Tree-climbing pruning robot

Abstract

The invention provides a tree-climbing pruning robot. The tree-climbing pruning robot comprises a rack, a tree-climbing mechanism and a pruning mechanism, wherein the tree-climbing mechanism and the pruning mechanism are arranged on the rack; the tree climbing mechanism comprises a climbing frame, and a crawler motor and three groups of climbing crawlers which are arranged on the climbing frame; all the climbing tracks are obliquely arranged, and the three sets of climbing tracks are located on the same spiral line; the driving track is in transmission connection with the output end of the climbing motor; the climbing crawler belt comprises two groups of crawler wheels which are symmetrically arranged and an annular crawler belt which is wound on the two groups of crawler wheels; the crawler wheel closest to the center of the climbing frame in each set of crawler wheels is a movable wheel, the other crawler wheels are fixed wheels, the fixed wheels are rotationally connected with a fixed frame, the fixed frame is fixedly connected with the climbing frame, the movable wheels are rotationally connected with a supporting plate, and a mounting base is arranged on the side portion of the supporting plate and connected with the climbing frame through a telescopic mechanism. The tree-climbing pruning robot is provided with three groups of climbing crawlers which can spirally move up and down along a tree, and the climbing crawlers can be adjusted for adaptation when encountering bulges.

Description

Technical Field

[0001] The present invention relates to a pruning device, specifically, to a tree-climbing pruning robot. Background Art

[0002] With the development of forestry, people have started to use various devices to replace manual labor in a series of daily operations such as pruning and spraying pesticides, in order to improve work efficiency and reduce manual labor intensity. There are many related devices on the market. For example, a tree-climbing pruning machine with equal chain lengths adapted to driving and clamping disclosed in Chinese Patent CN116674666A, a translation clamping type double-track live tree pruning machine disclosed in Chinese Patent CN117099581A, etc. However, the trunk conditions are complex and changeable. Most of these climbing pruning devices adopt two sets of symmetrical climbing structures, and the structural stability is relatively poor. Moreover, there are usually some protrusions of different sizes on the trunk surface, and it is inconvenient to adjust these climbing structures.

[0003] In order to solve the above problems, people have been seeking an ideal technical solution. Summary of the Invention

[0004] The purpose of the present invention is to address the deficiencies of the prior art, and thus provide a tree-climbing pruning robot.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is: A tree-climbing pruning robot, comprising a frame and a tree-climbing mechanism and a pruning mechanism arranged on the frame; the tree-climbing mechanism includes a climbing frame and a crawler motor and three groups of climbing crawlers arranged on the climbing frame; each climbing crawler is inclined respectively and the three groups of climbing crawlers are located on the same spiral line; one of the climbing crawlers is a driving crawler, and the other two groups of climbing crawlers are driven crawlers; the driving crawler is in transmission connection with the output end of the climbing motor; the climbing crawler includes two groups of symmetrically arranged crawler wheels and an annular crawler wound around the two groups of crawler wheels; each group of crawler wheels includes at least two crawler wheels. The crawler wheel closest to the center of the climbing frame in each group of crawler wheels is a movable wheel, and the others are fixed wheels. The fixed wheels are rotatably connected to a fixed frame, the fixed frame is fixedly connected to the climbing frame, the movable wheel is rotatably connected to a support plate, and an installation seat is arranged on the side of the support plate. The installation seat is connected to the climbing frame through a telescopic mechanism.

[0006] The climbing frame includes two groups of first mounting plates fixedly connected to the lower end of the frame. The two groups of first mounting plates are symmetrically arranged. One end of the two groups of first mounting plates is connected through a central mounting plate. The other ends of the two first mounting plates are respectively hinged to an adjusting swing arm. The fixed frame is fixedly connected to the free end of the adjusting swing arm; the driving crawler is installed inside the central mounting plate, and a swing arm driving mechanism is arranged outside the central mounting plate. The swing arm driving mechanism is in transmission connection with the adjusting swing arm.

[0007] The first mounting plate is in the structure of a triangular plate. One of its ends is connected to the central mounting plate, and the other two ends are respectively hinged to a second connecting plate and a third connecting plate. The free end of the second connecting plate is hinged to a fourth connecting plate, the free end of the fourth connecting plate is hinged to a fifth connecting plate, and the fifth connecting plate is connected to the fixing frame. The free end of the third connecting plate is hinged to the middle of the fourth connecting plate. The second connecting plate, the third connecting plate, the fourth connecting plate, and the fifth connecting plate form an adjusting swing arm.

[0008] The swing arm driving mechanism includes two groups of bearing seats, two groups of transmission lead screws rotatably connected to the bearing seats, and an adjustment motor for driving the transmission lead screws to rotate. There are lead screw nuts respectively arranged on the two transmission lead screws. The two lead screw nuts are respectively hinged to the middle parts of the second connecting plates of the two groups of adjusting swing arms through hinged connecting rods.

