Fast-growing wood pruning and maintaining robot and control method thereof

Abstract

The invention relates to a fast-growing wood pruning and maintaining robot and a control method thereof. The fast-growing wood pruning and maintaining robot comprises a weight box, a climbing mechanism, a posture adjusting mechanism, a rotation mechanism, an end effector and a control portion. The weight box is fixed on a weight box rack to compress the machine against the trunk by its own weight. The climbing mechanism drives the machine to climb and descend. The posture adjusting mechanism is connected with supports of the climbing mechanism through hinges, the angle between the rotation mechanism and the trunk is adjusted by retracting of linear actuators, and the rotation mechanism ensures to be perpendicular to the trunk. The rotation mechanism is fixed upon the climbing mechanism through connecting upright rods so as to rotate around the trunk. The end effector is fixed on the rotation mechanism to implement pruning and mist spraying operations. The control portion is composed of a climbing control portion, a posture adjusting control portion and a pruning control portion. The fast-growing wood pruning and maintaining robot is simple in structure, convenient to operate, suitable to pruning and mist spraying operations in the wood and bright in market application prospect.

Description

technical field [0001] The invention belongs to the field of forestry machinery, and relates to a fast-growing forest branch pruning maintenance robot and a control method, which are used for fast-growing forest branch pruning maintenance. technical background [0002] Fast-growing forest is an artificial forest with a short rotation cycle. It is in great demand in the field of industrial papermaking. Because of its fast-growing advantages, good material, and high survival rate of afforestation, it has good economic value. The planting area of ​​fast-growing forests in my country continues to expand, but the management methods of fast-growing forests are backward, especially the pruning of fast-growing forests. Reasonable pruning can promote the growth of trees, improve the straightness, roundness, bending strength and toughness of trees, improve the growth environment and fire prevention conditions of trees, and enhance the photosynthesis of upper parts. At present, in man...

AI Technical Summary

Problems solved by technology

Hand-held pruning machines are divided into two types: unpowered and powered. Hand-held unpowered pruning tools include hand saws, machetes, etc., which can conveniently and quickly prune small branches, and are cheap and easy to use, but the pruning height is only About 4-6 meters, there is the problem of insufficient pruning height; hand-held powered pruning tools are powered by small gasoline engines, and drive saw chains or circular saw blades to work through flexible shaft transmission. All pruning machines have heavy control rods, large sawing vibration amplitude, and gasoline engine noise, which cannot meet the requirements for working comfort

The vehicle-mounted pruning machine is a garden machine with low labor intensity, high work efficiency, safety and reliability, and good working conditions, but it is mainly used for pruning trees on urban streets. The vehicle-mounted pruning machine cannot be deployed, so it is not suitable for forestry production in forest areas

[0004] Aiming at the problems of fast-growing forest pruning machinery such as poor safety, high labor intensity, pruning height not meeting the requirements, domestic automatic pruning machinery is still blank, etc., a new kind of pruning machine with good operability, high degree of automation and low cost is invented. A fast-growing forest pruning maintenance robot with good safety can complete the maintenance work of fast-growing forest pruning, which will promote the development of fast-growing forest pruning machinery

[0005] After searching the existing technical literature, it is found that there is no relevant report on a fast-growing forest pruning maintenance robot

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