Climbing robot

Abstract

The invention discloses a climbing robot, and relates to the technical field of agricultural robots, the climbing robot comprises a climbing mechanism, and the climbing mechanism comprises a support, a rolling part and a clamping driving assembly; the number of the rolling parts is multiple, all the rolling parts are rotatably arranged on the support, all the rolling parts are arranged at intervals in the circumferential direction of the tree trunk, and at least one rolling part is provided with a guide groove capable of being matched with the surface of the tree trunk in the circumferential direction; the clamping driving assembly comprises a driving adjusting piece and an elastic buffering piece, the driving adjusting piece is used for adjusting the relative positions of the rolling pieces, the elastic buffering piece is matched with the driving adjusting piece, and the elastic buffering piece can absorb impact and adapt to the diameter and surface appearance changes of the tree trunk. According to the climbing mechanism, the guide grooves are formed in the rolling pieces, so that transverse sliding and circumferential deflection of the climbing mechanism can be fundamentally restrained. Meanwhile, the adopted clamping driving assembly works cooperatively through a driving adjusting piece and an elastic buffering piece, self-adaptive clamping is achieved, and the device can adapt to the complex and changeable working conditions of the surface of the tree trunk.

Description

Technical Field

[0001] This application relates to the field of agricultural robot technology, and more specifically, to a climbing robot. Background Technology

[0002] In agricultural production, such as the harvesting of cash crops like palm trees, the harvesting has long relied mainly on manual labor or semi-mechanized equipment. This not only leads to low work efficiency, but also poses significant safety hazards due to working at heights.

[0003] In existing technologies, climbing robots are commonly used for harvesting. These robots typically use rolling wheels or tracks to contact the surface of columnar objects such as tree trunks, and apply sufficient normal pressure through a clamping mechanism to generate the friction required for climbing. However, when facing irregular, slippery, or fibrous bark surfaces, their contact stability is poor, and they are prone to lateral slippage or circumferential wobbling. To ensure sufficient friction to prevent slippage, the clamping mechanism must apply extremely large clamping forces, which not only significantly increases the robot's energy consumption but may also cause irreversible damage to the surface of objects such as bark.

[0004] Therefore, how to improve the climbing stability of climbing robots while adapting to the complex and ever-changing working conditions on tree trunk surfaces has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a climbing robot that can improve the climbing stability of the climbing robot while adapting to the complex and ever-changing working conditions on the tree trunk surface.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A climbing robot includes a climbing mechanism, the climbing mechanism comprising a support, a rolling element, and a clamping drive assembly, wherein:

[0008] There are multiple rolling elements, each of which is rotatably mounted on the support and is arranged circumferentially around the trunk to form an enveloping support for the trunk. At least one of the rolling elements is provided with a guide groove along the circumferential direction that can cooperate with the surface of the trunk.

[0009] The clamping drive assembly includes an active adjustment member and an elastic buffer member. The active adjustment member is used to adjust the relative position between the rolling members to clamp or release the tree trunk. The elastic buffer member cooperates with the active adjustment member and is used to absorb impact and adapt to changes in the diameter and surface morphology of the tree trunk.

[0010] Optionally, in the above-described climbing robot, the rolling element includes a first rolling element, a second rolling element, and a third rolling element, and the support includes:

[0011] A first support rod, with a first end connected to the first rolling element and a second end connected to the second rolling element;

[0012] The second support rod extends from the first end of the first support rod toward a side away from the first support rod, and the second support rod has an angle with the first support rod. The third rolling element is connected to the end of the second support rod away from the first support rod.

[0013] The third support rod extends from the first end of the first support rod toward the side of the first support rod away from the second support rod, and the third support rod has an angle with the first support rod;

[0014] The fourth support rod extends from the midpoint of the first support rod toward the side of the first support rod away from the second support rod. The fourth support rod has an angle with the first support rod, and the end of the fourth support rod away from the first support rod is movably connected to the end of the third support rod away from the first support rod through the fifth support rod.

[0015] Optionally, in the above-mentioned climbing robot, there are two first support rods arranged opposite each other, and the first rolling element and the second rolling element are rotatably connected between the two first support rods;

[0016] The third, fourth, and fifth support rods are all arranged in pairs opposite each other and are located on both sides of the first support rod;

[0017] The second support rod is a single rod, and the second support rod has a connecting part and support parts located at both ends of the connecting part. The support parts and the connecting part have an included angle, and the third rolling element is rotatably provided on the support part at one end of the connecting part. The support part at the other end of the connecting part is connected to the first end of the first connecting rod.

[0018] Optionally, in the above-mentioned climbing robot, a first connecting rod is connected between the two first support rods, and the first connecting rod is located at the second end near the first support rod;

[0019] A second connecting rod connects the two third rods;

[0020] The active adjustment member is movably connected between the first link and the second link. The active adjustment member can push the second link to move away from the first link, so that the second link can drive the third rolling member to move towards the first link and clamp the tree trunk through the third support and the second support.

[0021] Optionally, in the above-mentioned climbing robot, both the first rolling element and the third rolling element are integrated with a drive device, and the second rolling element is connected to the first rolling element through a transmission assembly.

[0022] Optionally, in the above-described climbing robot, there is an included angle between the sidewalls on both sides of the guide groove; and / or,

[0023] A textured layer is provided within the guide groove; and / or,

[0024] The guide groove is provided with a flow channel.

[0025] Optionally, the climbing robot described above also includes a chassis assembly, a boom assembly, and a cutting mechanism, wherein:

[0026] The chassis assembly supports the boom assembly, the climbing mechanism, and the cutting mechanism and is capable of horizontal movement.

[0027] The boom assembly is used to support the climbing mechanism and can adjust the position of the climbing mechanism;

[0028] The cutting mechanism is mounted on the climbing mechanism and is used to cut the target object.

[0029] Optionally, in the above-mentioned climbing robot, the chassis assembly includes a chassis frame and a track assembly, the track assembly being symmetrically arranged on both sides of the chassis frame, and the boom assembly being mounted on the chassis frame.

[0030] Optionally, in the above-described climbing robot, the boom assembly includes:

[0031] A rotating seat, which is rotatably mounted on the chassis frame so that the rotating seat can rotate along a horizontal plane;

[0032] A rotating arm is rotatably mounted on the rotating base so that the rotating arm can rotate along a vertical plane;

[0033] A first telescopic arm is telescopically mounted on the rotating arm so that the first telescopic arm can extend or shorten along the axial direction of the rotating arm.

[0034] The second telescopic arm is telescopically mounted on the first telescopic arm so that the second telescopic arm can extend or shorten along the axial direction of the first telescopic arm, and the climbing mechanism is rotatably mounted on the end of the second telescopic arm away from the first telescopic arm.

[0035] Optionally, in the above-described climbing robot, the end of the second telescopic arm away from the first telescopic arm is rotatably provided with a mounting frame, and the mounting frame has a mounting part that can be attached to the climbing mechanism.

[0036] Optionally, in the above-described climbing robot, the cutting mechanism includes:

[0037] Mounting base, which is fixed to the climbing mechanism;

[0038] A rotating base, wherein the rotating base is disposed on the mounting base;

[0039] A positioning arm assembly, which is rotatably connected to the rotary base, and includes at least two interconnected positioning arms, each of which is rotatable relative to the other in a horizontal plane;

[0040] A cutting assembly, comprising a cutting component and an attitude adjustment component, wherein the attitude adjustment component is disposed at the end of the positioning arm assembly, the cutting component is mounted on the attitude adjustment component, and the attitude adjustment component is used to adjust the working attitude of the cutting component.

[0041] Optionally, in the above-described climbing robot, the positioning arm has a cable channel for cable passage, and the rotating base has an annular channel communicating with the cable channel, the annular channel being used to accommodate excess cable.

[0042] Optionally, in the above-mentioned climbing robot, the cutting component includes a cutting drive component and an electric saw. The cutting drive component is mounted on the attitude adjustment component and is connected to the electric saw in a transmission manner. The cutting drive component is used to drive the electric saw to perform a cutting action.

[0043] Optionally, in the above-mentioned climbing robot, the cutting component further includes a chainsaw mounting base and a chainsaw cover plate. The chainsaw is mounted on the chainsaw mounting base and is connected to the output end of the cutting drive unit that passes through the chainsaw mounting base. The chainsaw cover plate is located on the side of the chainsaw away from the cutting drive unit and is connected to the chainsaw mounting base. A chip guide channel is formed between the chainsaw cover plate and the chainsaw mounting base to guide the chips out.

