 is used to adjust the tension of the track 11.
As shown in fig. 7, a left support plate 18 is arranged at the lower part of the left side wall of the left frame 1-1 in the embodiment, a climbing motor 13 is fixedly connected to the left support plate 18, a gear set comprises a pinion 19 and a large gear 20, a driving shaft of the climbing motor 13 penetrates through the side wall of the left frame 1-1 and is connected with an inner hole of the pinion 19 through a coupler, the pinion 19 is meshed with the large gear 20, the middle part of the large gear 20 and the middle part of a driving wheel 14 are connected through the same driving wheel shaft, and two ends of the driving wheel shaft are respectively connected with holes in the left frame 1-1 and the right frame 1 in a rotating mode. The rectangular teeth on the outer surface of the driving wheel shaft are meshed with the rectangular grooves on the inner surface of the caterpillar band 11, so that the driving wheel shaft drives the caterpillar band 11 to act.
The pruning mechanism comprises a left pruning electric push rod 22-1, a right pruning electric push rod 22, a left pipe cutter frame 23-1, a right pipe cutter frame 23, a left flexible cutter 24-1, a right flexible cutter 24, a left pruning arm 25-1, a right pruning arm 25, a left pruning motor 21-1 and a right pruning motor 21; the left pruning electric push rod 22-1 is connected to the upper part of the left frame 1-1, the driving rod of the left pruning electric push rod 22-1 is hinged with the left pruning arm 25-1 through a hole, the end part of the left pruning arm 25-1 is rotationally connected with the left frame 1-1, and the left pruning motor 21-1 is fixedly connected to the upper part of the left frame 1-1. The right pruning electric push rod 22 is connected to the upper part of the right frame 1, the driving rod of the right pruning electric push rod 22 is hinged with the right pruning arm 25 with a hole, the end part of the right pruning arm 25 is rotationally connected with the right frame 1, and the right pruning motor 21 is fixedly connected to the upper part of the right frame 1. One end of the left pipe knife rest 23-1 is rotationally connected with the top of the right frame 1, the other end of the left pipe knife rest is fixedly connected with the left pruning arm 25-1, the left flexible knife 24-1 is embedded in the left pipe knife rest 23-1, a strip-shaped opening which extends along the length direction and is about 60 degrees is formed in the left pipe knife rest 23-1, one end of the left flexible knife 24-1 extends out of the tops of the left pipe knife rest 23-1 and the right frame 1 and is connected with a driving shaft of the right pruning motor 21 through a coupling, and the other end of the left flexible knife 24-1 is flexibly connected with the end part of the left pruning arm 25-1 through a sleeve cup 29 positioned on the inner side of the left pipe knife rest 23-1. One end of the right pipe knife rest 23 is rotationally connected with the top of the left frame 1-1, the other end is fixedly connected with the right pruning arm 25, the right flexible knife 24 is embedded in the right pipe knife rest 23, a strip-shaped opening which extends along the length direction and is about 60 degrees is formed in the right pipe knife rest 23, one end of the right flexible knife 24 extends out of the right pipe knife rest 23 and the top of the left frame 1-1 and is connected with a driving shaft of the left pruning motor 21-1 through a coupling, and the other end of the right flexible knife 24 is flexibly connected with the end part of the right pruning arm 25 through a sleeve cup 29 positioned on the inner side of the right pipe knife rest 23. The left pruning arm 25-1 and the right pruning arm 25 are hinged to the tops of the left frame 1-1 and the right frame 1 to open and close under the pushing of the left pruning electric push rod 22-1 and the right pruning electric push rod 22; under the opening and closing of the left pruning arm 25-1 and the right pruning arm 25, the left pipe knife rest 23-1 and the right pipe knife rest 23 are driven to open and close, and then the left flexible knife 24-1 and the right flexible knife 24 in the left pipe knife rest 23-1 and the right pipe knife rest 23 are driven to open and close.
