CN110326445B

CN110326445B - A tree-climbing robot for branching

Info

Publication number: CN110326445B
Application number: CN201910617637.8A
Authority: CN
Inventors: 朱雯煜
Original assignee: Rizhao Chaoli Information Technology Co ltd
Current assignee: Rizhao Xinrui Investment Development Co Ltd
Priority date: 2019-07-10
Filing date: 2019-07-10
Publication date: 2021-08-03
Anticipated expiration: 2039-07-10
Also published as: CN110326445A

Abstract

The invention relates to the technical field of tree branching, in particular to a tree-climbing robot for branching, comprising a power component, a crawling device and a branching component; the power component is arranged on the branched tree through a plurality of crawling devices, so The branching member is arranged on the power member; the crawling device and the power member are movably connected, and the overall shape when the crawler device is not installed is a "parallelogram", when the power member is arranged on the tree through the crawler device, the The shape of the crawling device is changed from "parallelogram" to "snake shape". The "snake-shaped" crawling device can fix the power member on the trunk through its own contraction and deformation, and the power member can make the spiral of the crawler device go up and down, It solves the existing problems of artificial pruning, which has potential safety hazards and requires large space for large-scale mechanical operations, which is easy to cause environmental damage. .

Description

Tree climbing robot for pruning

Technical Field

The invention belongs to the technical field of tree pruning, and particularly relates to a tree climbing robot for pruning.

Background

In order to pursue comfortable, healthy, efficient and attractive effects, requirements and targets of human beings on living environments are met, so that the ecological environment is introduced into a living area plan, the living environment is ecologized, buildings in a residential area and greening are combined into one to form an ecological building, trees are planted in the residential area, after the trees grow for some years, the trees are luxuriant and luxuriant, and meanwhile, the beautiful and green environment is brought to people, troubles are brought, for example, the branches are too big, sunlight is shielded, the lighting problem of the building is influenced, meanwhile, the branches are too big, the branches are easy to break when encountering storm weather, the personal and property safety is threatened, the trees are required to be pruned and repaired, the branches at the lower end are removed, the trees grow upwards, and when tall trees are pruned, the following problems exist:

(1) the potential safety hazard exists in the manual treatment, and the pruning is difficult;

(2) when a large machine is used for pruning, the large machine enters a limited space in a cell for operation, so that the construction is difficult, and the environment of the cell is easy to damage;

in order to solve the problems, the tree climbing robot for pruning is specially provided.

Disclosure of Invention

The invention overcomes the defects of the prior art, provides the tree-climbing robot for pruning, and aims to solve the problems that potential safety hazards exist in artificial pruning, large space is needed during large-scale mechanical operation, and environment damage is easily caused.

The technical scheme of the invention is as follows:

a tree-climbing robot for pruning comprises a power component, a crawling device and a pruning component; the power component is arranged on the tree to be pruned through a plurality of crawling devices, and the pruning component is arranged on the power component;

the crawling device is movably connected with the power member, the crawling device is integrally shaped like a parallelogram when not installed, the power member is arranged on the tree through the crawling device, the shape of the crawling device is changed into a snake shape from the parallelogram, the crawling device in the snake shape can fix the power member on the trunk through the contraction deformation of the crawling device, the power member can enable the crawling device to spirally ascend and descend, in the spiral ascending and descending process, the power member is fully matched with the change of the outer diameter of the tree through the contraction deformation of the crawling device to keep the stability of the power member, when the tree sections on the trunk are protruded, the crawling device can be gradually deformed to pass through the tree section protrusions on the trunk, the power member provides power for the crawling device and ascends along the spiral of the trunk through the crawling device, the pruning component is sent to a specified height, the pruning component delimbers the trees through the upward movement of the pruning component, and in the process of delimbering the pruning component, the crawling device can provide vertical upward force for the pruning component through the longitudinal acting force with the outer wall of the trunk and keep the stability of the pruning component.

Preferably, the power member comprises a power box, a vertical beam, an oblique roller, a transmission T-shaped gear, a motor, a driving T-shaped gear and a connecting T-shaped gear; the power box and the connecting plate are connected through parallel symmetrical vertical beams, two transmission chambers are symmetrically arranged in the power box, two grooves are symmetrically arranged on one side wall of each vertical beam, a sliding groove is formed in the inner side wall of each vertical beam, oblique rollers are arranged in the grooves, one end of a rotating shaft sequentially penetrates through the oblique rollers in the two grooves, the other end of the rotating shaft penetrates through the power box and is connected with a transmission T-shaped gear in the transmission chamber, a motor is arranged on the side wall of the power box, the output end of the motor penetrates through the power box and is connected with a driving T-shaped gear in the transmission chamber on the left side, the driving T-shaped gear is meshed with the transmission T-shaped gear, the transmission T-shaped gears in the two transmission chambers are meshed and connected through connecting T-shaped gears, and two ends of the crawling device are respectively arranged on the side walls of the two vertical beams.

The tree-climbing robot for pruning according to claim 2, characterized in that: a plurality of stabilizing members are arranged on the side walls of the vertical beams.

Preferably, the stabilizing member comprises a U-shaped frame, a return spring and a roller shaft; the U-shaped frame is arranged on the outer side wall of the vertical beam, the roller shaft and the reset spring are arranged on the U-shaped frame through the rotating shaft, the reset spring is symmetrically arranged at two ends of the roller shaft, one end of the reset spring is abutted against the U-shaped frame, and the other end of the reset spring is abutted against the side wall of the roller shaft.

Preferably, the pruning member comprises a clamping plate, a cross limiting plate, a pruning saw and a cylinder; the utility model discloses a pruning saw, including splint, cylinder, division saw, horizontal beam, splint parallel symmetry sets up, be provided with the cross limiting plate on the lateral wall of splint, the activity of cross limiting plate sets up in the spout of vertical roof beam, and the pruning saw sets up between two parallel splint to through the fixed setting of screw rod between two parallel splint, the cylinder setting is between two vertical roof beams, the cylinder stiff end sets up on the headstock, the output of cylinder is connected with splint.

A power component for a pruning robot comprises a power box, a vertical beam, an oblique roller, a transmission T-shaped gear, a motor, a driving T-shaped gear and a connecting T-shaped gear; the power box and the connecting plate are connected through parallel symmetrical vertical beams, two transmission chambers are symmetrically arranged in the power box, two grooves are symmetrically arranged on one side wall of each vertical beam, a sliding groove is formed in the inner side wall of each vertical beam, oblique rollers are arranged in the grooves, one end of a rotating shaft sequentially penetrates through the oblique rollers in the two grooves, the other end of the rotating shaft penetrates through the power box and is connected with a transmission T-shaped gear in the transmission chamber, a motor is arranged on the side wall of the power box, the output end of the motor penetrates through the power box and is connected with a driving T-shaped gear in the transmission chamber on the left side, the driving T-shaped gear is meshed with the transmission T-shaped gear, the transmission T-shaped gears in the two transmission chambers are meshed and connected through connecting T-shaped gears, and two ends of the crawling device are respectively arranged on the side walls of the two vertical beams.

Preferably, a plurality of stabilizing members are arranged on the side wall of the vertical beam; the stabilizing component comprises a U-shaped frame, a return spring and a roll shaft; the U-shaped frame is arranged on the outer side wall of the vertical beam, the roller shaft and the reset spring are arranged on the U-shaped frame through the rotating shaft, the reset spring is symmetrically arranged at two ends of the roller shaft, one end of the reset spring is abutted against the U-shaped frame, and the other end of the reset spring is abutted against the side wall of the roller shaft.

A delimbing component for a delimbing robot comprises a clamping plate, a cross limiting plate, a delimbing saw and a cylinder; the utility model discloses a pruning saw, including splint, cylinder, division saw, horizontal beam, splint parallel symmetry sets up, be provided with the cross limiting plate on the lateral wall of splint, the activity of cross limiting plate sets up in the spout of vertical roof beam, and the pruning saw sets up between two parallel splint to through the fixed setting of screw rod between two parallel splint, the cylinder setting is between two vertical roof beams, the cylinder stiff end sets up on the headstock, the output of cylinder is connected with splint.

