A tree pruning robot

Abstract

The present invention relates to the technical field of tree climbing, and specifically discloses a tree pruning robot, comprising a base frame, an adjusting clamping claw device arranged toward a tree trunk and capable of rotating to a certain horizontal angle, a first platform module for driving the adjusting clamping claw device to rotate and lift and reciprocate along a linear direction of the base frame, a pruning mechanism for pruning branches on the tree trunk while the base frame is driven by the climbing device to climb upward, the pruning mechanism comprising two tool assemblies, and a second platform module for driving the tool assemblies to rotate and reciprocate along a linear direction of the base frame, the adjusting clamping claw device further comprising a clamping claw assembly, the clamping claw assemblies being respectively installed on the first platform module so as to be openable and closable along their own central axes; the present invention draws on the movement mode of animals climbing trees, and based on the two clamping claws being able to adjust the relative position of the robot and the tree trunk or branches along a circumferential direction, the robot can avoid the obstruction of forked branches during the climbing process, thereby facilitating smooth climbing.

Description

Technical Field

[0001] The present invention relates to the technical field of tree climbing, in particular to a tree pruning robot. Background Art

[0002] To ensure proper nutrient distribution and maintain aesthetic appearance, naturally grown trees require regular pruning. Furthermore, to ensure the safety of high-voltage power lines, tree height control is essential through pruning. Currently, tree pruning relies primarily on manual labor or simple tools, which can hinder the ability to reach taller trees. Research on tree-climbing robots, both domestically and internationally, is still in its exploratory stages, and mature tree-climbing robot products are still lacking on the market.

[0003] Current research on tree-climbing robots often uses rollers to navigate along tree trunks. However, many tree species have forked branches, and rollers cannot traverse these branches when the robot reaches them. Furthermore, for larger trees, the robot may need to be able to navigate above the branches for pruning, a task for which roller-based robots are inadequate. Summary of the Invention

[0004] The purpose of the present invention is to provide a tree pruning robot to solve the problem proposed in the above background technology that existing tree-climbing robots have difficulty in climbing and avoiding obstacles. In response to the problems existing in existing tree-climbing robots, the patent of the present invention draws on the movement mode of animals climbing trees and proposes a tree pruning robot that climbs trees based on two clamping claw assemblies. The robot only contacts the tree through the two clamping claw assemblies and can adjust the relative position of the robot and the tree trunk along the circumferential direction, so as to avoid the obstruction of forked branches during the climbing process. At the same time, the tree-climbing robot can also prune the branches on the top and sides of large trees, meeting multiple requirements.

[0005] In order to solve the above problems, the present invention provides the following technical solutions: A tree pruning robot comprises: a base frame, comprising a front baffle, a rear baffle and side baffles for fixing and connecting the corners of the front baffle and the rear baffle; a climbing device, comprising an adjusting clamping device arranged toward the tree trunk and capable of rotating to a certain horizontal angle, and a first platform module that drives the adjusting clamping device to rotate and lift and reciprocate along the linear direction of the base frame; a pruning mechanism for pruning branches on the tree trunk when the base frame is driven by the climbing device to climb upward, the pruning mechanism comprising two tool assemblies arranged adjacent to the adjusting clamping device, and a second platform module that drives the tool assemblies to rotate and reciprocate along the linear direction of the base frame; the adjusting clamping device also comprises a clamping assembly, which is respectively installed on the first platform module so as to be openable and closable along its own central axis; the adjusting clamping device, the first platform module, the tool assembly and the second platform module are all connected by a power mechanism.

[0006] Furthermore, the adjusting clamping device includes a connecting block, a rotating platform, a first motor, a first supporting platform and a transmission key. The connecting block is fixedly arranged on the upper surface of the rotating platform. The inner wall surface of the rotating platform is movably sleeved on the outer wall surface of the first supporting platform. The first supporting platform is connected to the transmission key. The first motor drives the transmission key to drive the first supporting platform to rotate.

