CN110122102A - A kind of robot that prunes of climbing tree based on flexible cutter - Google Patents
A kind of robot that prunes of climbing tree based on flexible cutter Download PDFInfo
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- CN110122102A CN110122102A CN201910582217.0A CN201910582217A CN110122102A CN 110122102 A CN110122102 A CN 110122102A CN 201910582217 A CN201910582217 A CN 201910582217A CN 110122102 A CN110122102 A CN 110122102A
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- 230000009194 climbing Effects 0.000 title claims abstract description 55
- 244000141353 Prunus domestica Species 0.000 title claims abstract description 22
- 238000013138 pruning Methods 0.000 claims abstract description 137
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 25
- 238000009966 trimming Methods 0.000 abstract description 9
- 241000422846 Sequoiadendron giganteum Species 0.000 abstract description 4
- 241000269319 Squalius cephalus Species 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 244000166124 Eucalyptus globulus Species 0.000 description 1
- 241000219000 Populus Species 0.000 description 1
- 244000046101 Sophora japonica Species 0.000 description 1
- 235000010586 Sophora japonica Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000036642 wellbeing Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
This technology discloses a kind of robot that prunes of climbing tree based on flexible cutter, including left frame, right rack, mechanism of climbing tree, obvolvent clamp system and pruning mechanism；The obvolvent clamp system includes that a left side fixes to clamp arm plate, the right side fixes to clamp arm plate, left clamp arm, right clamp arm, left clamping electric pushrod, right clamping electric pushrod, left tire and right wheel tire；The mechanism of climbing tree includes crawler belt, track frame, climbing motor, driving wheel, tensioning spring and tensioning wheel, and the pruning mechanism includes left pruning electric pushrod, right pruning electric pushrod, left pipe knife rest, right pipe knife rest, left flexible cutter, right flexible cutter, Zuo Xiuzhi arm, right pruning arm, Zuo Xiuzhi motor and right pruning motor；This technology is used to solve the quick trimming of the tall and big trees kind branch such as fast-growing woods, can not only automatic tree-climbing, and pollard while climb tree can greatly improve the pruning efficiency, reduce cost of labor and labour cost.
Description
Technical field
This technology is related to tree trimming technical field, and in particular to a kind of robot that prunes of climbing tree based on flexible cutter,
Especially to the quick trimming of the tall and big fast-growing woods trees such as Fast growth poplar, fast-growing eucalyptus, deep gloomy Chinese scholartree.
Background technique
China is both a production of forestry big country, and is a forestry products consumption big country.Fast-growing woods area occupies first place in the world,
Have the characteristics that growth cycle is short, mill run is high, to forest reserves ecological environment is restored, the timber resources for alleviating growing tension is supplied
Ask contradiction that there is positive and important meaning.And pruning is a basic Silvicultural Measures of fast-growing woods management, it is reasonable to prune
Lumber quality can be improved, increase economic well-being of workers and staff, prevent Forest Disaster.But the research of current China tree pruning machinery is still in
Starting stage, the backwardness of Pruning, trees branch-finishing and pruning machinery have hand-held, backpack, vehicular and self-action etc. a variety of
Form.Hand-held backpack pruning machine is present mainstream using tool, is divided into unpowered and two kinds dynamic；Vehicular is larger
Side hydraulic foldable arm on type tractor, arm end is furnished with the hydraulic shear that can be moved back and forth, for building large area tree crown, shrub
People also by vehicle automatic up-down platform, is sent to different height position and carries out operation by clump or ground weeds, some；Self-action trimming
Machine has been able to achieve remote control overall operation.For China, it is improper that many areas all there is a problem of not pruning or pruning,
Generally based on manually pruning, Pruning low efficiency is of poor quality, and labor intensity is high and operation has risk, mechanization
Degree is low, the gap very bigger than having with developed country.Though China there is also many large-scale high-altitude trimming machines, the degree of automation and
Trimming rate is relatively high, but is not particularly suited for planting density height, the bad fast-growing woods of road.
As time goes on, in order to adapt to artificial forest cultivate continue to develop needs, tree trimming machine to operation from
Dynamicization, hommization, high-efficiency environment friendly and safe and reliable direction are developed.Accordingly, it is desirable to provide a kind of simultaneous with function of climbing tree and prune
The robot of tall and big trees kind branch quickly trimmed such as it is integrated and can solve fast-growing woods to substitute artificial Pruning,
The branch in high-altitude can be trimmed while climbing tree, substantially reduce cost and potential danger that artificial beta pruning is caused,
When batch jobs, working efficiency is increased exponentially, saves time cost and labour cost.
Summary of the invention
This technology is a kind of based on flexible cutter the technical problem to be solved is that providing in view of the above shortcomings of the prior art
The robot that prunes of climbing tree, prune robot for solving the tall and big trees kind tree such as fast-growing woods based on climbing tree for flexible cutter
The quick trimming of branch, can not only automatic tree-climbing, and pollard while climb tree can greatly improve the pruning efficiency, reduce
Cost of labor and labour cost.
