Tree-climbing pruning robot

Abstract

The invention relates to the technical field of forestry machinery, and discloses a tree-climbing pruning robot which comprises an upper holding mechanism, a lifting mechanism, a lower holding mechanism and a pruning mechanism. The lifting mechanism comprises an upper mounting base, a first lifting connecting frame, a second lifting connecting frame and a lower mounting base, the middle of the first lifting connecting frame is hinged to the inner side of the middle of the second lifting connecting frame, the upper portion of the first lifting connecting frame is hinged to the upper mounting base, and the lower portion of the first lifting connecting frame is in sliding fit with the lower mounting base; the upper part of the second lifting connecting frame is in sliding fit with the upper mounting seat, and the lower part is hinged with the lower mounting seat; the lower mounting seat is connected with a lower holding mechanism, the upper mounting seat is connected with an upper holding mechanism, the upper holding mechanism is connected with a trimming mechanism, and the trimming mechanism is connected with a laser scanning mechanism. The ascending or descending distance can be adjusted so that the upper holding mechanism or the lower holding mechanism can move to the flat position of a trunk, the situation that the gravity center is affected due to the fact that the convex position of the trunk is held is avoided, and the overall stability of the robot is improved.

Description

Technical Field

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

[0002] In artificially cultivated forests, pruning is key to improving the quality and speed of tree growth, especially for pine and poplar trees. Pruning can ensure the upright and uniform trunks, but traditional manual pruning is labor-intensive, inefficient, and involves high risks of high-altitude operations.

[0003] A tree-climbing robot is a specialized robot that can carry various tools and perform specific tasks on various tree surfaces. Tree-climbing robots not only improve work efficiency but also replace manual labor, reducing safety risks for workers in hazardous environments. Patent application number CN202410792164.6 discloses a wheeled tree-climbing and pruning robot with an adaptive trunk contact surface. The robot comprises a wheeled gripping device and a robotic arm pruning mechanism. The wheeled gripping device is used to climb trees, while the robotic arm prunes branches. The wheeled gripping device must remain in close contact with the trunk surface during climbing. Therefore, if the wheeled gripping device's rollers come into contact with residual protrusions left on the trunk branches or protruding knots on the trunk, the rollers can shift, shifting the robot's center of gravity and affecting its grip, making it more likely to fall. Furthermore, the scissor-like robotic arm used to prune branches is ineffective for thicker branches, preventing them from being cut, thus preventing further climbing. In addition, some of the cut and fallen branches will hit the tree-climbing robot, affecting the stability of the tree-climbing robot and causing it to fall. Summary of the Invention

[0004] In order to solve the above problems, the technical solution adopted by the present invention is:

[0005] A tree climbing and pruning robot comprises an upper holding mechanism, a lifting mechanism, a lower holding mechanism and a pruning mechanism; the lifting mechanism comprises an upper mounting seat, a first lifting connection frame, a second lifting connection frame and a lower mounting seat, the middle portion of the first lifting connection frame is hinged to the inner side of the middle portion of the second lifting connection frame and crosses the second lifting connection frame, the upper portion of the first lifting connection frame is hinged to the upper mounting seat, the lower portion of the first lifting connection frame is slidably adapted to the lower mounting seat, the upper portion of the second lifting connection frame is slidably adapted to the upper mounting seat, and the lower portion of the second lifting connection frame is hinged to the lower mounting seat;

[0006] The lower mounting seat is connected to the lower clamping mechanism, the upper mounting seat is connected to the upper clamping mechanism, the upper clamping mechanism is connected to the pruning mechanism, and the pruning mechanism is located above the upper clamping mechanism. The pruning mechanism is connected to a laser scanning mechanism, and the laser scanning mechanism is used to scan the branches above the pruning mechanism to obtain the shape, size and distance information of the branches.

