CN108738811A - A kind of robot of controllable track climbs tree pruning method - Google Patents
A kind of robot of controllable track climbs tree pruning method Download PDFInfo
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- CN108738811A CN108738811A CN201810646393.1A CN201810646393A CN108738811A CN 108738811 A CN108738811 A CN 108738811A CN 201810646393 A CN201810646393 A CN 201810646393A CN 108738811 A CN108738811 A CN 108738811A
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- robot
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- climbing
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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
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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
- A01G3/085—Motor-driven saws for pruning or branching
- A01G3/086—Chain saws
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- Biodiversity & Conservation Biology (AREA)
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- Forests & Forestry (AREA)
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Abstract
It climbs tree pruning method the invention discloses a kind of robot of controllable track, including：Installation is fixed：Robot capable of climbing trees is mounted on the trunk for waiting for pruning trees；Adjust helix angle：The angle between the driving wheel and trunk axis of robot capable of climbing trees is adjusted, and selectes an angle position；It climbs tree pruning：Control robot capable of climbing trees is climbed with certain helix angle around trunk surface upwards, while being controlled electric chain saw work and being pruned；Midway adjustment helix angle：During trimming, according to waiting for that the dry physical location situation of Pruning Away Branches adjusts the angle between the driving wheel of robot capable of climbing trees and trunk axis at any time, change helix angle；It completes to prune：After the completion of robot capable of climbing trees trimming, control electric chain saw is closed, and robot capable of climbing trees is removed.The present invention controls track of climbing tree by adjusting the angle between the driving wheel and trunk axis of robot capable of climbing trees, and practicability is high, can improve fast-growing woods pruning efficiency, reduces the labor intensity of work on forestry personnel.
Description
Technical field
The invention belongs to forestry machinery field, it is related to a kind of robot of controllable track and climbs tree pruning method.
Background technology
Fast-growing woods is the short artificial forest of cycle of rotational cutting, larger in commercial paper domain requirement, due to its fast-growing advantage, material
It is good, the good characteristics such as surrival rate of afforestation height, thus there is good economic value.Carrying out rational prune to fast-growing woods can promote
Into the growth of trees, improve the logical straight degree of trees, the toughness of circularity, bending strength and timber, improve forest growing environment and
Fire prevention in crop trees condition enhances top photosynthesis.
China's fast-growing woods cultivated area constantly expands, but the Pruning of fast-growing woods falls behind, and many areas still pass through people
Work handheld tool is pruned, and the amount of labour is big, pruning efficiency is low and has danger when trimming higher trees；It adopts in some areas
It is pruned with robot capable of climbing trees, but climb tree during pruning with existing method, the spiral shell that robot capable of climbing trees climbs
Swing angle is uncontrollable, track of climbing tree is uncontrollable, needs to consider the relationship between the size and chain saw length of trunk diameter, cannot basis
Wait for the track that the trunk situation control of pruning trees is pruned, the pruning efficiency in turn resulting in work on forestry personnel is low, labour of pruning
The problems such as intensity is big produces harmful effect to the economic benefit of fast-growing woods large area plantation.
Invention content
The present invention provides a kind of robot of controllable track and climbs tree pruning to solve shortcoming in the prior art
Method controls track of climbing tree, practicability is high, energy by adjusting the angle between the driving wheel and trunk axis of robot capable of climbing trees
Fast-growing woods pruning efficiency is enough improved, the labor intensity of work on forestry personnel is reduced.
The present invention adopted the technical scheme that solve the above-mentioned problems, is provided a kind of robot of controllable track and is climbed
Pruning method is set, is included the following steps：
Installation is fixed：Robot capable of climbing trees is mounted on the trunk for waiting for pruning trees, the driving wheel of robot capable of climbing trees is made to be adjacent to tree
Dry surface；
Adjust helix angle：The angle between the driving wheel and trunk axis of robot capable of climbing trees is adjusted, and selectes an angle position
It sets；
It climbs tree pruning：The driving wheel rotation of robot capable of climbing trees is controlled, robot capable of climbing trees is with certain helix angle around trunk table
Climb upwardly, at the same control robot capable of climbing trees electric chain saw work, make electric chain saw with robot capable of climbing trees climb into
Row is pruned；
Midway adjustment helix angle：During trimming, according to waiting for that the dry physical location situation of Pruning Away Branches adjusts tree-climbing machine at any time
Angle between the driving wheel and trunk axis of people, to change helix angle；
It completes to prune：When robot capable of climbing trees is trimmed to certain altitude, control electric chain saw is closed, and robot capable of climbing trees edge is then controlled
It trunk to climb downwards, until work on forestry personnel standing place, shuts down the driving wheel of robot capable of climbing trees, remove tree-climbing machine
People, in case using next time.
When the adjustment helix angle of midway, the driving wheel for first controlling robot capable of climbing trees stops operating, and repeats and is adjusted spiral shell
Lift angle action is revolved, the driving wheel of robot capable of climbing trees is made to form new angle with trunk axis, then repeating to climb tree, it is dynamic to prune
Make.