A pruning method of a crawling robot for pruning comprises the following steps:

step a, mounting and connecting, namely taking out the power component, the crawling device and the pruning component from the placing box, fixing the pruning component on the trunk through a plurality of groups of crawling devices, and enabling the inclined roller and the stabilizing component to be abutted against the surface of the trunk;

b, ascending and positioning, starting a motor to rotate anticlockwise, driving the T-shaped gear to rotate clockwise by the motor through a driving T-shaped gear and a connecting T-shaped gear, driving the T-shaped gear to drive an oblique roller to rotate clockwise through a rotating shaft, matching with a stable vertical beam and a stable member, and conveying a pruning member to the lower part of a branch to be cut to finish positioning;

c, cutting and pruning, namely stopping the motor after positioning is finished, starting the pruning saw and the cylinder, and moving the cylinder upwards to drive the pruning saw to abut against the branches to be pruned to prune;

d, descending and returning, wherein when pruning is finished, a motor is started to rotate slowly anticlockwise, after the motor moves upwards for a certain distance, the motor is quickly adjusted to rotate clockwise in an accelerated manner, the motor drives a transmission T-shaped gear to rotate anticlockwise through a driving T-shaped gear and a connecting T-shaped gear, the transmission T-shaped gear drives an inclined roller to rotate anticlockwise in an accelerated manner through a rotating shaft, and the inclined roller drives a crawling device to descend spirally through a vertical beam and return to the ground;

and e, disassembling and sub-packaging, namely disassembling the plurality of groups of crawling devices from the vertical beam, and loading the power member, the crawling devices and the pruning member into the placing box.

Preferably, the method is implemented on a crawling robot for pruning.

The utility model provides a delimbing robot is with device of crawling which characterized in that: the device comprises a crawling unit and a T-shaped connecting block; the crawling units are connected layer by layer up and down through T-shaped connecting blocks to form a parallelogram, the crawling units positioned at the uppermost end and the lowermost end are movably arranged on the side wall of the vertical beam through pin shafts, and the T-shaped connecting blocks are arranged at the bottoms of the crawling units through rotating shafts;

the crawling unit comprises an arc-shaped sheet, an arc-shaped sliding rod, a pressure spring, a tension spring and an adjusting unit; the upper wall of the arc-shaped sheets is provided with an arc-shaped groove, the side walls are sequentially provided with a plurality of rectangular grooves along the diagonal direction, the lower side wall of each arc-shaped sheet is provided with a T-shaped connecting block, an arc-shaped sliding rod is arranged in each arc-shaped groove, two adjacent arc-shaped sheets are connected with the arc-shaped grooves and the arc-shaped sliding rods through the T-shaped connecting blocks in a matching way, the T-shaped connecting blocks are arranged in the arc-shaped grooves, each arc-shaped groove is internally provided with a pressure spring and a tension spring, one end of each arc-shaped sliding rod is arranged on the side wall of one end of each arc-shaped groove, the other end of each arc-shaped sliding rod sequentially penetrates through the pressure spring, the T-shaped connecting blocks and the tension springs to be arranged on the side wall of the other end of each arc-shaped sheet, the adjacent arc, the adjusting unit can perform self-adjustment along with lifting movement, so that an angle formed by the adjusting unit and the axis direction of the trunk is an acute angle, and the action of force of the adjusting unit and the outer wall of the trunk is enhanced;

preferably, the adjusting unit includes; the rolling disc is arranged in the rectangular groove, the spherical groove is formed in the center of the rolling disc, the spherical seat is arranged in the spherical groove, one end of the rod shaft is arranged on the side wall of the rectangular groove, the other end of the rod shaft penetrates through the spherical seat and the anti-deflection spring to be arranged on the other side wall of the rectangular groove, and the anti-deflection spring is symmetrically arranged at two ends of the rolling disc.

Preferably, the outer wall of the rolling disc is provided with an annular sheet, and the outer wall of the annular sheet is provided with a bulge.

Preferably, the annular sheet is a metal sheet.

A crawling method of a pruning robot comprises the following steps:

step a, spirally rising, fixing a pruning component on a trunk through a crawling device, enabling an oblique roller to abut against the surface of the trunk, starting a motor to rotate anticlockwise, driving the T-shaped gear to rotate clockwise through a driving T-shaped gear and a connecting T-shaped gear, driving the oblique roller to rotate clockwise through a rotating shaft, driving a plurality of arc-shaped sheets to rotate upwards through a vertical beam in the initial stage of friction between the oblique roller and the trunk, enabling an adjusting unit to keep the original motion state due to the existence of inertia and frictional resistance, leading the adjusting unit to deflect, enabling the adjusting unit to incline upwards, enabling the formed angle theta to be an acute angle, enabling the arc-shaped sheets to obliquely insert the upper end bulges of the annular sheets of the inclined adjusting unit into the trunk through the force action of a T-shaped connecting block matched with a pressure spring and a tension spring, and enhancing the force action of the crawling device and the pruning component in the rising process, when the tree trunk is required to be accelerated to rise, the motor rotates anticlockwise in an accelerating mode, the arc piece is driven by the vertical beam and the oblique roller to accelerate the linear velocity along the outer wall of the tree trunk, due to the fact that the friction force of the adjusting unit and the tree trunk exists, the inclined angle theta of the adjusting unit is reduced under the action of the force of the pressure spring and the tension spring, the arc piece rotates for a circle, vertical displacement is increased, and accelerated rising is completed;

b, crossing the obstacle, wherein when the obstacle is crossed, the inner diameter of the trunk at the position is equivalent to be enlarged when the trunk meets the projection of the tree section, the arc-shaped sheet is suitable for the enlargement of the inner diameter, the relative displacement of the arc-shaped sheet at the projection of the tree section is enlarged under the matching action of the T-shaped connecting block, the arc-shaped sliding rod, the pressure spring and the tension spring, the force is transmitted outwards through the T-shaped connecting block, the pressure spring and the tension spring, the crawling units are enabled to pass through the projection of the tree section one by one through the matching of the crawling units and the T-shaped connecting block, and the power member and the pruning member are driven to pass through the projection of the tree section to complete obstacle crossing;

c, decelerating and positioning, when the power component and the crawling device send the pruning component to a target area, adjusting the clockwise rotation speed of the motor to reduce the rotation speed, and the motor decelerates and rotates anticlockwise, driving the arc-shaped sheet to reduce the linear speed along the outer wall of the trunk through the vertical beam and the oblique roller wheel, increasing the inclined angle theta of the adjusting unit due to the existence of gravity, ensuring that the inclined angle theta of the adjusting unit is still an acute angle under the action of the pressure spring and the tension spring, rotating the arc-shaped sheet for a circle, reducing the vertical displacement, slowly rotating the uppermost end of the vertical beam from the lower end of the branch to be pruned to be higher than the branch to be pruned by adjusting the tiny displacement, positioning the pruning saw below the branch to be pruned, and finishing positioning;

d, positioning and pruning, turning off a motor after positioning is finished, starting a pruning saw and an air cylinder, enabling the air cylinder to move upwards to drive the pruning saw to abut against branches to be pruned, and cutting, wherein in the cutting process, the action of force transmitted to a power component and a crawling device by the pruning saw is downward, the downward action of force is transmitted to the side wall of the trunk through an arc-shaped sheet and an inclined adjusting unit, namely, the downward action of force is directly transmitted to the trunk, and meanwhile, a bulge of an annular sheet arranged on the adjusting unit is pricked into the side wall of the trunk, so that the stability of the cutting process is increased, and the support of force is provided for pruning;

e, spirally descending, starting a motor to slowly rotate anticlockwise when pruning is finished, enabling an annular sheet to be screwed out from a pit acted with the side wall of the trunk during pruning, rapidly adjusting the motor to rotate clockwise in an accelerated manner, driving the T-shaped gear to rotate anticlockwise by the motor through a driving T-shaped gear and a connecting T-shaped gear, driving a T-shaped gear to drive an oblique roller to rotate anticlockwise in an accelerated manner through a rotating shaft, driving a plurality of arc-shaped sheets to move downwards through a vertical beam by the oblique roller, driving an adjusting unit to move downwards by the arc-shaped sheets to cause the adjusting unit to deflect, enabling the adjusting unit to incline downwards, enabling the angle alpha formed by the adjusting unit to be an acute angle, enabling the arc-shaped sheets to obliquely insert the lower end bulges of the annular sheet of the inclined adjusting unit into the trunk in an inclined manner through the action of a T-shaped connecting block matched with a pressure spring and a tension spring, and overcoming the gravity of a crawling device and a pruning component in a descending process, the stable spiral descends, and a pit formed by pruning is effectively avoided, and the stable spiral descends and rotates to the ground position;