[0007] Furthermore, a lifting drive member is provided in the middle of the first lifting connection frame, the output shaft of the lifting drive member is connected to a first bevel gear, the lower part of the first lifting connection frame is rotatably connected to a roller, both ends of the roller are provided with rollers, the rollers are closely attached to the upper end surface of the lower mounting seat, and a second bevel gear is provided in the middle of the roller, and the second bevel gear is adaptively meshed with the first bevel gear;

[0008] A sliding groove is provided on the side surface of the upper mounting seat, and a connecting pin is provided on the upper portion of the second lifting connection frame. The connecting pin is slidably engaged in the sliding groove.

[0009] Furthermore, the lower clamping mechanism includes a box body, which is fixedly connected to the lower mounting seat. The interior of the box body is rotatably connected to two symmetrical transmission shafts. The upper and lower ends of the two transmission shafts extend to the outside of the box body, and the upper and lower ends of the two transmission shafts are connected by an adaptive gear plate, and the gear plate is provided with multi-layer serrated blades for clamping the tree trunk.

[0010] Furthermore, a lower clamping drive component is installed inside the box, and the output shaft of the lower clamping drive component is adaptively connected to one of the transmission shafts.

[0011] Furthermore, the upper clamping mechanism includes a mounting base, the mounting base is fixedly connected to the upper mounting seat, the mounting base is provided with an upper clamping drive, the output shaft of the upper clamping drive is connected to a worm, the mounting base is provided with two symmetrical worm wheels, the two worm wheels are respectively meshed and matched with the left and right sides of the worm, and the two worm wheels are fixedly connected to a first connecting rod, the end of the first connecting rod away from the worm wheel is hinged to the second connecting rod, the middle part of the second connecting rod is hinged to the third connecting rod, the end of the third connecting rod away from the second connecting rod is hinged to the mounting base, the first connecting rod, the second connecting rod, and the third connecting rod form a crank rocker structure, and the end of the second connecting rod away from the first connecting rod is fixedly connected to a clamping rod for clamping the tree trunk.

[0012] Furthermore, the shearing mechanism includes a base, the base is provided with a rocking drive, the output shaft of the rocking drive is connected to a rocking arm, the rocking arm is fixedly connected to a rocking base plate, a fourth connecting rod is hinged on the rocking base plate, the other end opposite to the fourth connecting rod is hinged to a fifth connecting rod, the end of the fifth connecting rod away from the fourth connecting rod is hinged to a sixth connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod form a crank rocker structure, and the sixth connecting rod is adapted to slide up and down with the rocking plate.

[0013] Furthermore, the rocking base plate is provided with a driving motor, and the output shaft of the driving motor is connected to the fourth connecting rod.

[0014] Furthermore, the shearing mechanism also includes an electric circular saw, which is installed at an end of the sixth connecting rod away from the fifth connecting rod.

[0015] Furthermore, a protective plate is hingedly connected to one end of the base away from the clamping rod.

[0016] Furthermore, it also includes a blowing module, which is arranged on the shearing mechanism and located on the side of the laser scanning mechanism.

[0017] Beneficial effects of the present invention:

[0018] 1. The upper and lower holding mechanisms move upward or downward in turn. The height of movement is controlled by the rotation angle of the first and second lifting frames. During the movement, neither the upper nor the lower holding mechanism contacts the tree trunk. When encountering a bump on the trunk, the upper or lower holding mechanism can be moved to a flat part of the trunk by adjusting the rising or falling distance, avoiding holding the bump and affecting the center of gravity, thereby improving the overall stability of the robot.

[0019] 2. The shearing mechanism uses an electric circular saw, which is suitable for cutting larger branches and has good cutting effect. The electric circular saw is rechargeable, easy to use and easy to maintain.

[0020] 3. The laser scanning mechanism obtains various information about branches and trunks. The processor controls the robot's climbing process and branch pruning process based on the information to ensure the efficiency and stability of the climbing and pruning processes.

[0021] 4. The protective plate can effectively prevent the upper holding mechanism, lifting mechanism and lower holding mechanism from being damaged by falling branches. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the invention.

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 It is a structural schematic diagram of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the upper clamping mechanism of the present invention;

[0026] Figure 3 It is a structural schematic diagram of the price raising mechanism of the present invention;

[0027] Figure 4 This is a structural diagram of the lower holding mechanism of the present invention;

[0028] Figure 5 It is a structural schematic diagram of the shearing mechanism of the present invention.