To realize the above-mentioned technical purpose, the technical solution that this technology is taken are as follows:
A kind of robot that prunes of climbing tree based on flexible cutter, including left frame, right rack, mechanism of climbing tree, obvolvent clamp system
With pruning mechanism；
The obvolvent clamp system includes that a left side fixes to clamp arm plate, the right side fixes to clamp arm plate, left clamp arm, right clamp arm, Zuo Jia
Tight electric pushrod, right clamping electric pushrod, left tire and right wheel tire；Left fixing clamp is fixedly connected in the middle part of the left side wall of left frame
Tight arm plate, left clamping electric pushrod and left clamp arm are hinged on a left side and fix to clamp on arm plate, the left driving for clamping electric pushrod
Bar end and left clamp arm one end are hinged, and the left clamp arm other end is rotatably connected to left tire；It is solid in the middle part of the right side wall of right rack
Surely it is connected with the right side and fixes to clamp arm plate, right clamping electric pushrod and right clamp arm are hinged on the right side and fix to clamp on arm plate, right folder
The drive rod end and right clamp arm one end of tight electric pushrod are hinged, and the right clamp arm other end is rotatably connected to right wheel tire；
The mechanism of climbing tree includes crawler belt, track frame, climbing motor, driving wheel, tensioning spring and tensioning wheel, track frame one end with
It is fixedly connected, is fixedly connected in the middle part of the other end and the left side wall of right rack, track frame passes through tensioning in the middle part of the right side wall of left frame
Spring connects tensioning wheel, and climbing motor is fixedly connected on left frame, and the drive shaft for climbing motor passes through gear set and driving wheel
Connection, crawler belt is set on driving wheel and tensioning wheel and track frame is located at crawler belt middle inside；
The pruning mechanism includes left pruning electric pushrod, right pruning electric pushrod, left pipe knife rest, right pipe knife rest, left flexible cutter
Tool, right flexible cutter, Zuo Xiuzhi arm, right pruning arm, Zuo Xiuzhi motor and right pruning motor；Left pruning electric pushrod is connected to a left side
The top of rack, the end of hinged and left pruning arm and left frame rotation connect the drive rod of Zuo Xiuzhi electric pushrod with left pruning arm
It connects, Zuo Xiuzhi motor is connected to the top of left frame；Right pruning electric pushrod is connected to the top of right rack, right electronic push away of pruning
The end of the drive rod of bar pruning arm hinged and right with right pruning arm is connect with right gantry rotation, and right pruning motor is connected to right machine
The top of frame；One end of left pipe knife rest and right frame top are rotatablely connected, and the other end is fixedly connected with left pruning arm, left flexible cutter
Tool is embedded in inside left pipe knife rest and offers on left pipe knife rest the stripe shape opening extended along its length, left flexibility cutter
Left pipe knife rest and right frame top and the driving axis connection with right pruning motor are stretched out in one end, and the other end of left flexibility cutter passes through
The end of a set of cups and left pruning arm on the inside of left pipe knife rest is flexibly connected；It is rotated at the top of one end of right pipe knife rest and left frame
Connection, the other end are fixedly connected with right pruning arm, and right flexibility cutter is embedded in inside right pipe knife rest and offers on right pipe knife rest
One end of the stripe shape opening extended along its length, right flexibility cutter is stretched out at the top of right pipe knife rest and left frame and and Zuo Xiuzhi
The driving axis connection of motor, the end that the other end of right flexibility cutter passes through a set of cups and right pruning arm on the inside of right pipe knife rest
Flexible connection.
As the further improved technical solution of this technology, the left side fixes to clamp arm plate and the right side fixes to clamp the hardened structure of arm
It is identical, it include four-bladed vane and two strip inclined plates arranged in parallel, one end of two strip inclined plates is connected to ten
The top and bottom of letter stencil one end；
The left side fixes to clamp in the middle part of the other end and left clamp arm of two strip inclined plates of arm plate hingedly, and a left side fixes to clamp arm plate
The four-bladed vane other end by engaging lug and it is left clamping electric pushrod cylinder ends it is hinged；A left side fixes to clamp the four-bladed vane of arm plate
It is bolted to connection in the middle part of the left side wall of left frame；
The right side fixes to clamp in the middle part of the other end and right clamp arm of two strip inclined plates of arm plate hingedly, and the right side fixes to clamp arm plate
The four-bladed vane other end by engaging lug and it is right clamping electric pushrod cylinder ends it is hinged；The right side fixes to clamp the four-bladed vane of arm plate
It is bolted to connection in the middle part of the right side wall of right rack.
As the further improved technical solution of this technology, the mechanism of climbing tree further includes thrust wheel, the thrust wheel position
On the inside of crawler belt, supporting wheel shaft is equipped in the middle part of thrust wheel, the both ends of supporting wheel shaft are connect with left frame and right gantry rotation respectively；
For the track frame in I-shaped, an end face, left frame and the left four-bladed vane for fixing to clamp arm plate of track frame pass through spiral shell
Bolt is fixedly connected, and the other end of track frame, right rack and the right four-bladed vane for fixing to clamp arm plate are bolted to connection；
Tension wheel shaft is equipped in the middle part of the tensioning wheel, track frame is connect by tensioning spring with tension wheel shaft, and the two of tension wheel shaft
End is connect with left frame and right gantry rotation respectively.
As the further improved technical solution of this technology, the left side wall lower part of the left frame is equipped with left support plate, climbs
It climbs motor to be fixedly connected in left support plate, gear set includes pinion gear and gear wheel, and the drive shaft for climbing motor passes through left machine
It frame side wall and is connect with pinion gear, pinion gear is engaged with gear wheel, passes through same root driving in the middle part of gear wheel and in the middle part of driving wheel
Axis connection is taken turns, the both ends of the drive shaft are connected with left frame and the rotation of right rack respectively, the outer surface of drive shaft and shoe
The inner surface of band engages and drive shaft is for driving crawler belt to act.
As the further improved technical solution of this technology, the right side wall lower part of the right rack is equipped with right support plate, institute
It states and power supply is installed in right support plate, power supply electronic is pushed away with left clamping electric pushrod, right clamping electric pushrod, left prune respectively
Bar, right pruning electric pushrod, climbing motor, Zuo Xiuzhi motor and the electrical connection of right pruning motor.
As the further improved technical solution of this technology, the left flexible cutter is identical with right flexible cutter structure,
Including wirerope and several hobboing cutters, several hobboing cutters are concatenated and are fixed soft to form left flexible cutter or the right side on a steel cord
Property cutter.
As the further improved technical solution of this technology, the left side wall top of the left frame is equipped with upper left quarter plate and a left side
Top plate, the left top plate are located above upper left quarter plate, and Zuo Xiuzhi arm one end passes through rotary shaft and left top plate and upper left quarter
Plate rotation connection, Zuo Xiuzhi motor are fixedly connected on upper left quarter plate；One end of the right pipe knife rest and the rotation of left top plate connect
It connects, right pipe knife rest and left top plate and the driving with the left pruning motor being located on upper left quarter plate are stretched out in one end of right flexibility cutter
Axis connection；The right side wall top of right rack is equipped with upper right quarter plate and right top plate, and the right top plate is located above upper right quarter plate,
Right pruning arm one end is rotatablely connected by rotary shaft and right top plate, and right pruning motor is fixedly connected on upper right quarter plate；Zuo Guan
One end of knife rest and right top plate are rotatablely connected, one end of left flexibility cutter stretch out left pipe knife rest and right top plate and be located at the right side
The driving axis connection of right pruning motor on upper board.
