Tree-climbing pruning robot

Abstract

The utility model relates to the technical field of forestry maintenance, and discloses a tree-climbing pruning robot which comprises a supporting mechanism, the supporting mechanism comprises a machine box internally provided with a storage battery and a control module, the two sides of the machine box are each provided with a positioning connecting rod, and the whole machine box is in a clamping ring shape with a notch and is used for surrounding a tree; the tree climbing machine further comprises three tree climbing mechanisms, each tree climbing mechanism comprises a driving box with a driving shaft, the driving boxes are connected to the surface of the machine box and the ends of the two position adjusting connecting rods respectively, and the driving shafts of the driving boxes are sleeved with crawler belts attached to the surfaces of trees. The pruning device further comprises a pruning mechanism which is arranged at the top end of the driving box and used for pruning trees, the tree climbing mechanism can be attached to the surfaces of the trees and is matched with the crawler belt to move to drive the device body to move upwards, and therefore the pruning mechanism climbs the trees to the proper positions to prune branches. Manual tree climbing operation is avoided, and the safety of the pruning process is improved.

Description

Technical Field

[0001] This utility model relates to the field of forestry maintenance technology, specifically to a tree-climbing and pruning robot. Background Technology

[0002] With the acceleration of global urbanization, urban green areas are increasing year by year. As an important part of the urban ecosystem, trees not only beautify the urban environment, but also help improve air quality, reduce noise, provide shade, and promote biodiversity.

[0003] As the number of trees increases, the difficulty and cost of their maintenance and management also rise. Traditional tree pruning operations mostly rely on manual labor, which is not only labor-intensive and inefficient, but also poses a high safety risk. Workers operating mechanical equipment at high altitudes to prune branches are prone to falling accidents, threatening their lives. Therefore, there is an urgent need for a tree-climbing and pruning robot to solve the above problems. Utility Model Content

[0004] In order to overcome the above-mentioned technical problems, the purpose of this utility model is to provide a tree climbing and pruning robot to solve the problem mentioned in the background art that as the number of trees increases, the difficulty and cost of their maintenance and management also increase. Traditional tree pruning operations mostly rely on manual labor, which is not only labor-intensive and inefficient, but also poses a high safety risk. When workers operate mechanical equipment at high altitudes to prune branches, they are very likely to fall and threaten their lives.

[0005] This utility model provides the following technical solution: a tree climbing and pruning robot, including a support mechanism, the support mechanism including a chassis with a battery and a control module inside, and adjustment linkages on both sides of the chassis, the whole being in the shape of a notched clamping ring for hugging trees;

[0006] It also includes tree climbing mechanisms, of which there are three. The tree climbing mechanism includes a drive box with a drive shaft, which is connected to the surface of the chassis and the ends of two adjustment linkages respectively. The drive shaft of the drive box is fitted with a track that is in contact with the surface of the tree.

[0007] It also includes a pruning mechanism, located on top of the drive box, for pruning trees.

[0008] To achieve the above technical solution, a tree-climbing mechanism can be attached to the surface of the tree and move with the track to move the machine body upward, so that the pruning mechanism can climb the tree to a suitable position and prune the branches. Compared with the existing technology, this device can move up and down along the trunk quickly, avoiding manual tree climbing and improving the safety of the pruning process.

[0009] As a further improvement to this utility model, a positioning hydraulic rod is hinged at the center line of the Z-axis of the chassis, and the extension rod of the positioning hydraulic rod is hinged to the positioning connecting rod.

[0010] To achieve the above technical solution, an independent adjusting hydraulic rod is used to drive different adjusting links, thereby changing the end position of the adjusting link, which is suitable for trees of different widths.

[0011] As a further improvement to this utility model, the chassis is V-shaped, and both ends of the V-shape are movably connected to the adjustment linkage by a rotating shaft.

[0012] The above technical solution improves the stability between the chassis and the adjustment linkage.

[0013] As a further improvement to this utility model, the tree climbing mechanism also includes an adjusting rod with a driven bevel gear on its surface, an end of the adjusting rod that is hinged to the adjusting rod, and an electric bevel gear that meshes with the driven bevel gear is connected to the end of the adjusting rod.

[0014] To achieve the above technical solution, radial rotation adjustment is performed, allowing the pruning mechanism to precisely align with the branches and adapt to the natural curvature of the tree trunk.

[0015] As a further improvement to this utility model, the surface of the track is serrated.

[0016] The above technical solution improves the anti-slip effect on tree surfaces and enhances safety when working in rainy weather.

[0017] As a further improvement to this utility model, the trimming mechanism includes a bracket hinged to the top of the drive box, and a main blade driven by a motor is connected to the bracket. A directional hydraulic rod for angle change is hinged between the surface of the bracket and the drive box.