[0044] The climbing robot provided in this application rotatably mounts multiple rolling elements of the climbing mechanism on a support frame, with each rolling element spaced circumferentially around the tree trunk to form an enveloping support. At least one rolling element has a guide groove that mates with the tree trunk surface, thereby increasing the contact area between the rolling element and the tree trunk surface. Furthermore, the active adjustment component of the clamping drive assembly can adjust the relative positions between the rolling elements to clamp or release the tree trunk. An elastic buffer, in conjunction with the active adjustment component, absorbs impact forces and adapts to changes in the tree trunk diameter and surface morphology. Thus, the rotation of the rolling elements drives the climbing mechanism to move axially along the tree trunk. As can be seen from the above examples, the climbing robot provided in this application, by setting guide grooves on the rolling parts, can achieve radial self-centering by utilizing the geometric shape of the rolling parts to match the surface of the tree trunk. This fundamentally suppresses lateral slippage and circumferential yaw of the climbing mechanism, and also has a natural dissipation effect on bark debris, mud, etc. Compared with smooth wheel surfaces, it can better maintain the friction performance of the contact interface in harsh environments, ensuring the continuity and reliability of operations. At the same time, the clamping drive assembly uses an active adjustment component and an elastic buffer component working together to achieve adaptive clamping. The active adjustment component can apply a basic clamping force according to the diameter of the tree trunk, while the elastic buffer component can passively absorb the impact caused by high-frequency disturbances such as surface unevenness and local protrusions in real time, so that the total clamping force is always kept within a stable and moderate range. This avoids damage to the tree trunk surface due to excessive clamping force, and also prevents slippage due to insufficient clamping force.

[0045] The technical features mentioned above, those to be mentioned below, and those shown individually in the accompanying drawings can be combined arbitrarily, provided that the combined technical features are not contradictory. All feasible combinations of features are the technical content explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0047] Figure 1 An isometric view of the climbing robot provided in the embodiments of this application;

[0048] Figure 2 A front view of the climbing robot provided in an embodiment of this application;

[0049] Figure 3 An isometric view of the climbing mechanism provided in the embodiments of this application;

[0050] Figure 4 A front view of the climbing mechanism provided in the embodiments of this application;

[0051] Figure 5 An isometric view of a rolling element provided in an embodiment of this application;

[0052] Figure 6 An axonometric view of the chassis assembly provided in the embodiments of this application;

[0053] Figure 7 A front view of the chassis assembly provided in an embodiment of this application;

[0054] Figure 8 An isometric view of the boom assembly provided in the embodiments of this application;

[0055] Figure 9 A front view of the boom assembly provided in an embodiment of this application;

[0056] Figure 10 An isometric view of the cutting mechanism provided in the embodiments of this application;

[0057] Figure 11 A front view of the cutting mechanism provided in an embodiment of this application.

[0058] In this designation, 100 represents the climbing robot, 10 the climbing mechanism, 11 the support frame, 111 the first support rod, 112 the second support rod, 1121 the connecting part, 1122 the support part, 113 the third support rod, 114 the fourth support rod, 115 the fifth support rod, 1151 the mounting base, 116 the first connecting rod, 117 the second connecting rod, 118 the first pin, 119 the second pin, 12 the rolling element, and 121 the guide groove. 122 is the first rolling element, 123 is the second rolling element, 1231 is the rotating shaft, 124 is the third rolling element, 125 is the transmission assembly, 13 is the clamping drive assembly, 131 is the active adjustment element, 132 is the elastic buffer element, 133 is the protective sleeve, 134 is the connector, 20 is the chassis assembly, 21 is the chassis frame, 211 is the electrical box, 22 is the track assembly, 221 is the track, 222 is the track track roller, and 223 is the track guide. Guide wheel, 224 is track drive wheel, 225 is track drag chain wheel, 226 is motor reducer, 30 is boom assembly, 31 is swivel base, 311 is slewing reducer base plate, 312 is slewing reducer, 32 is swivel arm, 321 is swivel drive component, 33 is first telescopic arm, 331 is first telescopic drive component, 34 is second telescopic arm, 341 is second telescopic drive component, 35 is mounting bracket, 351 is attachment part, 36 is cable reel. The components are as follows: 37 is the swing drive, 40 is the cutting mechanism, 41 is the mounting base, 42 is the rotary base, 43 is the positioning arm assembly, 431 is the first positioning arm, 432 is the second positioning arm, 44 is the cutting assembly, 441 is the cutting component, 4411 is the cutting drive, 4412 is the electric saw, 4413 is the electric saw mounting base, 4414 is the electric saw cover plate, 4415 is the chip guide channel, 442 is the attitude adjustment component, and 4421 is the rotation drive. Detailed Implementation

[0059] The core of this application is to provide a climbing robot that can improve the climbing stability of the robot while adapting to the complex and varied working conditions on the tree trunk surface.

[0060] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0061] To improve the efficiency of harvesting cash crops such as palm trees, climbing robots are commonly used. These robots typically use rolling wheels or tracks to contact the surface of columnar objects like tree trunks, applying sufficient positive pressure through a clamping mechanism to generate the friction required for climbing. However, when facing irregular, slippery, or fibrous bark surfaces, their contact stability is poor, making them prone to lateral slippage or circumferential wobbling. To ensure sufficient friction and prevent slippage, the clamping mechanism must apply extremely high clamping force, which not only significantly increases the robot's energy consumption but may also cause irreversible damage to the bark or other surfaces.

[0062] Therefore, such as Figure 1 and Figure 3 As shown in the figure, this application discloses a climbing robot 100, including a climbing mechanism 10, which includes a support 11, a rolling element 12, and a clamping drive assembly 13. By providing a guide groove 121 on the rolling element 12, radial self-centering can be achieved by utilizing its geometry to cooperate with the surface of the tree trunk, fundamentally suppressing the lateral slippage and circumferential sway of the climbing mechanism 10. It also has a natural dissipation effect on bark debris, mud, etc. Compared with a smooth wheel surface, it can better maintain the friction performance of the contact interface in harsh environments, ensuring the continuity and reliability of the operation. At the same time, the clamping drive assembly 13, with the active adjustment element 131 and the elastic buffer element 132 working together, achieves adaptive clamping. The active adjustment component 131 can apply a basic clamping force according to the diameter of the tree trunk, while the elastic buffer component 132 can absorb the impact caused by high-frequency disturbances such as surface unevenness and local protrusions in real time and passively, so that the total clamping force is always kept within a stable and moderate range, which avoids damage to the tree trunk surface due to excessive clamping force and also prevents slippage due to insufficient clamping force.

[0063] The following will combine Figures 1 to 11 The climbing robot 100 disclosed in the embodiments of this application will be explained and described in detail.

[0064] like Figure 3 and Figure 4As shown, multiple rolling elements 12 can be used, that is, three, four or more rolling elements 12 can be used, and each rolling element 12 can be rotatably mounted on the support 11. Each rolling element 12 can be arranged asymmetrically so that each rolling element 12 can be arranged circumferentially around the trunk to form a multi-point enveloping support for the trunk, thereby ensuring the stability of the climbing mechanism 10 clamping the trunk. Meanwhile, at least one rolling element 12 can be provided with a guide groove 121 in the circumferential direction that can cooperate with the surface of the tree trunk. The guide groove 121 can be provided on one rolling element 12 on the support 11, or guide grooves 121 can be provided on two or more rolling elements 12 on the support 11. This can increase the contact area between the rolling element 12 and the surface of the tree trunk, and achieve radial self-centering by utilizing its geometric shape to cooperate with the surface of the tree trunk. This fundamentally suppresses the lateral slippage and circumferential sway of the climbing mechanism 10, and can also have a natural dissipation effect on bark debris, mud and water. Compared with a smooth wheel surface, it can better maintain the friction performance of the contact interface in harsh environments, ensuring the continuity and reliability of the operation.

[0065] like Figure 3 and Figure 4 As shown, the clamping drive assembly 13 may include an active adjustment member 131 and an elastic buffer member 132. The elastic buffer member 132 may be installed on the active adjustment member 131, so that the relative position between each rolling member 12 can be adjusted by the active adjustment member 131 to clamp or release the tree trunk. The elastic buffer member 132 may cooperate with the active adjustment member 131 to absorb impact and adapt to changes in the diameter and surface morphology of the tree trunk. That is, the active adjustment member 131 can apply a basic clamping force according to the diameter of the tree trunk, while the elastic buffer member 132 can absorb the impact caused by high-frequency disturbances such as surface unevenness and local protrusions in real time and passively, so that the total clamping force is always kept within a stable and moderate range, which avoids damage to the tree trunk surface due to excessive clamping force and also prevents slippage due to insufficient clamping force.