As shown in fig. 8, the left flexible cutter 24-1 and the right flexible cutter 24 of the present embodiment have the same structure, and each of the left flexible cutter 24-1 and the right flexible cutter comprises a steel wire rope 41 and a plurality of hob 40, wherein the plurality of hob 40 are connected in series and sleeved on the steel wire rope 41 to form the left flexible cutter 24-1 or the right flexible cutter 24, and the plurality of hob 40 are fixedly connected with the steel wire rope 41. The cutter heads on the hob 40 in the left flexible cutter 24-1 and the right flexible cutter 24 can be attached to the surfaces of branches on the trunk to be trimmed through the strip-shaped openings on the steel pipe cutter rest, so that the pruning action is realized.
As shown in fig. 9, a steel wire rope 41 at the end of the right flexible cutter 24 in this embodiment is connected with a shaft section 27 through a coupling 26, a shaft sleeve 28 is fixedly sleeved outside the shaft section 27, a bearing groove is formed inside a sleeve cup 29, an outer ring of a bearing 30 is fixedly connected in the bearing groove, the shaft sleeve 28 is fixedly connected with an inner ring of the bearing 30, the sleeve cup 29 is positioned inside the end of the right tubular cutter frame 23, the sleeve cup 29 can axially move inside the right tubular cutter frame 23, the outer end of the sleeve cup 29 is flexibly connected with the right pruning arm 25 through a tension spring 31, and the end of the right tubular cutter frame 23 is fixedly connected with the end of the right pruning arm 25 through a fastening clamp ring 32. The tension spring 31 at the end part of the sleeve cup 29 in the right pipe knife rest 23 is hooked on the right pruning arm 25, so that the hob of the right flexible knife 24 in the right pipe knife rest 23 is attached to the surface of the tree branch on the trunk to be pruned.
Similarly, fig. 9 shows that the steel wire rope 41 at the end of the left flexible cutter 24-1 in this embodiment is connected with a shaft section 27 through a coupling 26, a shaft sleeve 28 is fixedly sleeved outside the shaft section 27, a bearing groove is formed in the inner side of a sleeve cup 29, an outer ring of a bearing 30 is fixedly connected in the bearing groove, the shaft sleeve 28 is fixedly connected with the inner ring of the bearing 30, the sleeve cup 29 is positioned at the inner side of the end of the left pipe cutter frame 23-1, the sleeve cup 29 can axially move at the inner side of the left pipe cutter frame 23-1, the outer side end of the sleeve cup 29 is flexibly connected with the left pruning arm 25-1 through a tension spring 31, and the end of the left pipe cutter frame 23-1 is fixedly connected with the end of the left pruning arm 25-1 through a fastening clamp ring 32. The tension spring 31 at the end part of the inner sleeve cup 29 of the left pipe knife rest 23-1 is hooked on the left pruning arm 25-1, so that the hob of the left flexible knife 24-1 in the left pipe knife rest 23-1 is attached to the surface of the branch of the trunk to be pruned.
The tension spring 31 of the present embodiment is used to achieve real-time tightening of the left flexible blade 24-1 or the right flexible blade 24 through the sleeve 29 when the robot is in operation.
As shown in fig. 2 and 7, in this embodiment, a right support plate 36 is disposed at the lower portion of the right side wall of the right frame 1, and a power supply 35 is mounted on the right support plate 36, where the power supply 35 is electrically connected to the left clamping electric push rod 4-1, the right clamping electric push rod 4, the left pruning electric push rod 22-1, the right pruning electric push rod 22, the climbing motor 13, the left pruning motor 21-1 and the right pruning motor 21, respectively.
