Cinnamon tree climbing and slicing robot

Abstract

The utility model discloses a kind of cinnamon tree climbing cutting machine robots, it is related to automatic climbing cutting machine technical field.The utility model discloses a kind of cinnamon tree climbing cutting machine robots, it is related to automatic climbing cutting machine technical field.The utility model discloses a kind of cinnamon tree climbing cutting machine robots, it is related to automatic climbing cutting machine technical field.The utility model discloses a kind of cinnamon tree climbing cutting machine robots, it is related to automatic climbing cutting machine technical field.The utility model discloses a kind of cinnamon tree climbing cutting machine robots, it is related to automatic climbing cutting machine technical field.The utility model discloses the cutting and longitudinal cutting of cinnamon tree that can be automatically completed, reduce picking cost, improve production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automatic climbing and cutting machine technology, specifically to a cinnamon tree climbing and cutting robot. Background Technology

[0002] Cinnamon trees are widely planted in my country, with abundant yields, producing tens of thousands of tons of cinnamon annually. However, harvesting and peeling cinnamon remains a challenge. Cinnamon trees mostly grow in mountainous forests, making manual harvesting both difficult and dangerous. Furthermore, due to geographical limitations, large-scale, automated mechanical peeling of cinnamon cannot be achieved; most farmers who cultivate cinnamon trees rely on manual labor or simple tools for peeling.

[0003] Harvesting and peeling cinnamon is a time-consuming and labor-intensive task. The traditional method of harvesting and peeling cinnamon involves cutting down cinnamon trees and transporting them in batches from the forest for peeling, or peeling them directly at heights. This is not only troublesome but also poses safety hazards, requiring a lot of time and labor to peel and process cinnamon by hand.

[0004] Therefore, it is necessary to provide a cinnamon tree climbing and slicing robot that can automatically perform cinnamon tree slicing and longitudinal cutting on cinnamon trees. Utility Model Content

[0005] The main purpose of this invention is to provide a cinnamon tree climbing and cutting robot to solve the problems existing in the prior art.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A cinnamon tree climbing and slicing robot includes a climbing mechanism, a slicing mechanism, and a climbing clamping mechanism, wherein the slicing mechanism and the climbing clamping mechanism are both connected to the climbing mechanism; The climbing mechanism includes two interconnected climbing drive components, each climbing drive component including a fuselage frame, on which a track drive component is mounted. The climbing clamping mechanism includes a pushing component and a rotating clamping component. Both the pushing component and the rotating clamping component are connected to the side wall of the climbing drive component, and the pushing component and the rotating clamping component are connected in a driving connection. The slicing mechanism includes a ring-cutting shell, a slicing gear system, a blade-adjusting gear system, and a longitudinal cutting mechanism. The ring-cutting shell is connected to the bottom end of the climbing drive assembly, the slicing gear system and the blade-adjusting gear system are connected to the ring-cutting shell, and the longitudinal cutting mechanism is connected to the climbing mechanism.

[0007] Furthermore, the two climbing drive components are at an angle of 90° and are fixedly connected by a body connector, and the longitudinal cutting mechanism is connected to the body connector.

[0008] Furthermore, the track drive assembly includes a first reduction motor, pulleys, and a rubber climbing belt. The first reduction motor is used to provide climbing power. Each of the machine frame frames has two pulleys arranged vertically, and the two pulleys are connected by the rubber climbing belt. A battery box is provided on the outside of the machine frame frame for power supply.

[0009] Furthermore, a pulley pressure block is connected at the position where the pulley is installed on the frame. The pulley pressure block is fixed by a pulley screw top plate. The frame is also provided with a double-tooth roller for supporting the rubber climbing belt. An aluminum strip connector is provided on the side of the pulley.

[0010] Furthermore, the pushing assembly includes an electric push rod bracket and an electric push rod. The electric push rod bracket is connected to the machine frame, the electric push rod is fixedly connected to the electric push rod bracket, the free end of the electric push rod is connected to a push rod slide rail, and the rotary clamping assembly is connected to the push rod slide rail.

[0011] Furthermore, the rotary clamping assembly includes a pressure rod frame, one end of which is connected to the push rod slide rail via a slide rod. A cylindrical sleeve is connected to the pressure rod frame via a bolt. A rotary support is connected to the machine frame. The pressure rod frame is rotatably connected to the rotary support via the cylindrical sleeve. A photoelectric sensor bracket and a clamping wheel connector are connected to the end of the pressure rod frame away from the push rod slide rail. A clamping wheel is connected to the clamping wheel connector, and a photoelectric sensor is connected to the photoelectric sensor bracket.