[0066] In some embodiments, the rolling element 12 may consist of a high-strength wheel core and an outer wear-resistant coating. The wheel core may be made of a lightweight, high-strength metal material, such as aluminum alloy, to reduce the weight of the rolling element 12. Correspondingly, the wear-resistant coating is made of an elastic material with a high coefficient of friction and good wear resistance, such as polyurethane or special rubber, to ensure sufficient frictional force when in contact with the tree trunk surface and to accommodate minor surface irregularities.

[0067] In some embodiments, such as Figure 5As shown, the two sidewalls of the guide groove 121 are set at an included angle, meaning they intersect on the outer circumferential surface of the wheel core, resulting in a V-shaped cross-section for the guide groove 121. Alternatively, the extended surfaces of the two sidewalls can intersect on the inner side of the wheel core, resulting in an inverted trapezoidal cross-section for the guide groove 121. The included angle between the two sidewalls of the guide groove 121 can be between 120° and 145° to ensure that the two sidewalls match the curvature of the target tree trunk. When the rolling elements 12 clamp the tree trunk, the circular cross-section of the trunk naturally embeds into the guide grooves 121 of the rolling elements 12, thereby generating a passive radial self-centering effect. That is, once the climbing mechanism 10 deviates from the center in any radial direction, the interaction force between the trunk surface and the sidewall of the guide groove 121 will generate a component force pointing towards the center, thereby automatically correcting the entire climbing mechanism 10 back to the central position, fundamentally suppressing the lateral slippage of the climbing mechanism 10 during the climbing process and greatly improving the posture stability. In addition, the transition position of the sidewall of the guide groove 121 can be chamfered to avoid damage to the trunk surface during clamping or movement, and to avoid stress concentration.

[0068] In some embodiments, to further enhance the operational reliability of the climbing mechanism 10 in wet or debris-rich environments, a textured layer can be formed within the guide groove 121. For example, a herringbone pattern can be provided along the circumference or radial direction of the guide groove 121. Alternatively, a drainage channel can be formed within the guide groove 121, such as a drainage groove along the circumference or radial direction. Of course, both a textured layer and a drainage channel can be provided simultaneously. When the rolling element 12 contacts slippery bark, the textured layer and / or the drainage channel effectively drains moisture from the contact interface and disrupts the water film, thereby maintaining a high coefficient of friction. When bark debris is present, the textured layer and / or the drainage channel also serve to contain and displace the debris, ensuring close contact between the wear-resistant coating and the trunk body, and preventing slippage caused by foreign matter.

[0069] In some embodiments, such as Figure 3 and Figure 4As shown, the rolling element 12 may include three, which are referred to as the first rolling element 122, the second rolling element 123, and the third rolling element 124 for ease of understanding. Furthermore, the support 11 may be composed of a first support rod 111, a second support rod 112, a third support rod 113, a fourth support rod 114, and a fifth support rod 115. The first rolling element 122 is rotatably connected to the first end of the first support rod 111, and the second rolling element 123 is rotatably connected to the second end of the first support rod 111. The second support rod 112 can extend from the first end of the first support rod 111 toward the side away from the first support rod 111, and the second support rod 112 and the first support rod 111 have an angle between them. The third rolling element 124 is rotatably connected to the end of the second support rod 112 away from the first support rod 111. At the same time, the second support rod 112 can rotate relative to the first support rod 111 so that the third rolling element 124 can move toward or away from the first support rod 111. Thus, the clamping or releasing of the tree trunk can be achieved through the first rolling element 122, the second rolling element 123 and the third rolling element 124. The third support rod 113 is rotatably connected to the first end of the first support rod 111 and extends toward the side of the first support rod 111 away from the second support rod 112. It is fixed to the end of the second support rod 112 away from the third rolling element 124. The third support rod 113 and the first support rod 111 have an angle between them, so that the third support rod 113 and the second support rod 112 can rotate in the same direction relative to the first support rod 111. That is, when the third support rod 113 rotates away from the first support rod 111, the second support rod 112 can rotate toward the first support rod 111, or when the third support rod 113 rotates toward the first support rod 111, the second support rod 112 can rotate away from the first support rod 111. Meanwhile, the fourth support rod 114 is rotatably connected to the midpoint of the first support rod 111 and extends toward the side of the first support rod 111 away from the second support rod 112. The fourth support rod 114 and the first support rod 111 have an angle between them, and the end of the fourth support rod 114 away from the first support rod 111 and the end of the third support rod 113 away from the first support rod 111 can be movably connected through the fifth support rod 115, so that the first support rod 111, the third support rod 113, the fourth support rod 114 and the fifth support rod 115 can form a four-bar linkage mechanism, so as to facilitate subsequent adjustment by the active adjustment member 131.

[0070] In some embodiments, such as Figure 3As shown, two first support rods 111 can be used, and the two first support rods 111 can be arranged opposite each other. The first rolling element 122 and the second rolling element 123 are rotatably connected between the two first support rods 111. At the same time, two third support rods 113, fourth support rods 114 and fifth support rods 115 can each be arranged opposite each other and located on both sides of the first support rods 111, that is, on the side where the two first support rods 111 are opposite to each other. One second support rod 112 can be used, and the second support rod 112 has a connecting part 1121 and support parts 1122 located at both ends of the connecting part 1121. There is an angle between the support parts 1122 and the connecting part 1121. For example, the support parts 1122 can be arranged perpendicular to the connecting part 1121, that is, the angle can be 90°. The third rolling element 124 is rotatably disposed on the support portion 1122 at one end of the connecting portion 1121 of the second support rod 112, and the support portion 1122 at the other end of the connecting portion 1121 of the second support rod 112 is rotatably connected to the first end of the first connecting rod and fixedly connected to the third support rod 113.

[0071] In some embodiments, such as Figure 3 As shown, the second support rod 112 can adopt a tubular structure, and the support part 1122 can adopt an L-shaped structure. One end of the support part 1122 can be sleeved with the connecting part 1121, that is, the connecting part 1121 can be inserted into the cavity of the support part 1122 and connected and fixed by interference fit, threaded fit or welding. At the same time, a sleeve can be provided on the support part 1122 near the first end of the first connecting rod of the second support rod 1121 to facilitate fixed connection with the third support rod 113. The third support rod 113 connected to the second support rod 112 can adopt a tubular structure so that the third support rod 113 can be inserted into the sleeve and connected and fixed with the sleeve by interference fit, threaded fit or welding.

[0072] In some embodiments, such as Figure 3As shown, a first connecting rod 116 can be connected between the two first support rods 111, and the first connecting rod 116 can be located at the second end near the first support rod 111. Simultaneously, a second connecting rod 117 can be connected between the two third support rods 113. The first support rod 111 can have a plate-like structure and can be composed of two sleeved plates that can slide relative to each other. An active adjusting member 131 is movably connected between the first connecting rod 116 and the second connecting rod 117, so that the active adjusting member 131 can push the second connecting rod 117 to move away from the first connecting rod 116. This allows the second connecting rod 117 to drive the third rolling member 124 to move towards the first support rod 111 and clamp the tree trunk via the third support rod 113 and the second support rod 112. It should be noted that, in order to improve the impact resistance of the first support rod 111, multiple reinforcing ribs can be provided on the opposite sides of the two first support rods 111, so that the strength and rigidity of the first support rod 111 can be improved by the reinforcing ribs. At the same time, mounting holes for mounting bearing seats can be opened on the two plates of the first support rod 111, so that the first rolling element 122, the second rolling element 123 and the fourth support rod 114 can be rotatably engaged with the first support rod 111 respectively.

[0073] In some embodiments, such as Figure 3 As shown, in order to ensure that the support 11 drives the rolling element 12 to achieve stable clamping or releasing action, one end of the two fourth support rods 114 can be connected to the middle position of the two first support rods 111 through the first pin 118, and the other end of the two fourth support rods 114 can be connected to the fifth support rod 115 through the second pin 119, thereby forming a spatial multi-link mechanism to ensure the stability and reliability of the climbing mechanism 10 clamping or releasing the tree trunk.

