Tree climbing and picking robot with branch crossing and self-adaptive grasping functions

Abstract

The invention relates to a tree climbing and picking robot with branch crossing and self-adaptive grasping functions. The tree climbing and picking robot comprises a scissor module, a self-adaptive clamping jaw, a telescopic mechanism and a holder. The scissor module is used for pruning to realize picking operation; the upper portion and the lower portion of the robot are each provided with a self-adaptive clamping jaw, and the robot is used for grabbing a trunk in a self-adaptive mode through opening and closing of the self-adaptive clamping jaws. The telescopic mechanism is used for achieving stretching and retracting of the robot, the upper end of the telescopic mechanism is connected with the self-adaptive clamping jaw on the upper portion, the lower end of the telescopic mechanism is connected with the self-adaptive clamping jaw on the lower portion through the holder, the relative angle between the two self-adaptive clamping jaws is changed through the holder, and posture adjustment of the robot is achieved. Through cooperative work of the self-adaptive clamping jaw, the telescopic mechanism and the holder, the robot can climb along a tree trunk, cross multiple branches and adjust the tail end operation posture. According to the invention, stable grasping can be realized, high rigidity can be maintained under a large stroke, the flexible branch crossing capability is realized, and high-efficiency and high-safety automatic picking operation can be realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural and forestry automation equipment, and relates to a robot device capable of climbing, moving on tall trees and performing picking or pruning operations, in particular, a tree-climbing picking robot with branch-crossing and self-adaptive gripping functions. BACKGROUND

[0002] In recent years, the industry of tropical fruits such as durians and jackfruits has developed rapidly, but such fruits usually grow on tree crowns as high as 10 to 20 meters. The traditional picking method mainly relies on manual climbing or the use of long pole tools, which is not only inefficient but also has a high risk of falling from a high altitude. With the rising labor costs and the aging of employees, the development of automated and intelligent high-altitude operation equipment has become an urgent need.

[0003] Currently, there have been some studies on tree-climbing robots, but when applied in actual complex forest environments, there are still significant technical bottlenecks: first, the gripping reliability is insufficient. Most use rigid clamps, which are difficult to completely envelop irregular, rough and diameter-variable tree trunks, and only rely on friction force, which is easy to slip and fall. Second, the rigidity and efficiency of the motion mechanism are contradictory. The common plane scissor mechanism has a limited extension ratio, and after fully expanding, the lateral rigidity is poor, which easily causes vibration at the end of the operation, affecting the accuracy and service life. Third, there is a lack of environmental adaptability and branch-crossing ability. Most existing robots can only move linearly on straight trunks and cannot actively avoid or cross branches, making it difficult to penetrate into the dense fruit area inside the tree crown. Fourth, the functional integration is low. The climbing and picking functions are often separated, the end effector has poor flexibility, and it is difficult to accurately position the target in a dense environment of branches and leaves.

[0004] Therefore, there is an urgent need for a tree-climbing robot that can solve the problems of the prior art to achieve safe, efficient and accurate automated forestry picking operations. SUMMARY

[0005] The purpose of the present application is to overcome the shortcomings of the prior art and provide a tree-climbing picking robot with branch-crossing and self-adaptive gripping functions. The present application can not only firmly grip but also maintain high rigidity under large stroke, and has flexible branch-crossing ability, which can realize efficient and safe automated picking operations, thereby improving work efficiency and reducing the safety risk of workers.

[0006] To achieve the above object, the application adopts the following technical scheme: a tree climbing and picking robot with cross-branch and adaptive gripping function, comprising a scissors module, adaptive clamping jaws, a telescopic mechanism and a holder; the scissors module is arranged at the upper end of the tree climbing and picking robot and is used for pruning the target to be pruned to realize picking operation; the upper and lower parts of the tree climbing and picking robot are provided with adaptive clamping jaws, which are used for adaptive gripping of the trunk through the opening and closing of the adaptive clamping jaws; the telescopic mechanism is used for realizing the axial telescoping of the tree climbing and picking robot, the upper end of the telescopic mechanism is connected with the adaptive clamping jaws of the upper part, and the lower end of the telescopic mechanism is connected with the adaptive clamping jaws of the lower part through the holder, so as to change the relative angle between the two adaptive clamping jaws of the upper and lower parts through the holder and realize the posture adjustment of the tree climbing and picking robot; through the cooperation of the adaptive clamping jaws, the telescopic mechanism and the holder, the tree climbing and picking robot can climb along the trunk, cross multiple branches and adjust the end operation posture.