As the further improved technical solution of this technology, the end of the left flexible cutter is connected with axis by shaft coupling
Section, the external fixing sleeve of the shaft part are equipped with axle sleeve, and the inside of a set of cups, which is equipped in bearing groove and bearing groove, is fixedly connected with axis
The outer ring held, axle sleeve are fixedly connected with the inner ring of bearing, and a set of cups is located at the tip inside of left pipe knife rest and a set of cups can be on a left side
The inside of pipe knife rest moves axially, and a set of cups end is flexibly connected by tension spring and left pruning arm, and the end of left pipe knife rest passes through tight
Determine snap ring to be fixedly connected with the end of left pruning arm.
As the further improved technical solution of this technology, the end of the right flexible cutter is connected with axis by shaft coupling
Section, the external fixing sleeve of the shaft part are equipped with axle sleeve, and the inside of a set of cups, which is equipped in bearing groove and bearing groove, is fixedly connected with axis
The outer ring held, axle sleeve are fixedly connected with the inner ring of bearing, and a set of cups is located at the tip inside of right pipe knife rest and a set of cups can be on the right side
The inside of pipe knife rest moves axially, and a set of cups end is flexibly connected by tension spring and right pruning arm, and the end of right pipe knife rest passes through tight
Determine snap ring to be fixedly connected with the end of right pruning arm.
As the further improved technical solution of this technology, the left pipe knife rest and right pipe knife rest are all made of steel pipe knife rest；
The lower surface of the left pipe knife rest and right pipe knife rest is equipped with multiple connecting plates, offered on each connecting plate it is multiple side by side
Mounting hole, connecting plate are connected with one end of wheel support by mounting hole, and the other end of wheel support is rotatably connected to residual branch tune
Section wheel；
The left drive rod end for clamping electric pushrod is fixedly connected with buffer spring and the buffer spring other end is connected with spring guide,
One end of the spring guide and left clamp arm is hinged；It is right clamp electric pushrod drive rod end be also fixedly connected buffer spring and
The buffer spring other end is connected with spring guide, and one end of the spring guide and right clamp arm is hinged.
This technology has the beneficial effect that
(1) this technology uses that flexible left flexible cutter, (for wirerope, outer tube is hobboing cutter inner support right flexible cutter
Thin-wall steel tube, i.e. steel pipe knife rest), cutter can be made preferably to be bonded the branch on trunk, while left pruning electric pushrod,
Right pruning electric pushrod under the driving of left pruning arm, right pruning arm so that with bole thickness in one tree it is different in the case where,
Left flexibility cutter, right flexible cutter can be close to the branch of trunk in real time, improve the pruning quality of whole trees.
(2) the left pipe knife rest, right pipe knife rest of this technology be equipped with for adjusts cutting after reserve residual branch length residual branch adjusting
Wheel, and injury of the knife rest to bark can be reduced while pruning, residual branch length can be also reserved according to demand, and adaptability is more
By force.
(3) this technology robot complete machine fuselage uses light-weight design, compact-sized and included driving power, wirelessly
Cable winds problem, is driven by electricity, environmentally protective.
(4) this technology climbs tree mechanism using climbing rubber belt track, since the adhesive force of crawler belt is bigger, so that required folder
Clamp force can be smaller, avoids the impaired failure of left tire, right wheel tire, and, contact surface with trunk low to trunk surface smoothness requirements
Product is bigger, climbs more stable.
(5) this technology automation is high, for solving the quick trimming of the tall and big trees kind branch such as fast-growing woods, and to climb tree
It is integrated with pruning function, the branch in high-altitude can be trimmed while climbing tree, substantially reduce cost and artificial beta pruning
The potential danger caused when batch jobs, increases exponentially working efficiency, saves time cost and labour cost.
Detailed description of the invention
Fig. 1 is the structural schematic diagram one of the present embodiment.
Fig. 2 is the structural schematic diagram two of the present embodiment.
Fig. 3 is that the left side of the present embodiment fixes to clamp arm plate or the right structural schematic diagram for fixing to clamp arm plate.
Fig. 4 is that the obvolvent clamp system of the present embodiment embraces tree top view.
Fig. 5 is the structural schematic diagram of the mechanism of climbing tree of the present embodiment.
Fig. 6 be the present embodiment climb tree mechanism crawler belt on the inside of structural schematic diagram.
Fig. 7 is the partial structure diagram of the present embodiment.
Fig. 8 is the structural schematic diagram after the right pipe knife rest of Fig. 7 hidden parts.
Fig. 9 is the partial section view that Fig. 8 hides a set of cups after hobboing cutter, right pipe knife rest and tightening snap ring.
Figure 10 is that embracing for the present embodiment sets top view.
Specific embodiment
It is further illustrated below according to specific embodiment of the Fig. 1 to Figure 10 to this technology:
Referring to Fig. 1 and Fig. 2, a kind of robot that prunes of climbing tree based on flexible cutter, including left frame 1-1, right rack 1, climb tree
Mechanism, obvolvent clamp system and pruning mechanism.
Wherein obvolvent clamp system includes that a left side fixes to clamp arm plate 2-1, the right side fixes to clamp arm plate 2, left clamp arm 3-1, the right side
Clamp arm 3, left clamping electric pushrod 4-1, right clamping electric pushrod 4, left tire 5-1 and right wheel tire 5；The left side of left frame 1-1
It is fixedly connected with that a left side fixes to clamp arm plate 2-1 and a left side fixes to clamp arm plate 2-1 and pays outward, left clamping electric pushrod 4- in the middle part of wall
The middle part of 1 cylinder ends and left clamp arm 3-1 are hinged on a left side and fix to clamp on arm plate 2-1, left to clamp electric pushrod 4-1's
Drive rod end be fixedly connected with buffer spring 6 and 6 other end of buffer spring to be connected with spring guide 7(as shown in Figure 4), the spring
Guide rod 7 and one end of left clamp arm 3-1 are hinged, and the other end of left clamp arm 3-1 is rotatably connected to left tire 5-1(idle wheel
Tire).It is fixedly connected with that the right side fixes to clamp arm plate 2 and the right side fixes to clamp arm plate 2 and pays outward in the middle part of the right side wall of right rack 1, it is right
The middle part of the cylinder ends and right clamp arm 3 that clamp electric pushrod 4 is hinged on the right side and fixes to clamp on arm plate 2, and right clamping is electronic
The drive rod end of push rod 4 is also fixedly connected with buffer spring 6 and 6 other end of buffer spring is connected with spring guide 7(such as Fig. 4 institute
Show), one end of the spring guide 7 and right clamp arm 3 is hinged, and the other end of right clamp arm 3 is rotatably connected to right wheel tire 5(inertia
Tire).