[0074] In some embodiments, such as Figure 3 and Figure 4As shown, the active adjusting member 131 can be one of an electro-hydraulic actuator, a cylinder, an electric actuator, or a hydraulic rod. The fixed part of the active adjusting member 131 can be rotatably connected to the second connecting rod 117, and the telescopic part of the active adjusting member 131 can be connected to the first connecting rod 116 through an elastic buffer member 132. The elastic buffer member 132 can be a gas spring. The gas spring can be located between the first rolling member 122 and the second rolling member 123, and two gas springs can be symmetrically distributed. The gas spring and the active adjusting member 131 can be connected through a connector 134, and the gas spring and the first connecting rod 116 are limited and protected by a protective sleeve 133. During the adjustment process of the active adjusting member 131, the elastic buffer member 132 can provide elastic clamping force and energy buffering, and provide preload redundancy when maintaining clamping. Meanwhile, the active adjustment component 131 adopts an integrated actuation unit located below the elastic buffer component 132, which can provide controllable linear pushing, pulling and displacement, actively adjust the spacing and angle between multiple rolling components 12, establish and maintain normal preload, so that the climbing mechanism 10 can remain stable under different tree diameters and bark friction conditions.

[0075] In some embodiments, such as Figure 3As shown, the first rolling element 122 and the third rolling element 124 can be driving wheels, meaning that both the first rolling element 122 and the third rolling element 124 can be integrated with a drive device to rotate. The second rolling element 123 can be a driven wheel, and it can be connected to the first rolling element 122 via a transmission assembly 125 such as a synchronous belt or chain. The axles of the first rolling element 122 and the third rolling element 124 can be connected and fixed to the support portion 1122 of the second support rod 112 via the driving wheel support arm, ensuring coaxiality and end face runout accuracy. Simultaneously, two motors or other drive devices can be connected to the axles of the first rolling element 122 and the third rolling element 124 respectively, and can be equipped with protective covers to adapt to the garden environment. The third rolling element 124 provides lateral restraint and additional propulsion, reducing lateral drift, while the first rolling element 122 provides the main power for the climbing mechanism 10 to rise. The second rolling element 123 is located above the first rolling element 122 and can be fixed by a rotating shaft 1231. The rotating shaft 1231 passes through the second rolling element 123, ensuring the coaxiality and end face runout accuracy of the second rolling element 123 during rotation. It also provides a low-friction, stable rotational support for the second rolling element 123, ensuring its coaxial rotation and linear velocity consistency in the vertical guide pair. It bears the normal force and tangential reaction force on the second rolling element 123 and transmits the force back to the climbing mechanism 10 through the rotating shaft 1231 and the first support rod 111. The second rolling element 123 and the first rolling element 122 are arranged coaxially on the same straight line, forming a vertical guide pair, which provides a second stable contact line to ensure the envelopment and guidance with the tree trunk. The second rolling element 123 plays a role in uniform rolling and posture stabilization in vertical guidance, making the linear velocities of the two contact lines on the vertical side consistent or close, thereby reducing the risk of twisting and slipping caused by uneven changes in the bark.

[0076] When the climbing mechanism 10 moves, the first rolling element 122, the second rolling element 123 and the third rolling element 124 first come into contact with the bark. At this time, the active adjustment element 131 outputs a small stroke and distributes the pushing and pulling forces to the elastic buffers 132 on both sides through the connector 134, and drives the second support rod 112 to make a small positional adjustment relative to the first support rod 111. Meanwhile, the support 11 can form a geometric constraint, so that the relative postures of the first rolling element 122 and the second rolling element 123 on the vertical side remain coordinated. By utilizing the active and passive guidance of the first rolling element 122, the second rolling element 123 and the third rolling element 124, self-centering and initial normal pre-tightening are achieved, and the fitting and positioning are completed. During the clamping stage, the active adjusting element 131 and the elastic buffer element 132 are stretched evenly to form a composite clamping effect of active pre-tightening and elastic force. At this time, the first support rod 111 ensures that the axes of the first rolling element 122 and the second rolling element 123 are parallel and the center distance is constant. The rotating shaft 1231 supports the rotation of the second rolling element 123 with low friction, so that a stable double contact line guide is formed on the vertical side. During the climbing stage, the first rolling element 122 and the third rolling element 124 are driven to provide the power to move along the axial direction of the trunk. The second rolling element 123 can rotate synchronously and together with the first rolling element 122 form two vertical direct contact lines with approximately the same speed. This averages out the disturbance caused by uneven bark into a small displacement that can be absorbed by the elastic buffer 132, preventing contact line jumps or lateral slippage. This ensures that the three-point envelope always closes stably around the trunk, and the tangential friction is effectively converted into continuous and smooth upward or downward motion.

[0077] The climbing robot 100 disclosed in this application embodiment rotatably mounts multiple rolling elements 12 of the climbing mechanism 10 onto a support 11. Each rolling element 12 is spaced circumferentially around the tree trunk to form an enveloping support. At least one rolling element 12 has a guide groove 121 that mates with the tree trunk surface, thereby increasing the contact area between the rolling element 12 and the tree trunk surface. Furthermore, the active adjustment member 131 of the clamping drive assembly 13 can adjust the relative positions between the rolling elements 12 to clamp or release the tree trunk. An elastic buffer 132, in cooperation with the active adjustment member 131, absorbs impact forces and adapts to changes in the tree trunk diameter and surface morphology. Thus, the rotation of the rolling elements 12 drives the climbing mechanism 10 to move axially along the tree trunk.

[0078] The climbing robot 100 disclosed in this application, by setting guide grooves 121 on the rolling element 12, can achieve radial self-centering by utilizing its geometry to match the surface of the tree trunk. This fundamentally suppresses the lateral slippage and circumferential sway of the climbing mechanism 10, and also has a natural dissipation effect on bark debris, mud, etc. Compared with smooth wheel surfaces, it can better maintain the friction performance of the contact interface in harsh environments, ensuring the continuity and reliability of operations. At the same time, the clamping drive assembly 13 uses an active adjustment element 131 and an elastic buffer element 132 working together to achieve adaptive clamping. The active adjustment element 131 can apply a basic clamping force according to the diameter of the tree trunk, while the elastic buffer element 132 can passively absorb the impact caused by high-frequency disturbances such as surface unevenness and local protrusions in real time, so that the total clamping force is always kept within a stable and moderate range. This avoids damage to the tree trunk surface due to excessive clamping force, and also prevents slippage due to insufficient clamping force.

[0079] like Figure 1 and Figure 2 As shown, the climbing robot 100 may further include a chassis assembly 20, a boom assembly 30, and a cutting mechanism 40. The chassis assembly 20 supports the boom assembly 30, the climbing mechanism 10, and the cutting mechanism 40 and is capable of horizontal movement. The boom assembly 30 supports the climbing mechanism 10 and can drive the climbing mechanism 10 to rotate and move, thereby adjusting the position of the climbing mechanism 10. The cutting mechanism 40 can be mounted on the climbing mechanism 10 to cut target objects, such as branches and fruits, to achieve harvesting operations for cash crops such as palm trees.

[0080] In some embodiments, such as Figure 6 and Figure 7 As shown, the chassis assembly 20 may include a chassis frame 21 and a track assembly 22. The track assembly 22 may be symmetrically arranged on both sides of the chassis frame 21 to support the weight of the structure above the chassis frame 21 and the external loads from the boom assembly 30, climbing mechanism 10 and cutting mechanism 40, thus avoiding local stress concentration. The boom assembly 30 may be mounted on the chassis frame 21. At the same time, an electrical box 211 may be provided at the rear of the chassis frame 21 to provide a power source for the entire climbing robot 100, ensuring the normal and stable operation of the climbing robot 100.

[0081] In some embodiments, such as Figure 7As shown, the track assembly 22 can be composed of a track 221, track support rollers 222, track idler rollers 223, track drive rollers 224, track drag chain rollers 225, and a motor reducer 226. The track drive roller 224 is located at the end of the track loop of the track 221 and is fixedly connected to the chassis frame 21 via the motor reducer 226 to provide active torque to the track 221. The motor reducer 226 and the track drive roller 224 are arranged coaxially, and the output shaft of the motor reducer 226 is fixedly connected to the track drive roller 224, ensuring that torque is directly input to the track drive roller 224 without intermediate transmission, reducing transmission links and backlash. The track idler roller 223 is located at the front end of the track loop and is rigidly connected to the chassis frame 21. Track idler wheel 223 and track drive wheel 224 are arranged collinearly in the same plane, so that track 221 obtains stable trajectory constraint when entering and leaving the end, thereby adjusting the overall tension of track 221 and preventing track 221 from deviating; track support roller 222 is located below chassis frame 21 and can be arranged at certain pitch intervals to form continuous support for the lower stroke of track 221, bearing its own weight and upper load, and distributing the load to multiple ground contact points to transfer to the ground. Track support roller 222 can be made of rubber material to adapt to soft soil, gravel and uneven ground in palm tree park, reducing the rolling friction coefficient and wear rate with track 221; track drag chain roller 225 is located on the upper return path of track 221 to provide rolling support for track 221 during the upper return stroke. The outer circumference of the track drag chain roller 225 contacts the inner surface of the track 221, which can provide rolling guidance for the return section and improve force distribution and ground contact.