[0012] Furthermore, the longitudinal cutting mechanism includes a push rod support frame, on which an electric push rod is connected, and the free end of the electric push rod is connected to a longitudinal cutting blade via a blade clamp.

[0013] Furthermore, the slicing gear system includes a second drive motor, which is connected to the bottom end of the circumferential shell. The power output end of the second drive motor passes through the circumferential shell and is connected to a drive wheel. A large circumferential gear is also movably connected to the circumferential shell, and the drive wheel is connected to the transmission wheel of the large circumferential gear through a gear set.

[0014] Furthermore, the blade adjusting gear system includes a third drive motor connected to the annular cutting shell. The power output end of the third drive motor is connected to a blade adjusting cylindrical gear. A scribing mounting shaft is rotatably connected to the annular cutting shell. A blade matching cylindrical gear adapted to the blade adjusting cylindrical gear is provided on the scribing mounting shaft. A ratchet is also connected to the scribing mounting shaft below the blade matching cylindrical gear. A pawl is provided on one side of the ratchet. Multiple annular cutting blades are connected to the scribing mounting shaft.

[0015] Furthermore, the blade holder is replaced with a motor mounting base, on which a longitudinal cutting motor is mounted, and the power output end of the longitudinal cutting motor is connected to a saw blade.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This robot can directly cut and longitudinally slice cinnamon trees in a series of continuous operations, eliminating the need for grading and step-by-step processing. This not only significantly improves processing efficiency and solves the drawback of traditional methods that require cutting down the cinnamon tree and peeling the bark, but also, due to its small size and portability, overcomes the limitation of large machines operating in complex terrain. Through precise control, the robot can make precise cuts at different heights on the cinnamon tree, separating the bark from the wood in a single operation and accurately cutting the required length of bark. This integrated operation reduces processing time, lowers harvesting costs, and increases production efficiency. Attached Figure Description

[0017] Figure 1 This is a front view of a cinnamon tree climbing and slicing robot according to the present invention.

[0018] Figure 2 This is a top view of a cinnamon tree climbing and slicing robot according to the present invention.

[0019] Figure 3 This is a bottom view of the cinnamon tree climbing and slicing robot of this utility model.

[0020] Figure 4 This is a perspective view of a cinnamon tree climbing and cutting robot according to the present invention.

[0021] Figure 5 This is a schematic diagram of the climbing mechanism of a cinnamon tree climbing and slicing robot according to the present invention.

[0022] Figure 6 This is a schematic diagram of the climbing and clamping mechanism of a cinnamon tree climbing and cutting robot according to this utility model.

[0023] Figure 7 This is a schematic diagram of the internal structure of the circumferential cutting shell of a cinnamon tree climbing and cutting robot according to this utility model.

[0024] Among them, 1-climbing mechanism; 11-hull frame; 12-track drive assembly; 121-first reduction motor; 122-pulley; 123-rubber climbing belt; 124-pulley pressure block; 125-pulley screw top plate; 126-double toothed roller; 127-aluminum strip connector; 2-slicing mechanism; 21-ring cutting shell; 22-slicing gear system; 221-second drive motor; 222-drive wheel; 223-gear set; 224-ring cutting large gear; 23-cutting gear system; 231-third drive motor; 232-cutting cylindrical gear; 233-slicing blade. Mounting shaft; 234-Tool-matching cylindrical gear; 235-Ratchet; 236-Pawl; 24-Longitudinal cutting mechanism; 241-Push rod support frame; 242-Electric push rod; 243-Blade holder; 244-Longitudinal cutting blade; 3-Climbing clamping mechanism; 31-Push assembly; 311-Electric push rod bracket; 312-Electric push rod; 313-Push rod slide rail; 32-Rotary clamping assembly; 321-Pressure rod frame; 322-Slide rod; 323-Cylindrical sleeve; 324-Rotary support; 325-Clamping wheel connector; 326-Clamping wheel; 4-Body connector; 5-Battery box. Detailed Implementation

[0025] The technical solution of this utility model will be further described below with reference to the accompanying drawings and embodiments.