[0029] In the picture

[0030] 1. Upper clamping mechanism; 101. Mounting base; 102. Worm; 103. Worm gear; 104. First connecting rod; 105. Second connecting rod; 106. Third connecting rod; 107. Clamping rod; 2. Lifting mechanism; 201. Upper mounting base; 2011. Slide; 202. First lifting connection frame; 2021. Second bevel gear; 2022. First bevel gear; 2023. Roller; 2024. Roller; 203. Second lifting connection frame Connecting frame; 2031, connecting nail; 204, lower mounting seat; 3, lower clamping mechanism; 301, box body; 302, transmission shaft; 303, gear plate; 304, multi-layer sawtooth blade; 4, trimming mechanism; 401, base; 402, rocking arm; 403, rocking bottom plate; 404, fourth connecting rod; 405, fifth connecting rod; 406, sixth connecting rod; 407, electric circular saw; 5, laser scanning mechanism; 6, protective plate; 7, blowing module. DETAILED DESCRIPTION

[0031] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0032] Unless otherwise defined, the technical or scientific terms used in this disclosure should have the usual meanings understood by people with ordinary skills in the field to which this disclosure belongs. The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0033] like Figure 1-Figure 5 shown

[0034] A tree-climbing and pruning robot includes an upper holding mechanism 1, a lifting mechanism 2, a lower holding mechanism 3 and a pruning mechanism 4. The upper holding mechanism 1 and the lower holding mechanism 3 are both used to clamp the tree trunk. The lifting mechanism 2 is used to control the relative height between the upper holding mechanism 1 and the lower holding mechanism 4 to enable the robot to climb on the tree trunk. The pruning mechanism 4 is used to prune branches above the robot.

[0035] The lifting mechanism 2 includes an upper mounting seat 201, a first lifting connection frame 202, a second lifting connection frame 203 and a lower mounting seat 204. The first lifting connection frame 202 and the second lifting connection frame 203 are both rectangular frames, and the length of the first lifting connection frame 202 is the same as the length of the second lifting connection frame, and the width is slightly smaller than the width of the second lifting connection frame 203. The first lifting connection frame 202 is inserted into the second lifting connection frame 203, and the middle outer wall of the first lifting connection frame is tightly attached to the middle inner side of the second lifting connection frame 203 and hinged by pins, so that the first lifting connection frame 202 and the second lifting connection frame 203 are cross-crossed and present an "X" shape as a whole. In the "X" shape, the upper part of the first lifting connection frame 202 (i.e., the upper left corner of the X) is hinged to the upper mounting seat 201, the lower part of the first lifting connection frame 202 (i.e., the lower right corner of the X) is slidably adapted to the lower mounting seat 204, the upper part of the second lifting connection frame 203 (i.e., the upper right corner of the X) is slidably adapted to the upper mounting seat 201, and the lower part of the second lifting connection frame 203 (i.e., the lower left corner of the X) is hinged to the lower mounting seat 204. Therefore, when the first lifting connection frame 202 and the second lifting connection frame 203 rotate around the hinge point at the center, the height of the "X" shape will change, thereby realizing the adjustment of the height distance between the upper mounting seat 201 and the lower mounting seat 204.