[0082] When the chassis assembly 20 moves, the motor reducer 226 first transmits the torque directly to the track drive wheel 224. The meshing surface of the track drive wheel 224 and the track 221 generates a tangential thrust, pushing the track 221 to move along the closed loop. The lower stroke of the track 221 rolls close to the ground and is continuously supported and guided by a row of track support rollers 222, which evenly distributes the weight of the entire machine on the ground and maintains the straightness of the lower stroke, thus forming a stable traction contact surface. The front end of the loop, i.e. the travel direction end, is changed by the track guide wheel 223 and maintains an appropriate pretension, which not only prevents the track 221 from jumping at the end, but also allows the track 221 to smoothly transition when entering and leaving the end. The upper return stroke is supported by the track drag chain wheel 225, which limits the return sag and avoids the track 221 from rubbing against the chassis frame 21, cables, etc. Throughout the journey, the chassis frame 21 bears the force transmission and maintains the geometric reference. The reaction forces from the boom assembly 30, climbing mechanism 10 and cutting mechanism 40 during operation are distributed to the left and right walking track assemblies 22 through the chassis frame 21, thereby keeping the upper structure of the chassis frame 21 in a stable posture.

[0083] In some embodiments, such as Figure 8 and Figure 9 As shown, the boom assembly 30 may include a rotating base 31, a rotating arm 32, a first telescopic arm 33, and a second telescopic arm 34. The rotating base 31 is rotatably mounted on the chassis frame 21, allowing it to rotate horizontally. The rotating arm 32 is rotatably mounted on the rotating base 31, allowing it to rotate vertically. The first telescopic arm 33 is telescopically mounted on the rotating arm 32, allowing it to extend or shorten axially. The second telescopic arm 34 is telescopically mounted on the first telescopic arm 33, allowing it to extend or shorten axially. The climbing mechanism 10 is rotatably mounted on the end of the second telescopic arm 34 away from the first telescopic arm 33. The position of the climbing mechanism 10 can be adjusted through the interaction of the rotating base 31, the rotating arm 32, the first telescopic arm 33, and the second telescopic arm 34.

[0084] In some embodiments, such as Figure 8 and Figure 9 As shown, the slewing reducer base plate 311 can be fixed to the upper surface of the chassis assembly 20, i.e., the upper surface of the chassis frame 21. The lower flange of the slewing reducer 312 can be fixed to the slewing reducer base plate 311, and the upper flange of the slewing reducer 312 can be connected to the rotating seat 31 to form a slewing pair around a vertical axis. The output end of the slewing reducer 312 can directly drive the rotating seat 31 to rotate continuously or intermittently. The slewing reducer base plate 311, as a rigid transition piece between the boom assembly 30 and the chassis assembly 20, ensures the perpendicularity and coaxiality between the slewing axis and the reference plane of the chassis frame 21. Simultaneously, it stably transmits the bending moment, shear force, and counter-torque generated by the boom assembly 30 during operation to the chassis assembly 20. The slewing reducer 312 provides the boom assembly 30 with orientation adjustment capability, enabling angular positioning and holding around the vertical axis. It can be used for orientation switching between trees and for minor angle corrections after positioning. The rotary reducer 312 can be installed close to the center of gravity of the boom assembly 30 to reduce rotational inertia and support stress.

[0085] In some embodiments, such as Figure 8 and Figure 9As shown, the upper part of the rotating base 31 can be hinged to the rotating arm 32, and the lower part of the rotating base 31 can be connected to the rotary reducer 312 to smoothly transmit the output torque and positioning capability of the rotary reducer 312 to the rotating arm 32, and provide a lever arm for the rotating drive components 321 such as the luffing cylinder, ensuring mechanical efficiency and safety during the pitching process. The lower end of the rotating drive component 321 is hinged to the rotating base 31, and the upper end of the rotating drive component 321 can be connected to the rotating arm 32 to form the pitching drive pair of the rotating arm 32. The rotating drive component 321 can provide the pitching power of the rotating arm 32, thereby adjusting the working height and pitch angle. During climbing and cutting, the rotating drive component 321 provides static support and maintains a small posture, ensuring that the end position of the rotating arm 32 does not sink or shake significantly under the action of external forces.

[0086] In some embodiments, such as Figure 8 and Figure 9 As shown, the rotating arm 32, as the main load-bearing beam of the boom assembly 30, can bear most of the bending moment and shear force of the boom assembly 30, and provides linear guidance and mounting cavity for the first telescopic arm 33. The first telescopic arm 33 can be embedded in the mounting cavity of the rotating arm 32. At the same time, the first telescopic arm 33 can provide linear guidance and mounting cavity for the second telescopic arm 34, which can be embedded in the mounting cavity of the first telescopic arm 33 to ensure the linearity and anti-sway performance of the telescopic movement. The first telescopic arm 33 can realize the first-level linear extension of the boom assembly 30, which directly determines the reach radius and the ability of the end climbing mechanism 10 to approach the tree trunk. At the same time, it provides a stable guiding foundation for the second telescopic arm 34. The front end of the second telescopic arm 34 can be connected to the climbing mechanism 10 through a swing drive component 37 such as a swing cylinder to ensure sufficient rigidity and torsional resistance in the fully extended state. The second telescopic arm 34 can realize the second-level linear extension of the boom assembly 30, so that the front climbing mechanism 10 can obtain a larger delivery radius without moving the chassis assembly 20.

[0087] In some embodiments, such as Figure 8 and Figure 9As shown, the first telescopic arm 33 can be driven to extend or retract via a first telescopic drive component 331, such as a telescopic cylinder or an electric push rod. One end of the first telescopic drive component 331 can be fixed to the rotating arm 32, and the other end can be connected and fixed to the first telescopic arm 33. Thus, the extension or retraction of the movable end of the first telescopic drive component 331 causes the first telescopic arm 33 to extend or retract along the rotating arm 32. Correspondingly, the second telescopic arm 34 can be driven to extend or retract via a second telescopic drive component 341, such as a telescopic cylinder or an electric push rod. One end of the second telescopic drive component 341 can be fixed to the first telescopic arm 33, and the other end can be connected and fixed to the second telescopic arm 34. Thus, the extension or retraction of the movable end of the second telescopic drive component 341 causes the second telescopic arm 34 to extend or retract along the first telescopic arm 33. The swing drive component 37, such as the swing cylinder, can be installed at the front end of the second telescopic arm 34 and connected to the climbing mechanism 10 to form a small-angle swing pair, thereby allowing adjustment of the angle of the climbing mechanism 10. The swing drive component 37 can precisely correct the posture of the climbing mechanism 10, aligning its vertical support surface with the axis of the tree trunk, reducing the active stroke and impact required for subsequent clamping. At the same time, during the cutting operation, the swing drive component 37 can undertake small-amplitude posture compensation tasks and work with the boom assembly 30 to counteract the posture disturbance caused by the cutting reaction force.

[0088] In some embodiments, the rotating arm 32, the first telescopic arm 33, and the second telescopic arm 34 may have cable channels inside, allowing the pipelines to flow orderly through the front extension arm within the arm. Meanwhile, as... Figure 8 and Figure 9 As shown, a cable reel 36 can be installed behind the rotating base 31. The cable reel 36 can maintain the minimum bending radius and orderly winding and unwinding of cables, hoses, etc. throughout the full stroke of the boom assembly 30 during rotation and extension, avoiding cable twisting, tightening, or interference with structural components, and ensuring continuous and stable power supply and signal transmission for the actuator.