[0007] Further, the adaptive clamping jaws comprise two oppositely arranged clamping fingers and a driving unit, the driving unit is used for driving the two clamping fingers to open and close, the front end of the clamping finger is provided with an elastic plate, and the inner side of the elastic plate is provided with a toothed structure in the length direction; when the driving unit drives the two clamping fingers to close, the elastic plate is deformed to envelope the trunk profile at the same time, and the toothed structure is combined to adaptively and reliably grip the trunk.

[0008] Further, the driving unit comprises a bracket, a rudder, a first gear, a second gear and a third gear, the rudder is installed on the bracket, the rudder drives the first gear to rotate, and the second gear drives the third gear to rotate, the rear ends of the two clamping fingers are respectively rotatably connected with the bracket, and the center rotating shafts of the second gear and the third gear are respectively provided with pull ropes, the two pull ropes pass through the toothed structures arranged on the inner sides of the corresponding elastic plates and are connected with the front ends of the elastic plates, so as to drive the two clamping fingers to rotate and close and pull the elastic plate to deform when the pull ropes are wound, and to make the two clamping fingers reverse and open and the elastic plate restore to the original state when the pull ropes are unwound.

[0009] Further, the toothed structure is provided with micro hooks arranged thereon, which are used for embedding into the bark layer under the action of pressure to provide mechanical embedding force.

[0010] Further, the telescopic mechanism comprises a cam driving mechanism and a three-prism scissor mechanism, the bottom of the cam driving mechanism is connected with the adaptive clamping jaws of the upper part or the holder, the cam driving mechanism is connected with one end of the three-prism scissor mechanism to drive it to perform telescoping movement along the axial direction, and the other end of the three-prism scissor mechanism is connected with the holder or the adaptive clamping jaws of the upper part.

[0011] Further, the three-prism scissors mechanism comprises three groups of scissors units symmetrically distributed in the circumferential direction, and the end portions of the three groups of scissors units are hinged to the connecting pieces by the rods to realize the connection of the three groups of scissors units to each other and form a three-prism space truss structure.

[0012] Further, the cam driving mechanism comprises a rotating tray and a cam guide rail driving disc arranged thereon, the bottom of the rotating tray is connected to the upper adaptive clamping jaw, the rudder in the rotating tray drives the rotation of the cam guide rail driving disc, the connecting piece at one end portion of the scissors unit is provided with a pin shaft, the pin shaft is matched with the guide rail on the cam guide rail driving disc, and the pin shaft is driven to move along the guide rail through the rotation of the cam guide rail driving disc, so that the overall extension and contraction of the three-prism scissors mechanism is realized.

[0013] Further, the holder comprises two base plates arranged oppositely, two small bevel gears, two large bevel gears and a square frame, a bevel gear, a cylindrical bevel gear and a rotating rod, the rudders installed on the two base plates drive the rotation of the two small bevel gears, the two small bevel gears are respectively meshed with the two large bevel gears to realize transmission, the square frame is arranged between the two large bevel gears, the rotating rod passes through the square frame and is connected with the two large bevel gears on the two sides, the bevel gear is rotatably connected with the lower part of the square frame and is meshed with the two large bevel gears on the two sides, and the cylindrical bevel gear is rotatably connected with the upper part of the square frame and is meshed with the two large bevel gears on the two sides, so that the same direction or opposite direction rotation of the two small bevel gears is controlled to realize the pitching rotation or horizontal rotation of the cylindrical bevel gear; the upper side of the cylindrical bevel gear is connected with a tray, the tray is provided with a cam guide rail disc, and the pin shaft on the connecting piece at the other end portion of the scissors unit is matched with the guide rail on the cam guide rail disc; through the attitude adjustment of the holder, the tree climbing robot can bypass the blockage of the bifurcated branches or establish a connecting point between the trunk and the side branches to realize the cross-branch movement.

