Tree-climbing pruning robot

Abstract

The utility model provides a tree-climbing pruning robot, including the tree-climbing mechanism, the tree-climbing mechanism includes four drive motors, four road wheels, two motor fixing rods, two telescopic rods and four hinges, each drive motor drives one road wheel to rotate, the road wheels are arranged inclined to the horizontal plane, and the four hinges are connected with the four drive motors. Every two driving motors are fixed to the inner side of one motor fixing rod, the two motor fixing rods are arranged in parallel, the two motor fixing rods and the two telescopic rods form a rectangle, and the adjacent motor fixing rods and telescopic rods are connected through the hinges. The side turning condition in the pruning process can be effectively prevented.

Description

Technical Field

[0001] The utility model relates to the technical field of branch pruning robots, in particular to a tree climbing and branch pruning robot. Background Art

[0002] The branches of fir trees are dense, and a large number of knots are easily formed in the wood (that is, many small branches grow on the trunk). After cutting these branches, scars will be left on the trunk. These knots and scars will affect the quality and price of fir wood. The taller the fir tree is, the more difficult it is to prune it manually, and the greater the labor intensity. The current fir tree climbing and pruning robots mainly adopt crawler-type ascending, drone flight, spiral ascending and other forms. This application mainly improves the spiral ascending tree climbing and pruning robot.

[0003] The existing fir tree climbing and pruning robots mainly have the following problems:

[0004] 1. Compared with smooth poles, the surface of fir trees has a lot of uneven spots such as knots and tumors. When the driving wheel passes through these uneven surfaces, it is easy to cause side slip. Side slip will not only reduce the climbing efficiency, but also in extreme cases, it may cause the pruning machine to roll over and be unable to continue climbing, thus limiting its working range;

[0005] 2. The position of the running wheels on the same side of the frame is fixed, which means that when the pruning machine is fixed on fir trees of different diameters, one wheel may deviate from the trunk, eventually causing the whole machine to tip over. This deviation will not only reduce the climbing ability, but also increase the instability of the machine, further affecting the climbing efficiency. In actual pruning operations, since the diameters of fir trees vary, the probability of this problem occurring may be high;

[0006] 3. As the selected pruning mechanism, the chain saw needs to be as close to the bark as possible during the pruning process to form a flat cut. However, due to the limitations of the chain saw's shell, baffle and other structures, the chain cannot be close to the bark, which may affect the pruning effect and quality;

[0007] In summary, it is necessary to optimize and improve the structure of the pruning machine to meet actual pruning needs. Utility Model Content

[0008] The technical problem to be solved by the utility model is to provide a tree climbing and pruning robot, by setting a hinge, the tree climbing mechanism has a self-adjusting ability, the tree climbing mechanism can automatically adjust to a state where all four running wheels are in contact with the tree trunk, thereby effectively preventing side slip and rollover.

[0009] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0010] A tree climbing and pruning robot comprises a tree climbing mechanism, wherein the tree climbing mechanism comprises four drive motors, four walking wheels, two motor fixing rods, two telescopic rods and four hinges, each of the drive motors drives one of the walking wheels to rotate, the walking wheels are arranged obliquely to a horizontal plane, every two of the drive motors are fixed on the inner side of one of the motor fixing rods, the two motor fixing rods are arranged in parallel, the two motor fixing rods and the two telescopic rods form a rectangle, and the adjacent motor fixing rods are connected to the telescopic rods by the hinges.

[0011] Furthermore, the tree climbing mechanism also includes a motor mounting plate, the drive motor is fixed on the motor mounting plate, the motor mounting plate is fixed on the motor fixing rod, and the motor mounting plate is provided with inner circle mounting holes and outer circle mounting holes arranged in a concentric circular array to adjust the installation angle of the drive motor and the walking wheel.

[0012] Furthermore, the tree climbing mechanism also includes a vertical fixing rod, the motor mounting plate is fixed on the vertical fixing rod, and the vertical fixing rod is fixed on the inner side of the motor fixing rod.