[0089] In some embodiments, such as Figure 8 and Figure 9 As shown, a mounting frame 35 may be provided at the end of the second telescopic arm 34 away from the first telescopic arm 33. The mounting frame 35 can be connected to the front end of the second telescopic arm 34 via a swing drive member 37, so that the mounting frame 35 can be driven to swing along the vertical plane by the swing drive member 37. At the same time, the mounting frame 35 may have a hooking part 351 for attaching the climbing mechanism 10, so that the second connecting rod 117 and the second pin 119 of the climbing mechanism 10 can be hooked onto the hooking part 351. When the arm assembly 30 delivers the climbing mechanism 10 to the target position on the tree trunk, the climbing mechanism 10 can detach from the hooking part 351 and move on the tree trunk on its own.

[0090] When the boom assembly 30 moves, the rotary reducer 312 drives the rotating arm 32 to rotate around the vertical axis to the designated position. The cable reel 36 simultaneously winds up and unwinds the cable to ensure that the cable is not stretched and does not interfere with the structure. After the orientation is completed, the rotary drive 321 pushes the rotating arm 32 to tilt up or down to reach the designated working height and angle. Then, the first telescopic drive 331 drives the first telescopic arm 33 to extend in a straight line to achieve the first approach. If a larger delivery radius is required, the second telescopic drive 341 continues to push the second telescopic arm 34 to extend a second time on the basis of the previous stage, so that the front end of the second telescopic arm 34 reaches the predetermined position on the side of the tree trunk. Upon approaching the target position, the swing drive 37 at the front end of the second telescopic arm 34 can swing at a small angle to finely correct the posture of the mounting frame 35, aligning it with the axial direction of the tree trunk, facilitating the subsequent contact and clamping of the climbing mechanism 10. If minor circumferential adjustments around the tree are required, the rotary reducer 312 can rotate at a small angle, cooperating with the swing drive 37 to complete the fine-tuning of the angle. During operation, the rotation drive 321 maintains the elevation angle of the rotating arm 32, while the first telescopic drive 331 and the second telescopic drive 341 maintain two-stage extension positions, forming a stable front-end support. Simultaneously, the reaction force generated by cutting or climbing is transmitted step by step through the second telescopic arm 34, the first telescopic arm 33, the rotating arm 32, the rotating seat 31, the rotary reducer 312, and the rotary reducer base plate 311, maintaining the stability of the entire machine without the need for the chassis assembly 20 to participate in large displacements. When switching work points, the rotary reducer 312 can first rotate at a small angle in conjunction with the swing drive 37 to change the angle of the mounting bracket 35. If a more distant location needs to be reached, the second telescopic arm 34 and the first telescopic arm 33 are retracted sequentially, and then the rotation drive 321 adjusts the elevation angle. Finally, the orientation of the rotating seat 31 is changed before the arm is extended again to the new target. When the task is completed or a relocation is required, the swing drive returns to its initial position, such as the center position. The second telescopic drive 341 and the first telescopic drive 331 retract the two-stage extension arms sequentially, the rotation drive 321 lowers the rotating arm 32 back to the transport posture, and the rotary reducer 312 centers the rotating seat 31. Throughout the entire process, the cable reel 36 can always be retracted and extended to ensure that the bending radius and allowance of the cable reel always meet the requirements.

[0091] like Figure 10 and Figure 11 As shown, the cutting mechanism 40 can be composed of a mounting base 41, a rotating base 42, a positioning arm assembly 43, and a cutting assembly 44.

[0092] In some embodiments, such as Figure 10 and Figure 11As shown, the mounting base 41 serves as the structural foundation for connecting the entire cutting mechanism 40 with the climbing mechanism 10 of the climbing robot 100. It can be made of high-strength cast steel or thick-walled steel plate. At the same time, the mounting base 41 has multiple mounting holes, which can be used to firmly fix the mounting base 41 to the mounting base surface 1151 of the climbing mechanism 10 with multiple bolts and other fasteners. This rigid connection ensures that the mounting base 41 can become a stable reference, so that it can withstand and effectively transmit various loads from the cutting mechanism 40, such as the huge reaction force and impact load generated during the cutting operation.

[0093] In some embodiments, such as Figure 10 and Figure 11 As shown, the rotating base 42 can be mounted on the mounting base 41. The mounting base 41 may have multiple first connecting holes for mounting the rotating base 42, and the rotating base 42 has multiple connecting ears spaced apart in the circumferential direction, each matching one of the first connecting holes. The connecting ears may have pre-set second connecting holes adapted to the first connecting holes. This allows the rotating base 42 to be securely fixed to the mounting base 41 using multiple bolts or other fasteners, providing a high-rigidity mounting foundation for the rotation of the positioning arm assembly 43 and ensuring that the axis of the positioning arm assembly 43 is coaxial during rotation. It should be noted that the rotation axis of the positioning arm assembly 43 can be parallel to the central axis of the tree trunk held by the climbing robot 100, enabling it to rotate 360°. This ensures that the cutting mechanism 40 can cover all directions around the tree trunk, achieving full circumferential operation.

[0094] In some embodiments, such as Figure 10 and Figure 11 As shown, the positioning arm assembly 43 is rotatably connected to the rotating base 42, and the positioning arm assembly 43 may include at least two interconnected positioning arms, that is, the positioning arm assembly 43 may be composed of two or more positioning arms connected together. At the same time, each positioning arm can rotate relative to the other on the horizontal plane, and the cutting component 44 may be located at the end of the positioning arm assembly 43, that is, the end of the positioning arm assembly 43 away from the rotating base 42, so as to realize the adjustment of the horizontal position of the cutting component 44.

[0095] In some embodiments, such as Figure 10 and Figure 11As shown, the cutting assembly 44 may include a cutting element 441 and an attitude adjustment element 442. The cutting element 441 can be mounted on the end of the positioning arm assembly 43 via the attitude adjustment element 442. Specifically, the attitude adjustment element 442 can be mounted on the end of the positioning arm assembly 43, and the cutting element 441 can be mounted on the attitude adjustment element 442. This allows the working attitude of the cutting element 441 to be adjusted via the attitude adjustment element 442, ensuring that the cutting element 441 can achieve an appropriate entry angle and cutting path in any direction around the tree trunk. Simultaneously, the structural rigidity and mass distribution of the cutting element 441, combined with the rigid design of the positioning arm assembly 43, ensures stable entry point and cutting efficiency when cutting in different directions.

[0096] In some embodiments, such as Figure 10 and Figure 11 As shown, the cutting component 441 may include a cutting drive component 4411 and an electric saw 4412. The cutting drive component 4411 can be mounted on the attitude adjustment component 442, and its output shaft can be connected to the electric saw 4412 for transmission, enabling the cutting drive component 4411 to drive the electric saw 4412 to perform a cutting action on the target object. It should be noted that the cutting drive component 4411 may be a servo motor, which drives the cutting teeth of the electric saw 4412 to rotate at high speed, thereby achieving the cutting effect on the target object.

[0097] In some embodiments, such as Figure 10 and Figure 11 As shown, the cutting component 441 may further include a chainsaw mounting base 4413 and a chainsaw cover plate 4414. One end of the chainsaw 4412 can be mounted on the chainsaw mounting base 4413, and the output shaft of the cutting drive component 4411 can pass through the chainsaw mounting base 4413 and be connected to the chainsaw 4412 in a transmission connection. The chainsaw cover plate 4414 can be located on the side of the chainsaw 4412 away from the cutting drive component 4411 and is detachably connected to the chainsaw mounting base 4413 via bolts or other fasteners. This protects the internal components of the cutting drive component 4411 and prevents chips from entering the cutting drive component 4411 and affecting its operation. Furthermore, a chip guide channel 4415 can be formed between the chainsaw cover plate 4414 and the chainsaw mounting base 4413 to guide chip discharge, thereby discharging the chips generated when the chainsaw 4412 cuts the target object in a predetermined direction.

