Tree barrier cleaning mechanical arm with laser ranging aiming function

Abstract

The invention discloses a tree barrier cleaning mechanical arm with laser ranging aiming, the tree barrier cleaning mechanical arm with laser ranging aiming comprises a crank arm adjusting assembly, a telescopic assembly, a cutting saw and a laser ranging aiming assembly, the crank arm adjusting assembly drives the laser ranging aiming assembly to move, and the telescopic assembly drives the cutting saw to move towards an object to be cut; when the laser ranging assembly recognizes that the saw blade is located on one side of the to-be-cut object in the radial direction, the crank arm adjusting assembly drives the cutting saw to conduct inward cutting in the radial direction. Accurate positioning is achieved through the laser ranging aiming assembly, manual adjustment errors are reduced, and the cutting precision is improved. And through cooperative control of the crank arm adjusting assembly and the telescopic assembly, the mechanical arm can adapt to obstacles of complex terrains and different heights, and the operation range of the mechanical arm is expanded. The automatic cutting process reduces manual intervention, improves operation efficiency and is especially suitable for high-density tree barrier scenes such as photovoltaic power stations.

Description

Technical Field

[0001] The present invention relates to the technical field of high-altitude obstacle removal equipment, and particularly to a tree obstacle removal robotic arm with laser ranging and aiming. Background Art

[0002] Currently, in scenarios such as photovoltaic power stations and transmission line corridors, the removal of obstacles (such as branches and vines) caused by tree growth is an important part of maintenance operations. Traditional removal methods mainly rely on manual operation of hand-held tools or simple mechanical devices for cutting, which have significant drawbacks: First, manual high-altitude operations are highly risky and prone to safety accidents; Second, relying on the operator's experience to adjust the cutting angle and position, it is difficult to guarantee the accuracy, and it is easy to cause over-cutting or leave potential safety hazards; Third, conventional robotic arms are limited by fixed telescopic paths and limited degrees of freedom, and it is difficult to adapt to the distribution of obstacles at multiple angles and heights in complex terrains, resulting in low operation efficiency.

[0003] In the prior art, although some robotic arms have tried to introduce automated cutting functions, their positioning systems mostly use contact sensors or basic visual recognition, which are easily interfered by environmental light and the surface state of obstacles, resulting in large positioning errors. In addition, the traditional telescopic mechanism lacks coordinated control with multi-degree-of-freedom adjustment components and it is difficult to achieve dynamic optimization of the cutting path. The tree obstacle removal devices mentioned in the related technologies have telescopic functions, but rely on manual remote control for positioning, cannot independently judge the cutting points, and the flexibility of the robotic arm is insufficient to handle dense or inclined obstacles.

[0004] Therefore, there is an urgent need for a robotic arm that integrates high-precision non-contact ranging, multi-degree-of-freedom coordinated adjustment, and automated cutting functions to solve the core problems of low safety, poor accuracy, and weak adaptability in the prior art, and meet the requirements of efficient and precise tree obstacle removal. Summary of the Invention

[0005] The object of the present invention is to provide a tree obstacle removal robotic arm with laser ranging and aiming, aiming to solve the technical problems of low safety, poor accuracy, and weak adaptability in the prior art.

[0006] To solve the above problems, according to one aspect of the present application, an embodiment of the present invention provides a tree obstacle clearing robotic arm with laser ranging and aiming, which is applied to a movable carrying platform. The tree obstacle clearing robotic arm with laser ranging and aiming includes a curved arm adjusting component, a telescopic component, a cutting saw, and a laser ranging and aiming component. One end of the curved arm adjusting component is arranged on the movable carrying platform. Two ends of the telescopic component are respectively connected to the other end of the curved arm adjusting component and the cutting saw. The laser ranging and aiming component is arranged on the telescopic component. The curved arm adjusting component can drive the laser ranging and aiming component to move. When the laser ranging and aiming component identifies an object to be cut, the telescopic component can drive the cutting saw to move towards the object to be cut. When the laser ranging and aiming component identifies that the saw blade of the cutting saw driven by the telescopic component is located on the radial side of the object to be cut, the curved arm adjusting component can drive the cutting saw to move radially inwards along the object to be cut so as to cut the object to be cut.