[0009] The telescopic mechanism of the driven crawler includes a telescopic guide post and a telescopic spring sleeved on the telescopic guide post. The telescopic mechanism of the driving crawler includes a sixth mounting plate. One ends of the two ends of the sixth mounting plate are respectively hinged to one end of a seventh mounting plate, and the other end of the seventh mounting plate is hinged to the inner side of the first mounting plate. A motor bracket is arranged on the side of the sixth mounting plate, and the climbing motor is fixed on the motor bracket.

[0010] A U-shaped groove is arranged in the middle of the fixing frame of the driving crawler. A tension and compression sensor is arranged between the U-shaped groove and the mounting seat of the driving crawler for detecting the pressure of the mounting seat of the driving crawler. The tension and compression sensor and the adjustment motor are connected through a controller, and the controller controls the opening and closing of the adjustment motor according to the detection data of the tension and compression sensor.

[0011] The frame includes an upper bracket and a lower bracket fixedly connected. A battery box and an adjustment motor are respectively arranged on the upper bracket and the lower bracket. A storage battery is installed in the battery box to supply power to the equipment, and the adjustment motor corresponds to the transmission lead screw one by one. The lower end of the lower bracket is fixedly connected to the tree climbing mechanism. The upper end of the upper bracket is fixedly connected to the pruning mechanism.

[0012] The pruning mechanism includes a chain saw bracket and an electric chain saw fixed on the chain saw bracket.

[0013] The present invention has prominent substantive features and significant progress compared with the prior art. Specifically, the present invention provides a tree climbing and pruning robot with three groups of climbing crawlers, which can move up and down along the tree in a spiral shape. When encountering a protrusion, the climbing crawlers can be adjusted to adapt. Specifically, the climbing crawlers and the tree trunk form a spiral engagement. The motor drives the crawler wheels to rotate. When the climbing crawlers move upward, they are automatically locked to prevent slipping, and when descending, they are unlocked in the reverse direction. The branches are cut by the chain saw to carry out pruning. The pressure sensor detects the crawler pressure in real time, dynamically adjusts the climbing frame, and further adjusts the climbing crawlers to achieve self-adaptive climbing on the tree. Description of the Drawings

[0014] Figure 1It is the structural schematic diagram (1) of the present invention.

[0015] Figure 2 It is the structural schematic diagram (2) of the present invention.

[0016] Figure 3 It is the structural schematic diagram of the climbing mechanism in the present invention.

[0017] Figure 4 It is the structural schematic diagram of the driven crawler in the present invention.

[0018] Figure 5 It is the structural schematic diagram of the driving crawler in the present invention.

[0019] In the figure: 1. tree; 2. frame; 3. tree climbing mechanism; 301. climbing frame; 3011 first mounting plate; 3012 central mounting plate; 3013 second connecting plate; 3014 third connecting plate; 3015 fourth connecting plate; 3016 fifth connecting plate; 3017 articulated connecting rod; 302. climbing motor; 303. driven crawler; 304. driving crawler; 305. fixed wheel; 306. movable wheel; 307. endless track; 308. support plate; 309. fixing frame; 310. telescopic spring; 311. U-shaped groove; 312. tension and compression sensor; 313. mounting seat; 314 adjustment motor; 315 transmission lead screw; 316 battery box; 317 lead screw nut; 4. pruning mechanism. Specific embodiments

[0020] The technical solutions of the present invention will be further described in detail below through specific embodiments.

[0021] Such as Figures 1-5As shown, a tree climbing and pruning robot comprises a frame 2 and a tree climbing mechanism 3 and a pruning mechanism 4 arranged on the frame 2; the tree climbing mechanism 3 comprises a climbing frame 301 and a crawler motor and three sets of climbing crawlers arranged on the climbing frame 301; each climbing crawler is arranged obliquely and the three sets of climbing crawlers are located on the same spiral line; one set of climbing crawlers is a driving crawler 304, and the other two sets of climbing crawlers are driven crawlers 303; the driving crawler 304 is drivingly connected to the output end of the climbing motor 302; the climbing crawler comprises two sets of crawler wheels and a winding wheel symmetrically arranged. The annular crawler 307 wound around two sets of track wheels can be made of rubber; each set of track wheels includes at least two track wheels, and the track wheel closest to the center of the climbing frame 301 in each set of track wheels is a movable wheel 306, and the others are fixed wheels 305, the fixed wheel 305 is rotatably connected to the fixed frame 309, the fixed frame 309 is fixedly connected to the climbing frame 301, the movable wheel 306 is rotatably connected to the support plate 308, and the side of the support plate 308 is provided with a mounting seat 313, and the mounting seat 313 is connected to the climbing frame 301 through a telescopic mechanism. By setting up three sets of climbing crawlers, it can move up and down in a spiral along the tree 1. At the same time, because the climbing crawlers are provided with a telescopic mechanism, when encountering tiny protrusions on the surface of the tree during climbing, the climbing crawlers can be adaptively adjusted. Specifically, a lithium battery can be installed on the frame to provide power for the equipment, and the circuit connection between the battery and the power-consuming components such as the motor adopts the existing technology, which will not be repeated.