[0036] The lower mounting seat 204 is connected to the lower holding mechanism 3, and the upper mounting seat 201 is connected to the upper holding mechanism 1. During the process of climbing up the tree trunk, the upper holding mechanism 1 and the lower holding mechanism 3 simultaneously hold the tree trunk tightly. After the robot is stabilized, the upper holding mechanism 1 is released, and the first lifting frame 202 and the second lifting frame 203 of the lifting mechanism 2 rotate forward, increasing the height distance between the upper mounting seat 201 and the lower mounting seat 204. After the upper holding mechanism 1 moves upward for a distance, the upper holding mechanism 1 is re-holded against the tree trunk. The lower holding mechanism 3 is then released, and the first lifting frame 202 and the second lifting frame 203 rotate in the opposite direction, decreasing the height distance between the upper mounting seat 201 and the lower mounting seat 204. After the lower holding mechanism 4 moves upward for a distance, it is re-holded against the tree trunk. The overall height of the robot on the tree trunk is now increased. If further climbing is required, the above process is repeated. The reverse process can be used to achieve downward climbing, which will not be described in detail here. During the robot's climbing process, the upper and lower gripping mechanisms 1 and 3 move up and down alternately, and the height of movement can be controlled by the rotation angles of the first and second lifting frames 202 and 203. Furthermore, during this movement, neither the upper and lower gripping mechanisms 1 or 3 come into contact with the tree trunk. Therefore, when encountering a bump on the trunk, the robot can adjust the distance of ascent or descent to allow the upper and lower gripping mechanisms 1 and 3 to move to a flat surface on the trunk, preventing the bump from affecting the robot's center of gravity and improving the robot's overall stability.

[0037] Specifically, a lifting drive member is provided in the middle of the first lifting connection frame 202, and the lifting drive member is used to provide driving force for the rotation of the first lifting connection frame 202 and the second lifting connection frame 203. The lifting drive member can use an existing small DC motor, a permanent magnet synchronous motor, etc. The lifting drive member can be installed on the first lifting connection frame 202 by bolt connection. The output shaft of the lifting drive member is connected to the first bevel gear 2022, and the lower part of the first lifting connection frame 202 is rotatably connected to the roller 2023 through a bearing. The roller 2023 passes through the left and right sides of the first lifting connection frame 202, and rollers 2024 are provided at both ends of the passage. The rollers 2024 are tightly attached to the upper end surface of the lower mounting seat 204, and a second bevel gear 2021 is provided in the middle of the roller 2023. The second bevel gear 20 21 is adapted to mesh with the first bevel gear 2022; the lifting drive member drives the roller 2024 on the lower mounting seat 204 through the transmission of the first bevel gear 2022 and the second bevel gear 2021, thereby allowing the lower part of the first lifting frame 202 to move to achieve height adjustment; it should be noted that, since the movement trajectory of the first bevel gear 2022 is an arc when the first lifting connection frame 202 rotates, the side surfaces of the first bevel gear 2022 and the second bevel gear 2021 are both adapted arc surfaces, and the curvature of the arc surface is the same as the movement curvature of the first bevel gear 2022, ensuring that the first bevel gear 2022 and the second bevel gear 2021 can adapt to work normally, and the specific curvature is set according to the specific rotation radius of the first lifting connection frame 202.

[0038] In order to prevent the first lifting connection frame 202 and the second lifting connection frame 203 from rotating too much, causing the roller 2023 to move out of the upper end surface of the lower mounting seat 204, a slide groove 2011 is provided on the side of the upper mounting seat 201, and a connecting pin 2031 is provided on the upper portion of the second lifting connection frame 203, which slides and engages in the slide groove 2011. The slide groove 2011 not only enables sliding connection of the upper portion of the first lifting connection frame 202, but also serves as a limit. The length of the slide groove 2011 is less than the vertical distance from the middle hinge point of the first lifting connection frame 202 and the second lifting connection frame 203 to the right side of the upper mounting seat 201, and both end points of the slide groove 2011 are between the middle hinge point and the right side.

[0039] In the present invention, the lower clamping mechanism 3 includes a box body 301, which is fixedly connected to the lower mounting seat 204. The lower mounting seat 204 and the box body 301 are vertically arranged up and down. The interior of the box body 301 is rotatably connected to two symmetrical transmission shafts 302 through bearings. The upper and lower ends of the two transmission shafts 302 extend to the outside of the box body 301, and the upper ends and lower ends of the two transmission shafts 302 are connected by an adaptive gear plate 303. The gear plate 303 is provided with multi-layer serrated blades 304 for clamping the tree trunk. The lower clamping drive component is installed inside the box body 1. The lower clamping drive component can use an existing small DC motor, a permanent magnet synchronous motor, etc., and is connected to one of the transmission shafts 302 through an existing reducer.