[0026] Example 1

[0027] Combination Figures 1-7 This utility model provides a cinnamon tree climbing and cutting robot, including a climbing mechanism 1, a cutting mechanism 2 and a climbing clamping mechanism 3, wherein the cutting mechanism 2 and the climbing clamping mechanism 3 are both connected to the climbing mechanism 1.

[0028] The climbing mechanism 1 includes two interconnected climbing drive components. Each climbing drive component includes a fuselage frame 11, on which a track drive component 12 is mounted. In this embodiment, the fuselage frame 11 includes a fuselage top plate, a fuselage side plate, and a fuselage bottom plate that are installed and connected to each other.

[0029] The climbing clamping mechanism 3 includes a pushing component 31 and a rotating clamping component 32. Both the pushing component 31 and the rotating clamping component 32 are connected to the side wall of the climbing drive component, and the pushing component 31 and the rotating clamping component 32 are connected in a transmission manner.

[0030] The slicing mechanism 2 includes a ring-cutting shell 21, a slicing gear system 22, a blade-adjusting gear system 23, and a longitudinal cutting mechanism 24. The ring-cutting shell 21 is connected to the bottom end of the climbing drive assembly. The slicing gear system 22 and the blade-adjusting gear system 23 are connected to the ring-cutting shell 21, and the longitudinal cutting mechanism 24 is connected to the climbing mechanism 1.

[0031] A cinnamon tree climbing and slicing robot also includes a PLC, and the climbing mechanism 1, the slicing mechanism 2 and the climbing clamping mechanism 3 are all electrically connected to the PLC.

[0032] The two climbing drive components are at an angle of 90° and are fixedly connected by a body connector 4, and the longitudinal cutting mechanism 24 is connected to the body connector.

[0033] The track drive assembly 12 includes a first reduction motor 121, pulleys 122, and rubber climbing belts 123. Each of the body frames 11 has two pulleys 122 arranged vertically. The first reduction motor 121 is used to provide climbing power, and the two pulleys 122 are connected by the rubber climbing belts 123. A battery box 5 is provided on the outside of the body frame 11 for power supply.

[0034] A pulley pressure block 124 is also connected at the position where the pulley is installed on the frame 11. The pulley pressure block 124 is fixed by a pulley screw top plate 125. The frame 11 is also provided with a double tooth roller 126 for supporting the rubber climbing belt 123. An aluminum strip connector 127 is provided on the side of the pulley 122 to facilitate the fixing of the pulley 122 and the rubber climbing belt 123.

[0035] The pushing assembly 31 includes an electric push rod bracket 311 and an electric push rod 312. The electric push rod bracket 311 is connected to the body frame 11, and the electric push rod 312 is fixedly connected to the electric push rod bracket 311. The free end of the electric push rod 312 is connected to a push rod slide rail 313, and the rotary clamping assembly 32 is connected to the push rod slide rail 313.

[0036] The rotary clamping assembly 32 includes a pressure rod frame 321. One end of the pressure rod frame 321 is connected to the push rod slide rail 313 via a slide rod 322. A cylindrical sleeve 323 is connected to the pressure rod frame 321 via a plug bolt. A rotary support 324 is connected to the machine frame 11. The pressure rod frame 321 is rotatably connected to the rotary support 324 via the cylindrical sleeve 323. A photoelectric sensor bracket and a clamping wheel connector 325 are connected to the end of the pressure rod frame 321 away from the push rod slide rail 313. A clamping wheel 326 is connected to the clamping wheel connector 325. A photoelectric sensor is connected to the photoelectric sensor bracket.

[0037] The clamping wheel 326 is connected to the electric push rod 312 via the clamping wheel connector 325 and is rotatably hinged to the U-shaped rotating support 324, which is positioned on the outside of the machine frame 11. In use, the relative position of the clamping wheel 326 and the tracks is adjusted by the electric push rod 312, ensuring that the two tracks and the inner surfaces of the clamping wheel 326 are tightly fitted against the tree trunk. This adapts to tree trunks of different diameters. Compared to traditional gripping mechanisms that use robotic arms or similar mechanical structures to effectively grasp trees, this new climbing mechanism is more adaptable and effectively solves the problems of weak load capacity and terrain limitations inherent in traditional climbing mechanisms.