A left side in the present embodiment fixes to clamp arm plate 2-1 and the right side, and to fix to clamp 2 structure of arm plate identical and arranged symmetrically, such as schemes
It include four-bladed vane 8 and two strip inclined plates 9 arranged in parallel, one end of two strip inclined plates 9 is separately connected shown in 3
In the top and bottom of 8 one end of four-bladed vane.The left side fixes to clamp the other end and left folder of two strip inclined plates 9 of arm plate 2-1
Hinged in the middle part of tight arm 3-1,8 other end of four-bladed vane that a left side fixes to clamp arm plate 2-1 passes through engaging lug 10 and left clamping electric pushrod
The cylinder ends of 4-1 are hinged；The four-bladed vane 8 that a left side fixes to clamp arm plate 2-1 is bolted to connection in the left side of left frame 1-1
In the middle part of wall.The right side fixes to clamp hinged in the middle part of the other end and right clamp arm of two strip inclined plates 9 of arm plate 2, right fixing clamp
8 other end of four-bladed vane of tight arm plate 2 is hinged by engaging lug 10 and the right cylinder ends for clamping electric pushrod 4；The right side fixes to clamp
The four-bladed vane 8 of arm plate 2 is bolted to connection in the middle part of the right side wall of right rack 1.
As shown in Figure 5 and Figure 6, the mechanism of climbing tree include crawler belt 11(climbing rubber belt track), track frame 12, climbing motor
13, driving wheel 14, tensioning spring 15 and tensioning wheel 16, track frame 12 is in I-shaped, the left side of track frame 12 and left machine
It is fixedly connected, is fixedly connected in the middle part of right side and the left side wall of right rack 1, the side of track frame 12 in the middle part of the right side wall of frame 1-1
There is spring guide outstanding, spring guide has connected and supported tensioning wheel 16 by tensioning spring 15, and climbing motor 13 is fixed to be connected
It connects on left frame 1-1, the drive shaft of climbing motor 13 passes through the side wall of left frame 1-11 and by gear set and driving wheel 14
Connection, crawler belt 11 is set on driving wheel 14 and tensioning wheel 16 and crawler belt 11 is tensioned by tensioning wheel 16, and track frame 12 is located at crawler belt
11 middle insides.Punched on 1 side wall of left frame 1-1 and right rack of the present embodiment, for install driving wheel 14, tensioning wheel 16,
The wheel shafts such as thrust wheel 17.
As shown in Figure 5 and Figure 6, the mechanism of climbing tree of the present embodiment further includes two thrust wheels 17, two equal positions of thrust wheel 17
In the inside of crawler belt 11, the middle part of thrust wheel 17 is equipped with supporting wheel shaft, the both ends of two supporting wheel shafts respectively with left frame 1-1 and the right side
Hole in rack 1 is rotatablely connected and is supported on left frame 1-1 and right rack 1.The inside of the tensioning wheel 16 is equipped with tensioning wheel
Axis, the spring guide on track frame 12, which is connect by tensioning spring 15 with tension wheel shaft, (is i.e. inserted in crawler belt in 15 one end of tensioning spring
12 front side spring guide position of frame, the other end resist tensioning wheel 16 middle part stretch out guide rod), the both ends of tension wheel shaft respectively with
Hole rotation connection on left frame 1-1 and right rack 1.Left side, left frame 1-1 and a left side for track frame 12 fixes to clamp arm plate 2-
1 four-bladed vane 8 is bolted to connection, the right side of track frame 12, right rack 1 and the right four-bladed vane 8 for fixing to clamp arm plate 2
It is bolted to connection.
The thrust wheel 17 of the present embodiment acts on the main self weight for being subject to machine and as carries out for robot capable of climbing trees
Reaction force with 11 by trunk, therefore it is required that 17 intensity of thrust wheel is high, especially wheel rim should have higher with rolling surface
Intensity and wearability.Tensioning wheel 16 is used to adjust the rate of tension of crawler belt 11.
As shown in fig. 7, the left side wall lower part of the left frame 1-1 of the present embodiment is equipped with left support plate 18, climbing motor 13 is solid
Surely it is connected in left support plate 18, gear set includes pinion gear 19 and gear wheel 20, and the drive shaft of climbing motor 13 passes through left machine
It frame 1-1 side wall and is connect with 19 inner hole of pinion gear by shaft coupling, pinion gear 19 is engaged with gear wheel 20, the middle part of gear wheel 20
Connected with the middle part of driving wheel 14 by same root drive shaft, the both ends of the drive shaft respectively with left frame 1-1 and the right side
Hole in rack 1 rotates connection.The rectangular teeth of drive shaft outer surface engages to realize with the inner surface rectangular channel of crawler belt 11
Drive shaft drives crawler belt 11 to act.