[0040] The lower clamping drive is connected to the drive shaft 302 via a speed reducer, providing greater torque and ensuring greater stability when the two multi-layered serrated blades 304 grip the tree trunk. The multi-layered serrated blades 304 are composed of several stacked, interconnected serrated blades, each secured by rivets for increased stability. This increases the contact area between the blades and the tree trunk, providing more support points and further enhancing the clamping force, ensuring a secure grip.

[0041] In the present invention, the upper clamping mechanism 1 includes a mounting base 101, the mounting base 101 is fixedly connected to the upper mounting seat 201, an upper clamping drive is installed inside the mounting base 101, the output shaft of the upper clamping drive is connected to the worm 102, the mounting base 101 is provided with two symmetrical worm gears 103, the two worm gears 103 are respectively meshed with the left and right sides of the worm 102, and the two worm gears 103 are fixedly connected to a first connecting rod 104. The first connecting rod The end of 104 away from the worm gear 103 is hinged with a second connecting rod 105, the middle part of the second connecting rod 105 is hinged with a third connecting rod 106, and the end of the third connecting rod 106 away from the second connecting rod 105 is hinged on the mounting base 101. The first connecting rod 104, the second connecting rod 105, and the third connecting rod 106 form a crank rocker structure, and the end of the second connecting rod 105 away from the first connecting rod 104 is fixedly connected to a clamping rod 107 for clamping the tree trunk.

[0042] The upper clamping drive can use an existing motor such as a small DC motor or a permanent magnet synchronous motor. The upper clamping drive can drive the worm 102 to rotate forward and reverse. When the worm 102 rotates forward, the two worm wheels 103 rotate in the opposite direction and drive the second connecting rod 105 to rotate, bringing the two clamping rods 107 closer together to clamp the tree trunk. When the worm 102 rotates reversely, the two worm wheels 103 rotate in the opposite direction and drive the second connecting rod 105 to rotate in the opposite direction, moving the two clamping rods 107 away from each other, thereby loosening the tree trunk. In addition, a limit pin is provided on the mounting base 101. The limit pin is vertically located between the first connecting rod 104 and the third leveling rod 106. The limit pin is used to limit the rotation angle of the first connecting rod 104 to avoid the problem of the two clamping rods 107 conflicting with each other due to excessive rotation of the first connecting rod 104.

[0043] In the present invention, when the upper clamping mechanism 1 clamps the tree trunk and the lower clamping mechanism 3 releases the tree trunk, during the robot climbing process, in order to avoid the problem that the single pair of clamping rods 107 are not firmly clamped and cause the robot to fall, the end of the clamping rod 107 away from the second connecting rod 105 is set as an arc end, the arc end is encircled around the tree trunk, and the mounting base 101 is further provided with a sawtooth 108 at the arc end corresponding to the tree trunk. When the robot falls, the angle between the arc end and the tree trunk changes. At this time, the arc end is in an inclined state, and the sawtooth 108 is attached to the tree trunk. A self-locking structure is formed between the arc end and the sawtooth 108, which prevents the robot from continuing to fall and ensures the safety of the device.

[0044] The shearing mechanism 4 includes a base 401 and an electric circular saw 407. The base 401 is provided with a rocking drive component. The output shaft of the rocking drive component is connected to a rocking arm 402. The rocking arm 402 is fixedly connected to a rocking base plate 403. A fourth connecting rod 404 is hinged on the rocking base plate 403. The other end opposite to the fourth connecting rod 404 is hinged to a fifth connecting rod 405. The end of the fifth connecting rod 405 away from the fourth connecting rod 404 is hinged to a sixth connecting rod 406. The fourth connecting rod 404, the fifth connecting rod 405 and the sixth connecting rod 406 form a crank rocker structure, and the sixth connecting rod 406 is adapted to slide up and down with the rocking plate 403. The electric circular saw 407 is fixedly installed on the end of the sixth connecting rod 406 away from the fifth connecting rod 405 by bolts.