[0014] Further, the robot alternately holds the trunk by the adaptive clamping jaws at the upper and lower portions and realizes the climbing along the trunk by the extension and contraction movement of the extension mechanism.

[0015] Further, the scissors module can be positioned to the target branch and perform the pruning and picking work through the attitude adjustment of the holder and the extension and contraction movement of the extension mechanism.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] 1. Stable and reliable holding: the present application realizes the strong holding of the tree trunks with different shapes and diameters through the bionic adaptive clamping jaw design and the mechanical embedding of the elastic envelope and the micro hook, and fundamentally prevents the slipping and falling during the climbing and working.

[0018] 2. High efficiency and strong rigidity: the application adopts a three-prism space scissor mechanism as the main body, which has both large stroke extension ability and high axial / torsional rigidity, ensuring that the robot can still stably carry in a fully extended state, and the end operation precision is high.

[0019] 3. Strong environmental adaptability and cross-branch ability: the application innovatively introduces a multi-degree-of-freedom holder, which gives the robot flexible posture adjustment ability, enabling it to actively bypass obstacles and establish connections between different branches, achieving autonomous navigation and cross-branch operation in complex crown structures, breaking through the limitations of existing robots that can only straight-line crawl.

[0020] 4. High degree of functional integration: the application deeply integrates stable gripping, efficient climbing, flexible turning and precise picking functions into one, providing a complete automated high-altitude picking solution, greatly improving operation efficiency and safety, and reducing labor costs and risks. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural schematic diagram of a tree climbing picking robot with cross-branch and self-adaptive gripping function provided by the embodiment of the application;

[0022] Figure 2 is a structural schematic diagram of a self-adaptive gripper in the embodiment of the application;

[0023] Figure 3 is a structural schematic diagram of a gripper finger in the embodiment of the application;

[0024] Figure 4 is a structural schematic diagram of a three-prism scissor structure and a cam driving mechanism in the embodiment of the application;

[0025] Figure 5 is a structural schematic diagram of a holder in the embodiment of the application;

[0026] Figure 6 is a schematic diagram of a tree climbing picking robot climbing a tree trunk in the embodiment of the application;

[0027] Figure 7 is a schematic diagram of a tree climbing picking robot performing cross-branch obstacle avoidance in the embodiment of the application;

[0028] Figure 8 is a schematic diagram of a tree climbing picking robot performing precise positioning and pruning in the embodiment of the application.

[0029] In the diagram: 1-Scissors module; 2-Adaptive gripper; 3-Cam drive mechanism; 4-Triangular prism scissor mechanism; 5-Gimbal; 6-Gripper finger; 7-Rod sleeve; 8-Rod; 9-Servo motor; 10-First gear; 11-Second gear; 12-Rod; 13-Third gear; 14-Elastic plate; 15-Tooth structure; 16-Miniature hook; 17-Cam guide rail disk; 18-Pattern; 19-Small herringbone gear; 20-Base plate; 21-Large herringbone gear; 22-Square frame; 23-Bevel gear; 24-Cylindrical bevel gear; 25-Small herringbone gear; 26-Rotating rod; 27-Large herringbone gear; 28-Connector; 29-Rod; 30-Rotating tray; 31-Cam guide rail drive disk. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0031] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0032] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0033] like Figure 1 As shown, this embodiment provides a tree-climbing harvesting robot with branch-crossing and adaptive gripping functions, including a scissor module 1, adaptive grippers 2, a telescopic mechanism, and a gimbal 5. The telescopic mechanism includes a cam drive mechanism 3 and a triangular prism scissor mechanism 4. The scissor module 1 is located at the upper end of the tree-climbing harvesting robot and is used to prune the target to be pruned in order to achieve harvesting operations. The upper and lower parts of the tree-climbing harvesting robot are equipped with adaptive grippers 2, which are used to adaptively grip the tree trunk by opening and closing the adaptive grippers 2. The telescopic mechanism is used to realize the axial extension and retraction of the tree-climbing harvesting robot. The upper end of the telescopic mechanism is connected to the upper adaptive gripper 2, and the lower end of the telescopic mechanism is connected to the lower adaptive gripper 2 through the gimbal 5, so that the relative angle between the upper and lower adaptive grippers 2 can be changed by the gimbal 5 to realize the posture adjustment of the tree-climbing harvesting robot. Through the coordinated work of the adaptive grippers 2, the telescopic mechanism, and the gimbal 5, the tree-climbing harvesting robot can climb along the tree trunk, cross multiple branches, and adjust the end-effector posture.