[0007] Furthermore, the clamping jaw assembly includes a second motor, a static platform, a dynamic platform, a guide plate, an upper clamping arm, and a lower clamping arm. The first support platform and the static platform are fixedly connected to form a concave cavity that can accommodate the second motor. The output end of the second motor is driven and connected to a first screw arranged between the static platform and the dynamic platform. A slide groove is provided on the guide plate. The front side ends of the static platform and the dynamic platform are movably connected to the slide groove of the guide plate. The two side ends of the dynamic platform are movably connected to a number of lower clamping arms cross-distributed along the central axis of the dynamic platform. The lower clamping arm has a semicircular shape and its inner wall surface is serrated. One end of the upper clamping arm is movably connected to the end side of the static platform, and the other end is movably connected to the middle part of the lower clamping arm through a connecting piece.

[0008] Furthermore, the first platform module includes a clamping claw rotation and lifting mechanism and a clamping claw translation mechanism, the clamping claw rotation and lifting mechanism includes a third motor, a fourth motor, a guide rod, a bearing, a first motor rod, a second screw, a second support platform and a lifting platform, the second support platform is erected above the lifting platform, and a group of guide rods and a second screw symmetrically distributed along the central axis of the third motor are respectively provided at the diagonals of the second support platform, the second screw passes through the second support platform and extends to the bottom of the lifting platform and is electrically connected to the fourth motor, the guide rod passes through the second support platform and extends to the inside of the lifting platform and is fixedly connected to the upper surface of the lifting platform, a third motor is provided at the center of the second support platform, and a bearing is provided at the center of the lifting platform, the first motor rod arranged at one end of the third motor passes through the lifting platform and is movably connected to the bearing and extends out of the bottom of the lifting platform, and the bottom of the first motor rod is fixedly connected to the connecting block by a screw.

[0009] Furthermore, the clamping claw translation mechanism includes a first threaded hole and a first light hole provided on the lifting platform, a first screw rod assembly, a fifth motor and a sixth motor. The first screw rod assembly includes two screw rods symmetrically installed on the base frame. Half of each screw rod is set to be screw-shaped and the other half is set to be light rod-shaped. One end of the two screw rods passes through the front baffle and is electrically connected to the fifth motor and the sixth motor respectively. The first threaded hole and the first light hole provided on the lifting platform are respectively correspondingly sleeved on the two screw rods.

[0010] Furthermore, the tool assembly includes a connecting plate, a baffle and a chain saw. The baffle is a hollow structure. One end of the chain saw is movably connected to the inside of the baffle. The connecting plate is fixedly provided on the side wall surface of the baffle.

[0011] Furthermore, the second platform module includes a tool rotation mechanism and a tool translation mechanism. The tool rotation mechanism includes a seventh motor, a sliding platform and a second motor rod. The second motor rod arranged at one end of the seventh motor passes through the sliding platform and extends out of the bottom of the sliding platform. The bottom of the second motor rod is fixedly connected to the connecting plate by screws.

[0012] Furthermore, the tool translation mechanism includes a second threaded hole and a second light hole provided on the sliding platform, a second screw rod assembly provided between the front baffle and the rear baffle, and an eighth motor provided at the side end of the second screw rod assembly. The second screw rod assembly is provided with a light rod and a screw rod. One end of the screw rod passes through the front baffle and is electrically connected to the eighth motor. The second threaded hole and the second light hole provided on the sliding platform are respectively correspondingly sleeved on the screw rod and the light rod.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The present invention adopts an adjustable clamping device that can rotate a certain horizontal angle toward the tree trunk, a first platform module that drives the adjustable clamping device to move back and forth toward the tree trunk, and a clamping assembly that can be opened and closed, thereby forming a tree-climbing mechanical claw with a high degree of freedom that can move linearly, rotate, adjust the angle, and open and close. The assembly structure is flexible and lightweight. Compared with other tree-climbing robots that can only climb vertically upward, the device can move freely between irregular tree trunks and branches and reach different positions on the tree, with greatly improved flexibility and maneuverability. When static, the robot can firmly grasp the tree trunk with zero power consumption, saving electricity usage. The clamping assembly adopts a sophisticated single-drive and adaptive design, which can firmly grasp tree trunks of various materials, shapes and thicknesses, so as to maintain balance and stability on the surface of the tree and have strong climbing power. The device also adopts a tool assembly and a second platform module that drives the tool assembly to rotate and reciprocate along the linear direction of the side baffle, which cooperates with the climbing device to trim top and side branches, meeting various requirements.