a lifting method of a pruning robot comprises the following steps:

b, spirally descending, starting a motor to slowly rotate anticlockwise when pruning is finished, enabling an annular sheet to be screwed out from a pit acted with the side wall of the trunk through pruning, rapidly adjusting the motor to rotate clockwise in an accelerated manner, driving the T-shaped gear to rotate anticlockwise through a driving T-shaped gear and a connecting T-shaped gear, driving a T-shaped gear to drive an oblique roller to rotate anticlockwise in an accelerated manner through a rotating shaft, driving a plurality of arc-shaped sheets to move downwards through a vertical beam by the oblique roller, driving an adjusting unit to move downwards through the arc-shaped sheets to cause the adjusting unit to deflect, enabling the adjusting unit to incline downwards, enabling the angle alpha formed by the downward inclination of the adjusting unit to be an acute angle, enabling the arc-shaped sheets to obliquely insert the lower end bulges of the annular sheet of the inclined adjusting unit into the trunk through the force action of a T-shaped connecting block matched with a pressure spring and a tension spring, and overcoming the gravity of a crawling device and a pruning component in the descending process, the stable spiral descends, and the pit formed by pruning is effectively avoided, and the rotary table rotates to the ground position.

The utility model provides a robot that beats obstacles method more, when meetting the festival protruding, the internal diameter of this department trunk is equivalent to the grow, the arc piece is adapted to the grow of internal diameter, through T type connecting block, the arc slide bar, compression spring, tension spring's mating reaction, make the relative displacement grow of the arc piece that is located the protruding department of festival, and through T type connecting block, compression spring and tension spring outwards transmit the effect of power, cooperation through a plurality of units of crawling and T type connecting block, it is protruding that the unit of crawling one by one passes through the festival, and it is protruding to drive power component and the component of beating a branch through the festival, accomplish and hinder more.

A positioning method of a delimbing robot comprises the following steps:

step a, decelerating and positioning, when a power component and a crawling device send a pruning component to a target area, adjusting the clockwise rotation speed of a motor to reduce the rotation speed and rotate anticlockwise, driving an arc-shaped sheet to reduce the linear speed along the outer wall of a trunk through a vertical beam and an oblique roller, increasing the inclined angle theta of an adjusting unit due to the existence of gravity, ensuring that the inclined angle theta of the adjusting unit is still an acute angle under the action of force of a pressure spring and a tension spring, rotating the arc-shaped sheet for a circle, reducing vertical displacement, slowly rotating the uppermost end of the vertical beam from the lower end of a branch to be pruned to be higher than the branch to be pruned by adjusting small displacement, positioning a pruning saw below the branch to be pruned, and completing positioning;

b, the location is beaten the branch, wait that the positioning is accomplished, close the motor, start pruning saw and cylinder, the cylinder rebound drives the pruning saw and waits to beat the branch and lean on, cut, in the cutting process, the effect of power that the pruning saw transmitted the power component and crawl the device is decurrent, the effect of decurrent power transmits the lateral wall for the trunk through the adjustment unit of arc piece and slope, direct transmission promptly transmits the trunk, the protruding of the last annular piece that sets up of adjustment unit pricks into the trunk lateral wall simultaneously, the stability of cutting process has been increased, provide the support of power for accomplishing the branch cutting.

The invention has the beneficial effects that:

1) the snake-shaped structure of the crawling device can play a role of effectively fixing the power component through the self contraction deformation, meanwhile, the self-contraction deformation of the crawling device in the spiral lifting process can effectively adapt to the change of the inner diameter size of the trunk from bottom to top, can more effectively avoid the tree section bulges and send the pruning member to a specified position, when the pruning member cuts the branch to be pruned, the force transferred by the branch to the pruning member is downward, meanwhile, the power member, the crawling device and the pruning member are combined with the gravity action, the crawling devices are embedded into the side wall of the trunk, stable support is provided, effective cutting is ensured, through the effective combination of the power component, the crawling device and the pruning component, the pruning operation of trees in a small area, which cannot be entered by a large motor vehicle, is effectively overcome, and manpower and material resources are saved.

2) Stabilizing the vertical roof beam adjustment position of component can effectual cooperation, keep vertical state as far as possible, the lateral wall of vertical roof beam sets up the pole cover simultaneously, the cooperation of device of crawling through pole axle and pole cover, the activity sets up on the lateral wall of vertical roof beam, make the internal diameter size change of its fully-matched trunk, the bellied existence of festival, reset spring can correct the position of roller, be located the inside of U type frame, avoid the resistance effect that the friction of U type frame and roller brought, can be provided with the screw thread on the outer wall of roller, increase the in-process of crawling, through the roughness on increase roller surface, increase the frictional force with the trunk, in order to provide power for crawling.

3) When meetting the festival protruding, the internal diameter of this department trunk is equivalent to the grow, the arc piece is adapted to the grow of internal diameter, through T type connecting block, the arc slide bar, compression spring, tension spring's mating reaction, make the relative displacement grow of the arc piece that is located the protruding department of festival, and through T type connecting block, compression spring and tension spring are outwards transmitted with the effect of power, cooperation through a plurality of units of crawling and T type connecting block, it is protruding that the unit of crawling one by one passes through the festival, and it is protruding to drive power component and delimber component through the festival, the completion hinders more, strengthen the adaptability of robot.

4) When the power component and the device of crawling will delimbing the component and send to and be close to the target area, the clockwise rotation rate of adjustment motor, make the rotation rate reduce, motor speed reduction anticlockwise rotation, through vertical roof beam, the slant gyro wheel drives the arc piece and reduces the linear velocity along the trunk outer wall, because the existence of gravity, make the angle theta grow of regulating unit slope, and at pressure spring and tension spring's effort, can guarantee that regulating unit's inclination theta still is the acute angle, make the arc piece rotatory a week, vertical displacement diminishes, through adjusting small displacement, can make the top of vertical roof beam slowly rotate to be higher than waiting to delimbing from the branch lower extreme of waiting to delimbing, and make the delimbing saw be located the below of waiting to delimbing, the positioning is accomplished.

5) When pruning is finished, starting the motor to slowly rotate anticlockwise to enable the annular sheet to be screwed out from a pit generated by the action of embedding the annular sheet into the side wall of a trunk during pruning, rapidly adjusting the motor to rotate clockwise in an accelerating manner, driving the T-shaped gear to rotate anticlockwise through the driving T-shaped gear and the connecting T-shaped gear, driving the T-shaped gear to drive the inclined roller to rotate anticlockwise in an accelerating manner through the rotating shaft, driving the plurality of arc-shaped sheets to move downwards through the vertical beam by the inclined roller, driving the adjusting unit to move downwards by the arc-shaped sheets to cause the adjusting unit to deflect, enabling the adjusting unit to incline downwards, enabling the angle alpha to be an acute angle, enabling the arc-shaped sheets to obliquely insert the lower end bulges of the annular sheet of the inclined adjusting unit into the trunk through the action of the T-shaped connecting block matched with the pressure spring and the tension spring, overcoming the gravity of the crawling device and the pruning component during descending, and enabling the stable spiral descending, and the spiral track is effectively changed, a pit formed by pruning is avoided, and the rotary table can smoothly rotate to the ground position.