[0034] like Figures 2-3As shown, the adaptive gripper 2 comprises two oppositely arranged gripper fingers 6 and a driving unit. The driving unit is used to drive the two gripper fingers 6 to open and close, and the front end of the gripper fingers 6 is provided with a resilient plate 14, and the inner side of the resilient plate 14 is provided with a tooth structure 15 along the length direction, which is used to increase the friction of the gripping surface; when the driving unit drives the two gripper fingers 6 to close, the resilient plate 14 is deformed to envelope the trunk profile at the same time, and the tooth structure 15 is combined to adaptively and reliably grip the trunk. The tooth structure 15 is arrayed with micro hooks 16, which are used to embed into the bark layer under the action of pressure to provide mechanical embedding force. The driving unit comprises a bracket, a steering engine 9, a first gear 10, a second gear 11 and a third gear 13, the steering engine 9 is installed on the bracket, the steering engine 9 drives the first gear 10 to rotate, and the second gear 11 drives the third gear 13 to rotate, the rear end of the two gripper fingers 6 is rotatably connected with the bracket (achieved by the rotation cooperation of the rod sleeve 7 at the rear end of the gripper finger 6 and the rod 8 on the bracket), the center rotating shaft of the second gear and the third gear 13 is respectively provided with a pull rope, and the two pull ropes respectively pass through the tooth structure 15 arrayed on the inner side of the corresponding resilient plate 14 and are connected with the front end of the resilient plate 14, so as to drive the two gripper fingers 6 to rotate and close and pull the resilient plate 14 to deform when the pull rope is wound, and to make the two gripper fingers 6 reverse and open and make the resilient plate 14 restore to the original state when the pull rope is unwound.

[0035] The bottom and the upper part of the cam driving mechanism 3 are connected with the adaptive gripper 2 or the gimbal 5, one end of the cam driving mechanism 3 is connected with the three-prism scissors mechanism 4 to drive it to perform telescopic movement along the axial direction, and the other end of the three-prism scissors mechanism 4 is connected with the gimbal 5 or the adaptive gripper 2 of the upper part.

[0036] As shown in the figure, Figure 4 The three-prism scissors mechanism 4 comprises three groups of scissors units symmetrically distributed along the circumferential direction, and the end portions of the three groups of scissors units are hingedly connected with the connecting pieces 28 through the rods 29 to realize the connection of the three groups of scissors units with each other and form a three-prism type space truss structure. The cam driving mechanism 3 comprises a rotating tray 30 and a cam guide rail driving disc 31 arranged thereon, the bottom of the rotating tray 30 is connected with the adaptive gripper 2 of the upper part, the steering engine in the rotating tray 30 drives the cam guide rail driving disc 31 to rotate, the connecting piece 28 at one end portion of the scissors unit is provided with a pin shaft, the pin shaft is matched with the guide rail on the cam guide rail driving disc 31, so as to drive the pin shaft to move along the guide rail through the rotation of the cam guide rail driving disc 31, thereby realizing the overall telescopic movement of the three-prism scissors mechanism 4; this design can realize the axial high telescopic ratio and rapid telescopic movement of the three-prism scissors mechanism 4, and at the same time provide the axial bearing capacity and torsional stiffness to offset the reaction force generated by the scissors module 1 during operation.

