Suspending and picking robot for fruit trees in forest

Abstract

The invention relates to the machinery field, in particular to a suspending and picking robot for fruit trees in a forest. The robot comprises climbing bodies and connecting bodies. Each climbing body comprises a middle shaft, a motor, a middle rack, an outer telescopic rack, climbing jaws, a mechanical arm support and a mechanical arm. Each middle shaft is a rotary shaft and an outer connecting device of the climbing body. Each motor is fixedly connected to the motor with an output gear on each middle shaft. Each middle rack is an eight-corner support in sleeve joint with the middle position of each middle shaft. The outer telescopic rack is used for controlling expansion and contraction of an outer edge of each climbing jaw. Each climbing body comprises eight climbing jaws including a rubber pad. Each rubber pad is connected with each middle rack and each outer telescopic rack and provided with a fixing board used for attaching trunk surfaces. Each mechanical arm is used for performing picking operation. Each connecting body is used for connecting three climbing jaws by pairs. The suspending and picking robot for fruit trees in the forest has the following beneficial effects: the robot can climb up trunks and utilize the height of the plate-shaped climbing jaws; the robot can stop at the appointed height, facilitating operation.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a forestry fruit tree hovering picking robot. Background technique [0002] For the pruning of trees or the picking of resin and fruit, the first thing to do is to solve the problem of trunk climbing, but compared with the climbing of smooth and uniform rods, the climbing of trunks is more difficult, because the surface of the trunk needs to be considered. Uniformity, especially the diameter variation in the height direction of the trunk. In addition, most of the trunks have a certain bending direction. Therefore, the current solution for climbing the trunk is to use ladders, but not all occasions. It is suitable for ladders, and for automated mechanical picking, it is also unrealistic to use ladders, and an automated climbing device is also needed. Therefore, it is necessary to design a trunk climbing device with wide applicability. And the device adds a mechanical arm device on the ba...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the inconvenient automatic climbing of tree trunks in the prior art, the present invention provides a forestry fruit tree hovering picking robot, which has a simple and clear structure, is convenient to use, and has strong applicability, and can reliably climb the trunk, and Rely on the mechanical arm to perform tasks such as tree fruit picking. In addition, due to the long length of the climbing claw along the axial direction of the climbing body, the device can stop on the tree trunk without relying on power, thereby saving energy consumption. This device can provide great convenience for tree pruning, resin and tree fruit picking, and provide possibility for the automatic processing of the above requirements

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