[0013] Furthermore, the telescopic rod includes a telescopic inner rod and a telescopic outer rod, the telescopic inner rod is slidably inserted into the telescopic outer rod, and the telescopic inner rod and the telescopic outer rod are provided with a plurality of equidistant screw mounting holes, and the screws are threadedly connected with nuts after passing through the screw mounting holes.

[0014] Furthermore, it also includes an anti-rollover wheel adjustment mechanism, which includes two anti-rollover wheels and an anti-rollover wheel mounting assembly, the anti-rollover wheel is mounted on the anti-rollover wheel mounting assembly, one of the anti-rollover wheel mounting assemblies is fixed on the inner side surface of one of the telescopic rods, the anti-rollover wheel is arranged to be inclined to the horizontal plane, the angle between the anti-rollover wheel and the horizontal plane is equal to the angle between the walking wheel and the horizontal plane, and the anti-rollover wheel mounting assembly can also adjust the distance between the two anti-rollover wheels.

[0015] Furthermore, the anti-rollover wheel mounting assembly includes a U-shaped frame, and a linear groove perpendicular to the telescopic rod is opened on the two side plates of the U-shaped frame. The two ends of the anti-rollover wheel are fixed in the linear groove of the U-shaped frame, and the distance of the anti-rollover wheel relative to the center of the trunk can be adjusted in the linear groove.

[0016] Furthermore, the anti-rollover wheel mounting assembly also includes a mounting plate having rotation adjustment mounting holes arranged in a circular array, and a fixing plate for fixing the mounting plate, wherein the fixing plate is fixedly mounted on the telescopic rod, and the U-shaped frame is fixed on the rotation adjustment mounting holes of the mounting plate to adjust the inclination angle of the anti-rollover wheel to be consistent with the inclination angle of the walking wheel.

[0017] Furthermore, a second linear groove parallel to the telescopic rod is formed on the fixing plate, and the mounting plate is fixedly mounted to the second linear groove via the rotation adjustment mounting hole.

[0018] Furthermore, it also includes an electric pruning mechanism, which includes a chain saw control component, a chain saw guide plate, a chain saw and a ball assembly, the chain saw control component is installed on one of the motor fixing rods, the chain saw guide plate is vertically installed on the inner side of the chain saw control component, the chain saw surrounds the circumference of the chain saw guide plate, the ball assembly is installed on the chain saw guide plate, and a universal ball is spherically rotatably arranged on the inner side of the ball assembly to control the distance between the chain saw and the tree trunk.

[0019] Furthermore, the ball assembly also includes a stud and a fixing nut. The stud is inserted into the chain saw, and a fixing nut is screwed on both sides of the stud. The universal ball is spherically rotatably arranged on the inner end of the stud.

[0020] The beneficial effect of the utility model is that a hinge is arranged at each of the four connection positions of the rectangular structure composed of two motor fixing rods and two telescopic rods, so that the pruning robot has the ability to adaptively adjust its posture during the spiral ascent, that is, when crawling, if the rectangular structure tilts sideways due to uneven force on the motor fixing rods and the telescopic rods, and some running wheels are tilted and not in contact with the tree trunk, at this time, under the adjustment action of the four hinges, the four running wheels can be quickly adjusted to the position in contact with the tree trunk, thereby effectively preventing the phenomenon of side slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A three-dimensional diagram of a tree climbing and pruning robot according to an embodiment of the utility model;

[0022] Figure 2 It is a side view of the electric pruning mechanism of the embodiment of the utility model;

[0023] Figure 3 It is a three-dimensional diagram of the motor mounting plate according to an embodiment of the utility model.

[0024] Description of labels:

[0025] 11. Driving motor; 12. Traveling wheel; 13. Motor fixing rod; 14. Telescopic rod; 15. Hinge; 16. Motor mounting plate; 17. Vertical fixing rod;

[0026] 21. Anti-rollover wheel; 22. U-shaped frame; 23. Mounting plate; 24. Fixing plate;

[0027] 31. Chain saw control assembly; 32. Chain saw guide plate; 33. Chain saw; 34. Universal ball bearing; 35. Stud; 36. Fixing nut;

[0028] 41. Electric control box; 42. Install support rod;

[0029] 16-1, inner ring mounting hole; 16-2, outer ring mounting hole;