The pruning mechanism includes left pruning electric pushrod 22-1, right pruning electric pushrod 22, left pipe knife rest 23-1, right pipe
Knife rest 23, left flexible cutter 24-1, right flexible cutter 24, Zuo Xiuzhi arm 25-1, right pruning arm 25, Zuo Xiuzhi motor 21-1 and the right side
Pruning motor 21；Left pruning electric pushrod 22-1 is connected to the top of left frame 1-1, the drive rod of Zuo Xiuzhi electric pushrod 22-1
The end and left frame 1-1 of hinged left pruning arm 25-1 with holes and left pruning arm 25-1 are rotatablely connected, and Zuo Xiuzhi motor 21-1 is solid
Surely it is connected to the top of left frame 1-1.Right pruning electric pushrod 22 is connected to the top of right rack 1, right pruning electric pushrod 22
Drive rod hinged right pruning arm 25 with holes and the end of right pruning arm 25 and right rack 1 be rotatablely connected, right pruning motor 21 is solid
Surely it is connected to the top of right rack 1.It is rotatablely connected at the top of one end of left pipe knife rest 23-1 and right rack 1, the other end and Zuo Xiuzhi
Arm 25-1 is fixedly connected, and left flexibility cutter 24-1 is embedded in inside left pipe knife rest 23-1 and offers on left pipe knife rest 23-1 along it
Length direction extends and the stripe shape of about 60 degree of sizes opening, and left pipe knife rest 23-1 and right machine are stretched out in one end of left flexibility cutter 24-1
It is connect at the top of frame 1 and with the drive shaft of right pruning motor 21 by shaft coupling, the other end of left flexibility cutter 24-1 is by being located at
The end of a set of cups 29 and left pruning arm 25-1 on the inside of left pipe knife rest 23-1 is flexibly connected.One end of right pipe knife rest 23 and left frame
Rotation connection, the other end are fixedly connected with right pruning arm 25 at the top of 1-1, right flexibility cutter 24 be embedded in inside right pipe knife rest 23 and
The stripe shape of extension and about 60 degree of sizes opening along its length is offered on right pipe knife rest 23, one end of right flexibility cutter 24 is stretched
It is connect at the top of right pipe knife rest 23 and left frame 1-1 and with the drive shaft of left pruning motor 21-1 by shaft coupling out, right flexible cutter
The other end of tool 24 is flexibly connected by the end of a set of cups 29 and right pruning arm 25 that are located at right 23 inside of pipe knife rest.In Zuo Xiuzhi
Under the promotion of electric pushrod 22-1 and right pruning electric pushrod 22, Zuo Xiuzhi arm 25-1 and right pruning arm 25 are around being articulated with left frame
It is opened and closed at the top of 1-1 and right rack 1；Under the folding of left pruning arm 25-1 and right pruning arm 25, left pipe knife rest 23-1 is driven
With the folding of right pipe knife rest 23, and then left pipe knife rest 23-1 and left flexibility cutter 24-1 and right flexibility in right pipe knife rest 23 are driven
Cutter 24 opens and closes.
As shown in figure 8, the left flexibility cutter 24-1 of the present embodiment is identical with 24 structure of right flexible cutter, it include wirerope
41 simultaneously cover soft to form left flexibility cutter 24-1 or right on wirerope 41 with several hobboing cutters 40, several hobboing cutters 40 concatenation
Property cutter 24, several hobboing cutters 40 are to be fixedly connected with wirerope 41.Rolling in left flexibility cutter 24-1 and right flexible cutter 24
Cutter head on knife 40 can be open to be fitted in by the stripe shape on steel pipe knife rest and be repaired wait trim the realization of the branch surface on trunk
Branch movement.
Such as Fig. 9, the wirerope 41 of 24 end of right flexible cutter in the present embodiment is connected with shaft part 27 by shaft coupling 26,
The external fixing sleeve of the shaft part 27 is equipped with axle sleeve 28, and the inside of a set of cups 29, which is equipped in bearing groove and bearing groove, to be fixedly connected with
The outer ring of bearing 30, axle sleeve 28 are fixedly connected with the inner ring of bearing 30, and a set of cups 29 is located at the tip inside of right pipe knife rest 23
And a set of cups 29 can be moved axially in the inside of right pipe knife rest 23, the outboard end of a set of cups 29 is soft by tension spring 31 and right pruning arm 25
Property connection, the end of right pipe knife rest 23 is fixedly connected by tightening snap ring 32 with the end of right pruning arm 25.In right pipe knife rest 23
The tension spring 31 of 29 end of a set of cups hook on right pruning arm 25, make the hobboing cutter of the right flexible cutter 24 in right pipe knife rest 23 be fitted in
Trim the branch surface on trunk.
The wirerope 41 of similarly Fig. 9, the left flexibility end cutter 24-1 in the present embodiment are connected with axis by shaft coupling 26
Section 27, the external fixing sleeve of the shaft part 27 are equipped with axle sleeve 28, and the inside of a set of cups 29 is equipped with fixed in bearing groove and bearing groove
It is connected with the outer ring of bearing 30, axle sleeve 28 is fixedly connected with the inner ring of bearing 30, and a set of cups 29 is located at left pipe knife rest 23-1's
Tip inside and a set of cups 29 can be moved axially in the inside of left pipe knife rest 23-1, the outboard end of a set of cups 29 pass through tension spring 31 and left
The end of pruning arm 25-1 flexible connection, left pipe knife rest 23-1 connects by the way that the end of tightening snap ring 32 and left pruning arm 25-1 are fixed
It connects.The tension spring 31 of 29 end of a set of cups hooks left soft in left pipe knife rest 23-1 in making on left pruning arm 25-1 in left pipe knife rest 23-1
The hobboing cutter of property cutter 24-1 is fitted in the surface of the branch of trunk to be trimmed.
The tension spring 31 of the present embodiment is used to realize by a set of cups 29 to left flexibility cutter 24-1 or the right side in machine man-hour
The real-time tensioning of flexible cutter 24.
As shown in Figure 2 and Figure 7, in the present embodiment, the right side wall lower part of the right rack 1 is equipped with right support plate 36, described
Power supply 35 is installed in right support plate 36, power supply 35 respectively with left clamping electric pushrod 4-1, right clamping electric pushrod 4, Zuo Xiuzhi
Electric pushrod 22-1, right pruning electric pushrod 22, climbing motor 13, Zuo Xiuzhi motor 21-1 and the electrical connection of right pruning motor 21.