[0098] In some embodiments, such as Figure 10 and Figure 11As shown, the chainsaw mounting base 4413 may have a first mounting cavity with a circular cross-section, and the outer wall of the first mounting cavity may extend into a second mounting cavity with a rectangular cross-section in a direction away from the first mounting cavity. One end of the chainsaw 4412 may be located in the first mounting cavity and connected to the output shaft of the cutting drive 4411, while the other end of the chainsaw 4412 may extend out from the second mounting cavity to facilitate cutting the target object. In addition, the chainsaw cover plate 4414 may adopt a stepped structure so that the chip guide channel 4415 can be formed between the bottom wall and the side wall of the stepped structure to guide the micro-airflow and chip flow in the cutting area, thereby discharging the chips generated when the chainsaw 4412 cuts the target object in a predetermined direction, reducing chip blockage and secondary entrapment, improving the visibility and safety of the cutting process, and shielding high-speed moving parts through the stepped structure to reduce the risk of chip scattering and accidental contact. The chainsaw cover plate 4414 may have a first cover plate portion adapted to the first mounting cavity and a second cover plate portion adapted to the second mounting cavity. Specifically, the first cover plate portion may have a circular cross section adapted to the first mounting cavity, and the second cover plate portion may have a rectangular cross section adapted to the second mounting cavity. At the same time, a sealing ring matching the shape of the chainsaw cover plate 4414 may be provided between the chainsaw cover plate 4414 and the chainsaw mounting base 4413. This allows the sealing ring to be tightened when the chainsaw cover plate 4414 and the chainsaw mounting base 4413 are connected and fixed by fasteners such as bolts, thereby achieving a sealed connection between the chainsaw cover plate 4414 and the chainsaw mounting base 4413. This prevents cutting material from entering the cutting drive component 4411 through the gap between the chainsaw cover plate 4414 and the chainsaw mounting base 4413, ensuring the stable operation of the cutting component 441.

[0099] In some embodiments, such as Figure 10 and Figure 11 As shown, the attitude adjustment component 442 may include a rotary drive component 4421, which drives the cutting component 441 to rotate in the vertical plane. A high-precision planetary reducer or harmonic reducer is used for speed reduction and torque amplification, thereby controlling the entry angle of the cutting component 441 and ensuring attitude stability. It also absorbs the counter-torque generated during cutting. Figure 11As shown. The rotary drive component 4421 can be a servo motor, and the servo motor housing can be fixed to the end of the positioning arm assembly 43 via bolts or other fasteners. Simultaneously, the output shaft of the servo motor can be connected to the cutting drive component 4411, allowing the servo motor to drive the entire cutting component 441 to rotate in the vertical plane. This enables continuous adjustment of the entry angle of the electric saw 4412 within a specified range, with limiting and locking capabilities. The rotary drive component 4421 allows for adjustment of the rotational freedom of the end-effector electric saw 4412, precisely controlling the entry angle between the electric saw 4412 and the target cutting object. It also serves as a rigid support at the end of the positioning arm assembly 43, reliably supporting the cutting component 441 formed by the cutting drive component 4411 and the electric saw 4412, and initially absorbing and transmitting the counter-torque and impact generated during cutting by the electric saw 4412. It should be noted that the rotary drive component 4421 can also be a swing cylinder, a rotary hydraulic cylinder, etc., to drive the cutting component 441 to rotate in the vertical plane, thereby enabling the entry angle of the electric saw 4412 to be continuously adjustable within a specified range and having limiting and locking capabilities.

[0100] In some embodiments, the cutting assembly 44 may further include a vision module disposed on the cutting element 441, so that the position of the target cutting object can be identified through the vision module, thereby achieving precise cutting of the target cutting object by the cutting element 441, preventing accidental damage to other positions or the target cutting object, and improving cutting efficiency. The vision module may employ a visual servo system, such as a monocular visual servo system, a binocular visual servo system, or a multi-view visual servo system, to acquire environmental image information through a camera, extract target features, and then generate control signals based on feature errors to drive actuators, such as the cutting mechanism 40 and the climbing mechanism 10, to perform corresponding actions.

[0101] In some embodiments, the positioning arm may have a hollow structure, with a cable channel formed inside for cables to pass through. The rotating base 42 may have an annular channel communicating with the cable channel, and the annular channel can accommodate excess cable. The excess cable can be wound into the annular channel so that the follower cable can extend or shorten during the rotation of the positioning arm, thereby preventing the follower cable from being pulled during rotation. It should be noted that the cable can be used to transmit signals and power to the various drive mechanisms of the cutting mechanism 40.

[0102] In some embodiments, a limiting component can be provided within the cable channel to radially limit the cable and prevent cross-knotting between cables, thereby ensuring reliable movement of the cable during the rotation of the positioning arm. The limiting component may include a limiting plate fixed to the inner wall of the cable channel, and the limiting plate may have one or more limiting grooves. The cable can be located within the limiting grooves, thereby radially limiting the cable. It should be noted that the limiting grooves can be C-shaped grooves, U-shaped grooves, etc., to achieve radial limiting of the cable while ensuring that the cable can move axially within the limiting grooves. Of course, the positioning arm may also be provided with an inspection port for easy maintenance.

[0103] In some embodiments, in order to ensure that the positioning arm has sufficient strength and rigidity to resist cutting reaction force and impact force, a reinforcing structure can be provided on the inner wall of the positioning arm. The reinforcing structure can be a plurality of reinforcing ribs spaced apart along the axial direction of the positioning arm, and the reinforcing ribs can be strip-shaped, ring-shaped, or other shapes, so that the reinforcing structure and the side wall of the positioning arm can jointly bear the cutting reaction force and impact force, thereby ensuring that the positioning arm has sufficient bending stiffness to resist cutting reaction force and impact force.

[0104] In some embodiments, such as Figure 10 and Figure 11As shown, the positioning arm assembly 43 may include two positioning arms. For ease of understanding, the two positioning arms are defined as the first positioning arm 431 and the second positioning arm 432, respectively. The first positioning arm 431 can be connected to the rotary base 42 through a first rotary joint, so that the first positioning arm 431 can rotate around the first rotary joint on the horizontal plane, thereby completing the initial adjustment. The outer wall and internal reinforcing structure of the first positioning arm 431 can maintain the bending and torsional stiffness of the arm body under the action of cutting reaction force, reliably transmit the torque from the end to the rotary base 42, and create a stable upper support for the fine positioning of the second positioning arm 432. The second positioning arm 432 can be connected to the end of the first positioning arm 431 away from the rotating base 42 via a second rotary joint, enabling the second positioning arm 432 to rotate around the second rotary joint on a horizontal plane. This allows for further adjustment of the working radius, ensuring that the end of the second positioning arm 432 can reach the target cutting object and that the cutting posture is continuously adjustable. Simultaneously, it acts as an intermediate force transmission component in the force path, smoothly transmitting the cutting reaction force from the end of the second positioning arm 432 to the first positioning arm 431. The cutting assembly 44 can be installed above the end of the second positioning arm 432 away from the second rotary joint, allowing for adjustment of the horizontal position of the cutting assembly 44 through the cooperation of the first and second positioning arms 431 and 432. It should be noted that the first and second rotary joints can be coupled using a collar, meaning that the first and second rotary joints can consist of a central shaft and a rotating ring sleeved on the outside of the central shaft, and the rotating ring can rotate around the central shaft. Meanwhile, the first and second rotary joints can be driven by servo motors and reduced in speed and increased in torque by high-precision planetary reducers or harmonic reducers, thereby achieving circumferential rotation control of the first positioning arm 431 and the second positioning arm 432, ensuring the stability of the posture, and absorbing the counter-torque generated during cutting.

[0105] In some embodiments, the length of the first positioning arm 431 can be 550mm to 650mm, the length of the second positioning arm 432 can be 550mm to 650mm, and the length of the cutting component 441, i.e., the length of the electric saw 4412, can be 350mm to 450mm. This ensures that the palm canopy working area is fully covered by the appropriate positioning arm length and the electric saw 4412 length, while achieving the optimal range of mechanical effects. Preferably, the lengths of both the first positioning arm 431 and the second positioning arm 432 can be 600mm, and the length of the cutting component 441, i.e., the length of the electric saw 4412, can be 400mm, to achieve full coverage of the palm canopy working area while achieving the optimal value of mechanical effects.

[0106] In the above embodiments, the cooperation of the rotating base 42, the positioning arm assembly 43, and the attitude adjustment component 442 reduces the number of joint connectors and drive components used in the positioning arm, making the cutting mechanism 40 simpler in structure, lighter in weight, and lower in cost, thereby reducing the load and energy consumption of the climbing platform. Simultaneously, the reaction torque and impact load generated by the cutting component 441 can be directly and effectively transmitted to the stable mounting base 41 and the climbing mechanism 10, avoiding disturbances to the positioning arm's attitude caused by the torque, ensuring a smooth and precise cutting process, and solving the problem of instability in traditional multi-degree-of-freedom robotic arms operating on climbing platforms. Furthermore, the clearly decoupled functions of each degree of freedom in the cutting mechanism 40 simplify the kinematic control algorithm and path planning, reducing the computational requirements of the climbing robot 100's main control system and improving the reliability of system operation. With the cooperation of the rotating base 42 and the positioning arm assembly 43, the working points around the tree trunk can be flexibly covered in 360°. At the same time, the attitude adjustment component 442 at the end of the positioning arm assembly 43 ensures that the cutting component 441 can cut at the best angle, taking into account both the working range and operational flexibility.