[0015] The present invention draws on the movement patterns of animals climbing trees and realizes a tree pruning robot that climbs trees based on two clamping claw assemblies. The robot contacts the tree through the two clamping claws and can adjust the relative position of the robot and the tree trunk along the circumferential direction, thereby avoiding the obstruction of forked branches during the climbing process and helping to complete the climbing smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the tree climbing machine of the present invention;

[0017] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the gripper rotation and lifting mechanism and the gripper translation mechanism of the first platform module of the tree climbing machine;

[0018] Figure 3 for Figure 1 A schematic diagram of the overall three-dimensional structure of the middle climbing device;

[0019] Figure 4 for Figure 1 A schematic cross-sectional view of the adjusting jaw device of the middle climbing device;

[0020] Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure of the tool assembly;

[0021] Figure 6 This is a schematic diagram of the three-dimensional structure of the tree climbing machine in the initial position of climbing, where a represents the oblique angle and b represents the upper angle;

[0022] Figure 7The three-dimensional structure diagram of the tree climbing machine during rotation, where c represents the oblique angle and d represents the upper angle;

[0023] Figure 8 This is a three-dimensional structural diagram of the tree climbing machine's rotation result;

[0024] Figure 9 Schematic diagram of the original three-dimensional structure of the tree climbing machine’s converted branches;

[0025] Figure 10 The three-dimensional structure diagram of the transformed branches and trunks, where e represents the oblique angle and f represents the upper angle;

[0026] Figure 11 Schematic diagram of the three-dimensional structure of the tree climbing machine for repairing branches.

[0027] : The accompanying drawings are marked as follows: base frame 1, front baffle 2, rear baffle 3, side baffle 4, adjusting clamping jaw device 5, connecting block 6, rotating platform 7, first motor 8, first supporting platform 9, transmission key 10, clamping jaw assembly 11, second motor 12, static platform 13, dynamic platform 14, guide plate 15, upper clamping arm 16, lower clamping arm 17, first screw 18, connecting piece 19, slide 20, first platform module 21, clamping jaw rotation and lifting mechanism 22, third motor 23, fourth motor 24, guide rod 25, bearing 26, first motor rod 27, second screw 28, second supporting platform 29, lifting platform 30, clamping jaw translation mechanism 31, first threaded hole 32, first optical hole 33, first screw rod assembly 34, fifth motor 35, sixth motor 36,

[0028] Tool assembly 37 , connecting plate 38 , baffle 39 , chain saw 40 , second platform module 41 , tool rotation mechanism 42 , seventh motor 43 , sliding platform 44 , second motor rod 45 , tool translation mechanism 46 , second threaded hole 47 , second optical hole 48 , second screw assembly 49 , eighth motor 50 , trunk 51 , and branch 52 . DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] See also Figures 1-11The present invention provides an embodiment of a tree pruning robot, comprising: a base frame 1, including a front baffle 2, a rear baffle 3, and side baffles 4 for fixedly connecting the corners of the front baffle 2 and the rear baffle 3; a climbing device, including an adjustable clamping jaw device 5 arranged toward the tree trunk and capable of rotating to a certain horizontal angle, and a first platform module 21 that drives the adjustable clamping jaw device 5 to rotate, lift, and reciprocate along the linear direction of the base frame 1; a pruning mechanism for pruning branches on the tree trunk when the base frame 1 is driven upward by the climbing device, the pruning mechanism including two tool assemblies 37 arranged adjacent to the adjustable clamping jaw device 5, and a second platform module 41 that drives the tool assemblies 37 to rotate and reciprocate along the linear direction of the base frame 1; the adjustable clamping jaw device 5 also includes a clamping jaw assembly 11, which is respectively mounted on the first platform module 21 along its own central axis so as to be openable and closable; the adjustable clamping jaw device 5, the first platform module 21, the tool assembly 37, and the second platform module 41 are all connected by a power mechanism.

[0031] See also Figure 3-Figure 4 , the present invention provides an embodiment: the adjusting clamping device 5 includes a connecting block 6, a rotating platform 7, a first motor 8, a first supporting platform 9 and a transmission key 10, the connecting block 6 is fixedly arranged on the upper surface of the rotating platform 7, the inner wall surface of the rotating platform 7 is movably sleeved on the outer wall surface of the first supporting platform 9, the first supporting platform 9 is connected to the transmission key 10, and the first motor 8 drives the transmission key 10 to drive the first supporting platform 9 to rotate; after the first motor 8 is started, the first motor 8 drives the first supporting platform 9 to rotate through the transmission key 10, thereby rotating the lower half of the clamping assembly 11.