In the present embodiment, the left side wall top of the left frame 1-1 is equipped with upper left quarter plate 33-1 and left top plate 34-1, institute
Left top plate 34-1 is stated to be located above upper left quarter plate 33-1, the one end arm 25-1 Zuo Xiuzhi by rotary shaft and left top plate 34-1 and
Upper left quarter plate 33-1 is rotatablely connected and the end is between left top plate 34-1 and upper left quarter plate 33-1, and Zuo Xiuzhi motor 21-1 is solid
Surely it is connected on upper left quarter plate 33-1；One end of the right pipe knife rest 23 and left top plate 34-1 are rotatablely connected.Right flexibility cutter
24 one end stretches out right pipe knife rest 23 and left top plate 34-1 and with the left pruning motor 21-1's on upper left quarter plate 33-1
Drive axis connection.The right side wall top of right rack 1 is equipped with upper right quarter plate 33 and right top plate 34, and the right top plate 34 is located at the right side
33 top of upper board, right 25 one end of pruning arm is rotatablely connected by rotary shaft and right top plate 34 and the end is located at right top plate 34
Top, right pruning motor 21 are fixedly connected on upper right quarter plate 33；One end of left pipe knife rest 23-1 and the rotation of right top plate 34 connect
It connects, one end of left flexibility cutter 24-1 is stretched out left pipe knife rest 23-1 and right top plate 34 and repaired with the right side being located on upper right quarter plate 33
The driving axis connection of branch motor 21.
In the present embodiment, the left pipe knife rest 23-1 and right pipe knife rest 23 are all made of thin-wall steel tube knife rest.The left pipe knife
The lower surface of frame 23-1 and right pipe knife rest 23 is equipped with multiple connecting plates, and multiple installations side by side are offered on each connecting plate
Hole, connecting plate is by one of mounting hole and is bolted one end (such as Fig. 7) of wheel support 38, wheel support 38 it is another
End is rotatably connected to residual branch regulating wheel 39.It is adjustable when wheel support 38 being installed on mounting hole different on connecting plate
The depth degree of residual branch regulating wheel 39, residual branch regulating wheel 39 is remoter apart from left pipe knife rest 23-1 or right pipe knife rest 23, then left pipe knife
When the hobboing cutter of frame 23-1 or the flexible cutter in right pipe knife rest 23 cuts the branch on trunk, reserved residual branch length is longer.
The working process of this embodiment is as follows: the left clamping electric pushrod 4-1 of the present embodiment, right clamping electric pushrod 4 and
Left pruning electric pushrod 22-1, right pruning electric pushrod 22 in the initial state in open left clamp arm 3-1, right clamp arm and
Left pruning arm 25-1, right pruning arm 25, staff is as shown in Figure 10 by trunk 37() it is inserted in climb tree and prune in each arm of robot,
Start each electric pushrod, left clamping electric pushrod 4-1, right clamping electric pushrod 4 are pushed along push rod axial direction, drive left folder
Tight arm 3-1, right clamp arm 3 fix to clamp arm plate 2-1 around a left side, the right side fixes to clamp the rotation of arm plate 2, by left tire 5-1, right wheel tire 5
It is bonded trunk 37 under left clamping electric pushrod 4-1, the right driving force for clamping electric pushrod 4, clamps trunk 37.Left pruning is electronic
Push rod 22-1, right pruning electric pushrod 22 end connection left pruning arm 25-1, right pruning arm 25 push rod motive force work
Under, left pruning arm 25-1, right pruning arm 25 are repaired around itself and the left top plate 34-1 of left frame 1-1, the right top plate of right rack 1
The articulated shaft at 34 tops rotates inwards, and same left pipe knife rest 23-1, right pipe knife rest 23 are in left pruning arm 25-1, the band of right pruning
It is rotated inward together around the rotary shaft of itself and left frame 1-1,1 top of right rack under dynamic, under left pipe knife rest 23-1, right pipe knife rest 23
The residual branch regulating wheel 39 of installation is bonded trunk surface, and residual branch regulating wheel 39 can adjust depth by bolt with wheel support 38,
Residual branch length is reserved in control.Starting climbing motor 13, driving wheel 14 rotate, and crawler belt 11 is walked upwards along trunk, opened at the same time
Move left pruning motor 21-1, right pruning motor 21, Zuo Xiuzhi motor 21-1, right pruning motor 21 output shaft respectively penetrate and connect
One end of left flexible cutter 24-1, one end of right flexible cutter 24 are connect, Zuo Xiuzhi motor 21-1, right pruning motor 21 rotate work
Make, left flexible cutter 24-1, right flexible cutter 24 is driven to work, the hobboing cutter rotation of left flexibility cutter 24-1, right flexible cutter 24,
It is open by the stripe shape on steel pipe knife rest constantly close to the branch on trunk 37, to be trimmed.The left clamping of the present embodiment
Electric pushrod 4-1, right clamping electric pushrod 4 and left pruning electric pushrod 22-1, right pruning electric pushrod 22 are in work always
Make state, adapt to the variation of 37 diameter of trunk during climbing, clamps trunk 37 always.It can be in the robot of the present embodiment
Controller is set, controller is wirelessly connected external remote controler, by the remote controler of outside remotely transmit a signal to controller into
And the work of each electric pushrod and motor is controlled by controller, which uses the prior art, not at this
In the protection scope of embodiment.The available prior art of each structure element being not known in the present embodiment is realized.
The protection scope of this technology includes but is not limited to embodiment of above, and the protection scope of this technology is with claims
Subject to, replacement, deformation, the improvement that those skilled in the art that any pair of this technology is made is readily apparent that each fall within this technology
Protection scope.