[0030] 14-1, telescopic inner rod; 14-2, telescopic outer rod; 14-3, screw mounting hole;

[0031] 22-1, linear slot one;

[0032] 23-1. Rotate and adjust the mounting hole;

[0033] 24-1, linear slot 2. DETAILED DESCRIPTION

[0034] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0035] Please refer to Figures 1 to 3 , the embodiments provided by the utility model are:

[0036] A tree climbing and pruning robot has a tree climbing function and includes a tree climbing mechanism. The tree climbing mechanism includes four drive motors 11, four walking wheels 12, two motor fixing rods 13, two telescopic rods 14 and four hinges 15. Each of the drive motors 11 drives one of the walking wheels 12 to rotate. The walking wheels 12 are arranged to be inclined to a horizontal plane. The four walking wheels 12 have the same inclination angle. Each walking wheel 12 is independently controlled to rotate by a drive motor 11. The four walking wheels 12 cooperate to enable the tree climbing and pruning robot to move upward in a spiral climbing manner. Similarly, the four walking wheels descend along the tree trunk in a spiral descending manner.

[0037] The specific structure is as follows: every two driving motors 11 are fixed on the inner side of one motor fixing rod 13 (the side facing the tree trunk). During initial installation, the two motor fixing rods 13 are arranged in parallel, and the two motor fixing rods 13 and the two telescopic rods 14 form a rectangular structure, and the adjacent motor fixing rods 13 and the telescopic rods 14 are connected by the hinge 15. That is, every two running wheels 12 are fixed on the inner side of the same motor fixing rod 13, and the two motor fixing rods 13 and the two telescopic rods 14 form a rectangular frame structure. During installation, the distance between the two motor fixing rods 13 is adjusted by the telescopic rod 14 until the four running wheels 12 are all against the tree trunk, and the tree trunk is located at the center of the four running wheels 12.

[0038] The process of the tree climbing and pruning robot performing adaptive posture adjustment is as follows: after initially placing the tree trunk at the center of the four running wheels 12, the hands are released, and the pruning robot will tilt slightly under the action of its own gravity. At this time, the four running wheels are in full contact with the tree trunk and the positive pressure (the force perpendicular to the surface of the trunk) of the pruning robot on the tree trunk is relatively large, and the drive motor 11 is started, and the drive motor 11 drives the running wheels 12 to rotate, and the pruning robot begins to climb up in a spiral along the tree trunk; at the beginning of climbing, under the action of the inclined spiral climbing of the running wheels of the pruning robot, the pruning robot tilts, and one of the running wheels cannot contact the tree trunk. At this time, the rectangular frame structure originally projected perpendicular to the tree trunk becomes a diamond frame structure. Under the adaptive angle adjustment of the four hinges, except for the non-contact The walking wheels in other directions of the walking wheels that are close to the trunk will be pushed outward by the trunk, and the walking wheels that cannot contact the trunk will be pulled toward the trunk, thereby adjusting the four walking wheels to a state where all are in contact with the trunk. At this time, the diamond frame structure perpendicular to the trunk projection turns back into a rectangular frame structure, and the pruning robot continues to climb upward in this posture; as the pruning robot continues to spiral up, if one of the walking wheels cannot contact the trunk, the pruning robot will also quickly adjust to a state where all four walking wheels are in contact with the trunk under the action of the adaptive angle adjustment of the hinge; on the same trunk, the higher it climbs, the thinner the trunk becomes, and the thinner the trunk, the greater the angle at which the pruning robot itself tilts, but this does not affect the pruning robot's adjustment of its own posture to a state where all four walking wheels are in contact with the trunk. Therefore, the pruning robot of the present application improves the fit between the pruning robot and the tree trunk, can effectively prevent the pruning robot from slipping sideways during crawling, ensures the obstacle surmounting ability, improves the accuracy and efficiency of climbing movement, and can adapt to different diameters on the same tree trunk, with stable operating performance and good results.

[0039] Preferably, the walking wheels 12 are rubber wheels, which have good friction with the tree trunk, so that the pruning robot has good crawling motion stability.