[0032] See also Figure 3-Figure 4The present invention provides an embodiment: the clamping jaw assembly 11 includes a second motor 12, a static platform 13, a dynamic platform 14, a guide plate 15, an upper clamping arm 16, and a lower clamping arm 17. The first support platform 9 is fixedly connected to the static platform 13 and forms a concave cavity that can accommodate the second motor 12. The output end of the second motor 12 is driven and connected to a first screw 18 provided between the static platform 13 and the dynamic platform 14. A slide groove 20 is provided on the guide plate 15. The front side ends of the static platform 13 and the dynamic platform 14 are movably connected to the guide plate 15. On the slide groove 20, the two side ends of the moving platform 14 are movably connected with several lower clamping arms 17 distributed crosswise along the central axis of the moving platform 14. The number of lower clamping arms 17 on one side of the moving platform 14 is one more than the number of clamping arms on the other side, so that the lower clamping arms 17 can be well engaged together when opening and closing. The outer shape of the lower clamping arm 17 is semicircular, and the inner wall surface is serrated. One end of the upper clamping arm 16 is movably connected to the end side of the static platform 13, and the other end is movably connected to the middle part of the lower clamping arm 17 through a connecting piece 19. When the second motor 12 is started, the platform 14 is driven to rise or fall through the first screw 18, thereby driving the lower clamping arm 17 to move, thereby achieving the purpose of controlling the opening and closing of the clamping jaw assembly 11; a slide groove 20 is provided on the guide plate 15, and the two ends of the static platform 13 and the dynamic platform 14 are movably connected to the slide groove 20 of the guide plate 15, which plays a role in controlling the lifting direction of the dynamic platform 14 and preventing the dynamic platform 14 from rotating with the first screw 18 after the second motor 12 is started; the inner side of the lower clamping arm 17 is designed to be serrated, so that when grasping the tree trunk, friction can be increased, making the clamping jaw more secure.

[0033] See also Figure 2, an embodiment provided by the present invention: the first platform module 21 includes a gripper rotation and lifting mechanism 22 and a gripper translation mechanism 31, the gripper rotation and lifting mechanism 22 includes a third motor 23, a fourth motor 24, a guide rod 25, a bearing 26, a first motor rod 27, a second screw 28, a second support platform 29 and a lifting platform 30, the second support platform 29 is mounted above the lifting platform 30, and a group of guide rods 25 and second screws 28 symmetrically distributed along the central axis of the third motor 23 are respectively provided at the diagonals of the second support platform 29, and the second screw 28 passes through the The second support platform 29 extends to the bottom of the lifting platform 30 and is electrically connected to the fourth motor 24. The guide rod 25 passes through the second support platform 29 and extends into the interior of the lifting platform 30 and is fixedly connected to the upper surface of the lifting platform 30. A third motor 23 is provided at the center of the second support platform 29. A bearing 26 is provided at the center of the lifting platform 30. A first motor rod 27 provided at one end of the third motor 23 passes through the lifting platform 30 and is movably connected to the bearing 26 and extends out of the bottom of the lifting platform 30. The bottom of the first motor rod 27 is fixedly connected to the connecting block 6 by screws The clamping claw translation mechanism 31 includes a first threaded hole 32 and a first light hole 33 provided on the lifting platform 30, a first screw rod assembly 34, a fifth motor 35 and a sixth motor 36. The first screw rod assembly 34 includes two screw rods symmetrically mounted on the base frame 1. Half of each screw rod is set as a screw rod and the other half is set as a light rod. One end of the two screw rods passes through the front baffle 2 and is electrically connected to the fifth motor 35 and the sixth motor 36 respectively. The first threaded hole 32 and the first light hole 33 provided on the lifting platform 30 are respectively sleeved on the two screw rods. When the third motor 23 is started, , the motor shaft and bearing 26 of the third motor 23 rotate along the axis, thereby driving the rotation of the clamping jaw assembly 11; after the fourth motor 24 is started, the second screw 28 can be driven to rotate to control the rise or fall of the second support platform 29, and synchronously drive the third motor 23 to rise and fall, thereby driving the contraction and extension of the clamping jaw assembly 11; when the fifth motor 35 and the sixth motor 36 are started, the first screw rod assembly 34 is rotated, and the two clamping jaw translation mechanisms 31 are driven to move back and forth through the threaded section on the first screw rod assembly 34, thereby driving the clamping jaw assembly 11 to move back and forth.