[0018] Implementing the above technical solution facilitates precise cutting of tree branches and trunks.

[0019] As a further improvement to this utility model, auxiliary blades are hinged to the supports on both sides of the main blade, forming a Y-shape with the main blade, and gear sets that mesh with each other are sleeved on the main blade motor drive shaft and the auxiliary blade rotation shaft.

[0020] The above technical solution improves the size of the cutting position and increases cutting efficiency.

[0021] As a further improvement to this utility model, both the main blade and the auxiliary blade are double-layer blade designs.

[0022] The above technical solution ensures the cutting effect and improves the ability to cut tree branches.

[0023] The technical effects and advantages of this utility model are as follows:

[0024] 1. This utility model uses a tree-climbing mechanism that can be attached to the surface of a tree. With the help of the track movement, the machine body moves upward, allowing the pruning mechanism to climb the tree to a suitable position and prune the branches.

[0025] 2. Compared with the prior art, this device can move up and down along the tree trunk quickly, avoiding manual tree climbing and improving the safety of the pruning process. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a top-view perspective view of the overall structure of this utility model.

[0028] Figure 2 This is a bottom-view perspective view of the overall structure of this utility model.

[0029] Figure 3 This is a top-view perspective view of the support mechanism structure of this utility model.

[0030] Figure 4 This is a top-view perspective three-dimensional schematic diagram of the tree-climbing mechanism structure of this utility model in an exploded state.

[0031] Figure 5 This is a top-view perspective view of the pruning mechanism structure of this utility model.

[0032] The names represented by the part numbers in the above diagram are as follows:

[0033] 100. Support mechanism; 110. Chassis; 111. Adjustment linkage; 112. Adjustment hydraulic rod; 200. Tree climbing mechanism; 210. Drive box; 211. Track; 212. Adjustment rod; 213. Electric bevel gear; 300. Pruning mechanism; 310. Bracket; 311. Main blade; 312. Auxiliary blade; 313. Gear set; 314. Directional hydraulic rod; Detailed Implementation

[0034] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0035] Example 1:

[0036] Refer to the attached diagram in the instruction manual. Figure 1-4 This utility model provides a tree-climbing and pruning robot, including a support mechanism 100, the core of which is a chassis 110. The chassis 110 contains a battery and a control module. The battery provides power to the robot's electrical components, while the control module is responsible for the electrical connection and control of the entire robot, ensuring coordinated operation of all components. Adjustment rods 111 are provided on both sides of the chassis 110. The adjustment rods 111 are generally in the shape of a notched clamp. The design enables the robot to hug trees. A positioning hydraulic rod 112 is hinged at the center of the Z-axis of the chassis 110. The extension rod of the positioning hydraulic rod 112 is hinged to the positioning connecting rod 111. When the positioning hydraulic rod 112 is working, it can drive the positioning connecting rod 111 to adjust its position. The chassis 110 is V-shaped, and both ends of the V-shape of the chassis 110 are movably connected to the positioning connecting rod 111 by a rotating shaft, ensuring that the positioning connecting rod 111 can rotate flexibly to adapt to trees of different thicknesses.

[0037] The robot is also equipped with three tree-climbing mechanisms 200, which are key components for realizing the robot's tree-climbing function. Each tree-climbing mechanism 200 includes a drive housing 210 with a drive shaft, which is connected to the surface of the chassis 110 and the ends of two adjusting links 111. The tree-climbing mechanism 200 also includes an adjusting rod 212, which has a driven bevel gear on its surface and is hinged to the end of the adjusting link 111. An electric bevel gear 213 is connected to the end of the adjusting link 111, and the electric bevel gear 213 meshes with the driven bevel gear. When the electric bevel gear 213 is started, it drives the driven bevel gear and the adjusting rod 212 to rotate, thereby causing the drive box 210 to make radial adjustments to adapt to the irregular shape of the tree surface. The drive shaft of the drive box 210 is fitted with a track 211, which is in contact with the tree surface. When the drive shaft rotates, it drives the track 211 to rotate, thereby providing the robot with the power to climb upward. The surface of the track 211 is serrated, which increases the friction between the track 211 and the tree surface and improves the stability of the robot's climbing.

[0038] In actual operation, the chassis 110 and the adjustment linkage 111 are first wrapped around the tree. Then, the adjustment hydraulic rod 112 is activated. The action of the adjustment hydraulic rod 112 will make the three tree climbing mechanisms 200 close to the tree surface, ensuring that the track 211 is in full contact with the tree surface. Next, the drive shaft of the drive box 210 starts to drive the track 211 to rotate. Due to the friction between the track 211 and the tree surface, the robot will move upward along the tree surface. At the same time, the electric bevel gear 213 is activated. Through meshing with the driven bevel gear, it drives the driven bevel gear and the adjustment rod 212 to rotate, so that the drive box 210 is radially adjusted, allowing the robot to better adapt to the shape of the tree and ensure the smooth progress of the climbing process.