[0040] Furthermore, in order to facilitate the installation of the drive motor 11 and the adjustment of the angle, the tree climbing mechanism also includes a motor mounting plate 16, the drive motor 11 is fixed on the motor mounting plate 16, the motor mounting plate 16 is fixed on the motor fixing rod 13, and the motor mounting plate 16 is provided with inner circle mounting holes 16-1 and outer circle mounting holes 16-2 arranged in a concentric circular array to adjust the installation angle of the drive motor 11, which is also convenient at the operation site, and can quickly and accurately adjust the angles of the four walking wheels 12 to a uniform angle, and the operation is convenient. When the installation angle of the drive motor 11 changes, the circumferential speed and climbing speed ratio of the pruning robot climbing the tree changes. According to the thickness and number of branches that need to be pruned on the trunk, the appropriate circumferential speed and climbing speed ratio are selected to facilitate the accuracy of the on-site operation.

[0041] Furthermore, in order to make the walking wheel 12 at a suitable installation height, the tree climbing mechanism also includes a vertical fixing rod 17, the motor mounting plate 16 is fixed on the vertical fixing rod 17, the vertical fixing rod 17 is fixed on the inner side of the motor fixing rod 13, and the vertical fixing rod 17 extends below the motor fixing rod 13, so that the walking wheel 12 is at a lower height of the pruning robot and close to the center of gravity height of the pruning robot, further preventing side slipping.

[0042] For details on the structure of the telescopic rod 14, please refer to Figure 1 The telescopic rod 14 includes a telescopic inner rod 14-1 and a telescopic outer rod 14-2. The telescopic inner rod 14-1 is slidably inserted into the telescopic outer rod 14-2. The telescopic inner rod 14-1 and the telescopic outer rod 14-2 are provided with a plurality of equidistant screw mounting holes 14-3. In order to facilitate the installation of the pruning robot on the tree trunk, the telescopic inner rod 14-1 and the telescopic outer rod 14-2 are separated before installation. At this time, one motor fixing rod 13 is connected to the two telescopic inner rods 14-1 by a hinge 15 and forms a U-shaped structure. The other motor fixing rod 13 is connected to the two telescopic outer rods 14-2 by a hinge. The chain 15 is connected and forms a U-shaped structure 2. The U-shaped structure 1 and the U-shaped structure 2 are respectively located on both sides of the trunk and make relative movement during installation. The telescopic inner rod 14-1 is inserted into the telescopic outer rod 14-2. After adjusting the relative position between the telescopic inner rod 14-1 and the telescopic outer rod 14-2, screws are passed through the screw mounting holes 14-3 on the telescopic inner rod 14-1 and the telescopic outer rod 14-2 at the same time and then screwed with nuts to place the trunk at the center position of the initial installation of the four walking wheels 12, which is equivalent to adjusting the position between the four walking wheels 12 and the trunk in the horizontal plane perpendicular to the direction of the motor fixing rod 13.

[0043] Specifically, the hinge 15 is a damping hinge, so that the angle of the telescopic rod 14 relative to the motor fixing rod 13 can be fixed without being affected by external forces, so that the flexibility of the hinge itself is reduced during installation, which is convenient for installation.

[0044] Specifically, the telescopic inner rod 14 - 1 and the telescopic outer rod 14 - 2 are tubular structures or rod-shaped structures.

[0045] Furthermore, in order to make the tree climbing performance of the pruning robot more stable and less likely to roll over, it also includes an anti-rollover wheel adjustment mechanism, the anti-rollover wheel adjustment mechanism includes two anti-rollover wheels 21 and an anti-rollover wheel mounting assembly, the anti-rollover wheel 21 is installed on the anti-rollover wheel mounting assembly, one of the anti-rollover wheel mounting assemblies is fixed on the inner side surface (the surface facing the tree trunk) of one of the telescopic rods 14, the anti-rollover wheel 21 is arranged inclined to the horizontal plane, the angle between the anti-rollover wheel 21 and the horizontal plane is equal to the angle between the walking wheel 12 and the horizontal plane, and the anti-rollover wheel mounting assembly can also adjust the spacing between the two anti-rollover wheels 21 to adapt to pruning fir trees with different breast diameters. The inclination angle of the anti-rollover wheel 21 is the same as that of the traveling wheel 12. When the traveling wheel 12 rotates, the anti-rollover wheel 21 rotates with the traveling wheel 12, and the anti-rollover wheel 21 is always in contact with the tree trunk. This is equivalent to having six oblique lines of four traveling wheels 12 and two anti-rollover wheels 21 in contact with the tree trunk as a whole, thereby further preventing the pruning robot from skidding during the spiral ascent and having good movement stability.