[0037] As shown in the figure, Figure 5As shown, the holder 5 comprises two base plates 20 arranged oppositely, two small herringbone gears 19, 25, two large herringbone gears 21, 27, and a square frame 22, a bevel gear 23, a cylindrical bevel gear 24, and a rotating rod 26. The steering engine drives the two small herringbone gears 19, 25 to rotate by being installed on the two base plates 20. The two small herringbone gears 19, 25 are in meshing transmission with the two large herringbone gears 21, 27, respectively. The square frame 22 is arranged between the two large herringbone gears 21, 27. The rotating rod 26 penetrates through the square frame 22 and is connected with the two large herringbone gears 21, 27 on both sides. The bevel gear 23 is rotatably connected with the lower part of the square frame 22 and is in meshing with the two large herringbone gears 21, 27 on both sides. The cylindrical bevel gear 24 is rotatably connected with the upper part of the square frame 22 and is in meshing with the two large herringbone gears 21, 27 on both sides. Thus, by controlling the same direction or opposite direction rotation of the two small herringbone gears 19, 25, the pitching rotation or horizontal rotation of the cylindrical bevel gear 24 is realized. The cylindrical bevel gear 24 is connected with a tray 18 on the upside. The tray 18 is provided with a cam guide rail disc 17. The pin shaft on the connecting piece 28 of the other end of the scissors unit cooperates with the guide rail on the cam guide rail disc 17. Through the attitude adjustment of the holder 5, the tree climbing robot can bypass the blockage of the bifurcated branches or establish a connecting point between the trunk and the side branches to realize the cross-branch movement.

[0038] As shown in the figure, Figures 6-8 The robot alternately grips the trunk through the adaptive clamps 2 on the upper and lower parts and realizes the climbing along the trunk through the extension and retraction movement of the telescopic mechanism. The scissors module 1 can be positioned to the target branch through the attitude adjustment of the holder 5 and the extension and retraction movement of the telescopic mechanism and can perform the pruning and picking work.

[0039] The adaptive gripping function of the tree climbing and picking robot provided by the application is realized through the adaptive clamps 2. The steering engine 9 is fixed on the clamp base and drives the first gear 10 to rotate. The power is transmitted to the third gear 13 through the second gear 11. The rotation of the third gear 13 drives the clamp fingers 6 to open and close around the axis. The inside of each clamp finger 6 is provided with an elastic plate 14 and a toothed structure 15. The toothed structure 15 is integrated with an array of micro hooks 16. When the clamp is closed, the elastic plate 14 deforms under the radial pressure, so that the fingers can completely envelope the trunk profile of different diameters. At the same time, the micro hooks 16 are embedded in the bark layer, and the mechanical embedding force ensures the static residence stability of the robot during the high-altitude operation.

[0040] The climbing and telescoping power of the present application is provided by the three-prism scissors mechanism 4 and the cam driving mechanism 3 when climbing the trunk. The cam driving mechanism 3 is internally provided with a cam rail driving disc 31, the surface of which has a cam rail with a specific track. When the steering wheel drives the cam rail driving disc 31 to rotate, the pin shaft at the bottom of the connecting piece 28 moves along the rail, thereby forcing the space three-prism truss composed of multiple groups of rod pieces 29 and connecting pieces 28 to expand or contract in the axial direction. Due to the geometric characteristics of the three-prism structure, the mechanism can still maintain very high axial bearing capacity and torsional stiffness in the fully expanded state, effectively resisting the reaction force generated during picking, preventing the scissors module 1 from shaking, and achieving fast and high telescoping ratio.

[0041] When performing complex branch obstacle avoidance, the robot integrates a gimbal 5 that can realize multi-degree-of-freedom attitude adjustment between the main body structure. The gimbal is driven by a complex gear train: the steering wheel drives the small bevel gears 19, 25, which in turn drive the large bevel gears 21, 27, which are transmitted by the meshing of bevel gears 23 and cylindrical bevel gears 24, and cooperate with the square frame 22 and the rotating rod 26 to realize the operation of the gimbal 5. When the small bevel gears 19, 25 rotate at the same speed in the same direction, the tray 18 realizes pitching rotation; when the small bevel gears 19, 25 rotate in opposite directions, the tray 18 realizes horizontal rotation. Through the connection of the rotating tray 30 and the scissors mechanism, the gimbal can adjust the pointing direction of the upper adaptive gripper 2, so that the robot can bypass the bifurcated branches, or establish a connection point between different branches, and realize complex branch navigation.