[0022] In one embodiment, the climbing frame 301 includes two groups of first mounting plates 3011 fixedly connected to the lower end of the frame 2, the two groups of first mounting plates 3011 are symmetrically arranged, one end of the two groups of first mounting plates 3011 is connected through a central mounting plate 3012, the other ends of the two first mounting plates 3011 are respectively hinged to the adjusting swing arms, and the fixing frame 309 is fixedly connected to the free end of the adjusting swing arm; the driving track 304 is installed on the inner side of the central mounting plate 3012, and the outer side of the central mounting plate 3012 is provided with a swing arm driving mechanism, the swing arm driving mechanism is connected to the adjusting swing arm by transmission, and the climbing track is adjusted by adjusting the swing arm so that the climbing track is close to the surface of the tree.

[0023] In one embodiment, the first mounting plate 3011 is a triangular plate structure, one end of which is connected to the central mounting plate 3012, and the other two ends are hinged to the second connecting plate 3013 and the third connecting plate 3014, respectively; the free end of the second connecting plate 3013 is hinged to the fourth connecting plate 3015, the free end of the fourth connecting plate 3015 is hinged to the fifth connecting plate 3016, the fifth connecting plate 3016 is connected to the fixing frame 309, and the free end of the third connecting plate 3014 is hinged to the middle part of the fourth connecting plate 3015; the second connecting plate 3013, the third connecting plate 3014, the fourth connecting plate 3015 and the fifth connecting plate 3016 form an adjusting swing arm.

[0024] In one embodiment, the swing arm driving mechanism includes two groups of bearing seats, two groups of transmission lead screws 315 rotatably connected to the bearing seats, and an adjustment motor 314 for driving the transmission lead screws 315 to rotate; screw nuts 317 are respectively arranged on the two transmission lead screws 315; the two screw nuts 317 are respectively hinged to the middle parts of the second connecting plates 3013 of the two groups of adjusting swing arms through hinge connecting rods 3017. During use, the lead screw is driven to rotate by the motor, and the screw nut moves horizontally along the lead screw, thereby causing the adjusting swing arm to swing. Specifically, the adjustment motor and the transmission lead screw can be connected through transmission structures such as transmission belts and belt pulleys.

[0025] In one embodiment, the telescopic mechanism of the driven crawler 303 includes a telescopic guide post and a telescopic spring 310 sleeved on the telescopic guide post, facilitating a certain elastic space for the driven crawler; the telescopic mechanism of the driving crawler 304 includes a sixth mounting plate, both ends of the sixth mounting plate are respectively hinged to one end of a seventh mounting plate, and the other end of the seventh mounting plate is hinged to the inner side of the first mounting plate 3011; a motor bracket is arranged on the side of the sixth mounting plate, and the climbing motor 302 is fixed on the motor bracket. Specifically, the climbing motor and the crawler wheels of the driving crawler are connected through transmission structures such as transmission belts, belt pulleys, sprockets, and chains.

[0026] In one embodiment, a U-shaped groove 311 is provided in the middle of the fixing frame 309 of the driving crawler 304; a tension and compression sensor 312 is arranged between the U-shaped groove 311 and the mounting seat 313 of the driving crawler 304, and the tension and compression sensor 312 is used to detect the pressure on the mounting seat 313 of the driving crawler 304; the tension and compression sensor 312 and the adjustment motor 314 are connected through a controller, and the controller controls the opening and closing of the adjustment motor 314 according to the detection data of the tension and compression sensor 312. When the pressure measured by the tension and compression sensor is greater than the set value, the motor drives the transmission lead screw to rotate, and the opening amplitude of the adjusting swing arm increases. When the pressure measured by the tension and compression sensor is less than the set value, the motor drives the transmission lead screw to rotate, and the opening amplitude of the adjusting swing arm decreases.

[0027] In one embodiment, the frame 2 includes an upper bracket and a lower bracket fixedly connected; a battery box 316 and an adjustment motor 314 are respectively arranged on the upper bracket and the lower bracket. A storage battery is installed in the battery box 316 to supply power to the device, and the adjustment motors 314 correspond to the transmission lead screws 315 one by one; the lower end of the lower bracket is fixedly connected to the tree climbing mechanism 3; the upper end of the upper bracket is fixedly connected to the tree pruning mechanism 4, facilitating assembly. Specifically, the upper bracket and the lower bracket are frame-shaped structures composed of several connecting rods.