In this embodiment, the upper part of the left side wall of the left frame 1-1 is provided with a left upper plate 33-1 and a left top plate 34-1, the left top plate 34-1 is located above the left upper plate 33-1, one end of the left pruning arm 25-1 is rotatably connected with the left top plate 34-1 and the left upper plate 33-1 through a rotation shaft and the end is located between the left top plate 34-1 and the left upper plate 33-1, and the left pruning motor 21-1 is fixedly connected to the left upper plate 33-1; one end of the right pipe cutter frame 23 is rotatably connected with the left top plate 34-1. One end of the right flexible blade 24 extends out of the right pipe cutter 23 and the left top plate 34-1 and is connected to the drive shaft of the left pruning motor 21-1 located on the left upper plate 33-1. The upper part of the right side wall of the right frame 1 is provided with a right upper plate 33 and a right top plate 34, the right top plate 34 is positioned above the right upper plate 33, one end of the right pruning arm 25 is rotatably connected with the right top plate 34 through a rotating shaft, the end is positioned above the right top plate 34, and the right pruning motor 21 is fixedly connected on the right upper plate 33; one end of the left tube holder 23-1 is rotatably connected to the right top plate 34, and one end of the left flexible cutter 24-1 extends out of the left tube holder 23-1 and the right top plate 34 and is connected to the drive shaft of the right pruning motor 21 located on the right upper plate 33.
In this embodiment, the left pipe tool rest 23-1 and the right pipe tool rest 23 are thin-walled steel pipe tool rests. The lower surfaces of the left pipe knife rest 23-1 and the right pipe knife rest 23 are respectively provided with a plurality of connecting plates, each connecting plate is provided with a plurality of side-by-side mounting holes, the connecting plates are connected with one end of a wheel bracket 38 (shown in figure 7) through one of the mounting holes and bolts, and the other end of the wheel bracket 38 is rotatably connected with a stump regulating wheel 39. When the wheel support 38 is installed on different installation holes on the connecting plate, the depth of the stump adjusting wheel 39 can be adjusted, and the further the stump adjusting wheel 39 is away from the left pipe cutter frame 23-1 or the right pipe cutter frame 23, the longer the reserved stump length is when the hob of the flexible cutter in the left pipe cutter frame 23-1 or the right pipe cutter frame 23 cuts the branches on the trunk.
The working process of the embodiment is as follows: the left clamping electric push rod 4-1, the right clamping electric push rod 4, the left pruning electric push rod 22-1 and the right pruning electric push rod 22 are in an initial state and are in an open left clamping arm 3-1, a right clamping arm, a left pruning arm 25-1 and a right pruning arm 25, a trunk 37 (shown in fig. 10) is sleeved into each arm of the climbing pruning robot by a worker, each electric push rod is started, the left clamping electric push rod 4-1 and the right clamping electric push rod 4 push along the axial direction of the push rod, the left clamping arm 3-1 and the right clamping arm 3 are driven to rotate around the left fixed clamping arm plate 2-1 and the right fixed clamping arm plate 2, the left tire 5-1 and the right tire 5 are attached to the trunk 37 under the driving force of the left clamping electric push rod 4-1 and the right clamping electric push rod 4, and the trunk 37 is clamped. The left pruning arm 25-1 and the right pruning arm 25 connected with the tail ends of the left pruning electric push rod 22 are driven by the left pruning arm 25-1 and the right pruning electric push rod 22 to rotate inwards around the hinge axes of the left pruning arm 25-1 and the right pruning arm 25, the left top plate 34-1 of the left frame 1 and the top plate 34 of the right frame 1, the left pipe knife rest 23-1 and the right pipe knife rest 23 are driven by the left pruning arm 25-1 and the right pruning to rotate inwards around the rotating shafts of the left frame 1-1 and the top of the right frame 1, the left pipe knife rest 23-1 and the right pipe knife rest 23 are mounted below the left pipe knife rest and the right pipe knife rest 23 to be attached to the trunk surface, and the left pipe knife rest 39 and the wheel support 38 can be adjusted to be deep through bolts to control the reserved length of the left branches. The climbing motor 13 is started, the driving wheel 14 rotates, the crawler belt 11 walks upwards along the trunk, meanwhile, the left pruning motor 21-1 and the right pruning motor 21 are started, the output shafts of the left pruning motor 21-1 and the right pruning motor 21 penetrate through and are connected with one end of the left flexible cutter 24-1 and one end of the right flexible cutter 24 respectively, the left pruning motor 21-1 and the right pruning motor 21 rotate to drive the left flexible cutter 24-1 and the right flexible cutter 24 to work, and the hob of the left flexible cutter 24-1 and the hob of the right flexible cutter 24 rotate to be continuously close to the branches on the trunk 37 through the strip-shaped openings on the steel pipe tool rest, so that pruning is performed. The left clamping electric push rod 4-1, the right clamping electric push rod 4, the left pruning electric push rod 22-1 and the right pruning electric push rod 22 of the embodiment are always in a working state, adapt to the change of the diameter of the trunk 37 in the climbing process, and always clamp the trunk 37. The robot of this embodiment can also set up the controller, and the controller wireless connection is outside remote controller, and through outside remote controller remote transmission signal to controller and then through the work of each electric putter of controller control and motor, this remote control mode adopts prior art, is not in the protection scope of this embodiment. The components not explicitly shown in this embodiment can be implemented by the prior art.