[0045] The electric circular saw 407 can use an existing rechargeable electric circular saw. Rechargeable electric circular saws are battery-powered and do not require an external power supply, which improves the convenience of the robot. During routine maintenance, the electric circular saw 407 can also be removed from the sixth connecting rod 406, facilitating daily repairs, inspections, charging, etc., making it convenient and quick to use. The swing drive can use an existing motor such as a small DC motor or a permanent magnet synchronous motor, and is connected to the swing arm 402 through a speed reducer. For some thicker branches, if the electric circular saw 407 continuously uses the saw blade to cut the branch, the temperature of the saw blade will increase, resulting in a decrease in the hardness of the saw blade, affecting cutting efficiency, and also shortening the service life of the saw blade. Therefore, it is necessary to swing the electric circular saw 407 and move it away from the side of the branch to allow the high-speed rotating saw blade to come into contact with the air. The air cools the saw blade and prevents the saw blade of the electric circular saw 407 from heating up due to prolonged cutting of the branch.

[0046] When the electric circular saw 407 is cutting a branch with a larger diameter, the robot needs to climb upward to completely cut the branch. However, the electric circular saw 407 generates a certain amount of external force during cutting. If the lifting mechanism 2 is used to adjust the height of the electric circular saw 407, not only is the operation cumbersome, but during movement, only the upper holding mechanism 1 or the lower holding mechanism 4 may be holding the tree trunk. Under the influence of the external force of the electric circular saw 407, the robot will be unstable and the cutting efficiency will be affected. The fourth connecting rod 404, the fifth connecting rod 405, and the sixth connecting rod 406 form a crank rocker structure, allowing the sixth connecting rod 406 to move up and down. The fourth connecting rod 404 is driven by a drive motor provided on the rocking base 403. This allows the height of the electric circular saw 407 to be adjusted without the need for the lifting mechanism 2, allowing it to cut branches more effectively. Moreover, during cutting, the upper holding mechanism 1 and the lower holding mechanism 3 simultaneously hold the tree trunk, ensuring the overall stability of the robot during cutting and preventing it from falling.

[0047] In the present invention, the pruning mechanism 4 is connected to a laser scanning mechanism 5, which uses a laser scanner to scan branches above the pruning mechanism 4 to obtain information such as the branch's shape, size, and distance. Furthermore, the upper clamping drive, the lifting drive, the lower clamping drive, the swing drive, the drive motor, and the laser scanning mechanism 5 are connected to a processor. The processor, which can be a conventional microcomputer, is integrated into the housing 301 of the lower clamping mechanism 3. The processor primarily processes digital signals, such as the information scanned by the laser scanning mechanism 5, and controls the upper clamping mechanism 1, the lifting mechanism 2, the lower clamping mechanism 3, and the pruning mechanism 4 based on this information to achieve robot climbing and branch pruning. For example, after scanning the distance information to the upper branch or trunk protrusion, the processor calculates the optimal total climbing distance and controls the upper clamping drive, the lifting drive, and the lower clamping drive to process the motor's position and speed signals in real time, allowing the electric circular saw 407 to move directly below the branch to be pruned. In addition, the specific height of the lifting mechanism can be controlled each time it is lifted or lowered, so that the position of the upper holding mechanism 1 or the lower holding mechanism 3 after movement is away from the protrusion of the tree trunk. For example, if there is a protrusion 2 cm above the upper holding mechanism 1 left after cutting a branch or a protrusion of a tree trunk knot, the processor can control the lifting drive component at this time to move the upper holding mechanism upward by more than 2 cm and directly pass over the protrusion. Similarly, the same can be done when the lower holding mechanism 3 moves, which can avoid the holding mechanism clamping on the protrusion and affecting the overall center of gravity of the robot, thereby ensuring the stability of the robot's climbing.

[0048] In addition, the processor can also set the cutting state of the electric circular saw 407 according to information such as the shape and size of the branch, such as the single cutting time of the electric circular saw 407. For thicker branches, the single cutting time of the electric circular saw 407 can be set. For example, after each cutting for 10-30 seconds, the swing drive component is controlled to work, so that the swing base plate 403 rotates, and the electric circular saw 407 stays for a period of time after swinging out of the branch, so as to avoid the electric circular saw 407 cutting for too long and causing the saw blade to heat up.