Drawings

FIG. 1 is a schematic view of the overall structure of a tree-climbing robot for pruning according to the present invention;

FIG. 2 is a schematic structural view of a power member according to the present invention;

FIG. 3 is a schematic illustration of the crawler when not deployed;

FIG. 4 is a schematic illustration of the crawler when deployed;

FIG. 5 is a schematic view of a power plant and a delimbing member;

FIG. 6 is a top view of the power unit and the delimbing member;

FIG. 7 is a schematic diagram of the attachment of a crawler;

FIG. 8 is a side view of section A-A of FIG. 7;

FIG. 9 is a cut-away top view of the arcuate sheet;

FIG. 10 is a top view of the arcuate tab;

FIG. 11 is a bottom view of the arcuate tab;

FIG. 12 is a schematic view of the structure of the regulating unit;

FIG. 13 shows the positional relationship of the adjustment unit to the side wall of the trunk when the crawler is spirally rotated upward;

fig. 14 shows the positional relationship of the adjustment unit to the side wall of the trunk when the crawler is screwed down.

In the figure: 1-power component, 1-1-power box, 1-2-vertical beam, 1-3-transmission chamber, 1-4-sliding chute, 1-5-oblique roller, 1-6-transmission T-shaped gear, 1-7-motor, 1-8-driving T-shaped gear, 1-9-connecting T-shaped gear, 1-10-stabilizing component, 1-10-1-U-shaped frame, 1-10-2-reset spring, 1-10-3-roller shaft, 2-crawling device, 2-1-crawling unit, 2-1-1-arc piece, 2-1-2-arc groove, 2-1-3-arc slide rod, 2-1-4-pressure spring, 2-1-5-tension spring, 2-1-6-adjusting unit, 2-1-6-1-rolling disc, 2-1-6-2-spherical seat, 2-1-6-3-deflection resisting spring, 2-1-6-4-annular sheet, 2-2-T type connecting block, 3-pruning component, 3-1-clamping plate, 3-2-cross limiting plate, 3-3-pruning saw and 3-4-cylinder.

Detailed Description

The invention will be described in detail below with reference to the following drawings:

detailed description of the invention

The embodiment is an embodiment of a tree-climbing robot for pruning.

As shown in fig. 1, the tree-climbing robot for pruning disclosed in the present embodiment includes a power member 1, a crawling device 2 and a pruning member 3; the power component 1 is arranged on the tree to be pruned through a plurality of crawling devices 2, and the pruning component 3 is arranged on the power component 1;

the climbing device 2 is movably connected with the power member 1, the climbing device 2 is integrally shaped like a parallelogram when not installed, when the power member 1 is arranged on a tree through the climbing device 2, the shape of the climbing device 2 is changed into a snake shape from the parallelogram, the climbing device 2 which is snake-shaped can fix the power member 1 on the trunk through the self contraction deformation, the power member 1 can enable the climbing device 2 to spirally lift, in the spiral lifting process, the power member 1 is deformed through the contraction of the climbing device 2 and fully matched with the change of the outer diameter of the tree to keep the stability of the power member 1, when the tree section is protruded on the trunk, the climbing device 2 can be deformed gradually to be protruded through the tree section on the trunk, the power member 1 provides power for the climbing device 2 and ascends along the trunk through the spiral of the climbing device 2, the pruning member 3 is sent to a specified height, the pruning member 3 performs pruning on trees through the upward movement of the pruning member 3, and in the pruning process of the pruning member 3, the crawling device 2 can provide vertical upward force for the pruning member 3 through the longitudinal acting force with the outer wall of the trunk and keep the stability of the pruning member 3;

the snake-shaped structure of the crawling device 2 can play a role of effectively fixing the power component 1 through self contraction deformation, and meanwhile, the crawling device 2 can effectively adapt to the change of the inner diameter size of the trunk from bottom to top in the spiral lifting process through self contraction deformation, can more effectively avoid the bulge of the tree section, and sends the delimbing component 3 to a specified position;

when the branch of treating the delimbing is cut at delimbing component 3, the effect that the branch was given for delimbing component 3 is decurrent, combine power component 1 simultaneously, creep device 2 and the action of gravity of delimbing component 3, creep the lateral wall that device 2 imbeds the trunk through the multiunit, provide stable support, guarantee the effective of cutting and go on, through power component 1, creep device 2 and the effective combination of delimbing component 3, the effectual pruning work of large-scale motor vehicle can not get into narrow and small region to trees of having overcome, manpower and materials are saved.

Detailed description of the invention

The embodiment is an embodiment of a power component for a pruning robot. It should be noted that the power member for the pruning robot of the present embodiment may be implemented independently, that is, may exist independently as a component of a pruning tree-climbing robot, and may further limit the pruning tree-climbing robot described in the first embodiment.

Referring to fig. 1, 2, 5 and 6, the power member for the pruning robot disclosed by the embodiment comprises a power box 1-1, a vertical beam 1-2, an oblique roller 1-5, a transmission T-shaped gear 1-6, a motor 1-7, a driving T-shaped gear 1-8 and a connecting T-shaped gear 1-9; the power box 1-1 is connected with the connecting plate through parallel and symmetrical vertical beams 1-2, two transmission chambers 1-3 are symmetrically arranged in the power box 1-1, two grooves are symmetrically arranged on one side wall of each vertical beam 1-2, sliding grooves 1-4 are arranged on the inner side wall of each vertical beam 1-2, oblique rollers 1-5 are arranged in the grooves, one end of a rotating shaft sequentially penetrates through the oblique rollers 1-5 in the two grooves, the other end of the rotating shaft penetrates through the power box 1-1 and is connected with transmission T-shaped gears 1-6 in the transmission chambers 1-3, motors 1-7 are arranged on the side wall of the power box 1-1, the output ends of the motors 1-7 penetrate through the power box 1-1 and are connected with driving T-shaped gears 1-8 in the transmission chambers 1-3 on the left side, the driving T-shaped gears 1-8 are meshed with the transmission T-shaped gears 1-6, the transmission T-shaped gears 1-6 in the two transmission chambers 1-3 are meshed and connected through the connection T-shaped gears 1-9, and two ends of the crawling device 2 are respectively arranged on the side walls of the two vertical beams 1-2;

a plurality of stabilizing members 1-10 are arranged on the side wall of the vertical beam 1-2;

the stabilizing component 1-10 comprises a U-shaped frame 1-10-1, a return spring 1-10-2 and a roller shaft 1-10-3; the U-shaped frame 1-10-1 is arranged on the outer side wall of the vertical beam 1-2, the roller shaft 1-10-3 and the return spring 1-10-2 are arranged on the U-shaped frame 1-10-1 through a rotating shaft, the return spring 1-10-2 is symmetrically arranged at two ends of the roller shaft 1-10-3, one end of the return spring 1-10-2 abuts against the U-shaped frame 1-10-1, and the other end of the return spring 1-10-2 abuts against the side wall of the roller shaft 1-10-3;

the starting motor 1-7 rotates anticlockwise, the motor 1-7 drives the transmission T-shaped gear 1-6 to rotate clockwise through the driving T-shaped gear 1-8 and the connecting T-shaped gear 1-9, the transmission T-shaped gear 1-6 drives the oblique roller 1-5 to rotate clockwise through the rotating shaft, the friction force between the oblique roller and the outer wall of the trunk is matched with the vertical beam 1-2 and the stabilizing member 1-10, the tangential force obliquely upwards along the outer wall of the trunk can be provided for the upward crawling of the robot, the power is provided for the upward spiral crawling, and similarly, the spiral descending power can be provided for the device through the clockwise rotation of the starting motor 1-7;

the stabilizing members 1-10 can effectively cooperate with the vertical beams 1-2 to adjust the position, the vertical state is kept as much as possible, namely when the crawling device 2 rotates in a spiral mode, the vertical beams 1-2 are subjected to the action of deflection force acting on the vertical beams, meanwhile, the direction of the friction force between the vertical beams 1-5 and the trunk is oblique, the vertical beams 1-2 are also subjected to the deflection effect, and the vertical support of the vertical beams 1-10 on the side walls of the trunk is kept through the limiting effect of the stabilizing members 1-10 and the side walls of the trunk;

the side wall of the vertical beam 1-2 is provided with a rod sleeve, the crawling device 2 is movably arranged on the side wall of the vertical beam 1-2 through the matching of a rod shaft and the rod sleeve, so that the crawling device is fully matched with the change of the inner diameter size of a trunk, the tree section is protruded, the position of the roller shaft 1-10-3 can be corrected by the return spring 1-10-2 and is positioned in the U-shaped frame 1-10-1, the resistance effect caused by the friction between the U-shaped frame 1-10-1 and the roller shaft 1-10-3 is avoided, the outer wall of the roller shaft 1-10-3 can be provided with threads, the friction force between the roller shaft 1-10-3 and the trunk is increased by increasing the roughness of the surface of the roller shaft 1-10-3 in the crawling process, and power is provided for crawling.