The scope of the present technology includes, but is not limited to, the above embodiments, and any alterations, modifications, and improvements made to the technology that are easily conceivable to those skilled in the art are within the scope of the present technology.
Claims (7)
1. The tree climbing pruning robot based on the flexible cutter is characterized by comprising a left frame, a right frame, a tree climbing mechanism, a cohesion clamping mechanism and a pruning mechanism;
The cohesion clamping mechanism comprises a left fixed clamping arm plate, a right fixed clamping arm plate, a left clamping arm, a right clamping arm, a left clamping electric push rod, a right clamping electric push rod, a left tire and a right tire; the middle part of the left side wall of the left frame is fixedly connected with a left fixed clamping arm plate, the left clamping electric push rod and the left clamping arm are both hinged on the left fixed clamping arm plate, the tail end of a driving rod of the left clamping electric push rod is hinged with one end of the left clamping arm, and the other end of the left clamping arm is rotationally connected with a left tire; the middle part of the right side wall of the right frame is fixedly connected with a right fixed clamping arm plate, the right clamping electric push rod and the right clamping arm are both hinged on the right fixed clamping arm plate, the tail end of a driving rod of the right clamping electric push rod is hinged with one end of the right clamping arm, and the other end of the right clamping arm is rotationally connected with a right tire;
The tree climbing mechanism comprises a crawler, a crawler frame, a climbing motor, a driving wheel, a tensioning spring and a tensioning wheel, one end of the crawler frame is fixedly connected with the middle part of the right side wall of the left frame, the other end of the crawler frame is fixedly connected with the middle part of the left side wall of the right frame, the crawler frame is connected with the tensioning wheel through the tensioning spring, the climbing motor is fixedly connected to the left frame, a driving shaft of the climbing motor is connected with the driving wheel through a gear set, the crawler is sleeved on the driving wheel and the tensioning wheel, and the crawler frame is positioned in the middle part of the inner side of the crawler;
The pruning mechanism comprises a left pruning electric push rod, a right pruning electric push rod, a left pipe knife rest, a right pipe knife rest, a left flexible knife, a right flexible knife, a left pruning arm, a right pruning arm, a left pruning motor and a right pruning motor; the left pruning electric push rod is connected to the upper part of the left frame, the driving rod of the left pruning electric push rod is hinged with the left pruning arm, the end part of the left pruning arm is rotationally connected with the left frame, and the left pruning motor is connected to the upper part of the left frame; the right pruning electric push rod is connected to the upper part of the right frame, the driving rod of the right pruning electric push rod is hinged with the right pruning arm, the end part of the right pruning arm is rotationally connected with the right frame, and the right pruning motor is connected to the upper part of the right frame; one end of the left pipe knife rest is rotationally connected with the top of the right frame, the other end of the left pipe knife rest is fixedly connected with the left pruning arm, the left flexible knife is embedded in the left pipe knife rest, a strip-shaped opening extending along the length direction of the left pipe knife rest is formed in the left pipe knife rest, one end of the left flexible knife rest extends out of the top of the left pipe knife rest and the top of the right frame and is connected with a driving shaft of the right pruning motor, and the other end of the left flexible knife rest is flexibly connected with the end part of the left pruning arm through a sleeve cup positioned at the inner side of the left pipe knife rest; one end of the right pipe knife rest is rotationally connected with the top of the left frame, the other end of the right pipe knife rest is fixedly connected with the right pruning arm, the right flexible knife is embedded in the right pipe knife rest, a strip-shaped opening extending along the length direction of the right flexible knife rest is formed in the right pipe knife rest, one end of the right flexible knife rest extends out of the top of the right pipe knife rest and the left frame and is connected with a driving shaft of the left pruning motor, and the other end of the right flexible knife rest is flexibly connected with the end part of the right pruning arm through a sleeve cup positioned at the inner side of the right pipe knife rest;
