Metamorphic hydraulic-driven stepping tree-climbing scissor type pruning robot

Abstract

The invention relates to a metamorphic hydraulic-driven stepping tree-climbing scissor type pruning robot. The metamorphic hydraulic-driven stepping tree-climbing scissor type pruning robot comprises a hydraulic-driven mechanical leg system, a scissor type pruning system and a machine frame rod assembly, wherein when a mechanical leg hydraulic motor is independently driven, complex movements of tree climbing and tree hugging can be realized, and the driving is simple; locking can be realized through utilizing reacting force of driving force, so that the work of tree climbing is safe and reliable; in the process of tree climbing of the robot, the freedom degree can be transformed, and the hugging angle can be changed, so that the robot can be flexibly adapted to changes of the diameters of trees; the robot simulates the body structure of an animal, so that the tree climbing pruning robot is flexibly adapted to the trees of different shapes; the multi-freedom-degree scissor type pruning system is combined with the tree climbing robot, so that the travelling performance is good, pruning is convenient and flexible, the working efficiency is high, the pruning is accurate in positioning; the phenomenon of saw clamping can be avoided, and vibration and noises cannot be generated; and hydraulic driving is adopted, so that the noise is low, the transmission movement is smooth, large force or a large torque is easy to obtain, and the power-weight ratio is high.

Description

technical field [0001] The invention relates to the field of robot design, in particular to a metamorphic hydraulically 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 ZL20121...

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 tree climbing, adaptable to trees of different thicknesses and shapes, good moving performance, convenient and flexible pruning, high work efficiency, precise positioning of pruning, and no problems such as clamping saws, vibration and noise. Smooth, high power-to-weight ratio hydraulically driven tree-climbing and shearing pruning robot

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