Detailed description of the invention

The embodiment is an embodiment of a delimbing member for a delimbing robot. It should be noted that the delimbing member for the delimbing robot of the present embodiment may be implemented separately, that is, may exist separately as a component of a tree-climbing robot for delimbing, and may further limit the tree-climbing robot for delimbing described in the first embodiment.

As shown in fig. 1, 5, and 6, the pruning member for pruning robot disclosed in the present embodiment is characterized in that: comprises a splint 3-1, a cross limiting plate 3-2, a pruning saw 3-3 and a cylinder 3-4; the pruning saw is characterized in that the clamping plates 3-1 are symmetrically arranged in parallel, cross-shaped limiting plates 3-2 are arranged on the side walls of the clamping plates 3-1, the cross-shaped limiting plates 3-2 are movably arranged in sliding grooves 1-4 of the vertical beams 1-2, the pruning saw 3-3 is arranged between the two parallel clamping plates 3-1 and is fixedly arranged between the two parallel clamping plates 3-1 through screws, the air cylinders 3-4 are arranged between the two vertical beams 1-2, fixed ends of the air cylinders 3-4 are arranged on the power box 1-1, and output ends of the air cylinders 3-4 are connected with the clamping plates 3-1.

When the power device 1 and the crawling device 2 move the pruning member 3 to the position below the branches to be cut, the motor 1-7 is turned off, the pruning saw 3-3 and the air cylinder 3-4 are started, the air cylinder 3-4 moves upwards to drive the pruning saw 3-3 to abut against the branches to be pruned for cutting, in the cutting process, the pruning saw 3-3 transmits the force action to the power device 1 and the crawling device 2, and the power device 1 and the crawling device 2 act on the side wall of the trunk to enable the pruning member 3 to stably cut the branches;

the pruning saw 3-3 with different models can be placed according to the size of the branch to be cut, the pruning saw 3-3 is replaced by the adjusting screw rod, and the pruning saw 3-3 is stably fixed by the screw rod so as to ensure the smooth pruning.

Detailed description of the invention

The embodiment is an embodiment of a tree-climbing robot for pruning.

The pruning method of the crawling robot for pruning disclosed by the embodiment is applied to the tree-climbing robot for pruning in the first embodiment, and comprises the following steps of:

step a, mounting and connecting, namely taking the power component 1, the crawling devices 2 and the pruning components 3 out of the placing box, fixing the pruning components 3 on the trunk through the groups of crawling devices 2, and enabling the oblique idler wheels 1-5 and the stabilizing components 1-10 to be abutted against the surface of the trunk;

b, ascending and positioning, starting a motor 1-7 to rotate anticlockwise, driving a transmission T-shaped gear 1-6 to rotate clockwise by the motor 1-7 through a driving T-shaped gear 1-8 and a connecting T-shaped gear 1-9, driving the transmission T-shaped gear 1-6 to drive an oblique roller 1-5 to rotate clockwise through a rotating shaft, and transmitting a pruning member 3 to the lower part of a branch to be cut by matching a stable vertical beam 1-2 and a stable member 1-10 to finish positioning;

c, cutting and pruning, namely stopping the motor 1-7 after positioning is finished, starting the pruning saw 3-3 and the cylinder 3-4, and driving the pruning saw 3-3 to abut against the branches to be pruned by upward movement of the cylinder 3-4 to cut;

d, descending and returning, starting the motor 1-7 to slowly rotate anticlockwise when pruning is finished, rapidly adjusting the motor 1-7 to rotate clockwise in an accelerating way after the motor 1-7 moves upwards for a certain distance, driving the transmission T-shaped gear 1-5 to rotate anticlockwise through the motor 1-7 by the driving T-shaped gear 1-8 and the connecting T-shaped gear 1-9, driving the inclined roller 1-5 to rotate anticlockwise in an accelerating way through the rotating shaft, and driving the crawling device 2 to spirally descend by the inclined roller 1-5 through the vertical beam 1-2 to return to the ground;

and e, disassembling and subpackaging, namely disassembling the plurality of groups of crawling devices 2 from the vertical beams 1-2, and loading the power member 1, the crawling devices 2 and the delimbing members 3 into a placing box.

The method according to the fourth embodiment is implemented on a tree-climbing robot for pruning, and the tree-climbing robot for pruning is not limited to the components defined in the first embodiment.

Detailed description of the invention

The embodiment is an embodiment of a crawling device for a pruning robot. It should be noted that the crawling device for the pruning robot in the embodiment may be implemented independently, that is, may exist independently as a part of the pruning tree-climbing robot, and may further limit the pruning tree-climbing robot described in the first embodiment.

As shown in fig. 1, 3, 4, 5 and 7-14, the crawling device for the pruning robot disclosed by the embodiment comprises a crawling unit 2-1 and a T-shaped connecting block 2-2; the crawling units 2-1 are connected layer by layer up and down through T-shaped connecting blocks 2-2 to form a parallelogram, the crawling units 2-1 positioned at the uppermost end and the lowermost end are movably arranged on the side wall of the vertical beam 1-2 through pin shafts, and the T-shaped connecting blocks 2-2 are arranged at the bottoms of the crawling units 2-1 through rotating shafts;

the crawling unit 2-1 comprises an arc-shaped sheet 2-1-1, an arc-shaped sliding rod 2-1-3, a pressure spring 2-1-4, a tension spring 2-1-5 and an adjusting unit 2-1-6; the upper wall of the arc-shaped sheet 2-1-1 is provided with an arc-shaped groove 2-1-2, the side wall is sequentially provided with a plurality of rectangular grooves along the diagonal direction, the lower side wall of the arc-shaped sheet 2-1-1 is provided with a T-shaped connecting block 2-2, arc-shaped sliding rods 2-1-3 are arranged in the arc-shaped groove 2-1-2, two adjacent arc-shaped sheets 2-1-1 are connected with the arc-shaped groove 2-1-2 and the arc-shaped sliding rods 2-1-3 in a matching direction through the T-shaped connecting block 2-2, the T-shaped connecting block 2-2 is arranged in the arc-shaped groove 2-1-2, a pressure spring 2-1-4 and a tension spring 2-1-5 are arranged in the arc-shaped groove 2-1-2, one end of the arc-shaped sliding rod 2-1-3 is arranged on the side wall at one end of the arc-shaped groove 2-1-2 The other end of the arc-shaped sliding rod 2-1-3 sequentially penetrates through the pressure spring 2-1-4, the T-shaped connecting block 2-2 and the tension spring 2-1-5 to be arranged on the side wall of the other end of the arc-shaped groove 2-1-2, the adjacent arc-shaped pieces 2-1-1 can better adapt to the thickness change of a trunk through the expansion control T-shaped connecting blocks of the pressure spring 2-1-4 and the tension spring 2-1-5, the crawling unit 2-1 can better adapt to the thickness change of the trunk and can effectively pass through the tree section bulge, the adjusting units 2-1-6 are arranged in the rectangular groove, the adjusting units 2-1-6 can perform self-adjustment along with the lifting movement, and the angle formed by the adjusting units 2-1-6 and the axial direction of the trunk is enabled to be adjusted

The angle is acute, so that the force action of the adjusting units 2-1-6 and the outer wall of the trunk is enhanced;

the adjusting units 2-1-6 comprise; the rolling disc 2-1-6-1 is arranged in the rectangular groove, the spherical groove is formed in the center of the rolling disc 2-1-6-1, the spherical seat 2-1-6-2 is arranged in the spherical groove, one end of the rod shaft is arranged on the side wall of the rectangular groove, the other end of the rod shaft penetrates through the spherical seat 2-1-6-2 and the anti-deflection spring 2-1-6-3 to be arranged on the other side wall of the rectangular groove, and the anti-deflection spring 2-1-6-3 is symmetrically arranged at two ends of the rolling disc 2-1-6-1.