The left flexible cutter and the right flexible cutter have the same structure and both comprise a steel wire rope and a plurality of hob, and the hob are connected in series and fixed on the steel wire rope so as to form the left flexible cutter or the right flexible cutter;
The end part of the left flexible cutter is connected with a shaft section through a coupler, a shaft sleeve is fixedly sleeved outside the shaft section, a bearing groove is formed in the inner side of the sleeve cup, a bearing outer ring is fixedly connected in the bearing groove, the shaft sleeve is fixedly connected with the bearing inner ring, the sleeve cup is positioned on the inner side of the end part of the left pipe cutter frame and can axially move on the inner side of the left pipe cutter frame, the end part of the sleeve cup is flexibly connected with the left pruning arm through a tension spring, and the end part of the left pipe cutter frame is fixedly connected with the end part of the left pruning arm through a fastening clamping ring;
The end part of the right flexible cutter is connected with a shaft section through a coupler, a shaft sleeve is fixedly sleeved outside the shaft section, a bearing groove is formed in the inner side of the sleeve cup, a bearing outer ring is fixedly connected in the bearing groove, the shaft sleeve is fixedly connected with the bearing inner ring, the sleeve cup is positioned on the inner side of the end part of the right pipe cutter frame and can axially move on the inner side of the right pipe cutter frame, the end part of the sleeve cup is flexibly connected with the right pruning arm through a tension spring, and the end part of the right pipe cutter frame is fixedly connected with the end part of the right pruning arm through a fastening clamping ring;
The lower surface of left side pipe knife rest and right pipe knife rest all is equipped with a plurality of connecting plates, has all seted up a plurality of mounting holes side by side on every connecting plate, and the connecting plate is connected with the one end of wheel support through the mounting hole, and the other end rotation of wheel support is connected with the stump regulating wheel.
2. The flexible cutter-based tree climbing pruning robot according to claim 1, wherein the left fixed clamping arm plate and the right fixed clamping arm plate have the same structure and comprise a cross plate and two strip-shaped inclined plates which are arranged in parallel, and one ends of the two strip-shaped inclined plates are respectively connected to the top and the bottom of one end of the cross plate;
The other ends of the two strip-shaped inclined plates of the left fixed clamping arm plate are hinged with the middle part of the left clamping arm, and the other ends of the cross plates of the left fixed clamping arm plate are hinged with the end parts of the cylinder bodies of the left clamping electric push rods through connecting lugs; the cross plate of the left fixed clamping arm plate is fixedly connected to the middle part of the left side wall of the left frame through bolts;
The other ends of the two strip-shaped inclined plates of the right fixed clamping arm plate are hinged with the middle part of the right clamping arm, and the other ends of the cross plates of the right fixed clamping arm plate are hinged with the end parts of the cylinder bodies of the right clamping electric push rods through connecting lugs; the cross plate of the right fixed clamping arm plate is fixedly connected to the middle part of the right side wall of the right frame through bolts.
3. The flexible cutter-based tree climbing and pruning robot according to claim 2, wherein the tree climbing mechanism further comprises a thrust wheel, the thrust wheel is positioned on the inner side of the crawler, a thrust wheel shaft is arranged in the middle of the thrust wheel, and two ends of the thrust wheel shaft are respectively connected with the left frame and the right frame in a rotating manner;
the crawler frame is in an inverted I shape, one end face of the crawler frame, the left frame and the cross plate of the left fixed clamping arm plate are fixedly connected through bolts, and the other end face of the crawler frame, the right frame and the cross plate of the right fixed clamping arm plate are fixedly connected through bolts;
The middle part of the tensioning wheel is provided with a tensioning wheel shaft, the crawler frame is connected with the tensioning wheel shaft through a tensioning spring, and two ends of the tensioning wheel shaft are respectively connected with the left frame and the right frame in a rotating way.