Claims (10)
1. a kind of robot that prunes of climbing tree based on flexible cutter, which is characterized in that including left frame, right rack, mechanism of climbing tree,
Obvolvent clamp system and pruning mechanism；
The obvolvent clamp system includes that a left side fixes to clamp arm plate, the right side fixes to clamp arm plate, left clamp arm, right clamp arm, Zuo Jia
Tight electric pushrod, right clamping electric pushrod, left tire and right wheel tire；Left fixing clamp is fixedly connected in the middle part of the left side wall of left frame
Tight arm plate, left clamping electric pushrod and left clamp arm are hinged on a left side and fix to clamp on arm plate, the left driving for clamping electric pushrod
Bar end and left clamp arm one end are hinged, and the left clamp arm other end is rotatably connected to left tire；It is solid in the middle part of the right side wall of right rack
Surely it is connected with the right side and fixes to clamp arm plate, right clamping electric pushrod and right clamp arm are hinged on the right side and fix to clamp on arm plate, right folder
The drive rod end and right clamp arm one end of tight electric pushrod are hinged, and the right clamp arm other end is rotatably connected to right wheel tire；
The mechanism of climbing tree includes crawler belt, track frame, climbing motor, driving wheel, tensioning spring and tensioning wheel, track frame one end with
It is fixedly connected, is fixedly connected in the middle part of the other end and the left side wall of right rack, track frame passes through tensioning in the middle part of the right side wall of left frame
Spring connects tensioning wheel, and climbing motor is fixedly connected on left frame, and the drive shaft for climbing motor passes through gear set and driving wheel
Connection, crawler belt is set on driving wheel and tensioning wheel and track frame is located at crawler belt middle inside；
The pruning mechanism includes left pruning electric pushrod, right pruning electric pushrod, left pipe knife rest, right pipe knife rest, left flexible cutter
Tool, right flexible cutter, Zuo Xiuzhi arm, right pruning arm, Zuo Xiuzhi motor and right pruning motor；Left pruning electric pushrod is connected to a left side
The top of rack, the end of hinged and left pruning arm and left frame rotation connect the drive rod of Zuo Xiuzhi electric pushrod with left pruning arm
It connects, Zuo Xiuzhi motor is connected to the top of left frame；Right pruning electric pushrod is connected to the top of right rack, right electronic push away of pruning
The end of the drive rod of bar pruning arm hinged and right with right pruning arm is connect with right gantry rotation, and right pruning motor is connected to right machine
The top of frame；One end of left pipe knife rest and right frame top are rotatablely connected, and the other end is fixedly connected with left pruning arm, left flexible cutter
Tool is embedded in inside left pipe knife rest and offers on left pipe knife rest the stripe shape opening extended along its length, left flexibility cutter
Left pipe knife rest and right frame top and the driving axis connection with right pruning motor are stretched out in one end, and the other end of left flexibility cutter passes through
The end of a set of cups and left pruning arm on the inside of left pipe knife rest is flexibly connected；It is rotated at the top of one end of right pipe knife rest and left frame
Connection, the other end are fixedly connected with right pruning arm, and right flexibility cutter is embedded in inside right pipe knife rest and offers on right pipe knife rest
One end of the stripe shape opening extended along its length, right flexibility cutter is stretched out at the top of right pipe knife rest and left frame and and Zuo Xiuzhi
The driving axis connection of motor, the end that the other end of right flexibility cutter passes through a set of cups and right pruning arm on the inside of right pipe knife rest
Flexible connection.
2. the robot that prunes of climbing tree according to claim 1 based on flexible cutter, which is characterized in that the left fixing clamp
Tight arm plate fixes to clamp that the hardened structure of arm is identical with the right side, includes four-bladed vane and two strip inclined plates arranged in parallel, and two
One end of strip inclined plate is connected to the top and bottom of four-bladed vane one end；
The left side fixes to clamp in the middle part of the other end and left clamp arm of two strip inclined plates of arm plate hingedly, and a left side fixes to clamp arm plate
The four-bladed vane other end by engaging lug and it is left clamping electric pushrod cylinder ends it is hinged；A left side fixes to clamp the four-bladed vane of arm plate
It is bolted to connection in the middle part of the left side wall of left frame；
The right side fixes to clamp in the middle part of the other end and right clamp arm of two strip inclined plates of arm plate hingedly, and the right side fixes to clamp arm plate
The four-bladed vane other end by engaging lug and it is right clamping electric pushrod cylinder ends it is hinged；The right side fixes to clamp the four-bladed vane of arm plate
It is bolted to connection in the middle part of the right side wall of right rack.
3. the robot that prunes of climbing tree according to claim 2 based on flexible cutter, which is characterized in that the mechanism of climbing tree
It further include thrust wheel, the thrust wheel is located on the inside of crawler belt, and supporting wheel shaft is equipped in the middle part of thrust wheel, and the both ends of supporting wheel shaft are distinguished
It is connect with left frame and right gantry rotation；
For the track frame in I-shaped, an end face, left frame and the left four-bladed vane for fixing to clamp arm plate of track frame pass through spiral shell
Bolt is fixedly connected, and the other end of track frame, right rack and the right four-bladed vane for fixing to clamp arm plate are bolted to connection；
Tension wheel shaft is equipped in the middle part of the tensioning wheel, track frame is connect by tensioning spring with tension wheel shaft, and the two of tension wheel shaft
End is connect with left frame and right gantry rotation respectively.
4. the robot that prunes of climbing tree according to claim 3 based on flexible cutter, which is characterized in that the left frame
Left side wall lower part is equipped with left support plate, and climbing motor is fixedly connected in left support plate, and gear set includes pinion gear and gear wheel,
The drive shaft of climbing motor passes through left frame side wall and connect with pinion gear, and pinion gear is engaged with gear wheel, gear wheel middle part with
It is connected in the middle part of driving wheel by same root drive shaft, the both ends of the drive shaft connect with left frame and the rotation of right rack respectively
It connects, the outer surface of drive shaft is engaged with the inner surface of crawler belt and drive shaft is for driving crawler belt to act.
5. the robot that prunes of climbing tree according to claim 4 based on flexible cutter, which is characterized in that the right rack
Right side wall lower part is equipped with right support plate, is equipped with power supply in the right support plate, power supply respectively with left clamping electric pushrod, right folder
Tight electric pushrod, Zuo Xiuzhi electric pushrod, right pruning electric pushrod, climbing motor, Zuo Xiuzhi motor and right pruning motor are electrically connected
It connects.
6. the robot that prunes of climbing tree according to claim 1 based on flexible cutter, which is characterized in that the left flexible cutter
Tool is identical with right flexible cutter structure, includes wirerope and several hobboing cutters, several hobboing cutters concatenate and are fixed on wirerope
Above to form left flexible cutter or right flexible cutter.
7. the robot that prunes of climbing tree according to claim 1 based on flexible cutter, which is characterized in that the left frame
Left side wall top is equipped with upper left quarter plate and left top plate, and the left top plate is located above upper left quarter plate, and Zuo Xiuzhi arm one end is logical
It crosses rotary shaft and left top plate and upper left quarter plate is rotatablely connected, Zuo Xiuzhi motor is fixedly connected on upper left quarter plate；The right pipe
One end of knife rest and left top plate are rotatablely connected, one end of right flexibility cutter stretch out right pipe knife rest and left top plate and be located at a left side
The driving axis connection of left pruning motor on upper board；The right side wall top of right rack is equipped with upper right quarter plate and right top plate, institute
It states right top plate to be located above upper right quarter plate, right pruning arm one end is rotatablely connected by rotary shaft and right top plate, right pruning electricity
Machine is fixedly connected on upper right quarter plate；One end of left pipe knife rest and right top plate are rotatablely connected, and one end of left flexibility cutter is stretched out
Left pipe knife rest and right top plate and be located at upper right quarter plate on right pruning motor driving axis connection.