[0034] See also Figure 5 The present invention provides an embodiment: the tool assembly 37 includes a connecting plate 38, a baffle 39 and a chain saw 40. The baffle 39 is a hollow structure. One end of the chain saw 40 is movably connected to the inside of the baffle 39. The connecting plate 38 is fixedly provided on the side wall surface of the baffle 39.

[0035] See also Figure 7(d) An embodiment of the present invention provides: the second platform module 41 includes a tool rotation mechanism 42 and a tool translation mechanism 46, the tool rotation mechanism 42 includes a seventh motor 43, a sliding platform 44 and a second motor rod 45, the second motor rod 45 provided at one end of the seventh motor 43 passes through the sliding platform 44 and extends out of the bottom of the sliding platform 44, and the bottom of the second motor rod 45 is fixedly connected to the connecting plate 38 by screws; the tool translation mechanism 46 includes a second threaded hole 47 and a second light hole 48 provided on the sliding platform 44, a second screw rod assembly 49 provided between the front baffle 2 and the rear baffle 3, and a second screw rod assembly 49 provided between the front baffle 2 and the rear baffle 3. The eighth motor 50 is located at the side end of the second screw assembly 49. The second screw assembly 49 is provided with a smooth rod and a screw rod. One end of the screw rod passes through the front baffle 2 and is electrically connected to the eighth motor 50. The second threaded hole 47 and the second smooth hole 48 provided on the sliding platform 44 are respectively correspondingly sleeved on the screw rod and the smooth rod. When the seventh motor 43 is started, the second motor rod 45 and the motor bearing rotate axially, and the chain saw 40 is driven to rotate through the sliding platform 44, thereby achieving the purpose of cutting branches. After the eighth motor 50 is started, the sliding platform 44 is driven to move back and forth, thereby driving the synchronous movement of the chain saw 40.

[0036] It should be noted that the tree-climbing robot of the present invention can use laser radar, cameras or tactile sensors to explore and reconstruct the surrounding environment, and can independently set the best forward route through an external controller, so that the tree-climbing robot can perceive the surrounding environment in real time, avoid obstacles and avoid danger. Since laser radar, cameras or tactile sensors are existing technologies, they will not be described in detail here.

[0037] Working principle:

[0038] When the tree climbing machine climbs up the tree trunk 51, the bottom of the tree climbing machine is close to the tree trunk 51, the front baffle 2 is upward, and the fifth motor 35 and the sixth motor 36 are started, so that the two clamping claw translation mechanisms 31 are close to the edges of the front baffle 2 and the rear baffle 3 respectively. Then the second motor 12 is started to control the clamping claw assemblies 11 to close, so that the two clamping claw assemblies 11 grasp the tree trunk. The lower clamping arms 17 of the two clamping claw assemblies 11 and the guide plate 15 together grasp the tree trunk, fixing the tree climbing machine. Figure 6The figure shows a schematic diagram of the three-dimensional structure of the tree climbing machine in the initial climbing position of this embodiment, where a represents an oblique perspective and b represents an upward perspective. Next, the lower jaw assembly 11 is controlled to open and retract, while the fifth motor 35 is controlled to cause the lower jaw translation mechanism 31 to synchronously move the jaw assembly 11 upward. After moving a certain distance, the lower jaw assembly 11 is controlled to extend and close, causing it to grasp the tree trunk 51. Then, while both jaw assemblies 11 remain stationary, motors 35 and 36 are activated to drive the jaw translation mechanism 31 (excluding the jaws) of the tree climbing machine upward, thereby synchronously moving the tree climbing machine upward. Next, the upper jaw assembly 11 is controlled to open and retract, and the sixth motor 36 is activated to cause the upper jaw assembly 11 to move upward. Finally, the upper jaw assembly 11 is controlled to extend and close, grasping the tree trunk. Repeating these steps allows the tree climbing machine to continue climbing upward.