[0007] In some embodiments, the laser ranging and aiming component includes a laser emitting head, which faces the cutting saw and emits a laser beam parallel to the telescopic axis of the telescopic component. The saw blade of the cutting saw is strip-shaped, and its length direction is located on the telescopic axis of the telescopic component. The cutting direction of the saw blade is not parallel to the length direction of the object to be cut.

[0008] In some embodiments, the curved arm adjusting component includes at least three support arms that are sequentially rotatably connected. The support arm at one end is arranged on the movable carrying platform, and the support arm at the other end is connected to the telescopic component.

[0009] In some embodiments, the curved arm adjusting component further includes at least two telescopic driving units. Two ends of the telescopic driving unit are respectively hinged to two adjacent support arms to adjust the angle between the two adjacent support arms.

[0010] Wherein, the two telescopic driving units connected to the same support arm are located on the radial sides of the support arm.

[0011] In some embodiments, the telescopic component includes a fixed rod, a movable rod inserted into the fixed rod, and a first driving unit. The fixed rod is connected to the end of the curved arm adjusting component far from the movable carrying platform, and the first driving unit is used to drive the movable rod to move along the axis of the fixed rod.

[0012] In some embodiments, the first driving unit includes a base, a first motor, a first gear, and a first rack formed on the outer wall of the fixed rod. The base is disposed on the moving rod, the first motor is disposed on the base, the first gear is disposed on a first driving shaft of the first motor, and the first gear meshes with the first rack;

[0013] Wherein, a length direction of the first rack is consistent with a length direction of the fixed rod.

[0014] In some embodiments, the tree - obstacle clearing robotic arm with laser ranging and aiming further includes a rotating assembly. The rotating assembly is disposed between the curved - arm adjusting assembly and the telescopic assembly. When the laser ranging and aiming assembly recognizes that a saw blade of the cutting saw driven by the telescopic assembly is located on a radial side of the object to be cut, the rotating assembly can make a cutting direction of the saw blade perpendicular to a length direction of the object to be cut.

[0015] In some embodiments, the rotating assembly includes a sleeve and a second driving unit. One end of the sleeve is connected to an end of the curved - arm adjusting assembly away from the movable carrying platform; an end of the telescopic assembly away from the cutting saw is inserted into the sleeve; the second driving unit is disposed in the sleeve and is configured to drive the telescopic assembly to rotate around its own axis.

[0016] In some embodiments, the second driving unit includes a second motor, a second gear, and a first annular rack. The second motor is disposed in the sleeve, the second gear is disposed on a second driving shaft of the second motor, and the second gear meshes with the first annular rack;

[0017] Wherein, an end of the telescopic assembly away from the cutting saw is formed with a first coaxial hole, and the first annular rack is formed on an inner wall of the first coaxial hole.

[0018] An embodiment of the present invention further provides a movable carrying platform, and the movable carrying platform includes the tree - obstacle clearing robotic arm with laser ranging and aiming as described above.

[0019] Compared with the prior art, the tree - obstacle clearing robotic arm with laser ranging and aiming of the present invention has at least the following beneficial effects:

[0020] An embodiment of the present invention discloses a tree obstacle clearing robotic arm with laser ranging and aiming. The tree obstacle clearing robotic arm with laser ranging and aiming includes a curved arm adjusting assembly, a telescopic assembly, a cutting saw, and a laser ranging and aiming assembly. The curved arm adjusting assembly drives the laser ranging and aiming assembly to move, the telescopic assembly drives the cutting saw to move towards the object to be cut, and when the laser ranging assembly recognizes that the saw blade is on the radial side of the object to be cut, the curved arm adjusting assembly drives the cutting saw to cut inwards along the radial direction. The present invention uses the laser ranging and aiming assembly to achieve precise positioning, reduce manual adjustment errors, and improve cutting accuracy. The coordinated control of the curved arm adjusting assembly and the telescopic assembly can adapt to complex terrains and obstacles at different heights, expanding the working range of the robotic arm. The automated cutting process reduces manual intervention and improves work efficiency, especially suitable for high-density tree obstacle scenarios such as photovoltaic power stations.