[0038] The climbing clamping mechanism 3 adopts a synchronous belt tensioning design. It uses pulley pressure blocks 124 and pulley screw top plates 125 to adjust the center distance of pulleys 122, thereby adjusting the tension of the rubber climbing belt 123. Double-toothed rollers between the pulleys 122 support the rubber climbing belt 123, ensuring better adhesion to the tree trunk. The climbing clamping mechanism uses an electric push rod 312 as its core, achieving stable contact force between the clamping arm and the tree trunk through constant pressure control, accurately adapting to tree trunks of different diameters. The climbing mechanism 1 employs a dual-motor driven, dual-track structure to conform to the irregular surface of the tree trunk; simultaneously, it utilizes a lightweight track design to reduce the machine's weight and minimize damage to the bark.

[0039] The longitudinal cutting mechanism 24 includes a push rod support frame 241, on which an electric push rod 242 is connected. The free end of the electric push rod 242 is connected to a longitudinal cutting blade 244 via a blade clamp 243.

[0040] In some other embodiments, the blade holder 243 can be replaced with a motor mounting base on which a longitudinal cutting motor is mounted. The power output end of the longitudinal cutting motor is connected to a saw blade, and the longitudinal cutting motor drives the saw blade to perform longitudinal cutting operations.

[0041] The slicing gear system 22 includes a second drive motor 221, which is connected to the bottom end of the annular shell 21. The power output end of the second drive motor 221 passes through the annular shell 21 and is connected to a drive wheel 222. A large annular gear 224 is also movably connected to the annular shell 21. The drive wheel 222 is connected to the transmission wheel of the large annular gear 224 through a gear set 223.

[0042] The tool adjusting gear system 23 includes a third drive motor 231, which is connected to the annular cutting shell 21. The power output end of the third drive motor 231 is connected to a tool adjusting cylindrical gear 232. Specifically, the tool adjusting cylindrical gear 232 is a partial gear, whose teeth do not cover the entire outer circumference, facilitating tool adjustment. A scribing mounting shaft 233 is rotatably connected to the annular cutting shell 21. A tool matching cylindrical gear 234 that matches the tool adjusting cylindrical gear 232 is provided on the scribing mounting shaft 233. A ratchet 235 is also connected to the scribing mounting shaft 233 below the tool matching cylindrical gear 232. A pawl 236 is provided on one side of the ratchet 235. Multiple annular cutting blades are connected to the scribing mounting shaft 233, each corresponding to a different scribing depth.

[0043] The climbing mechanism 1 provides the robot with vertical climbing capabilities. Its dual tracks are vertically distributed at 90° within the body frame 11. Combined with an electrically driven climbing clamping mechanism, it can adjust the fit with the tree trunk in real time, adapting to complex terrain with tree diameters of 60-120mm. The slicing mechanism 2 achieves dynamic adjustment of the slicing depth via a motor drive. At its end is a blade-adjusting gear system 23 with ratchet and pawl. The slicing gear system 22 is driven by a drive wheel 222, which drives a large ring-cutting gear 224 equipped with blades to slice around the tree. The blade-adjusting gear system 23 adjusts the blade depth via a motor-driven gear to adapt to different tree diameters. By selecting the blade material and optimizing the control system, the slicing performance can be optimized, thereby achieving high-quality cutting of cinnamon.

[0044] The slicing mechanism 2 consists of a ring-cutting shell 21 and two gear systems, including a slicing gear system 22 and a blade-adjusting gear system 23. The slicing gear system 22 is driven by a drive wheel 222 to drive a large ring-cutting gear 224 equipped with blades to slice around the tree; the blade-adjusting gear system 23 adjusts the blade head to different depths through a motor-driven gear to adapt to different tree diameters.

[0045] The slicing mechanism 2 enables multi-level switching and precise locking of slicing depth, and can switch to bladeless mode to retract the blades during climbing to improve efficiency and adapt to different tree diameters.

[0046] The working principle of the longitudinal cutting mechanism 24 is that the longitudinal cutting depth is adjusted by the reciprocating motion of the electric push rod 242, and the longitudinal movement of the whole machine is driven by the climbing mechanism to achieve longitudinal cutting of cinnamon bark.

[0047] As an optimization, the slicing mechanism 2 adopts a lightweight aluminum alloy frame and a hole-punched weight-reduction design, significantly reducing the overall weight of the machine. This facilitates transport and use in cinnamon planting areas with complex terrain such as mountains and forests, improving work efficiency while maintaining climbing stability and portability. An adaptive clamping device is installed on both sides of the climbing chassis, using constant pressure control via an electric push rod to maintain stable contact between the clamping arms and the tree trunk, eliminating the risk of slippage and fall during climbing.