The outer wall of the rolling disc 2-1-6-1 is provided with an annular sheet 2-1-6-4, and a bulge is arranged after the annular sheet 2-1-6-4 is finished.

The annular sheets 2-1-6-4 are metal sheets.

When the spiral ascends, the pruning component 3 is fixed on the trunk through the crawling device 2, the inclined rollers 1-5 are abutted against the surface of the trunk, the motor 1-7 is started to rotate anticlockwise, the motor 1-7 drives the transmission T-shaped gear 1-6 to rotate clockwise through the driving T-shaped gear 1-8 and the connecting T-shaped gear 1-9, the transmission T-shaped gear 1-6 drives the inclined rollers 1-5 to rotate clockwise through the rotating shaft, the inclined rollers 1-5 and the trunk rub at the initial stage, the inclined rollers 1-5 drive the arc-shaped sheets 2-1-1 to move upwards through the vertical beams 1-2, and due to the existence of inertia and frictional resistance, the adjusting units 2-1-6 keep the original motion state, so that the adjusting units 2-1-6 deflect, the adjusting units 2-1-6 are inclined upwards to form an acute angle theta, the upper ends of the annular sheets 2-1-6-4 of the inclined adjusting units 2-1-6 are convexly and obliquely inserted into the trunk through the T-shaped connecting blocks 2-2 in cooperation with the force action of the pressure springs 2-1-4 and the tension springs 2-1-5, the force action of the crawling device 2 and the delimbing member 3 in the ascending process is enhanced, the stable spiral ascending is realized, when the ascending needs to be accelerated, the motors 1-7 accelerate to rotate anticlockwise, the arc sheets 2-1-1 are driven by the vertical beams 1-2 and the oblique rollers 1-5 to accelerate the linear velocity along the outer wall of the trunk, and due to the friction resistance of the adjusting units 2-1-6 and the trunk, under the action of the force of the pressure spring 2-1-4 and the tension spring 2-1-5, the inclination angle theta of the adjusting unit 2-1-6 is reduced, the arc-shaped sheet 2-1-1 rotates for a circle, the vertical displacement is increased, the accelerated rising is completed, meanwhile, the gravity of the robot is effectively overcome, and the pruning component 3 is sent to the set height so as to prune branches;

when climbing over obstacles, when encountering a tree section bulge, the inner diameter of the trunk at the position is equivalently enlarged, the arc-shaped sheet 2-1-1 is suitable for the enlargement of the inner diameter, the relative displacement of the arc-shaped sheet 2-1-1 at the tree section bulge is enlarged through the matching action of the T-shaped connecting block 2-2, the arc-shaped sliding rod 2-1-3, the pressure spring 2-1-4 and the tension spring 2-1-5, the force is outwards transmitted through the T-shaped connecting block 2-2, the pressure spring 2-1-4 and the tension spring 2-1-5, the crawling units 2-1 are enabled to be bulged through the tree section one by one through the matching of the crawling units 2-1 and the T-shaped connecting block 2-2, and the power member 1 and the pruning member 3 are driven to be bulged through the tree section, obstacle crossing is completed;

when the power member 1 and the crawling device 2 deliver the pruning member 3 to a target area during deceleration and position adjustment, the clockwise rotation speed of the motor 1-7 is adjusted to reduce the rotation speed, the motor 1-7 rotates anticlockwise in a deceleration way, the vertical beam 1-2 and the oblique roller 1-5 drive the arc-shaped sheet 2-1-1 to reduce the linear speed along the outer wall of the trunk, the inclined angle theta of the adjusting unit 2-1-6 is increased due to the existence of gravity, the inclined angle theta of the adjusting unit 2-1-6 is ensured to be still an acute angle under the action of the force of the pressure spring 2-1-4 and the tension spring 2-1-5, the arc-shaped sheet 2-1-1 rotates for a circle, the vertical displacement is reduced, and the uppermost end of the vertical beam 1-2 can slowly rotate to be higher than the lower end of a branch to be pruned by adjusting the micro displacement, and the pruning saw 3-3 is positioned below the to-be-pruned branches, and the positioning is completed;

when positioning and pruning are completed, the motor 1-7 is turned off, the pruning saw 3-3 and the cylinder 3-4 are started, the cylinder 3-4 moves upwards to drive the pruning saw 3-3 to abut against branches to be pruned, the force transmitted to the power member 1 and the crawling device 2 by the pruning saw 3-3 is downward in the cutting process, the downward force is transmitted to the side wall of the trunk through the arc-shaped piece 2-1-1 and the inclined adjusting unit 2-1-6, namely, is directly transmitted to the trunk, and meanwhile, the protrusions of the annular pieces 2-1-6-4 arranged on the adjusting unit 2-1-6 are pricked into the side wall of the trunk, so that the stability of the cutting process is increased, and the support of force is provided for completing branch cutting;

when the spiral descends and pruning is finished, the motor 1-7 is started to rotate anticlockwise slowly to enable the annular sheets 2-1-6-4 to be screwed out of the pits acted with the side walls of the tree trunk, the motor 1-7 is adjusted to rotate clockwise rapidly, the motor 1-7 drives the transmission T-shaped gear 1-5 to rotate anticlockwise through the driving T-shaped gear 1-8 and the connecting T-shaped gear 1-9, the transmission T-shaped gear 1-5 drives the inclined roller 1-5 to rotate anticlockwise through the rotating shaft, the inclined roller 1-5 drives the arc sheets 2-1-1 to rotate downwards through the vertical beam 1-2, the arc sheets 2-1-1 drive the arc sheets 2-1-6 to move downwards to cause the adjusting units 2-1-6 to deflect, the adjusting units 2-1-6 are inclined downwards, the formed angle alpha is an acute angle, the T-shaped connecting blocks 2-2 are matched with the force action of the pressure springs 2-1-4 and the tension springs 2-1-5, the arc-shaped sheets 2-1-1 enable the lower ends of the inclined 2-1-6 annular sheets 2-1-6-4 to be convexly and obliquely inserted into the trunk, the gravity of the crawling device 2 and the pruning member 3 in the descending process is overcome, the stable spiral descending is realized, pits formed by pruning are effectively avoided, and the arc-shaped sheets rotate to the ground.

Detailed description of the invention

The embodiment is an embodiment of a crawling device for a pruning robot.

The crawling method of the pruning robot disclosed by the embodiment is applied to a crawling device for the pruning robot in the fifth embodiment, and comprises the following steps of:

step a, spirally rising, fixing a pruning component 3 on a trunk through a crawling device 2, enabling inclined rollers 1-5 to abut against the surface of the trunk, starting a motor 1-7 to rotate anticlockwise, driving a transmission T-shaped gear 1-6 to rotate clockwise through a driving T-shaped gear 1-8 and a connecting T-shaped gear 1-9 by the motor 1-7, driving the inclined rollers 1-5 to rotate clockwise through a rotating shaft by the transmission T-shaped gear 1-6, driving a plurality of arc-shaped sheets 2-1-1 to rotate upwards through a vertical beam 1-2 at the initial stage of friction between the inclined rollers 1-5 and the trunk, keeping the original motion state of an adjusting unit 2-1-6 due to the existence of inertia and frictional resistance, and leading the adjusting unit 2-1-6 to deflect, the adjusting units 2-1-6 are inclined upwards to form an acute angle theta, the upper ends of the annular sheets 2-1-6-4 of the inclined adjusting units 2-1-6 are convexly and obliquely inserted into the trunk through the T-shaped connecting blocks 2-2 in cooperation with the force action of the pressure springs 2-1-4 and the tension springs 2-1-5, the force action of the crawling device 2 and the delimbing member 3 in the ascending process is enhanced, the stable spiral ascending is realized, when the ascending needs to be accelerated, the motors 1-7 accelerate to rotate anticlockwise, the arc sheets 2-1-1 are driven by the vertical beams 1-2 and the oblique rollers 1-5 to accelerate the linear velocity along the outer wall of the trunk, and due to the friction resistance of the adjusting units 2-1-6 and the trunk, under the action of the force of the pressure spring 2-1-4 and the tension spring 2-1-5, the inclination angle theta of the adjusting unit 2-1-6 is reduced, the arc-shaped sheet 2-1-1 rotates for a circle, the vertical displacement is increased, and the accelerated rising is completed;