[0021] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly and implement it according to the content of the specification, the following takes the preferred embodiments of the present invention and combines with the drawings to describe in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 It is a schematic structural diagram of the tree obstacle clearing robotic arm with laser ranging and aiming provided by the embodiment of the present invention;

[0024] Figure 2 It is an exploded structural diagram of the first driving unit of the tree obstacle clearing robotic arm with laser ranging and aiming provided by the embodiment of the present invention;

[0025] Figure 3 It is an exploded structural diagram of the second driving unit of the tree obstacle clearing robotic arm with laser ranging and aiming provided by the embodiment of the present invention.

[0026] Description of the reference numerals:

[0027] 1. Cutting saw; 11. Saw blade;

[0028] 2. Laser emitting head;

[0029] 31. Support arm; 32. Telescopic driving unit;

[0030] 41. Fixed rod; 42. Moving rod; 431. Base; 432. First motor; 433. First gear;

[0031] 51. Sleeve; 521. Second motor; 522. Second gear; 523. First annular rack. Detailed implementation mode

[0032] To further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the following, in combination with the accompanying drawings and preferred embodiments, details the specific implementation mode, structure, features and their effects of the application according to the present invention. In the following description, different "one embodiment" or "embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0033] In the description of the present invention, it should be clear that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and do not have to be used to describe a specific order or sequence; the terms "vertical", "horizontal", "longitudinal", "front", "rear", "left", "right", "upper", "lower", "horizontal", etc. indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention, rather than meaning that the indicated device or element must have a specific orientation or position, so it cannot be understood as a limitation to the present invention.

[0034] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] Embodiment 1

[0036] As Figures 1-3As shown in the figure, an embodiment of the present invention provides a tree - obstacle - clearing robotic arm with laser ranging and aiming, which is applied to a movable carrying platform. The tree - obstacle - clearing robotic arm with laser ranging and aiming includes a curved - arm adjusting assembly, a telescopic assembly, a cutting saw 1, and a laser ranging and aiming assembly. One end of the curved - arm adjusting assembly is arranged on the movable carrying platform. Two ends of the telescopic assembly are respectively connected to the other end of the curved - arm adjusting assembly and the cutting saw 1. The laser ranging and aiming assembly is arranged on the telescopic assembly. The curved - arm adjusting assembly can drive the laser ranging and aiming assembly to move. When the laser ranging and aiming assembly recognizes the object to be cut, the telescopic assembly can drive the cutting saw 1 to move towards the object to be cut. When the laser ranging and aiming assembly recognizes that the saw blade 11 of the telescopic assembly drives the cutting saw 1 to be on the radial side of the object to be cut, the curved - arm adjusting assembly can drive the cutting saw 1 to move radially inwards along the object to be cut so as to cut the object to be cut.

[0037] The tree - obstacle - clearing robotic arm with laser ranging and aiming in this embodiment includes a curved - arm adjusting assembly, a telescopic assembly, a cutting saw 1, and a laser ranging and aiming assembly. The curved - arm adjusting assembly drives the laser ranging and aiming assembly to move, and the telescopic assembly drives the cutting saw 1 to move towards the object to be cut. When the laser ranging assembly recognizes that the saw blade 11 is on the radial side of the object to be cut, the curved - arm adjusting assembly drives the cutting saw 1 to cut radially inwards. The present invention uses the laser ranging and aiming assembly to achieve precise positioning, reduces manual adjustment errors, and improves cutting accuracy. The coordinated control of the curved - arm adjusting assembly and the telescopic assembly can adapt to complex terrains and obstacles at different heights, expanding the working range of the robotic arm. The automated cutting process reduces manual intervention and improves work efficiency, especially suitable for high - density tree - obstacle scenarios such as photovoltaic power stations.

