Tree climbing and pruning robot based on flexible tools

Abstract

The invention discloses a tree climbing and pruning robot based on flexible tools. The robot comprises a left rack, a right rack, a tree climbing mechanism, an embracing and clamping mechanism and a pruning mechanism, wherein the embracing and clamping mechanism comprises a left fixing and clamping arm plate, a right fixing and clamping arm plate, a left clamping arm, a right clamping arm, a leftclamping electric drive pusher, a right clamping electric drive pusher, a left tire and a right tire; the tree climbing mechanism comprises a crawler, a crawler frame, a climbing motor, a driving wheel, a tensioning spring and a tensioning wheel; the pruning mechanism comprises a left pruning electric drive pusher, a right pruning electric drive pusher, a left tube tool rest, a right tube tool rest, a left flexible tool, a right flexible tool, a left pruning arm, a right pruning arm, a left pruning motor and a right pruning motor. The robot is used for solving the problem about rapid pruning of branches of tall tree species such as fast-growing trees and the like, not only can climb trees automatically, but also can prune branches during tree climbing, the pruning efficiency can be greatlyimproved, and labor cost is reduced.

Description

technical field [0001] The technology relates to the technical field of tree pruning, in particular to a tree-climbing and pruning robot based on flexible cutters, especially the rapid pruning of tall and large fast-growing forest trees such as fast-growing poplar, fast-growing eucalyptus, and Hongsen locust tree. Background technique [0002] my country is not only a big forestry producer, but also a big consumer of forest products. The area of ​​fast-growing forest ranks first in the world. It has the characteristics of short growth cycle and high yield. It has positive and important significance for restoring the ecological environment of forest resources and alleviating the increasingly tense contradiction between supply and demand of timber resources. And pruning is a basic silvicultural measure of fast-growing forest management. Reasonable pruning can improve wood quality, increase economic benefits, and prevent forest disasters. But at present, the research on forest...

AI Technical Summary

Problems solved by technology

As far as our country is concerned, there are problems of non-pruning or improper pruning in many areas. Generally, manual pruning is the main method. The pruning method is low in efficiency, poor in quality, high in labor intensity and dangerous in operation, and low in mechanization. There is a big gap compared with developed countries

Although there are many large-scale high-altitude pruning machines in my country, the degree of automation and pruning rate are relatively high, but they are not suitable for fast-growing forests with high planting density and poor roads.

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