[0107] The terminology used in the above embodiments is for the purpose of describing specific embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions "a," "an," "the," "the," "the," and "this" are intended to also include expressions such as "one or more," unless the context clearly indicates otherwise. It should also be understood that in the embodiments of this application, "one or more" refers to one, two, or more; "and / or" describes the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0108] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0109] The "multiple" mentioned in the embodiments of this application refers to two or more. It should be noted that in the description of the embodiments of this application, terms such as "first" and "second" are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance, nor should they be construed as indicating or implying order.

[0110] The terms "parallel" and "perpendicular" used in this application refer to "basically parallel" and "basically perpendicular" in practical operation. "Basically parallel" can be understood as parallelism with a certain degree of error, and similarly, "basically perpendicular" can be understood as perpendicularity with a certain degree of error.

[0111] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A climbing robot, characterized by, The climbing mechanism (10) comprises a support (11), a rolling member (12) and a clamping driving assembly (13), wherein: The rolling member (12) is provided in a plurality of numbers, each rolling member (12) is rotatably arranged on the support (11), and each rolling member (12) is arranged at intervals in the circumferential direction of the trunk to form an enveloping support for the trunk, and at least one rolling member (12) is provided with a guide groove (121) capable of cooperating with the surface of the trunk in the circumferential direction; The clamping driving assembly (13) comprises a driving adjusting member (131) and an elastic buffer member (132), the driving adjusting member (131) is used for adjusting the relative position between each rolling member (12) to clamp or release the trunk, and the elastic buffer member (132) cooperates with the driving adjusting member (131), and the elastic buffer member (132) is used for absorbing impact and adapting to the diameter and surface topography changes of the trunk.

2. The climbing robot of claim 1, wherein, The rolling member (12) comprises a first rolling member (122), a second rolling member (123) and a third rolling member (124), and the support (11) comprises: A first supporting rod (111) has a first end connected with the first rolling member (122), and a second end connected with the second rolling member (123); A second supporting rod (112) extends from the first end of the first supporting rod (111) to a side away from the first supporting rod (111), and has an included angle with the first supporting rod (111), and an end of the second supporting rod (112) away from the first supporting rod (111) is connected with the third rolling member (124); A third supporting rod (113) extends from the first end of the first supporting rod (111) to a side of the first supporting rod (111) away from the second supporting rod (112), and has an included angle with the first supporting rod (111); A fourth supporting rod (114) extends from a midpoint of the first supporting rod (111) to a side of the first supporting rod (111) away from the second supporting rod (112), and has an included angle with the first supporting rod (111), and an end of the fourth supporting rod (114) away from the first supporting rod (111) is movably connected with an end of the third supporting rod (113) away from the first supporting rod (111) through a fifth supporting rod (115).

3. The climbing robot of claim 2, wherein, The first supporting rod (111) is provided in two numbers in opposition, and the first rolling member (122) and the second rolling member (123) are rotatably connected between the two first supporting rods (111); The third supporting rod (113), the fourth supporting rod (114) and the fifth supporting rod (115) are provided in two numbers in opposition and are respectively located on two sides of the first supporting rod (111); The second supporting rod (112) is one, and the second supporting rod (112) has a connecting part (1121) and supporting parts (1122) at two ends of the connecting part (1121), the supporting parts (1122) and the connecting part (1121) have an included angle, and the supporting part (1122) at one end of the connecting part (1121) is rotatably provided with the third rolling part (124), and the supporting part (1122) at the other end of the connecting part (1121) is connected to the first end of the first connecting rod.

4. The climbing robot of claim 3, wherein, A first connecting rod (116) is connected between two first supporting rods (111), and the first connecting rod (116) is located close to the second end of the first supporting rod (111); A second connecting rod (117) is connected between two third supporting rods (113); The active adjusting part (131) is movably connected between the first connecting rod (116) and the second connecting rod (117), and the active adjusting part (131) can push the second connecting rod (117) to move away from the first connecting rod (116), so that the second connecting rod (117) can drive the third rolling part (124) to move close to the first supporting rod (111) through the third supporting rod (113) and the second supporting rod (112) and clamp the trunk.

5. The climbing robot of claim 2, wherein, The first rolling part (122) and the third rolling part (124) are integrated with driving devices, and the second rolling part (123) and the first rolling part (122) are drivingly connected through a transmission assembly (125).

6. The climbing robot of claim 1, wherein, The side walls on both sides of the guide groove (121) have an included angle; and / or, The guide groove (121) is provided with a texture layer; and / or, The guide groove (121) is provided with a flow guide channel.

7. The climbing robot of claim 1, wherein, It also includes a chassis assembly (20), an arm support assembly (30) and a cutting mechanism (40), wherein: The chassis assembly (20) is used for supporting the arm support assembly (30), the climbing mechanism (10) and the cutting mechanism (40) and can move horizontally; The arm support assembly (30) is used for supporting the climbing mechanism (10) and can adjust the position of the climbing mechanism (10); The cutting mechanism (40) is installed on the climbing mechanism (10), and the cutting mechanism (40) is used for cutting a target cutting object.

8. The climbing robot of claim 7, wherein, The chassis assembly (20) includes a chassis frame (21) and a walking track assembly (22), the walking track assembly (22) is symmetrically arranged on both sides of the chassis frame (21), and the arm support assembly (30) is installed on the chassis frame (21).

9. The climbing robot of claim 8, wherein, The arm support assembly (30) includes: A rotating seat (31) rotatably arranged on the chassis frame (21) so that the rotating seat (31) can rotate along a horizontal plane; A rotating arm (32) rotatably arranged on the rotating seat (31) so that the rotating arm (32) can rotate along a vertical plane; A first telescopic arm (33) is telescopically arranged on the rotating arm (32) so that the first telescopic arm (33) can be elongated or shortened along the axial direction of the rotating arm (32); A second telescopic arm (34) is telescopically arranged on the first telescopic arm (33) so that the second telescopic arm (34) can be elongated or shortened along the axial direction of the first telescopic arm (33), and the climbing mechanism (10) is rotatably mounted on the end of the second telescopic arm (34) away from the first telescopic arm (33).

10. The climbing robot of claim 9, wherein, The end of the second telescopic arm (34) away from the first telescopic arm (33) is rotatably provided with a mounting bracket (35), and the mounting bracket (35) has a hanging part (351) capable of hanging the climbing mechanism (10).

11. The climbing robot of claim 7, wherein, The cutting mechanism (40) comprises: a mounting base (41) fixed to the climbing mechanism (10); a rotating base (42) arranged on the mounting base (41); a positioning arm assembly (43) rotatably connected to the rotating base (42), and the positioning arm assembly (43) comprises at least two positioning arms connected to each other, and each positioning arm can be relatively rotated in a horizontal plane; a cutting assembly (44) comprising a cutting member (441) and a posture adjusting member (442), the posture adjusting member (442) is arranged at the end of the positioning arm assembly (43), and the cutting member (441) is mounted on the posture adjusting member (442), and the posture adjusting member (442) is used for adjusting the working posture of the cutting member (441).

12. The climbing robot of claim 11, wherein, The positioning arm is provided with a cable passage for the cable, and the rotating base (42) has an annular passage in communication with the cable passage, and the annular passage is used for accommodating the excess cable.

13. The climbing robot of claim 11, wherein, The cutting member (441) comprises a cutting driving member (4411) and an electric saw (4412), the cutting driving member (4411) is mounted on the posture adjusting member (442), the cutting driving member (4411) is in transmission connection with the electric saw (4412), and the cutting driving member (4411) is used for driving the electric saw (4412) to perform cutting action.

14. The climbing robot of claim 13, wherein, The cutting member (441) further comprises an electric saw mounting seat (4413) and an electric saw cover plate (4414), the electric saw (4412) is mounted on the electric saw mounting seat (4413) and in transmission connection with the output end of the cutting driving member (4411) penetrating through the electric saw mounting seat (4413), the electric saw cover plate (4414) is located on the side of the electric saw (4412) away from the cutting driving member (4411) and connected with the electric saw mounting seat (4413), and a chip guiding passage (4415) capable of guiding chip discharge is formed between the electric saw cover plate (4414) and the electric saw mounting seat (4413).

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