[0042] When performing positioning pruning operations, the present application can drive different attitude adjustments of the gimbal 5 through different rotation modes of the small bevel gears 19, 25, so as to realize the pointing of the three-prism scissors mechanism 4 in different directions, and then adjust the telescoping length and speed of the three-prism scissors mechanism 4 through the cam rail driving disc 31, so as to realize the accurate positioning of the pruning target, and then drive the scissors module 1 through the steering wheel to realize the pruning of the pruning target.

[0043] Through the micro-embedding technology of the adaptive gripper, the high-rigidity telescoping of the three-prism space scissors, and the flexible pointing of the multi-degree-of-freedom gimbal, the present application solves the technical pain points of traditional tree climbing robots, such as easy to slip when facing irregular trunks, insufficient rigidity during long-stroke operation, and lack of branch-crossing ability, and significantly improves the automation level and safety of forestry picking operations.

[0044] The above merely describes preferred embodiments of the present application, but does not limit the present application in other forms, and any skilled person in the art can modify or change the above disclosed technical content into equivalent embodiments with equivalent changes. However, any simple modification, equivalent change and modification made on the above embodiments without departing from the technical solution content of the present application and according to the technical essence of the present application still belongs to the protection scope of the technical solution of the present application.

Claims

1. A tree-climbing harvesting robot with branch-crossing and adaptive gripping functions, characterized in that, The robot includes a scissor module (1), an adaptive gripper (2), a telescopic mechanism, and a gimbal (5). The scissor module (1) is located on the upper part of the tree-climbing harvesting robot and is used to prune the target to be pruned in order to achieve harvesting operations. The upper and lower parts of the tree-climbing harvesting robot are equipped with adaptive grippers (2) for adaptively gripping the tree trunk by opening and closing the adaptive grippers (2). The telescopic mechanism is used to realize the axial extension and retraction of the tree-climbing harvesting robot. The upper end of the telescopic mechanism is connected to the upper adaptive gripper (2), and the lower end of the telescopic mechanism is connected to the lower adaptive gripper (2) through the gimbal (5) so as to change the relative angle between the upper and lower adaptive grippers (2) through the gimbal (5) to realize the posture adjustment of the tree-climbing harvesting robot. Through the cooperation of the adaptive gripper (2), the telescopic mechanism, and the gimbal (5), the tree-climbing harvesting robot can climb along the tree trunk, cross multiple branches, and adjust the end operation posture.

2. The tree-climbing and harvesting robot with branch-crossing and adaptive gripping functions according to claim 1, characterized in that, The adaptive gripper (2) includes two gripper fingers (6) arranged opposite to each other and a driving unit. The driving unit is used to drive the two gripper fingers (6) to open and close. An elastic plate (14) is provided at the front end of the gripper fingers (6). A toothed structure (15) is arranged in an array along the length direction on the inner side of the elastic plate (14). When the driving unit drives the two gripper fingers (6) to close, it simultaneously drives the elastic plate (14) to deform to envelop the trunk outline and, in combination with the toothed structure (15), adaptively and reliably grips the trunk.

3. The tree-climbing and harvesting robot with branch-crossing and adaptive gripping functions according to claim 2, characterized in that, The drive unit includes a bracket, a servo motor (9), a first gear (10), a second gear (11), and a third gear (13). The servo motor (9) is mounted on the bracket. The servo motor (9) drives the first gear (10) to rotate and drives the third gear (13) to rotate through the second gear (11). The rear ends of the two gripper fingers (6) are rotatably connected to the bracket. Pull ropes are wound around the central shafts of the second gear and the third gear (13). The two pull ropes pass through the toothed structures (15) arranged in the inner side of the corresponding elastic plates (14) and are connected to the front end of the elastic plates (14). When the pull rope is wound up, the two gripper fingers (6) are driven to rotate and pull the elastic plates (14) to deform. When the pull rope is unwound, the two gripper fingers (6) are reversed and opened, and the elastic plates (14) are restored to their original shape.