[0039] Example 2:

[0040] Refer to the attached diagram in the instruction manual. Figure 5 The difference between this embodiment and the above embodiment is that the pruning mechanism 300 includes a bracket 310 hinged to the top of the drive box 210. A main blade 311 driven by a motor is connected to the bracket 310. The main blade 311 is the main executing component for pruning operations. A directional hydraulic rod 314 is hinged between the surface of the bracket 310 and the drive box 210. The function of the directional hydraulic rod 314 is to change the tilt angle of the bracket 310 to adapt to the pruning needs of branches in different positions and growth directions. Auxiliary blades 312 are hinged to the brackets 310 on both sides of the main blade 311. The main blade 311 and the auxiliary blade 312 together form a Y-shape. This Y-shaped structure design can expand the pruning range and improve pruning efficiency. The main blade 311 motor drive shaft and the auxiliary blade 312 rotation shaft are fitted with meshing gear sets 313. Through the transmission of gear sets 313, the power of the main blade 311 motor can be transmitted to the auxiliary blade 312, realizing the synchronous rotation of the main blade 311 and the auxiliary blade 312. Both the main blade 311 and the auxiliary blade 312 are double-layer blade designs. The double-layer blade design can increase the cutting ability and stability of the blades and cut branches more effectively.

[0041] When pruning is performed, the reversing hydraulic rod 314 is activated first. The reversing hydraulic rod 314 adjusts its own length to drive the support 310 to move, thereby changing the support 310 to a suitable tilt angle. This suitable tilt angle is determined according to the position and growth direction of the branch to be pruned, so as to ensure that the blade can accurately contact the branch.

[0042] Subsequently, the motor of the main blade 311 is started. After the motor starts, the power is transmitted to the gear set 313 through the motor drive shaft. Since the gear set 313 meshes with each other, the rotational power of the main blade 311 is transmitted to the rotational shaft of the auxiliary blade 312, thereby driving the main blade 311 and the auxiliary blade 312 to start at the same time. The main blade 311 and the auxiliary blade 312 rotate at high speed to cut the branches and complete the pruning operation.

[0043] In this specification, the terms "an embodiment," "example," "specific example," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A tree-climbing pruning robot comprising a support mechanism (100) comprising a box (110) containing inside a battery and a control module, characterized in that: The machine case (110) is provided with adjusting connecting rods (111) on both sides, and the whole is in the shape of a split ring for embracing trees; The tree climbing mechanism (200) is provided with a driving box (210) with a driving shaft, and the driving box (210) is connected to the surface of the machine case (110) and the end of the adjusting connecting rod (111) respectively, and the driving shaft of the driving box (210) is sleeved with a caterpillar band (211) adhering to the surface of the tree. The pruning mechanism (300) is arranged on the top end of the driving box (210) for pruning trees.

2. The tree-climbing pruning robot according to claim 1, characterized in that: The machine case (110) is hinged with an adjusting hydraulic rod (112) at the Z-axis center line, and the extending rod of the adjusting hydraulic rod (112) is hinged with the adjusting connecting rod (111).

3. The tree-climbing pruning robot according to claim 2, characterized in that: The machine case (110) is in the shape of V, and the V-shaped two ends of the machine case (110) are hinged with the adjusting connecting rod (111) by a rotating shaft.

4. The tree-climbing pruning robot according to claim 1, characterized in that: The tree climbing mechanism (200) is further provided with an adjusting rod (212) with a driven bevel gear on the surface, which is hinged with the end of the adjusting connecting rod (111), and the end of the adjusting connecting rod (111) is connected with an electric bevel gear (213) engaged with the driven bevel gear.

5. The tree-climbing pruning robot according to claim 4, characterized in that: The surface of the caterpillar band (211) is in the shape of sawtooth.

6. The tree-climbing pruning robot according to claim 1, characterized in that: The pruning mechanism (300) is further provided with a support (310) hinged on the top end of the driving box (210), and the support (310) is connected with a main blade (311) driven by an electric motor, and the surface of the support (310) is hinged with a direction changing hydraulic rod (314) for changing the angle between the support (310) and the driving box (210).

7. The tree-climbing pruning robot according to claim 6, characterized in that: The support (310) on both sides of the main blade (311) is hinged with an auxiliary blade (312) to form a Y shape with the main blade (311), and the rotating shaft of the main blade (311) and the auxiliary blade (312) is sleeved with a gear set (313) engaged with each other.

8. The tree-climbing pruning robot according to claim 7, characterized in that: The main blade (311) and the auxiliary blade (312) are both double-layer blade designs.

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