[0038] A pressure sensor can be further integrated on the cutting saw to monitor the cutting resistance in real - time and feedback it to the control system, dynamically adjusting the cutting speed or cutting direction to avoid jamming or damage of the saw blade 11. At the same time, the laser ranging and aiming assembly can be combined with an AI vision algorithm to identify the diameter and material of the object to be cut, optimize the cutting path and force, and improve the adaptive ability.

[0039] In some embodiments, the laser ranging and aiming assembly includes a laser emitter 2. The laser emitter 2 faces the cutting saw 1, and the emitted laser beam is parallel to the telescopic axis of the telescopic assembly. The saw blade 11 of the cutting saw 1 is strip - shaped, and the length direction is located on the telescopic axis of the telescopic assembly. The cutting direction of the saw blade 11 is not parallel to the length direction of the object to be cut.

[0040] In this embodiment, the laser beam of the laser emitting head is parallel to the axis of the telescopic assembly. The saw blade 11 is strip-shaped and its length direction is consistent with the telescopic axis, and the cutting direction is not parallel to the length direction of the object to be cut. The parallelism between the laser beam and the telescopic axis ensures that the aiming is consistent with the cutting direction, avoiding cutting errors caused by angular deviation. The strip-shaped saw blade is arranged along the axis, enhancing the cutting stability and reducing the influence of vibration on the accuracy. The non-parallel cutting direction design enables efficient cutting of inclined or intersecting obstacles.

[0041] The saw blade 11 can adopt a segmented structure, with each segment equipped with an independent driving motor, supporting local telescoping or rotation to cope with obstacles of irregular shapes.

[0042] In addition, the laser emitting head 2 can be equipped with a multi-wavelength laser module to analyze the material hardness of the object to be cut through reflection spectroscopy and automatically match the optimal cutting parameters.

[0043] In some embodiments, the articulated arm adjustment assembly includes at least three support arms 31 that are sequentially rotatably connected. The support arm 31 at one end is disposed on the movable carrying platform, and the support arm 31 at the other end is connected to the telescopic assembly.

[0044] In this embodiment, the articulated arm adjustment assembly includes at least three rotatable support arms 31. One end is fixed to the carrying platform, and the other end is connected to the telescopic assembly. The multi-articulated support arms 31 provide the ability to move in multiple degrees of freedom, enabling flexible steering and complex path adjustment of the robotic arm. The modular design facilitates assembly and maintenance, and at the same time, the number of support arms 31 can be increased or decreased according to requirements to expand the working radius.

[0045] The support arm 31 can be designed with lightweight carbon fiber material to reduce the overall weight and improve the load capacity. Angle sensors and torque feedback devices are integrated at the joints to monitor the posture of the robotic arm in real time and prevent the risks of overload or collision.

[0046] In some embodiments, the articulated arm adjustment assembly further includes at least two telescopic drive units 32. The two ends of the telescopic drive unit 32 are respectively articulated to two adjacent support arms 31 to adjust the included angle between the two adjacent support arms 31;

[0047] Among them, the two telescopic drive units 32 connected to the same support arm 31 are located on the radial two sides of the support arm 31.

[0048] In this embodiment, the articulated arm adjustment assembly further includes a telescopic drive unit 32. The telescopic drive unit 32 is connected to two adjacent support arms 31 to adjust the included angle, and there is one telescopic drive unit 32 on each side of the same support arm 31. The dual-drive design of the two telescopic drive units 32 realizes symmetric force control, enhancing the balance and motion stability of the robotic arm. By adjusting the included angle of the support arms 31, the spatial position of the end of the robotic arm can be accurately controlled to adapt to narrow or complex environments.