[0046] For the specific structure of the anti-rollover wheel adjustment mechanism, refer to Figure 1 As shown, the anti-rollover wheel installation assembly includes a U-shaped frame 22, and the two side plates of the U-shaped frame 22 are provided with a linear groove 22-1 perpendicular to the telescopic rod 14, and the two ends of the anti-rollover wheel 21 are fixed in the linear groove 22-1 of the U-shaped frame 22. The anti-rollover wheel 21 is fixedly installed by the U-shaped frame 22, and the linear groove 22-1 is used to adjust whether the anti-rollover wheel 21 is in contact with the tree trunk. The structure of the anti-rollover wheel 21 includes a fixed shaft and a cylindrical rod. The center of the anti-rollover wheel 21 has a fixed shaft, and the fixed shaft is rotatably connected to the outside with a cylindrical rod, wherein the cylindrical rod is shorter than the fixed shaft. In order to make the anti-rollover wheel 21 have good follow-up performance, a bearing can be set between the cylindrical rod and the fixed shaft. During installation, the fixed shaft and the linear groove 22-1 on the U-shaped frame 22 are fixedly connected by nuts.

[0047] Further, in order to facilitate the adjustment of the inclination angle of the anti-rollover wheel 21, the anti-rollover wheel mounting assembly further includes a mounting plate 23 with rotation adjustment mounting holes 23-1 arranged in a circumferential array, and a fixing plate 24 for fixing the mounting plate 23, the fixing plate 24 is fixedly mounted on the telescopic rod 14, and the U-shaped frame 22 is fixed on the rotation adjustment mounting holes 23-1 of the mounting plate 23, and the inclination angle of the anti-rollover wheel 21 can be conveniently and quickly adjusted to be consistent with the inclination angle of the running wheel 12 through the rotation adjustment mounting holes 23-1 arranged in a circumferential array. Preferably, the number of the rotation adjustment mounting holes 23-1 is one or two times the number of the outer ring mounting holes 16-2.

[0048] Furthermore, in order to facilitate the adjustment of the position of the anti-rollover wheel 21 parallel to the telescopic rod 14, a second linear groove 24-1 parallel to the telescopic rod 14 is opened on the fixing plate 24, and the mounting plate 23 is fixedly mounted to the second linear groove 24-1 through the rotation adjustment mounting hole 23-1.

[0049] The position of the anti-rollover wheel 21 relative to the center of the trunk is adjusted through the above-mentioned linear groove 1 22-1 and the linear groove 2 24-1. During the specific on-site installation, after the telescopic rod is adjusted and fixed, that is, after the position between the four walking wheels 12 and the trunk is adjusted and fixed, the installation position and angle of the two anti-rollover wheels 21 are adjusted through the linear groove 1 22-1 and the linear groove 2 24-1, and the operation is reasonable and convenient.

[0050] Furthermore, in order to be able to prune branches, an electric pruning mechanism is also included, which includes a chain saw control component 31, a chain saw guide plate 32, a chain saw 33 and a ball assembly. The chain saw control component 31 is installed at the center position of one of the motor fixing rods 13, and the chain saw guide plate 32 is vertically installed on the inner side of the chain saw control component 31. The chain saw 33 surrounds the circumference of the chain saw guide plate 32. In order to make the distance between the chain saw guide plate and the bark as small as possible, a locking nut or a locking disc is used to fix the end of the chain saw guide plate close to the bark, and the locking nut or the locking disc is made as thin as possible. In order to prevent hard friction between the chain saw guide plate and the bark, the ball assembly is installed on the chain saw guide plate 32, and a universal ball 34 is spherically rotatably arranged on the inner side of the ball assembly. In actual use, the universal ball 34 contacts the bark, which not only makes the chain saw 33 closer to the bark, but also avoids the phenomenon that the chain saw guide plate 32 is always in hard friction with the bark during climbing, reduces the damage to the bark by the pruning robot, and better protects the fir bark. After the universal ball 34 is installed, the gap between the chain saw guide plate 32 and the bark is a small gap of about 2 mm, and the length of the scar left on the fir trunk is about 2 mm, which can meet the requirements of fir pruning.