[0048] The robot's overall workflow is as follows: The operator first places the robot at the base of the target cinnamon tree and starts the system via a handheld terminal. After the robot performs a self-check, the two rubber climbing belts 123 at the bottom of the climbing mechanism 1, which are perpendicularly distributed at 90°, rotate at low speed. The clamping wheel 326 rotates along the rotating support 324 under the drive of the electric push rod 312 to adjust its position. Once the rubber climbing belts 123 and the inner side of the clamping wheel 326 are in contact with the tree trunk, the electric push rod 312 applies constant pressure to ensure close contact between the track and the tree trunk. At the same time, the pressure sensor provides real-time feedback on the contact force to fine-tune the electric push rod's stroke to adapt to the shape of the tree trunk. Subsequently, the dual motors drive the track to move the robot along the tree trunk. The tree climbs upwards; during the process, the attitude sensor monitors the tilt angle in real time. When encountering tree trunk forks or protrusions, the dual tracks drive differentially and coordinate with the clamping wheel to swing and adjust around the obstacles. After reaching the target bark-peeling height, the slicing mechanism 2 starts working. The control system starts the blade adjusting gear system 23. The second drive motor 221 drives the drive wheel 222 to drive the blade adjusting cylindrical gear 232 to rotate and switch the slicing blade, changing the slicing depth and locking it by the ratchet and pawl. Then the slicing gear system 22 starts, and the drive wheel 222 drives the ring cutting gear 224 to rotate around the tree trunk to perform ring cutting. The displacement sensor monitors the slicing depth in real time to compensate. The force ensures a clean cut. After the ring cut is completed, the electric push rod of the longitudinal cutting mechanism 24 drives the longitudinal cutting blade to move vertically to form a longitudinal cutting trajectory. Then, the robot presses down through the climbing mechanism 1 to separate the bark from the wood. The negative pressure collection device sucks the peeled bark into the storage box. After the peeling operation is completed, the slicing mechanism 2 activates the bladeless switching mode to retract the blade, the climbing mechanism 1 switches to the descent mode, the dual tracks reverse, and the electric push rod releases the pressure of the clamping wheels, allowing the robot to descend along the trunk. After returning to the ground, the robot automatically resets all mechanisms, and the control system stores the work data and synchronizes it to the terminal equipment. The robot is equipped with multiple sensors, including pressure, tilt, and current sensors, to ensure operational safety. In case of emergencies, it activates an emergency procedure. After the operation is completed, the operator checks the equipment and analyzes historical data through a cloud platform to optimize the matching parameters of cutting depth and climbing speed. Throughout the process, the robot achieves efficient and precise bark peeling of cinnamon trees with a diameter of 60-120mm by means of a dual-motor driven dual-track walking mechanism, a climbing and clamping mechanism with an electric push rod as the core, a cutting mechanism with a ratchet buckle and a linear push cylinder combined with a model airplane motor, and a lightweight aluminum alloy material combined with a hole-cutting design to reduce weight.

[0049] Compared to traditional manual bark peeling methods, this robot can directly cut and longitudinally slice cinnamon trees in a series of continuous operations, eliminating the need for grading and step-by-step processing. This significantly improves processing efficiency and solves the drawback of traditional methods that require cutting down the cinnamon tree for bark peeling. Furthermore, the robot's small size and portability overcome the limitations of large machines operating in complex terrain. Through precise control, the robot can make precise cuts at different heights on the cinnamon tree, achieving separation of the bark and wood in a single operation and accurately cutting the required length of bark. This integrated operation reduces processing time, lowers harvesting costs, and increases production efficiency.

[0050] The cinnamon tree climbing and cutting robot disclosed in this utility model has high work efficiency and can avoid worker injuries. For enterprises, production efficiency will achieve a qualitative leap, and the cost of collecting cinnamon bark will be significantly reduced, laying a solid foundation for further expanding production scale and market. From the macro perspective of industrial development, this will promote the cinnamon industry to move steadily towards modernization and sustainability.

[0051] The above description is merely a preferred embodiment of the present utility model and does not constitute any limitation on the technical scope of the present utility model. Therefore, any minor modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model shall still fall within the scope of the technical solution of the present utility model.