b, crossing obstacles, when a tree section is raised, the inner diameter of the trunk at the position is equivalent to be enlarged, the arc-shaped sheet 2-1-1 is suitable for the enlargement of the inner diameter, the relative displacement of the arc-shaped sheet 2-1-1 at the position of the tree section is enlarged through the matching action of the T-shaped connecting block 2-2, the arc-shaped sliding rod 2-1-3, the pressure spring 2-1-4 and the tension spring 2-1-5, the force is outwards transmitted through the T-shaped connecting block 2-2, the pressure spring 2-1-4 and the tension spring 2-1-5, the crawling units 2-1 are enabled to be raised through the tree section one by one through the matching of the crawling units 2-1 and the T-shaped connecting block 2-2, and the power member 1 and the pruning member 3 are driven to be raised through the tree section, obstacle crossing is completed;

c, decelerating and positioning, when the power component 1 and the crawling device 2 send the pruning component 3 to a region close to a target region, adjusting the clockwise rotation speed of the motor 1-7 to reduce the rotation speed, and the motor 1-7 rotates anticlockwise in a decelerating way, driving the arc-shaped sheet 2-1-1 to reduce the linear speed along the outer wall of the trunk through the vertical beam 1-2 and the oblique roller 1-5, increasing the inclination angle theta of the adjusting unit 2-1-6 due to the existence of gravity, ensuring that the inclination angle theta of the adjusting unit 2-1-6 is still an acute angle under the action of the pressure spring 2-1-4 and the tension spring 2-1-5, rotating the arc-shaped sheet 2-1-1 for a circle, reducing the vertical displacement, and slowly rotating the uppermost end of the vertical beam 1-2 from the lower end of a branch to be pruned to be higher than the branch to be pruned by adjusting the micro displacement, and the pruning saw 3-3 is positioned below the to-be-pruned branches, and the positioning is completed;

d, positioning and pruning, after the position adjustment is completed, turning off the motor 1-7, starting the pruning saw 3-3 and the cylinder 3-4, enabling the cylinder 3-4 to move upwards to drive the pruning saw 3-3 to abut against branches to be pruned for cutting, wherein in the cutting process, the action of force transmitted to the power member 1 and the crawling device 2 by the pruning saw 3-3 is downward, the downward action of force is transmitted to the side wall of the trunk through the arc-shaped piece 2-1-1 and the inclined adjusting unit 2-1-6, namely is directly transmitted to the trunk, and meanwhile, the protrusions of the annular pieces 2-1-6-4 arranged on the adjusting unit 2-1-6 are pricked into the side wall of the trunk, so that the stability of the cutting process is increased, and the support of force is provided for completing the branch cutting;

e, spirally descending, starting the motor 1-7 to slowly rotate anticlockwise when delimbing is finished, enabling the annular sheets 2-1-6-4 to be screwed out of the pits acted with the side walls of the trunk, rapidly adjusting the motor 1-7 to rotate clockwise in an accelerating manner, driving the transmission T-shaped gears 1-5 to rotate anticlockwise through the driving T-shaped gears 1-8 and the connecting T-shaped gears 1-9 by the motor 1-7, driving the inclined rollers 1-5 to rotate anticlockwise through the rotating shafts, driving the plurality of arc-shaped sheets 2-1-1 to rotate downwards through the vertical beams 1-2 by the inclined rollers 1-5, driving the arc-shaped sheets 2-1-1 to move downwards through the arc-shaped sheets 2-1-1 to drive the arc-1-6 to move downwards, and causing the adjusting units 2-1-6 to deflect, the adjusting units 2-1-6 are inclined downwards, the formed angle alpha is an acute angle, the T-shaped connecting blocks 2-2 are matched with the force action of the pressure springs 2-1-4 and the tension springs 2-1-5, the arc-shaped sheets 2-1-1 enable the lower ends of the inclined 2-1-6 annular sheets 2-1-6-4 to be convexly and obliquely inserted into the trunk, the gravity of the crawling device 2 and the pruning member 3 in the descending process is overcome, the stable spiral descending is realized, pits formed by pruning are effectively avoided, and the arc-shaped sheets rotate to the ground.

The steps a, b, c, d and e can be effectively matched with the vertical beam 1-2 to adjust the position through the stabilizing members 1-10, the vertical state is kept as much as possible, namely when the crawling device 2 rotates in a spiral mode, the vertical beam 1-2 is acted with a deflection force acting on the vertical beam, meanwhile, the direction of the friction force between the vertical beam 1-5 and the trunk is oblique, a deflection effect is also exerted on the vertical beam 1-2, and the vertical support of the vertical beam 1-10 on the side wall of the trunk is kept through the limiting effect of the stabilizing members 1-10 and the side wall of the trunk.

Detailed description of the invention

The embodiment is an embodiment of a crawling device for a pruning robot.

The lifting method of the pruning robot disclosed in the embodiment is applied to a tree-climbing robot for pruning in the fifth embodiment, and comprises the following steps:

b, spirally descending, starting the motor 1-7 to slowly rotate anticlockwise when delimbing is finished, enabling the annular sheets 2-1-6-4 to be screwed out of the pits acted with the side walls of the trunk, rapidly adjusting the motor 1-7 to rotate clockwise in an accelerating manner, driving the transmission T-shaped gears 1-5 to rotate anticlockwise through the driving T-shaped gears 1-8 and the connecting T-shaped gears 1-9 by the motor 1-7, driving the inclined rollers 1-5 to rotate anticlockwise through the rotating shafts, driving the plurality of arc-shaped sheets 2-1-1 to rotate downwards through the vertical beams 1-2 by the inclined rollers 1-5, driving the arc-shaped sheets 2-1-1 to move downwards through the arc-shaped sheets 2-1-1 to drive the arc-1-6 to move downwards, and causing the adjusting units 2-1-6 to deflect, the adjusting units 2-1-6 are inclined downwards, the formed angle alpha is an acute angle, the T-shaped connecting blocks 2-2 are matched with the force action of the pressure springs 2-1-4 and the tension springs 2-1-5, the arc-shaped sheets 2-1-1 enable the lower ends of the annular sheets 2-1-6-4 of the inclined adjusting units 2-1-6 to protrude and be obliquely inserted into the trunk, the gravity of the crawling device 2 and the pruning member 3 in the descending process is overcome, the stable spiral descending is realized, pits formed by pruning are effectively avoided, and the rotating to the ground position is realized.

Detailed description of the invention

The embodiment is an embodiment of a crawling device for a pruning robot.

The obstacle crossing method of the pruning robot disclosed by the embodiment acts on the crawling device of the pruning robot in the fifth embodiment, when a tree section is protruded, the inner diameter of a trunk at the position is equivalently enlarged, the arc-shaped sheet 2-1-1 is adaptive to the enlargement of the inner diameter, the relative displacement of the arc-shaped sheet 2-1-1 at the protrusion position of the tree section is enlarged through the matching action of the T-shaped connecting block 2-2, the arc-shaped sliding rod 2-1-3, the pressure spring 2-1-4 and the tension spring 2-1-5, the force is transmitted outwards through the T-shaped connecting block 2-2, the pressure spring 2-1-4 and the tension spring 2-1-5, and through the matching of the crawling units 2-1 and the T-shaped connecting block 2-2, the climbing units 2-1 pass through the tree section bulges one by one, and the power member 1 and the pruning member 3 are driven to pass through the tree section bulges, so that obstacle crossing is completed.

