Hybrid-driven stepping tree-climbing saw type pruning robot

Abstract

The invention relates to a hybrid-driven stepping tree-climbing saw type pruning robot which comprises a hybrid-driven mechanical leg system, a saw type pruning system and a rack rod assembly. When a low-power servo motor is used for driving separately, a complex tree climbing and tree brooding movement can be realized, and driving is simple; dead locking can be realized by utilizing a counter-acting force of a driving force, and a tree climbing operation is safe and reliable; in a process that the robot climbs a tree, a freedom degree is switched, so that a holding angle can be changed, and flexible adaptation of the robot to variation of the diameter of the tree is realized; a body structure of an animal is simulated, so that the tree-climbing pruning robot can be flexibly adaptive to the trees in different shapes; a multi-freedom-degree pruning system is combined with the tree-climbing pruning robot, the mobility performance is good, pruning is convenient and flexible, the working efficiency is high, pruning and positioning are accurate, and a complex pruning operation can be completed; and high-power conventional motor and low-power servo motor hybrid drive is adopted, so that the cost is reduced, the flexible output degree is high, and the control is simple.

Description

technical field [0001] The invention relates to the field of robot design, in particular to a hybrid-driven stepping tree-climbing saw-type pruning robot. Background technique [0002] In the process of tree growth, pruning and pruning is an indispensable work. Chinese patent CN 102283026A discloses a fruit tree pruning machine. The fruit tree pruning machine needs to be carried manually. The labor intensity is high, the work efficiency is low, and the danger is great. Chinese patent CN 105940975 A discloses a fruit tree pruning machine. The executive parts of the pruning machine are installed on a power locomotive, and rely on the mechanical arm to perform pruning work, but it cannot flexibly avoid scattered branches and perform precise pruning work. , other disclosed patents about pruning robots are similar to the above two patents. [0003] Chinese patent ZL2012103468033 discloses a quadruped climbing robot. The robot utilizes self-weight and self-locking, and each clas...

AI Technical Summary

Problems solved by technology

[0002] In the process of tree growth, pruning and pruning is an indispensable work. Chinese patent CN 102283026A discloses a fruit tree pruning machine. The fruit tree pruning machine needs to be carried manually. High labor intensity, low work efficiency and great danger

Chinese patent CN 105940975 A discloses a fruit tree pruning machine. The executive parts of the pruning machine are installed on a power locomotive, and rely on the mechanical arm to perform pruning work, but it cannot flexibly avoid scattered branches and perform precise pruning work. , other published patents related to pruning robots are similar to the above two patents

[0003] Chinese patent ZL2012103468033 discloses a quadruped climbing robot. The robot utilizes self-weight and self-locking, and each clasping arm is equipped with three motors. The drive is relatively complicated, and the overall movement speed is relatively slow, which is not applicable.

[0006] At present, there is no hybrid drive stepping climber with simple drive, reliable and safe tree climbing, adaptable to trees of different thicknesses and shapes, good mobility, convenient and flexible pruning, high work efficiency, precise positioning of pruning, simple control, and high degree of flexible output. Tree saw pruning robot

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