[0049] The telescopic drive unit 32 can adopt a hydraulic and electric hybrid drive mode. Hydraulics provides large thrust, and electricity enables fine adjustment. In addition, the telescopic drive unit 32 can be built with a fault detection module to automatically stop and alarm in case of abnormal pressure or current, improving safety.

[0050] In some embodiments, the telescopic assembly includes a fixed rod 41, a movable rod 42 inserted into the fixed rod 41, and a first drive unit. The fixed rod 41 is connected to the end of the articulated arm adjustment assembly away from the movable carrying platform, and the first drive unit is used to drive the movable rod 42 to move along the axis of the fixed rod 41.

[0051] In this embodiment, the telescopic assembly includes a fixed rod 41, a movable rod 42, and a first drive unit. The first drive unit can drive the movable rod 42 to move along the axis of the fixed rod 41. The plug-in structure simplifies the mechanical design, reduces the manufacturing cost, and at the same time ensures the linear accuracy of the telescopic movement. The first drive unit acts directly on the movable rod 42, with a fast response speed, suitable for high-frequency telescopic operations.

[0052] The surface of the fixed rod 41 can be coated with a wear-resistant coating to extend its service life; the movable rod 42 is integrated with guide rollers inside to reduce frictional resistance. The first drive unit can also support the wireless remote control mode, allowing the operator to control the telescopic action from a safe distance.

[0053] In some embodiments, the first drive unit includes a base 431, a first motor 432, a first gear 433, and a first rack formed on the outer wall of the fixed rod 41. The base 431 is disposed on the movable rod 42, the first motor 432 is disposed on the base 431, the first gear 433 is disposed on the first drive shaft of the first motor 432, and the first gear 433 meshes with the first rack;

[0054] Wherein, the length direction of the first rack is consistent with the length direction of the fixed rod 41.

[0055] In this embodiment, the first driving unit consists of a base 431, a first motor 432, a first gear 433, and a first rack. The first gear 433 and the first rack are engaged to drive the moving rod 42. The gear-rack transmission provides high torque output to ensure the stable movement of the moving rod 42 under load. The modular design facilitates disassembly and replacement, reducing the maintenance cost.

[0056] The first rack is made of self-lubricating material to reduce the maintenance requirements; the first motor 432 is built-in with an encoder to provide real-time feedback on the position of the moving rod 42, and combined with the PID algorithm to achieve closed-loop control, further improving the positioning accuracy.

[0057] In some embodiments, the tree-trimming robot arm with laser ranging and aiming further includes a rotating assembly. The rotating assembly is disposed between the curved arm adjusting assembly and the telescopic assembly. When the laser ranging and aiming assembly recognizes that the saw blade 11 of the telescopic assembly drives the cutting saw 1 to be located on the radial side of the object to be cut, the rotating assembly can make the cutting direction of the saw blade 11 perpendicular to the length direction of the object to be cut.

[0058] In this embodiment, by adding a rotating assembly between the curved arm adjusting assembly and the telescopic assembly, the rotating assembly can make the cutting direction of the saw blade perpendicular to the length direction of the object to be cut. The perpendicular cutting direction maximizes the working area of the saw blade, improves the cutting efficiency and reduces the energy consumption. The automatic rotation function avoids manual adjustment and is suitable for dense or irregularly arranged obstacles.

[0059] The rotating assembly can be integrated with an inertial navigation system to dynamically compensate for angular deviations during the movement of the robot arm, ensuring that the cutting direction is always perpendicular. The saw blade can be replaced with a chain saw or a circular saw to adapt to the cutting requirements of different materials.