Ninth embodiment

The positioning method of the pruning robot disclosed by the embodiment is applied to a crawling device for the pruning robot in the fifth embodiment, and is characterized by comprising the following steps of:

step a, decelerating and positioning, when the power component 1 and the crawling device 2 send the pruning component 3 to a region close to a target, adjusting the clockwise rotation speed of the motor 1-7 to reduce the rotation speed, and the motor 1-7 decelerates and rotates anticlockwise, driving the arc-shaped sheet 2-1-1 to reduce the linear speed along the outer wall of the trunk through the vertical beam 1-2 and the oblique roller 1-5, increasing the inclination angle theta of the adjusting unit 2-1-6 due to the existence of gravity, ensuring that the inclination angle theta of the adjusting unit 2-1-6 is still an acute angle under the action of the pressure spring 2-1-4 and the tension spring 2-1-5, rotating the arc-shaped sheet 2-1-1 for a circle, reducing the vertical displacement, and slowly rotating the uppermost end of the vertical beam 1-2 from the lower end of a branch to be pruned to be higher than the branch to be pruned by adjusting the tiny displacement, and the pruning saw 3-3 is positioned below the to-be-pruned branches, and the positioning is completed;

b, positioning and pruning, turning off the motor 1-7 after positioning is finished, starting the pruning saw 3-3 and the air cylinder 3-4, enabling the air cylinder 3-4 to move upwards to drive the pruning saw 3-3 to abut against branches to be pruned for cutting, wherein the action of force transmitted to the power member 1 and the crawling device 2 by the pruning saw 3-3 is downward in the cutting process, the downward action of force is transmitted to the side wall of the trunk through the arc-shaped piece 2-1-1 and the inclined adjusting unit 2-1-6, namely is directly transmitted to the trunk, and meanwhile, the protrusions of the annular pieces 2-1-6-4 arranged on the adjusting unit 2-1-6 are pricked into the side wall of the trunk, so that the stability of the cutting process is improved, and force support is provided for completing branch cutting.

The method according to the sixth, seventh, eighth and ninth embodiments is implemented on a crawling device for a pruning robot, and the crawling device for a pruning robot is not limited to the components defined in the fifth embodiment.

The embodiments above relate to a tree-climbing robot for pruning and embodiments of various parts. It should be noted that, in these embodiments, various technical solutions can be arranged and combined, and those skilled in the art can exhaust the results of each permutation and combination according to the mathematical knowledge of permutation and combination learned in high school, and the results of each permutation and combination should be understood as being disclosed in the present application.

The above embodiments are merely illustrative of the present patent and do not limit the scope of the patent, and those skilled in the art can make modifications to the parts thereof without departing from the spirit and scope of the patent.

Claims

1. The utility model provides a pruning is with climbing tree robot which characterized in that: comprises a power component (1), a crawling device (2) and a delimbing component (3); the power component (1) is arranged on the trees to be pruned through a plurality of crawling devices (2), and the pruning component (3) is arranged on the power component (1);

the climbing device (2) is movably connected with the power member (1), the overall shape of the climbing device (2) is 'parallelogram' when the climbing device is not installed, when the power member (1) is arranged on a tree through the climbing device (2), the shape of the climbing device (2) is changed from 'parallelogram' into 'snake shape', the crawling device (2) in the 'snake shape' can fix the power member (1) on the trunk through the self contraction deformation, the power member (1) can enable the crawling device (2) to spirally lift, in the spiral lifting process, the power member (1) can be deformed gradually through the contraction deformation of the climbing device (2) to fully match the change of the outer diameter of the tree so as to keep the stability of the power member (1), when the trunk is provided with tree sections protruding, the crawling device (2) can be deformed gradually so as to protrude through the tree sections on the trunk, the power component (1) provides power for the crawling device (2), the crawling device (2) ascends along the trunk in a spiral mode, the pruning component (3) is conveyed to a specified height, the pruning component (3) performs pruning on trees through upward movement of the pruning component, and in the pruning process of the pruning component (3), the crawling device (2) can provide vertical upward force for the pruning component (3) through longitudinal acting force with the outer wall of the trunk and keep the pruning component (3) stable;

the power component (1) comprises a power box (1-1), a vertical beam (1-2), an oblique roller (1-5), a transmission T-shaped gear (1-6), a motor (1-7), a driving T-shaped gear (1-8) and a connecting T-shaped gear (1-9); the power box (1-1) is connected with the connecting plate through parallel and symmetrical vertical beams (1-2), two transmission chambers (1-3) are symmetrically arranged in the power box (1-1), two grooves are symmetrically arranged on one side wall of each vertical beam (1-2), sliding grooves (1-4) are formed in the inner side wall of each vertical beam (1-2), oblique rolling wheels (1-5) are arranged in the grooves, one end of a first rotating shaft sequentially penetrates through the oblique rolling wheels (1-5) in the two grooves, the other end of the first rotating shaft penetrates through the power box (1-1) and is connected with transmission T-shaped gears (1-6) in the transmission chambers (1-3), motors (1-7) are arranged on the side walls of the power box (1-1), and output ends of the motors (1-7) penetrate through the power box (1-1) and are connected with driving T-shaped gears (1-6) in the transmission chambers (1-3) on the left side The driving T-shaped gears (1-8) are meshed with the transmission T-shaped gears (1-6), the transmission T-shaped gears (1-6) in the two transmission chambers (1-3) are meshed and connected through the connection T-shaped gears (1-9), one end of the crawling device (2) is arranged on the side wall of one vertical beam (1-2), and the other end of the crawling device (2) is arranged on the side wall of the other vertical beam (1-2);

the side wall of the vertical beam (1-2) is provided with a plurality of stabilizing members (1-10), and the vertical beam (1-10) is kept to vertically abut against the side wall of the trunk through the limiting action of the stabilizing members (1-10) and the side wall of the trunk.

2. The tree-climbing robot for pruning according to claim 1, wherein: the stabilizing component (1-10) comprises a U-shaped frame (1-10-1), a return spring (1-10-2) and a roll shaft (1-10-3); the U-shaped frame (1-10-1) is arranged on the outer side wall of the vertical beam (1-2), the roll shaft (1-10-3) and the return spring (1-10-2) are arranged on the U-shaped frame (1-10-1) through a second rotating shaft, the return spring (1-10-2) is symmetrically arranged at two ends of the roll shaft (1-10-3), one end of the return spring (1-10-2) abuts against the U-shaped frame (1-10-1), and the other end of the return spring (1-10-2) abuts against the side wall of the roll shaft (1-10-3).

3. A power component for a pruning robot is characterized in that: comprises a power box (1-1), a vertical beam (1-2), an oblique roller (1-5), a transmission T-shaped gear (1-6), a motor (1-7), a driving T-shaped gear (1-8) and a connecting T-shaped gear (1-9); the power box (1-1) is connected with the connecting plate through parallel and symmetrical vertical beams (1-2), two transmission chambers (1-3) are symmetrically arranged in the power box (1-1), two grooves are symmetrically arranged on one side wall of each vertical beam (1-2), sliding grooves (1-4) are formed in the inner side wall of each vertical beam (1-2), oblique rolling wheels (1-5) are arranged in the grooves, one end of a first rotating shaft sequentially penetrates through the oblique rolling wheels (1-5) in the two grooves, the other end of the first rotating shaft penetrates through the power box (1-1) and is connected with transmission T-shaped gears (1-6) in the transmission chambers (1-3), motors (1-7) are arranged on the side walls of the power box (1-1), and output ends of the motors (1-7) penetrate through the power box (1-1) and are connected with driving T-shaped gears (1-6) in the transmission chambers (1-3) on the left side The driving T-shaped gears (1-8) are meshed with the transmission T-shaped gears (1-6), the transmission T-shaped gears (1-6) in the two transmission chambers (1-3) are meshed and connected through the connection T-shaped gears (1-9), one end of the crawling device (2) is arranged on the side wall of one vertical beam (1-2), and the other end of the crawling device (2) is arranged on the side wall of the other vertical beam (1-2); a plurality of stabilizing members (1-10) are arranged on the side wall of the vertical beam (1-2); the stabilizing component (1-10) comprises a U-shaped frame (1-10-1), a return spring (1-10-2) and a roll shaft (1-10-3); the U-shaped frame (1-10-1) is arranged on the outer side wall of the vertical beam (1-2), the roll shaft (1-10-3) and the return spring (1-10-2) are arranged on the U-shaped frame (1-10-1) through a second rotating shaft, the return spring (1-10-2) is symmetrically arranged at two ends of the roll shaft (1-10-3), one end of the return spring (1-10-2) abuts against the U-shaped frame (1-10-1), and the other end of the return spring (1-10-2) abuts against the side wall of the roll shaft (1-10-3).