[0028] In one embodiment, the tree pruning mechanism 4 includes a chain saw bracket and an electric chain saw fixed on the chain saw bracket, and the electric chain saw is used for tree pruning. Specifically, the electric chain saw can be a commercially available conventional product.

[0029] The above embodiments can be combined with each other.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that it is still possible to modify the specific implementation manners of the present invention or perform equivalent replacements for some technical features; without departing from the spirit of the technical solutions of the present invention, they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. A tree-climbing pruning robot, characterized in that: The invention comprises a frame and a tree climbing mechanism and a pruning mechanism arranged on the frame; the tree climbing mechanism comprises a climbing frame and a track motor and three sets of climbing tracks arranged on the climbing frame; each climbing track is arranged obliquely and the three sets of climbing tracks are located on the same spiral line; one set of climbing tracks is a driving track, and the other two sets of climbing tracks are driven track; the driving track is transmission-connected with the output end of the climbing motor; the climbing track comprises two sets of track wheels symmetrically arranged and annular track wound around the two sets of track wheels; each set of track wheels comprises at least two track wheels, the track wheel closest to the center of the climbing frame in each set of track wheels is a movable wheel, and the others are fixed wheels, the fixed wheel is rotationally connected to the fixed frame, the fixed frame is fixedly connected to the climbing frame, the movable wheel is rotationally connected to the support plate, a mounting seat is arranged on the side of the support plate, and the mounting seat is connected to the climbing frame through a telescopic mechanism.

2. The tree-climbing pruning robot according to claim 1, characterized in that: The climbing frame includes two groups of first mounting plates fixedly connected to the lower end of the frame, the two groups of first mounting plates are symmetrically arranged, one ends of the two groups of first mounting plates are connected through a central mounting plate, the other ends of the two first mounting plates are respectively hinged to the adjusting swing arms, and the fixed frame is fixedly connected to the free end of the adjusting swing arm; the driving crawler is installed on the inner side of the central mounting plate, and the outer side of the central mounting plate is provided with a swing arm driving mechanism, and the swing arm driving mechanism is transmission-connected to the adjusting swing arm.

3. The tree-climbing pruning robot according to claim 2, characterized in that: The first mounting plate is a triangular plate structure, one end of which is connected to the central mounting plate, and the other two ends are respectively hinged to the second connecting plate and the third connecting plate, the free end of the second connecting plate is hinged to the fourth connecting plate, the free end of the fourth connecting plate is hinged to the fifth connecting plate, the fifth connecting plate is connected to the fixed frame, and the free end of the third connecting plate is hinged to the middle part of the fourth connecting plate; the second connecting plate, the third connecting plate, the fourth connecting plate and the fifth connecting plate form an adjusting swing arm.

4. The tree climbing and pruning robot according to claim 3, characterized in that: The swing arm driving mechanism includes two sets of bearing seats, two sets of transmission screws rotatably connected to the bearing seats and an adjustment motor driving the transmission screws to rotate; the two transmission screws are respectively provided with screw nuts; the two screw nuts are respectively hinged to the middle part of the second connecting plates of the two sets of adjusting swing arms through hinged connecting rods.

5. The tree-climbing pruning robot according to claim 4, characterized in that: The telescopic mechanism of the driven track includes a telescopic guide column and a telescopic spring sleeved on the telescopic guide column; the telescopic mechanism of the driving track includes a sixth mounting plate, both ends of the sixth mounting plate are respectively hinged to one end of the seventh mounting plate, and the other end of the seventh mounting plate is hinged to the inner side of the first mounting plate; a motor bracket is provided on the side of the sixth mounting plate, and the climbing motor is fixed on the motor bracket.

6. The tree climbing and pruning robot according to claim 5, wherein: A U-shaped groove is arranged in the middle of the fixing frame of the driving crawler; a tension pressure sensor is arranged between the U-shaped groove and the mounting seat of the driving crawler, and the tension pressure sensor is used to detect the pressure of the mounting seat of the driving crawler; the tension pressure sensor and the adjustment motor are connected through a controller, and the controller controls the opening and closing of the adjustment motor according to the detection data of the tension pressure sensor.

7. The tree climbing and pruning robot according to claim 6, wherein: The frame includes an upper bracket and a lower bracket that are fixedly connected; a battery box and an adjustment motor are respectively provided on the upper bracket and the lower bracket, and a battery is installed in the battery box to power the equipment, and the adjustment motor corresponds to the transmission screw one by one; the lower end of the lower bracket is fixedly connected to the tree climbing mechanism; the upper end of the upper bracket is fixedly connected to the pruning mechanism.

8. The tree-climbing pruning robot according to claim 7, characterized in that: The pruning mechanism comprises a chain saw bracket and an electric chain saw fixed on the chain saw bracket.

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