[0051] Furthermore, a spring is provided between the chain saw guide plate 32 and the chain saw control assembly 31, and the chain saw guide plate 32 is pressed toward the tree trunk by the spring, so that the universal ball 34 is always in contact with the bark, and the length of the scar left after the chain saw cuts off the branch can be controlled and is relatively short.

[0052] Specifically, if there is one ball bearing assembly, the ball bearing assembly is installed on the vertical center line of the chain saw guide plate 32 and is located at the upper part of the chain saw guide plate 32 .

[0053] Of course, there can be multiple ball bearing assemblies. Specifically, if there are two ball bearing assemblies, they can be installed on the vertical center line of the chain saw guide plate 32, respectively located at the upper part and the middle part of the chain saw guide plate 32; if there are three ball bearing assemblies, they can be distributed in a triangular layout on the chain saw guide plate 32. There are other examples with multiple ball bearing assemblies, which are not listed here one by one.

[0054] For the specific structure of the ball assembly, see Figure 2 As shown, the ball assembly also includes a stud 35 and a fixing nut 36. The stud 35 is inserted into the chain saw 33. A fixing nut 36 is screwed on both sides of the stud 35. The universal ball 34 is spherically rotatably arranged on the inner end of the stud 35 to achieve a fixed connection between the ball assembly and the chain saw guide plate 32.

[0055] Furthermore, it also includes an electric control component, which includes an electric control box 41, which is installed on another motor fixing rod 13 and is arranged opposite to the electric pruning mechanism, so that after the electric control box 41 is installed, under the action of the gravity of the electric control box 41, the pruning robot tilts, and the motor fixing rod installed with the electric pruning mechanism is higher than the motor fixing rod installed with the electric control box. In order to prevent the pruning robot from tipping over, specifically, after the pruning robot is fixed on the tree trunk, the length of the motor fixing rod 13 is longer than the length of the telescopic rod 14, so that the distance between the two motor fixing rods is as short as possible, so that the pruning robot is less likely to slide sideways, and at the same time, it also provides the space required for the installation and adjustment of the anti-rollover wheel adjustment mechanism.

[0056] The electrical control box 41 is installed with electrical components such as circuit boards, batteries, switches, etc. The electrical components are better protected from the sun and water through the electrical control box 41. The electrical control box also acts as a load to increase the positive pressure applied by the walking wheels to the tree trunk, thereby improving the stability of the pruning robot when walking on the tree trunk.

[0057] Furthermore, in order to make the installation of the electronic control component more stable, the electronic control component also includes two installation support rods 42, and the two installation support rods 42 are perpendicular to the other motor fixing rod 13 and extend to the outside of the other motor fixing rod 13 (the side away from the trunk), and the electronic control box 41 is fixed on the two installation support rods 42.

[0058] Specifically, the working process of the above-mentioned tree climbing and pruning robot is as follows:

[0059] 1. Start and pair: To control the pruning robot through the handheld remote control, the operator first turns on the power of the handheld remote control and the battery switch on the tree climbing and pruning robot. As the circuit board completes the self-check and startup procedures, the handheld remote control will automatically connect and pair with the signal receiver on the circuit board. When the signal lights on the handheld remote control are all on, it indicates that the remote control has successfully established a communication connection with the circuit board and can send control signals to it;

[0060] 2. Installation: Install the fir tree climbing pruning machine on the target fir tree, adjust the length of the telescopic rod 14 and the position of the anti-rollover wheel adjustment mechanism, ensure that the four running wheels 12 and the two anti-rollover wheels 21 fit on the tree trunk, and the inclination angles of the four running wheels 12 and the two anti-rollover wheels 21 are the same, so as to ensure the stability and safety of the pruning robot in subsequent operations;

[0061] 3. Climbing operation: The operator starts the tree climbing mechanism by holding a remote controller. Driven by the drive motor 11, the fir tree climbing and pruning robot starts to move upward in a spiral climbing manner. During the climbing process, the posture is adaptively adjusted through four hinges until all four walking wheels are in contact with the tree trunk.

