The invention discloses a wheel type tree climbing and pruning robot self-adaptive to a trunk contact surface. Belongs to the technical field of forestry machinery. The whole tree-climbing robot can be divided into an upper part and a lower part of a wheel type clasping device and a mechanical arm pruning operation device, the platforms are driven to move up and down through a four-rod mechanism with wheels and a damping driving wheel, and the clasping devices used for clamping a tree trunk are arranged on the upper platform and the lower platform, so that the clasping devices are in a three-finger clamping form. Secondly, a mechanical arm pruning device used for pruning operation is arranged on the upper platform; according to the tree climbing robot disclosed by the invention, the damping mechanism and the spherical joint are attached to the wheel type holding device, so that the robot can ensure that the wheel and the surface of a trunk have a larger contact area while clamping the trunk. When tree climbing is needed, a trunk is clamped in a self-adaptive mode through a wheel type four-rod mechanism and a damping driving wheel, the damping driving wheel rotates forwards to drive a robot platform to move upwards, the damping driving wheel turns over to achieve rapid descending of the robot, then tree climbing is achieved, and the trunk can be trimmed through a mechanical arm pruning device installed on the tree climbing robot; and compared with existing manual branch trimming, the labor cost can be effectively reduced, and safety accidents can be reduced.
本发明公开了一种自适应树干接触面的轮式爬树剪枝机器人。属于林业机械技术领域。爬树机器人整体可分为轮式抱紧装置与机械臂剪枝作业装置上下两部分,通过带轮的四杆机构及可减震主动轮带动平台上下移动,以及将用于夹紧树干的抱紧装置设置于上下两平台,使得抱紧装置呈现三指夹紧形式。其次,用于剪枝作业的机械臂剪枝装置设置于上平台。通过上述公开的爬树机器人,由于轮式抱紧装置附有减震机构以及球形关节,使机器人能够在夹紧树干的同时保证轮子与树干表面有更大的接触面积。在需要爬树时,通过轮式四杆机构和减震主动轮自适应夹紧树干,减震主动轮正转带动机器人平台向上移动,减震主动轮翻转实现机器人快速下降,进而实现爬树,通过爬树机器人上安装的机械臂剪枝装置可对树干修整,相较于现有人力修整树枝,不仅能够有效减少人力成本,还能降低安全事故发生。
Wheel type tree climbing and pruning robot self-adaptive to trunk contact surface
一种自适应树干接触面的轮式爬树剪枝机器人
2024-10-29
Patent
Electronic Resource
Chinese
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