4. The tree-climbing and harvesting robot with branch-crossing and adaptive gripping functions according to claim 2, characterized in that, The toothed structure (15) is arrayed with micro-hooks (16) for embedding into the bark layer under pressure to provide mechanical interlocking force.

5. The tree-climbing and harvesting robot with branch-crossing and adaptive gripping functions according to claim 1, characterized in that, The telescopic mechanism includes a cam drive mechanism (3) and a triangular prism scissor mechanism (4). The bottom of the cam drive mechanism (3) is connected to the upper adaptive gripper (2) or gimbal (5). The cam drive mechanism (3) is connected to one end of the triangular prism scissor mechanism (4) to drive it to telescopically move along the axial direction. The other end of the triangular prism scissor mechanism (4) is connected to the gimbal (5) or the upper adaptive gripper (2).

6. The tree-climbing and harvesting robot with branch-crossing and adaptive gripping functions according to claim 5, characterized in that, The triangular prism scissor mechanism (4) includes three sets of scissor units symmetrically distributed along the circumference. The ends of the three sets of scissor units are hinged to the connector (28) through rods (29) to realize the connection between the three sets of scissor units and form a triangular prism-shaped space truss structure.

7. The tree-climbing and harvesting robot with branch-crossing and adaptive gripping functions according to claim 6, characterized in that, The cam drive mechanism (3) includes a rotating tray (30) and a cam guide drive disk (31) disposed thereon. The bottom of the rotating tray (30) is connected to the upper adaptive gripper (2). The servo in the rotating tray (30) drives the cam guide drive disk (31) to rotate. A pin is provided on the connector (28) at one end of the scissor unit. The pin cooperates with the guide rail on the cam guide drive disk (31) so that the pin moves along the guide rail through the rotation of the cam guide drive disk (31), thereby realizing the overall extension and retraction of the triangular prism scissor mechanism (4).

8. The tree-climbing and harvesting robot with branch-crossing and adaptive gripping functions according to claim 7, characterized in that, The gimbal (5) includes two opposing base plates (20), two small herringbone gears (19, 25), two large herringbone gears (21, 27), a square frame (22), a bevel gear (23), a cylindrical bevel gear (24), and a rotating rod (26). Servo motors mounted on the two base plates (20) drive the two small herringbone gears (19, 25) to rotate. The two small herringbone gears (19, 25) mesh with the two large herringbone gears (21, 27) respectively. The square frame (22) is positioned between the two large herringbone gears (21, 27). The rotating rod (26) passes through the square frame (22) and connects to the two large herringbone gears (21, 27) on both sides. The bevel gear (23) is rotatably connected to the lower part of the square frame (22). The cylindrical bevel gear (24) meshes with the two large herringbone gears (21, 27) on both sides. It is rotatably connected to the upper part of the square frame (22) and meshes with the two large herringbone gears (21, 27) on both sides. By controlling the rotation of the two small herringbone gears (19, 25) in the same or opposite directions, the cylindrical bevel gear (24) can be pitched or rotated horizontally. The cylindrical bevel gear (24) is connected to a tray (18) on the upper side. A cam guide rail disk (17) is provided on the tray (18). The pin on the connector (28) at the other end of the scissor unit cooperates with the guide rail on the cam guide rail disk (17). Through the attitude adjustment of the gimbal (5), the tree climbing robot can bypass the obstruction of the branch trunk or establish a connection point between the trunk and the side branches to achieve cross-branch movement.

9. The tree-climbing and harvesting robot with branch-crossing and adaptive gripping functions according to claim 1, characterized in that, The robot uses its upper and lower adaptive grippers (2) to alternately grasp the tree trunk and, in conjunction with the telescopic movement of the telescopic mechanism, achieves climbing along the tree trunk.

10. The tree-climbing and harvesting robot with branch-crossing and adaptive gripping functions according to claim 1, characterized in that, The scissor module (1) can be positioned on the target branch and perform pruning and harvesting operations by adjusting the posture of the gimbal (5) and extending and retracting the telescopic mechanism.

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