[0049] When collecting information data, the laser scanning mechanism 5 typically acquires the three-dimensional coordinate data or other relevant information of the target object by emitting laser pulses and measuring the time or other characteristics of the reflected light. However, when the electric circular saw 407 cuts branches, it generates a large amount of debris that floats in the air. This floating debris can block the path of the laser beam, preventing the laser from irradiating the intended target object or causing the laser beam to scatter, thereby affecting the accuracy and precision of the scan. Therefore, a blowing module 7 is also provided on the swing base plate 403. The blowing module 7 is located on the side of the laser scanning mechanism 5 and can blow air onto the scanning path of the laser scanning mechanism 5, blowing the floating debris away from the scanning path and improving the accuracy and precision of the scan. In addition, the air blown by the blowing module 7 can also be blown toward the electric circular saw 407, which can accelerate the cooling time of the electric circular saw 407 and improve the branch cutting effect.

[0050] In the present invention, in order to prevent the branches pruned above from falling and damaging the robot, a protective plate 6 is hinged at one end of the base 401 away from the clamping rod 107. The protective plate 6 is tilted and covers the upper clamping mechanism 1, the lifting mechanism 2 and the lower clamping mechanism 3 below to prevent the falling branches from damaging the upper clamping mechanism 1, the lifting mechanism 2 and the lower clamping mechanism 3. In addition, the end face of the protective plate 6 is also provided with a rubber flexible layer, which has good elasticity and shock absorption properties and can effectively absorb mechanical impact force.

[0051] In the present invention, a power module is also provided in the box 301. The power module is electrically connected to the upper clamping mechanism 1, the lifting mechanism 2, the lower clamping mechanism 3, the trimming mechanism 4, the laser scanning mechanism 5, the blowing module 7 and the processor to provide power for them. The power module is installed in the box 301 to improve the convenience and applicability of the robot, so that it can be better used in environments without external power supply such as mountains, forests, and the wild.

[0052] There are a few points to note:

[0053] (1) Unless otherwise defined, in the embodiments of the present disclosure and the accompanying drawings, the same reference numerals represent the same meanings.

[0054] (2) In the drawings of the embodiments of the present disclosure, only the structures related to the embodiments of the present disclosure are involved, and other structures can refer to the general design.

[0055] (3) For the sake of clarity, components or regions are exaggerated in the drawings used to describe embodiments of the present disclosure. It is understood that when an element is referred to as being “on” or “under” another element, the element may be “directly on” or “under” the other element, or intervening elements may be present.

[0056] The above description is merely a specific embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A tree climbing and pruning robot, characterized by: It comprises an upper holding mechanism (1), a lifting mechanism (2), a lower holding mechanism (3) and a trimming mechanism (4); The lifting mechanism (2) comprises an upper mounting seat (201), a first lifting connection frame (202), a second lifting connection frame (203) and a lower mounting seat (204); the middle portion of the first lifting connection frame (202) is hinged to the inner side of the middle portion of the second lifting connection frame (203) and crosses the second lifting connection frame (203); the upper portion of the first lifting connection frame (202) is hinged to the upper mounting seat (201); the lower portion of the first lifting connection frame (202) is slidably fitted to the lower mounting seat (204); the upper portion of the second lifting connection frame (203) is slidably fitted to the upper mounting seat (201); and the lower portion of the second lifting connection frame (203) is hinged to the lower mounting seat (204); The lower mounting seat (204) is connected to the lower clamping mechanism (3), the upper mounting seat (201) is connected to the upper clamping mechanism (1), the upper clamping mechanism (1) is connected to the pruning mechanism (4), and the pruning mechanism (4) is located above the upper clamping mechanism (1), and the pruning mechanism (4) is connected to a laser scanning mechanism (5), and the laser scanning mechanism (5) is used to scan the branches above the pruning mechanism (4) to obtain the shape, size and distance information of the branches.

