Metamorphic servo drive stepping tree climbing shear type pruning robot

Abstract

A metamorphic servo driving stepping tree climbing shear type pruning robot comprises a servo driving mechanical leg system, a shear type pruning system and a robot frame rod assembly. When a mechanical leg servo driving motor conducts driving independently, complex tree climbing and holding motion can be achieved, so that driving is simple. Locking can be achieved by utilizing reacting force of driving force, so that tree climbing and holding are safe and reliable. In the tree climbing process of the robot, the holding angle can be changed by converting the degree of freedom, so that the robot is flexibly suitable for trees with different diameters. By simulating animal body structure, the tree climbing pruning robot is suitable for the trees in different shapes. The multi-degree-of-freedom shear type pruning system is combined with the tree climbing robot, so that mobility performance is good, pruning is convenient and flexible, working efficiency is high, and pruning positioning is precise; the saw clamping phenomenon is avoided, and vibration and noise are further avoided; and servo driving is conducted through the servo motor, thus the response is rapid, control is precise, high degree flexible output is obtained through programming, and working is stable.

Description

technical field [0001] The invention relates to the field of robot design, in particular to a metamorphic servo-driven step-climbing tree-shearing pruning robot. Background technique [0002] In the process of tree growth, pruning and pruning is an essential work. Traditional tree pruning is usually done manually through hand-held tools, which is labor-intensive and dangerous for taller trees. [0003] Chinese patent CN 102283026 A discloses a fruit tree pruning machine. The fruit tree pruning machine needs to be carried manually. For high branch pruning, the extended aluminum tube needs to be replaced, so the labor intensity is high and the work efficiency is low. Chinese patent CN105940975 A discloses a fruit tree pruning machine. The executive part of the pruning machine is installed on a power locomotive and relies on a mechanical arm to perform pruning work, but it cannot flexibly avoid scattered branches and perform precise pruning work. Chinese patent ZL2012103468033...

AI Technical Summary

Problems solved by technology

[0002] In the process of tree growth, pruning and pruning is an essential work. Traditional tree pruning is usually done manually through hand-held tools, which is labor-intensive and dangerous for taller trees.

[0003] Chinese patent CN 102283026 A discloses a fruit tree pruning machine. The fruit tree pruning machine needs to be carried manually. For high branch pruning, it is necessary to replace the extended aluminum tube, so the labor intensity is high and the work efficiency is low.

Chinese patent CN105940975 A discloses a fruit tree pruning machine. The executive parts of the pruning machine are installed on a power locomotive, and rely on the mechanical arm to perform pruning work, but it cannot flexibly avoid scattered branches and perform precise pruning work.

Chinese patent ZL2012103468033 discloses a quadruped climbing robot. The robot utilizes self-weight and self-locking, and each clasping arm is equipped with three motors. The drive is relatively complicated, and the overall movement speed is relatively slow, which is not applicable.

[0007] At present, there is no such thing as simple driving, reliable and safe climbing, can adapt to trees of different thicknesses and shapes, good mobility, convenient and flexible pruning, high work efficiency, precise positioning of pruning, and no problems such as clamping saws, vibration, noise, etc., control High-precision, stable-working servo-driven stepping tree-climbing and shearing pruning robot

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