4. The flexible-cutter-based tree climbing and pruning robot according to claim 3, wherein a left support plate is arranged at the lower part of the left side wall of the left frame, a climbing motor is fixedly connected to the left support plate, a gear set comprises a pinion and a large gear, a driving shaft of the climbing motor penetrates through the side wall of the left frame and is connected with the pinion, the pinion is meshed with the large gear, the middle part of the large gear and the middle part of the driving wheel are connected through the same driving wheel shaft, two ends of the driving wheel shaft are respectively connected with the left frame and the right frame in a rotating mode, the outer surface of the driving wheel shaft is meshed with the inner surface of a crawler belt, and the driving wheel shaft is used for driving the crawler belt to act.
5. The flexible-cutter-based tree climbing and pruning robot according to claim 4, wherein a right support plate is arranged at the lower part of the right side wall of the right frame, and a power supply is installed on the right support plate and is electrically connected with the left clamping electric push rod, the right clamping electric push rod, the left pruning electric push rod, the right pruning electric push rod, the climbing motor, the left pruning motor and the right pruning motor respectively.
6. The flexible cutter-based tree climbing pruning robot according to claim 1, wherein a left upper plate and a left top plate are arranged at the upper part of the left side wall of the left frame, the left top plate is positioned above the left upper plate, one end of the left pruning arm is rotatably connected with the left top plate and the left upper plate through a rotating shaft, and the left pruning motor is fixedly connected to the left upper plate; one end of the right pipe knife rest is rotationally connected with the left top plate, and one end of the right flexible knife extends out of the right pipe knife rest and the left top plate and is connected with a driving shaft of a left pruning motor positioned on the left upper plate; the upper part of the right side wall of the right frame is provided with a right upper plate and a right top plate, the right top plate is positioned above the right upper plate, one end of the right pruning arm is rotationally connected with the right top plate through a rotating shaft, and the right pruning motor is fixedly connected to the right upper plate; one end of the left pipe knife rest is rotationally connected with the right top plate, and one end of the left flexible knife tool extends out of the left pipe knife rest and the right top plate and is connected with a driving shaft of a right pruning motor positioned on the right upper plate.
7. The flexible-cutter-based tree climbing pruning robot according to any one of claims 1 to 6, wherein the left pipe cutter rest and the right pipe cutter rest are steel pipe cutter rests;
the tail end of the driving rod of the left clamping electric push rod is fixedly connected with a buffer spring, the other end of the buffer spring is connected with a spring guide rod, and the spring guide rod is hinged with one end of the left clamping arm; the tail end of the driving rod of the right clamping electric push rod is fixedly connected with a buffer spring, the other end of the buffer spring is connected with a spring guide rod, and the spring guide rod is hinged with one end of the right clamping arm.
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| CN201910582217.0A CN110122102B (en) | 2019-06-30 | 2019-06-30 | Tree climbing pruning robot based on flexible cutter |
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| CN201910582217.0A CN110122102B (en) | 2019-06-30 | 2019-06-30 | Tree climbing pruning robot based on flexible cutter |
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| CN110122102A CN110122102A (en) | 2019-08-16 |
| CN110122102B true CN110122102B (en) | 2024-04-26 |
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| CN206075090U (en) * | 2016-10-11 | 2017-04-05 | 山东农业大学 | One kind is climbed tree pruning robot self-control system |
| CN107306679A (en) * | 2017-06-07 | 2017-11-03 | 燕山大学 | Xiu Shu robots |
| CN108738811A (en) * | 2018-06-21 | 2018-11-06 | 河南林业职业学院 | A kind of robot of controllable track climbs tree pruning method |
| CN109819798A (en) * | 2019-03-15 | 2019-05-31 | 广西大学 | A eucalyptus pruning machine that uses its own gravity to increase climbing force |
| CN210113822U (en) * | 2019-06-30 | 2020-02-28 | 南京林业大学 | A tree-climbing and pruning robot based on flexible cutters |
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