8. the robot that prunes of climbing tree according to claim 7 based on flexible cutter, which is characterized in that the left flexible cutter
The end of tool is connected with shaft part by shaft coupling, and the external fixing sleeve of the shaft part is equipped with axle sleeve, and the inside of a set of cups is equipped with axis
The outer ring that bearing is fixedly connected in slot and bearing groove is held, axle sleeve is fixedly connected with the inner ring of bearing, and a set of cups is located at left pipe
The tip inside and a set of cups of knife rest can be moved axially in the inside of left pipe knife rest, and a set of cups end is flexible by tension spring and left pruning arm
Connection, the end of left pipe knife rest is fixedly connected by tightening snap ring with the end of left pruning arm.
9. the robot that prunes of climbing tree according to claim 7 based on flexible cutter, which is characterized in that the right flexible cutter
The end of tool is connected with shaft part by shaft coupling, and the external fixing sleeve of the shaft part is equipped with axle sleeve, and the inside of a set of cups is equipped with axis
The outer ring that bearing is fixedly connected in slot and bearing groove is held, axle sleeve is fixedly connected with the inner ring of bearing, and a set of cups is located at right pipe
The tip inside and a set of cups of knife rest can be moved axially in the inside of right pipe knife rest, and a set of cups end is flexible by tension spring and right pruning arm
Connection, the end of right pipe knife rest is fixedly connected by tightening snap ring with the end of right pruning arm.
10. the robot that prunes of climbing tree according to any one of claims 1 to 9 based on flexible cutter, which is characterized in that institute
It states left pipe knife rest and right pipe knife rest is all made of steel pipe knife rest；The lower surface of the left pipe knife rest and right pipe knife rest is equipped with multiple companies
Fishplate bar offers multiple mounting holes side by side on each connecting plate, and connecting plate is connected with the one of wheel support by mounting hole
End, the other end of wheel support are rotatably connected to residual branch regulating wheel；
The left drive rod end for clamping electric pushrod is fixedly connected with buffer spring and the buffer spring other end is connected with spring guide,
One end of the spring guide and left clamp arm is hinged；It is right clamp electric pushrod drive rod end be also fixedly connected buffer spring and
The buffer spring other end is connected with spring guide, and one end of the spring guide and right clamp arm is hinged.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910582217.0A CN110122102B (en) | 2019-06-30 | 2019-06-30 | Tree climbing pruning robot based on flexible cutter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910582217.0A CN110122102B (en) | 2019-06-30 | 2019-06-30 | Tree climbing pruning robot based on flexible cutter |
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| CN110122102A true CN110122102A (en) | 2019-08-16 |
| CN110122102B CN110122102B (en) | 2024-04-26 |
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| CN201910582217.0A Active CN110122102B (en) | 2019-06-30 | 2019-06-30 | Tree climbing pruning robot based on flexible cutter |
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| CN112678083B (en) * | 2020-12-01 | 2023-02-10 | 国网辽宁省电力有限公司锦州供电公司 | Pole robot can overturn and climb |
| CN112678083A (en) * | 2020-12-01 | 2021-04-20 | 国网辽宁省电力有限公司锦州供电公司 | Pole robot can overturn and climb |
| CN114590336A (en) * | 2020-12-07 | 2022-06-07 | 浙江德镧智能技术有限公司 | Pole crawling device and using method thereof |
| CN112690126A (en) * | 2021-01-07 | 2021-04-23 | 北京林业大学 | Deadweight clamping type electric tree climbing pruning machine |
| CN113366987A (en) * | 2021-06-28 | 2021-09-10 | 北京林业大学 | Electric standing tree pruning machine based on metamorphic mechanism |
| CN113479270A (en) * | 2021-07-26 | 2021-10-08 | 广东电网有限责任公司 | Clamping type tree climbing robot |
| CN113665696A (en) * | 2021-08-13 | 2021-11-19 | 北京林业大学 | Monkey-imitated standing tree climbing mechanism |
| CN113748865A (en) * | 2021-09-09 | 2021-12-07 | 南京林业大学 | Electric tree-climbing pruning machine based on clamping degree adjustable device |
| CN113757226A (en) * | 2021-09-18 | 2021-12-07 | 北京林业大学 | Self-adaptive tree climbing and pruning method based on electro-hydraulic-pneumatic hybrid control |
| CN113650696A (en) * | 2021-10-08 | 2021-11-16 | 哈尔滨理工大学 | Deformable wheel-track combined pole-climbing robot |
| CN113650696B (en) * | 2021-10-08 | 2023-10-13 | 哈尔滨理工大学 | Deformable wheel-track combined type pole-climbing robot |
| CN114128491A (en) * | 2021-11-24 | 2022-03-04 | 东北林业大学 | Pine cone picking device driven by lifting principle of winding machine |
| CN114128491B (en) * | 2021-11-24 | 2022-05-10 | 东北林业大学 | Pine cone picking device driven by lifting principle of winding machine |
| CN114228859A (en) * | 2022-01-25 | 2022-03-25 | 海南大学 | Palmae tree climbing robot |
| CN114919674A (en) * | 2022-04-10 | 2022-08-19 | 蔡仲杰 | Portable flexible manned tree climbing machine |
| CN114919674B (en) * | 2022-04-10 | 2023-10-27 | 蔡仲杰 | Portable flexible manned tree climbing machine |
| CN116018974A (en) * | 2022-11-11 | 2023-04-28 | 广西壮族自治区林业科学研究院 | Composite operation method for promoting eucalyptus growth |
| CN117941554A (en) * | 2024-03-27 | 2024-04-30 | 河南天铁农业机械有限公司 | Pruning device for forestry trees and application method thereof |
| CN117941554B (en) * | 2024-03-27 | 2024-06-11 | 河南天铁农业机械有限公司 | Pruning device for forestry trees and application method thereof |
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