[0039] When the tree climber encounters branches in the direction of the tree climber's advance, or when branches in the opposite direction of the tree climber need to be repaired, the tree climber needs to rotate a certain angle with the trunk 51 as the center, so that the tree climber can avoid the branches above, and use the chain saw 40 to repair the branches on both sides that were not repaired before. Figure 7The diagram shows a three-dimensional schematic diagram of the tree climbing machine's rotation process in this embodiment, where c represents an oblique view and d represents an upward view. First, the lower gripper assembly 11 maintains its grip on the tree trunk 51 while the upper gripper assembly 11 opens and closes. The third motor 23 of the lower gripper translation mechanism 31 is activated, driving the entire machine body to rotate around the lower gripper assembly 11. After rotating a certain angle, the third motor 23 of the upper gripper translation mechanism 31 is controlled to rotate the upper gripper assembly 11 by the same angle opposite to the rotation of the machine body, ensuring parallelism between the upper and lower gripper assemblies 11. Next, the first motor 8 of the upper gripper adjustment device 5 is activated, driving the lower half of the upper gripper assembly 11 to rotate. After rotating a certain angle, the second motor 12 is activated to extend the upper gripper assembly 11, causing its guide plate 15 to contact the tree trunk 51. After hitting the tree trunk 51, the upper clamping assembly 11 is controlled to close, grip the tree trunk, keep the upper clamping assembly 11 gripping and not moving, and open and retract the lower clamping assembly 11. The first motor 8 on the upper adjusting clamping device 5 is started again to drive the rotating platform 7 to rotate along the horizontal direction of the clamping assembly 11, so that the lower half of the upper clamping assembly 11 rotates synchronously and returns to its original state. Then, the third motor 23 of the upper clamping translation mechanism 31 is started to rotate around the upper clamping assembly 11 as the center until the entire body is parallel to the tree trunk, and finally the upper clamping assembly 11 is extended and closed so that the upper clamping assembly 11 grips the tree trunk 51. In this way, the tree climbing machine of the present invention completes the rotation. Figure 8 Shown is a three-dimensional structural schematic diagram of the rotation result of the tree climbing machine in this embodiment.

[0040] When the tree climbing machine needs to switch from the trunk 51 to the branch 52, when the tree climbing machine encounters a branch on the branch 52 that needs to be repaired while climbing, it is necessary to control the tree climbing machine to switch from the trunk 51 to the branch 52. For example, when the front baffle 2 is upward and the branch 52 is on the right side of the tree climbing machine, Figure 9 The figure shows the original three-dimensional structure diagram of the tree climbing machine in this embodiment when converting branches. At this time, it is necessary to control the opening and contraction of the upper clamping jaw assembly 11, and then control the third motor 23 of the lower clamping jaw translation mechanism 31 to rotate the body toward the branch 52. After rotating to a suitable angle, the third motor 23 of the upper clamping jaw translation mechanism 31 rotates the upper clamping jaw assembly 11 to the front of the branch 52 and perpendicular to the direction of the branch 52. The first motor 8 on the control-adjusting clamping jaw device 5 drives the rotating platform 7 to rotate along the horizontal direction of the clamping jaw assembly 11, thereby driving the lower half of the upper clamping jaw assembly 11 to rotate a certain angle, and then the second motor 12 is started to extend the upper clamping jaw assembly 11 so that the guide plate 15 touches the branch 52. Then, close the upper clamping jaw assembly 11 to grasp the branch, as shown in FIG. Figure 10 The diagram shows a three-dimensional structural diagram of the branch conversion result in this embodiment, where e represents an oblique perspective and f represents an upward perspective. After the upper gripper assembly 11 grasps the branch 52, the lower gripper assembly 11 opens and contracts. The first motor 8 on the gripper adjustment device 5 is activated again, driving the rotating platform 7 to rotate horizontally along the gripper assembly 11, thereby driving the lower half of the upper gripper assembly 11 to rotate a certain angle, allowing the upper gripper assembly 11 to return to its original position. The third motor 23 of the upper gripper translation mechanism 31 is controlled to rotate the tree climbing machine a certain angle so that the machine body is parallel to the branch 52. Then, the lower gripper assembly 11 is controlled to extend and close to grasp the branch 52. In this way, the tree climbing machine moves from the trunk 51 to the branch 52. The method of climbing the branch 52 is the same as the principle of the tree climbing machine climbing the trunk 51.