[0060] In some embodiments, the rotating assembly includes a sleeve 51 and a second driving unit. One end of the sleeve 51 is connected to the end of the curved arm adjusting assembly away from the movable carrying platform; the end of the telescopic assembly away from the cutting saw 1 is inserted into the sleeve 51; the second driving unit is disposed in the sleeve 51 and is used to drive the telescopic assembly to rotate around its own axis.

[0061] In this embodiment, the rotating assembly includes a sleeve 51 and a second driving unit. The second driving unit is disposed in the sleeve 51 and is used to drive the telescopic assembly to rotate around the axis. The structure of the sleeve 51 protects the internal second driving unit from external environments (such as dust and moisture), extending its service life. The embedded driving design saves space and maintains the overall compactness of the robot arm.

[0062] In addition, cooling channels can be added inside the sleeve 51 to reduce the operating temperature of the motor by circulating coolant and prevent overheating. The second drive unit can use a brushless motor to reduce electromagnetic interference and improve energy efficiency.

[0063] In some embodiments, the second drive unit includes a second motor 521, a second gear 522, and a first annular rack 523. The second motor 521 is disposed inside the sleeve 51. The second gear 522 is disposed on the second drive shaft of the second motor 521, and the second gear 522 meshes with the first annular rack 523.

[0064] Wherein, one end of the telescopic assembly away from the cutting saw 1 is configured with a first coaxial hole, and the first annular rack 523 is configured on the inner wall of the first coaxial hole.

[0065] In this embodiment, the second drive unit is composed of a second motor 521, a second gear 522, and an annular rack. The second gear 522 meshes with the annular rack to drive the telescopic assembly to rotate around the axis. The annular rack provides a 360° continuous rotation ability without angular limitation, adapting to the multi-directional cutting requirements. The gear meshing transmission is stable and has low noise, suitable for long-term operation.

[0066] In addition, the annular rack adopts a double-row tooth design to enhance the transmission reliability. The second motor 521 is equipped with an overload protection function and automatically reverses in case of abnormal resistance to avoid mechanical jamming.

[0067] The embodiment of the present invention also provides a movable carrier platform, which includes the tree obstacle clearing robotic arm with laser ranging and aiming as described above.

[0068] The movable carrier platform of the present invention includes the tree obstacle clearing robotic arm with laser ranging and aiming as described above. The movable carrier platform and the robotic arm are integrally designed to achieve rapid deployment and flexible movement, and are suitable for large-area operation scenarios. It can be carried on carriers such as unmanned aerial vehicles and tracked vehicles to expand the application range to high altitudes or rugged terrains.

[0069] The movable carrier platform can integrate a solar power supply system to achieve energy self-sufficiency, and carry an environmental perception module (such as LiDAR, camera) to construct a three-dimensional map and plan the optimal operation path to achieve fully automated tree obstacle clearing.

[0070] It should be noted that the operator can remotely control and adjust all actions of the tree obstacle clearing robotic arm with laser ranging and aiming of the present invention through a remote controller. The remote controller is wirelessly connected to the drive modules of each component.

[0071] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, apparatuses, and units can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0072] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A tree obstacle clearing robotic arm with laser ranging and aiming, applied to a movable carrying platform, characterized in that, The tree obstacle clearing robotic arm with laser ranging and aiming includes a curved arm adjusting component, a telescopic component, a cutting saw (1), and a laser ranging and aiming component. One end of the curved arm adjusting component is arranged on the movable carrying platform. The two ends of the telescopic component are respectively connected to the other end of the curved arm adjusting component and the cutting saw (1). The laser ranging and aiming component is arranged on the telescopic component. The curved arm adjusting component can drive the laser ranging and aiming component to move. When the laser ranging and aiming component identifies the object to be cut, the telescopic component can drive the cutting saw (1) to move towards the object to be cut. When the laser ranging and aiming component identifies that the saw blade (11) of the cutting saw (1) driven by the telescopic component is located on the radial side of the object to be cut, the curved arm adjusting component can drive the cutting saw (1) to move radially inwards along the object to be cut so as to cut the object to be cut.