Claims

1. A cinnamon tree climbing and cutting robot, characterized in that, It includes a climbing mechanism, a cutting mechanism, and a climbing clamping mechanism, wherein the cutting mechanism and the climbing clamping mechanism are both connected to the climbing mechanism; The climbing mechanism includes two interconnected climbing drive components, each climbing drive component including a fuselage frame, on which a track drive component is mounted. The climbing clamping mechanism includes a pushing component and a rotating clamping component. Both the pushing component and the rotating clamping component are connected to the side wall of the climbing drive component, and the pushing component and the rotating clamping component are connected in a driving connection. The slicing mechanism includes a ring-cutting shell, a slicing gear system, a blade-adjusting gear system, and a longitudinal cutting mechanism. The ring-cutting shell is connected to the bottom end of the climbing drive assembly, the slicing gear system and the blade-adjusting gear system are connected to the ring-cutting shell, and the longitudinal cutting mechanism is connected to the climbing mechanism.

2. The cinnamon tree climbing and cutting robot as described in claim 1, characterized in that, The two climbing drive components are at an angle of 90° and are fixedly connected by a body connector, and the longitudinal cutting mechanism is connected to the body connector.

3. The cinnamon tree climbing and cutting robot as described in claim 1, characterized in that, The track drive assembly includes a first reduction motor, pulleys, and a rubber climbing belt. Each of the machine frames has two pulleys arranged vertically. The first reduction motor provides climbing power, and the two pulleys are connected by the rubber climbing belt. A battery box is provided on the outside of the machine frame for power supply.

4. The cinnamon tree climbing and cutting robot as described in claim 3, characterized in that, The frame is also equipped with a pulley pressure block at the position where the pulley is installed. The pulley pressure block is fixed by a pulley screw top plate. The frame is also equipped with a double-tooth roller for supporting the rubber climbing belt. The pulley is equipped with an aluminum strip connector on its side.

5. The cinnamon tree climbing and cutting robot as described in claim 1, characterized in that, The pushing assembly includes an electric push rod bracket and an electric push rod. The electric push rod bracket is connected to the machine frame, and the electric push rod is fixedly connected to the electric push rod bracket. The free end of the electric push rod is connected to a push rod slide rail, and the rotary clamping assembly is connected to the push rod slide rail.

6. The cinnamon tree climbing and cutting robot as described in claim 5, characterized in that, The rotary clamping assembly includes a pressure rod frame, one end of which is connected to the push rod slide rail via a slide rod. A cylindrical sleeve is connected to the pressure rod frame via a bolt. A rotary support is connected to the machine frame. The pressure rod frame is rotatably connected to the rotary support via the cylindrical sleeve. A photoelectric sensor bracket and a clamping wheel connector are connected to the end of the pressure rod frame away from the push rod slide rail. A clamping wheel is connected to the clamping wheel connector, and a photoelectric sensor is connected to the photoelectric sensor bracket.

7. The cinnamon tree climbing and cutting robot as described in claim 1, characterized in that, The longitudinal cutting mechanism includes a push rod support frame, on which an electric push rod is connected. The free end of the electric push rod is connected to a longitudinal cutting blade via a blade clamp.

8. The cinnamon tree climbing and cutting robot as described in claim 1, characterized in that, The slicing gear system includes a second drive motor connected to the bottom end of the circumferential shell. The power output end of the second drive motor passes through the circumferential shell and is connected to a drive wheel. A large circumferential gear is also movably connected to the circumferential shell. The drive wheel is connected to the transmission wheel of the large circumferential gear through a gear set.

9. The cinnamon tree climbing and cutting robot as described in claim 8, characterized in that, The blade adjusting gear system includes a third drive motor connected to the annular cutting shell. The power output end of the third drive motor is connected to a blade adjusting cylindrical gear. A scribing mounting shaft is rotatably connected to the annular cutting shell. A matching cylindrical gear adapted to the blade adjusting cylindrical gear is provided on the scribing mounting shaft. A ratchet is also connected to the scribing mounting shaft below the matching cylindrical gear. A pawl is provided on one side of the ratchet. Multiple annular cutting blades are connected to the scribing mounting shaft.

10. The cinnamon tree climbing and cutting robot as described in claim 7, characterized in that, Replace the blade holder with a motor mounting base, on which a longitudinal cutting motor is mounted, and the power output end of the longitudinal cutting motor is connected to a saw blade.

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