[0041] In the above embodiment, the present invention forms a tree-climbing mechanical claw with a high degree of freedom, which can move linearly, rotate, adjust angles, and open and close, by means of an adjustable clamping claw device 5 that can rotate toward a certain horizontal angle toward the tree trunk 51, and by means of a first platform module 21 that drives the adjustable clamping claw device 5 to move back and forth toward the tree trunk 51, and by providing a clamping claw assembly 11 that can be opened and closed. The assembly structure is flexible and lightweight. Compared with other tree-climbing robots that can only climb vertically upward, the device can move freely between irregular tree trunks and branches 52 and reach different positions on the tree, with greatly improved flexibility and maneuverability. When static, the robot can firmly grasp the tree trunk 51 or branch 52 with zero power consumption, saving electricity usage. The clamping claw assembly 11 adopts a sophisticated single-drive and adaptive design, which can firmly grasp tree trunks 51 or branches 52 of various materials, shapes and thicknesses, so as to maintain balance and stability on the surface of the tree and have strong climbing power.

[0042] One of the purposes of the tree climbing machine designed in this patent is to repair unnecessary branches on a tree. When a branch appears in front of the tree climbing machine, the tree climbing machine can be controlled to rotate to a suitable angle in the direction of the branch and then climb up a certain distance. For example, when a branch appears in the upper left corner of the tree climbing machine, the eighth motor 50 is first controlled to drive the chain saw 40 close to the branch to move to the vicinity of the branch 52. After starting the chain saw 40, the seventh motor 43 of the tool rotating mechanism 42 is controlled to drive the chain saw 40 to rotate, as shown in FIG. Figure 11 The figure shows a three-dimensional structural diagram of the tree climbing machine for repairing branches in this embodiment, so that the tree climbing machine can repair branches.

[0043] When the top of a tree is diseased or when you want to suppress the tree's upward growth, you need a tree climbing machine to repair the top of the tree. After the tree climbing machine climbs to a certain height, it can control the upper gripper assembly 11 to transfer from the trunk 51 to the branch 52, as shown in the figure. Figure 10At this time, the tree climbing machine can start the chain saw 40 to control the eighth motor 50 of the tool translation mechanism 46 and the seventh motor 43 of the tool rotation mechanism 42 to repair the top of the tree.

[0044] In the above embodiment, the present invention is provided with a cutter assembly 37 and a second platform module 41 that drives the cutter assembly 37 to rotate and reciprocate along the linear direction of the side baffle 4, which cooperates with the climbing device to trim branches on the top and sides, thereby meeting various requirements.

[0045] In summary, the present invention draws on the movement patterns of animals climbing trees and realizes a tree pruning robot that climbs trees based on two clamping claws. The robot contacts the tree through two clamping claw assemblies 11 and can adjust the relative position of the robot and the trunk 51 or branch 52 along the circumferential direction, thereby avoiding the obstruction of forked branches during the climbing process, which helps to complete the climbing smoothly.