2. The tree-trimming robot arm with laser ranging and aiming according to claim 1, characterized in that The laser ranging and aiming component includes a laser emitting head (2). The laser emitting head (2) faces the cutting saw (1), and the emitted laser beam is parallel to the telescopic axis of the telescopic component. The saw blade (11) of the cutting saw (1) is strip-shaped, and its length direction is located on the telescopic axis of the telescopic component. The cutting direction of the saw blade (11) is not parallel to the length direction of the object to be cut.

3. The tree obstacle clearing robotic arm with laser ranging and aiming according to claim 2, characterized in that, The curved arm adjusting component includes at least three support arms (31) that are sequentially rotatably connected. The support arm (31) at one end is arranged on the movable carrying platform, and the support arm (31) at the other end is connected to the telescopic component.

4. The tree obstacle clearing robotic arm with laser ranging and aiming according to claim 3, characterized in that, The curved arm adjusting component further includes at least two telescopic driving units (32). The two ends of the telescopic driving unit (32) are respectively hinged to two adjacent support arms (31) to adjust the angle between the two adjacent support arms (31). Among them, the two telescopic driving units (32) connected to the same support arm (31) are located on the radial two sides of this support arm (31).

5. The tree obstacle clearing robotic arm with laser ranging and aiming according to claim 1, characterized in that, The telescopic component includes a fixed rod (41), a movable rod (42) inserted into the fixed rod (41), and a first driving unit. The fixed rod (41) is connected to the end of the curved arm adjusting component far from the movable carrying platform. The first driving unit is used to drive the movable rod (42) to move along the axis of the fixed rod (41).

6. The tree-trimming manipulator with laser ranging and aiming according to claim 5, characterized in that, The first driving unit includes a base (431), a first motor (432), a first gear (433), and a first rack formed on the outer wall of the fixed rod (41). The base (431) is arranged on the movable rod (42). The first motor (432) is arranged on the base (431). The first gear (433) is arranged on the first driving shaft of the first motor (432). The first gear (433) meshes with the first rack. Among them, the length direction of the first rack is consistent with the length direction of the fixed rod (41).

7. The tree obstacle clearing robotic arm with laser ranging and aiming according to claim 1, characterized in that, The tree obstacle clearing robotic arm with laser ranging and aiming further includes a rotating assembly, which is arranged between the curved arm adjusting assembly and the telescopic assembly. When the laser ranging and aiming assembly recognizes that the saw blade (11) of the cutting saw (1) driven by the telescopic assembly is located on the radial side of the object to be cut, the rotating assembly can make the cutting direction of the saw blade (11) perpendicular to the length direction of the object to be cut.

8. The tree obstacle clearing robotic arm with laser ranging and aiming according to claim 7, characterized in that, The rotating assembly includes a sleeve (51) and a second driving unit. One end of the sleeve (51) is connected to the end of the curved arm adjusting assembly away from the movable carrying platform; the end of the telescopic assembly away from the cutting saw (1) is inserted into the sleeve (51); the second driving unit is arranged in the sleeve (51) and is used to drive the telescopic assembly to rotate around its own axis.

9. The tree obstacle clearing robotic arm with laser ranging and aiming according to claim 8, characterized in that, The second driving unit includes a second motor (521), a second gear (522) and a first annular rack (523). The second motor (521) is arranged in the sleeve (51), the second gear (522) is arranged on the second driving shaft of the second motor (521), and the second gear (522) meshes with the first annular rack (523); Wherein, the end of the telescopic assembly away from the cutting saw (1) is configured with a first coaxial hole, and the first annular rack (523) is configured on the inner wall of the first coaxial hole.

10. A movable carrying platform, characterized in that, The movable carrying platform includes the tree obstacle clearing robotic arm with laser ranging and aiming according to any one of claims 1-9.

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