[0062] 4. Pruning operation: When the pruning robot approaches the first branch to be pruned, the operator will start the electric pruning mechanism in advance through the handheld remote control, so as to avoid the chain saw 33 from contacting the branch when the speed is insufficient, thereby preventing accidents such as branch jamming. As the tree climbing mechanism continues to move, the electric pruning mechanism rises with the spiral and starts to prune the branch;

[0063] 5. Descent and shutdown: When the pruning machine reaches the specified height and completes all required pruning work, the operator will stop the operation of the electric pruning mechanism through the handheld remote control, and then control the drive motor 11 of the tree climbing mechanism to reverse, so that the pruning robot safely returns to the ground in a spiral descent. Finally, the operator shuts down the machine and disconnects the power supply to complete the entire pruning operation.

[0064] In summary, the tree climbing and pruning robot provided by the utility model has the following innovative features:

[0065] 1. For fir trees of different diameters, the hinge 15 is innovatively introduced to achieve adaptive angle adjustment so that all four walking wheels 12 are in contact with the tree trunk, thereby improving the fit between the pruning robot and the tree trunk, effectively preventing side slip and rollover, ensuring obstacle crossing capability, and improving climbing stability and efficiency;

[0066] 2. The anti-rollover wheel adjustment mechanism includes two anti-rollover wheels 21, and the positions of the two anti-rollover wheels 21 are adjustable in two perpendicular directions (a direction parallel to the motor fixing rod 131 and a direction perpendicular to the motor fixing rod 131) of the horizontal plane, and the inclination angles of the two anti-rollover wheels 21 are adjustable, which further prevents the pruning robot from slipping during the spiral ascent, ensures the contact stability between the tree trunk and the anti-rollover wheel 21 and the walking wheel 12, and ensures the stability and reliability of the fir tree climbing pruning machine when climbing trees;

[0067] 3. The ball bearing assembly is used to make the chain saw 33 as close to the bark as possible without damaging the bark, thereby ensuring a very short stump length, avoiding hard friction between the chain saw guide plate 32 and the bark, achieving a flat cut as much as possible after pruning, making the length of the scar as short as possible, and avoiding damage to the bark;

[0068] 4. Due to the different trunk diameters of the same fir tree, the pruning robot has different inclination angles relative to the trunk. However, through four hinges and anti-rollover wheel adjustment mechanisms, the four walking wheels can still be in contact with the trunk, making the pruning robot have strong self-adjustment ability during the climbing process.

[0069] In summary, the utility model successfully solves the problems of side slipping, rollover and wheels being unable to get close to the tree trunk during the spiral ascent of the tree climbing and pruning robot, and improves the stability and adaptability of the pruning robot. At the same time, it also takes into account the protection and waterproofing of electrical components, ensuring that the pruning robot can work normally in harsh environments. These improvement measures will provide better performance and longer service life for the practical application of the fir climbing and pruning robot.

[0070] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent transformations made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical field, are also included in the patent protection scope of the present invention.

Claims

1. A tree climbing and pruning robot, characterized in that: The tree climbing mechanism comprises four drive motors (11), four running wheels (12), two motor fixing rods (13), two telescopic rods (14) and four hinges (15). Each of the drive motors (11) drives one of the running wheels (12) to rotate. The running wheels (12) are arranged to be inclined to a horizontal plane. Every two of the drive motors (11) are fixed on the inner side of one of the motor fixing rods (13). The two motor fixing rods (13) are arranged in parallel. The two motor fixing rods (13) and the two telescopic rods (14) form a rectangle. The adjacent motor fixing rods (13) and the telescopic rods (14) are connected via the hinges (15).