[0046] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A tree pruning robot, characterized in that: include: A base frame (1) comprising a front baffle (2), a rear baffle (3), and side baffles (4) for fixing and connecting the corners of the front baffle (2) and the rear baffle (3); The climbing device comprises an adjusting claw device (5) arranged toward the tree trunk and capable of rotating to a certain horizontal angle, and a first platform module (21) driving the adjusting claw device (5) to rotate and lift and to reciprocate along a linear direction of the base frame (1); A pruning mechanism for pruning branches on a tree trunk while the base frame (1) is driven by the climbing device to climb upward, the pruning mechanism comprising two tool assemblies (37) arranged adjacent to the adjusting jaw device (5), and a second platform module (41) driving the tool assemblies (37) to rotate and reciprocate along the linear direction of the base frame (1); the second platform module (41) comprises a tool rotating mechanism (42) and a tool translation mechanism (46); The adjusting clamping device (5) comprises a connecting block (6), a rotating platform (7), a first motor (8), a first supporting platform (9) and a transmission key (10), wherein the connecting block (6) is fixedly arranged on the upper surface of the rotating platform (7), the inner wall surface of the rotating platform (7) is movably sleeved on the outer wall surface of the first supporting platform (9), the first supporting platform (9) is connected to the transmission key (10), and the first motor (8) drives the transmission key (10) to drive the first supporting platform (9) to rotate; The adjusting jaw device (5) further comprises a jaw assembly (11), wherein the jaw assembly (11) is respectively mounted on the first platform module (21) so as to be openable and closable along its own central axis; the first platform module (21) comprises a jaw rotating and lifting mechanism (22) and a jaw translating mechanism (31); The gripper rotation and lifting mechanism (22) includes a third motor (23), a fourth motor (24), a guide rod (25), a bearing (26), a first motor rod (27), a second screw rod (28), a second support platform (29) and a lifting platform (30), wherein the second support platform (29) is mounted above the lifting platform (30), and a group of guide rods (25) and second screw rods (28) symmetrically distributed along the central axis of the third motor (23) are respectively provided at the diagonal positions of the second support platform (29), and the second screw rods (28) pass through the second support platform (29) and extend to the bottom of the lifting platform (30) and the said The fourth motor (24) is electrically connected, the guide rod (25) passes through the second support platform (29) and extends to the inside of the lifting platform (30) and is fixedly connected to the upper surface of the lifting platform (30), a third motor (23) is provided at the center of the second support platform (29), a bearing (26) is provided at the center of the lifting platform (30), a first motor rod (27) provided at one end of the third motor (23) passes through the lifting platform (30) and is movably connected to the bearing (26), and extends out of the bottom of the lifting platform (30), and the bottom of the first motor rod (27) is fixedly connected to the connecting block (6) by a screw; The clamping claw translation mechanism (31) includes a first threaded hole (32) and a first light hole (33) provided on the lifting platform (30), a first screw rod assembly (34), a fifth motor (35) and a sixth motor (36), wherein the first screw rod assembly (34) includes two screw rods symmetrically mounted on the base frame (1), half of each screw rod is configured as a screw rod and the other half is configured as a light rod, one end of the two screw rods passes through the front baffle (2) and is electrically connected to the fifth motor (35) and the sixth motor (36) respectively, and the first threaded hole (32) and the first light hole (33) provided on the lifting platform (30) are respectively sleeved on the two screw rods; The adjusting jaw device (5), the first platform module (21), the tool assembly (37), and the second platform module (41) are all driven and connected via a power mechanism.

2. The tree pruning robot according to claim 1, characterized in that: The clamping jaw assembly (11) includes a second motor (12), a static platform (13), a dynamic platform (14), a guide plate (15), an upper clamping arm (16), and a lower clamping arm (17). The first support platform (9) and the static platform (13) are fixedly connected to form a concave cavity that can accommodate the second motor (12). The output end of the second motor (12) is driven and connected to a first screw (18) provided between the static platform (13) and the dynamic platform (14). A slide groove (20) is provided on the guide plate (15). The front ends of the static platform (13) and the dynamic platform (14) are movably connected to the slide groove (20) of the guide plate (15), and the two side ends of the dynamic platform (14) are movably connected to a plurality of lower clamping arms (17) cross-distributed along the central axis of the dynamic platform (14). The outer shape of the lower clamping arm (17) is semicircular, and the inner wall surface thereof is serrated. One end of the upper clamping arm (16) is movably connected to the end side of the static platform (13), and the other end thereof is movably connected to the middle part of the lower clamping arm (17) through a connecting member (19).

3. The tree pruning robot according to claim 1, characterized in that: The tool assembly (37) includes a connecting plate (38), a baffle (39) and a chain saw (40). The baffle (39) is a hollow structure. One end of the chain saw (40) is movably connected to the inside of the baffle (39). The connecting plate (38) is fixedly provided on the side wall surface of the baffle (39).

4. The tree pruning robot according to claim 1, characterized in that: The tool rotating mechanism (42) includes a seventh motor (43), a sliding platform (44) and a second motor rod (45). The second motor rod (45) provided at one end of the seventh motor (43) passes through the sliding platform (44) and extends out of the bottom of the sliding platform (44). The bottom of the second motor rod (45) is fixedly connected to the connecting plate (38) by screws.

5. The tree pruning robot according to claim 4, characterized in that: The tool translation mechanism (46) includes a second threaded hole (47) and a second light hole (48) provided on the sliding platform (44), a second screw assembly (49) provided between the front baffle (2) and the rear baffle (3), and an eighth motor (50) provided at the side end of the second screw assembly (49), wherein the second screw assembly (49) is provided with a light rod screw and a screw rod screw, one end of the screw rod screw passes through the front baffle (2) and is electrically connected to the eighth motor (50), and the second threaded hole (47) and the second light hole (48) provided on the sliding platform (44) are respectively correspondingly sleeved on the screw rod screw and the light rod screw.

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