2. A tree climbing and pruning robot according to claim 1, characterized in that: A lifting drive member is provided in the middle of the first lifting connection frame (202), the output shaft of the lifting drive member is connected to a first bevel gear (2022), the lower part of the first lifting connection frame (202) is rotatably connected to a roller (2023), both ends of the roller (2023) are provided with rollers (2024), the rollers (2024) are closely attached to the upper end surface of the lower mounting seat (204), the middle part of the roller (2023) is provided with a second bevel gear (2021), and the second bevel gear (2021) is adaptively meshed with the first bevel gear (2022); A sliding groove (2011) is provided on the side of the upper mounting seat (201), and a connecting pin (2031) is provided on the upper portion of the second lifting connection frame (203), and the connecting pin (2031) is slidably engaged in the sliding groove (2011).

3. The tree climbing and pruning robot according to claim 1, characterized in that: The lower clamping mechanism (3) comprises a box (301), the box (301) is fixedly connected to the lower mounting seat (204), the interior of the box (301) is rotatably connected to two symmetrical transmission shafts (302), the upper and lower ends of the two transmission shafts (302) both extend to the outside of the box (301), and the upper ends and lower ends of the two transmission shafts (302) are connected via an adapted gear plate (303), and the gear plate (303) is provided with multi-layer sawtooth blades (304) for clamping the tree trunk.

4. The tree climbing and pruning robot according to claim 3, characterized in that: A lower clamping drive member is installed inside the box body (1), and an output shaft of the lower clamping drive member is adaptively connected to one of the transmission shafts (302).

5. The tree climbing and pruning robot according to claim 1, characterized in that: The upper clamping mechanism (1) comprises a mounting base (101), the mounting base (101) is fixedly connected to the upper mounting seat (201), the mounting base (101) is provided with an upper clamping drive member, the output shaft of the upper clamping drive member is connected to a worm (102), the mounting base (101) is provided with two symmetrical worm wheels (103), the two worm wheels (103) are respectively meshed with the left and right sides of the worm (102) in a one-to-one correspondence, and the two worm wheels (103) are fixedly connected to a first connecting rod (104), and the first connecting rod (104) is connected to the upper mounting seat (201). 4) A second connecting rod (105) is hinged at one end away from the worm gear (103), a third connecting rod (106) is hinged at the middle of the second connecting rod (105), an end of the third connecting rod (106) away from the second connecting rod (105) is hinged on the mounting base plate (101), the first connecting rod (104), the second connecting rod (105), and the third connecting rod (106) form a crank rocker structure, and an end of the second connecting rod (105) away from the first connecting rod (104) is fixedly connected to a clamping rod (107) for clamping a tree trunk.

6. The tree climbing and pruning robot according to claim 5, characterized in that: The shearing mechanism (4) includes a base (401), the base (401) is provided with a rocking drive member, the output shaft of the rocking drive member is connected to a rocking rod (402), the rocking rod (402) is fixedly connected to a rocking base plate (403), a fourth connecting rod (404) is hinged on the rocking base plate (403), the other end opposite to the fourth connecting rod (404) is hinged to a fifth connecting rod (405), the end of the fifth connecting rod (405) away from the fourth connecting rod (404) is hinged to a sixth connecting rod (406), the fourth connecting rod (404), the fifth connecting rod (405) and the sixth connecting rod (406) form a crank rocker structure, and the sixth connecting rod (406) is adapted to slide up and down with the rocking plate (403).

7. The tree climbing and pruning robot according to claim 6, characterized in that: The swing base plate (403) is provided with a driving motor, and the output shaft of the driving motor is connected to the fourth connecting rod (404).

8. The tree climbing and pruning robot according to claim 7, characterized in that: The shearing mechanism (4) further comprises an electric circular saw (407), and the electric circular saw (407) is mounted on an end of the sixth connecting rod (406) away from the fifth connecting rod (405).

9. The tree climbing and pruning robot according to claim 8, characterized in that: A protective plate (6) is hingedly connected to one end of the base (401) away from the clamping rod (107).

10. The tree climbing and pruning robot according to claim 1, characterized in that: It also includes a blowing module (7), which is arranged on the shearing mechanism (4) and located on the side of the laser scanning mechanism (5).

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