2. The tree climbing and pruning robot according to claim 1, characterized in that: The tree climbing mechanism also includes a motor mounting plate (16), the drive motor (11) is fixed on the motor mounting plate (16), the motor mounting plate (16) is fixed on the motor fixing rod (13), and the motor mounting plate (16) is provided with inner circle mounting holes (16-1) and outer circle mounting holes (16-2) arranged in a concentric circular array to adjust the installation angle of the drive motor (11).

3. The tree climbing and pruning robot according to claim 2, characterized in that: The tree climbing mechanism also includes a vertical fixing rod (17), the motor mounting plate (16) is fixed on the vertical fixing rod (17), and the vertical fixing rod (17) is fixed on the inner side surface of the motor fixing rod (13).

4. The tree climbing and pruning robot according to claim 1, characterized in that: The telescopic rod (14) comprises a telescopic inner rod (14-1) and a telescopic outer rod (14-2); the telescopic inner rod (14-1) is slidably inserted into the telescopic outer rod (14-2); the telescopic inner rod (14-1) and the telescopic outer rod (14-2) are provided with a plurality of equidistant screw mounting holes (14-3); screws pass through the screw mounting holes (14-3) and are screwed to nuts.

5. The tree climbing and pruning robot according to claim 1, characterized in that: The invention also comprises an anti-rollover wheel adjustment mechanism, wherein the anti-rollover wheel adjustment mechanism comprises two anti-rollover wheels (21) and an anti-rollover wheel (21) mounting assembly, wherein the anti-rollover wheel (21) is mounted on the anti-rollover wheel (21) mounting assembly, wherein one anti-rollover wheel (21) mounting assembly is fixed on the inner side surface of one of the telescopic rods (14), wherein the anti-rollover wheel (21) is arranged to be inclined relative to a horizontal plane, wherein the angle between the anti-rollover wheel (21) and the horizontal plane is equal to the angle between the walking wheel (12) and the horizontal plane, and the anti-rollover wheel (21) mounting assembly can also adjust the distance between the two anti-rollover wheels (21).

6. The tree climbing and pruning robot according to claim 5, characterized in that: The anti-rollover wheel (21) installation assembly comprises a U-shaped frame (22), and two side plates of the U-shaped frame (22) are provided with a linear groove (22-1) perpendicular to the telescopic rod (14), and both ends of the anti-rollover wheel (21) are fixed in the linear groove (22-1) of the U-shaped frame (22).

7. The tree climbing and pruning robot according to claim 6, characterized in that: The anti-rollover wheel (21) mounting assembly further comprises a mounting plate (23) provided with rotation adjustment mounting holes (23-1) arranged in a circumferential array, and a fixing plate (24) used to fix the mounting plate (23), wherein the fixing plate (24) is fixedly mounted on the telescopic rod (14), and the U-shaped frame (22) is fixed on the rotation adjustment mounting holes (23-1) of the mounting plate (23).

8. The tree climbing and pruning robot according to claim 7, characterized in that: The fixing plate (24) is provided with a second linear groove (24-1) parallel to the telescopic rod (14), and the mounting plate (23) is fixedly mounted to the second linear groove (24-1) via the rotation adjustment mounting hole (23-1).

9. The tree climbing and pruning robot according to claim 1, characterized in that: The electric pruning mechanism also includes an electric pruning mechanism, which includes a chain saw control component (31), a chain saw guide plate (32), a chain saw (33) and a ball assembly. The chain saw control component (31) is mounted on a motor fixing rod (13). The chain saw guide plate (32) is vertically mounted on the inner side of the chain saw control component (31). The chain saw (33) surrounds the circumference of the chain saw guide plate (32). The ball assembly is mounted on the chain saw guide plate (32). A universal ball (34) is spherically rotatably arranged on the inner side of the ball assembly.

10. The tree climbing and pruning robot according to claim 9, characterized in that: The ball assembly also includes a stud (35) and a fixing nut (36). The stud (35) is inserted into the chain saw (33). A fixing nut (36) is screwed on both sides of the stud (35). The universal ball (34) is spherically rotatably arranged on the inner side end of the stud (35).

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