Robot capable of climbing trees includes drive module, battery controller module, electric chain saw module and steel wire lock tightening hand-operated device mould
Block；
There are three drive module is set, the structure of each drive module is identical and circularizes uniform intervals setting, each drive around trunk
Gap between dynamic model block is denoted as the first interval location, the second interval location and third interval location respectively；
Drive module includes driving frame body, electric machine support, wheel hub motor, linear motor and turns to push rod, and the driving frame body is T
Shape frame structure, the electric machine support are hinged on the middle part of driving frame body by axis pin, and wheel hub motor is driving wheel, wheel hub electricity
The wheel shaft of machine is rotatably connected on electric machine support and the wheel hub of wheel hub motor is in rolling contact with trunk, and the linear motor level is set
It sets and one end of linear motor is fixed on the side madial wall of driving frame body, turn to end and the linear motor of push rod
Motion bar one end is hinged, another end for turning to push rod is hinged on the lateral wall of electric machine support；
Battery controller module is arranged in the first interval location, and battery controller module includes battery frame body, is consolidated in battery carrier body
Dingan County is equipped with controller and the accumulator for powering to wheel hub motor, and accumulator is electrically connected with controller by conducting wire, controls
Device is electrically connected with the wheel hub motor in each drive module by conducting wire respectively；
Electric chain saw module is arranged in the second interval location, and electric chain saw module includes chain saw frame body and is fixedly mounted on chain saw frame
Electric chain saw on body, the saw blade of electric chain saw is towards at the top of trunk；
Steel wire lock tightening hand-operated device module is arranged in third interval location, and steel wire lock tightening hand-operated device module includes hand-operated device frame body and consolidates
Steel wire lock tightening hand-operated device of the Dingan County on hand-operated device frame body；
Battery frame body, chain saw frame body, hand-operated device frame body and each drive module driving frame body be connected as one respectively by spring,
Steel wire lock tightening hand-operated device is connected with the driving frame body in the drive module of both sides respectively by steel wire.
Preferably, the T shapes frame structure of the driving frame body is made of the munnion frame and lateral frame being arranged in a mutually vertical manner, and is erected
Frame is square structure and to be arranged in parallel with trunk axis, and lateral frame is horizontally placed on the outer middle side part of munnion frame and lateral frame
Both ends are fixedly connected with the left and right side plates of munnion frame respectively.
Preferably, the electric machine support is groove type structure, electric machine support it is open towards trunk, the outside of electric machine support
Plate is hinged by axis pin and lateral frame.
Preferably, the quantity of the wheel hub motor in each drive module is two, to court on the outer panel of electric machine support
It is fixedly connected with partition board to the side of trunk, electric machine support is divided into two installation spaces, described two wheel hub electricity by the partition board
Machine is located in two installation spaces.
Preferably, it is separately connected between the driving frame body of battery frame body, chain saw frame body, hand-operated device frame body and each drive module
Spring respectively be two.
Using above-mentioned technical proposal, the present invention has the following advantages：
The present invention is by the track of climbing tree of control robot capable of climbing trees during pruning, i.e., in the spiral of adjustment robot capable of climbing trees
Lift angle does not have to the pass for considering the size and chain saw length of trunk diameter so as to trim the branch on trunk on any position
System, practicability is higher, avoids work on forestry personnel climbing to trunk eminence pollard, avoids the danger during climbing
Danger, and the pruning efficiency can be improved.
Robot capable of climbing trees in the present invention uses modularized design, simple and reliable for structure, with the spiral of robot capable of climbing trees
Rise, electric chain saw pollard；Innovative point be can by controlling the corner dimension between wheel hub motor and trunk axis,
The spiral angle of robot capable of climbing trees is adjusted so as to trim the branch on trunk on any position, does not have to consider trunk diameter
Size and chain saw length relationship.
It is respectively provided in each drive module of robot capable of climbing trees in the present invention there are two wheel hub motor, when upward climbing is pruned more
Add stabilization, two springs being arranged between each module of robot capable of climbing trees in the present invention can enhance connect between each module it is firm
Adaptability when property and stem diameter changes.
To sum up, the present invention is easily operated, simple in structure, at low cost, realizes automation and climbs tree prunings, suitable in fast-growing woods
Between carry out pruning operation, can improve fast-growing woods large area plantation economic benefit, reduce work on forestry personnel labor intensity,
Fast-growing woods pruning efficiency is improved, is played an important roll to fast-growing woods industry development.
Description of the drawings
Fig. 1 is the overlooking structure diagram of robot capable of climbing trees in the present invention；
Fig. 2 is the main structure diagram of Fig. 1；
Fig. 3 is the right side structural representation of Fig. 2；
Fig. 4 is one of the dimensional structure diagram of robot capable of climbing trees in the present invention；
Fig. 5 is two of the dimensional structure diagram of robot capable of climbing trees in the present invention；
Fig. 6 is the angle schematic diagram formed between the electric machine support and trunk of robot capable of climbing trees in the present invention.
Specific implementation mode
A kind of robot of controllable track of the present invention climbs tree pruning method, includes the following steps：
Installation is fixed：Robot capable of climbing trees is mounted on the trunk for waiting for pruning trees, the driving wheel of robot capable of climbing trees is made to be adjacent to tree
Dry surface；
Adjust helix angle：The angle between the driving wheel and trunk axis of robot capable of climbing trees is adjusted, and selectes an angle position
It sets；
It climbs tree pruning：The driving wheel rotation of robot capable of climbing trees is controlled, robot capable of climbing trees is with certain helix angle around trunk table
Climb upwardly, at the same control robot capable of climbing trees electric chain saw work, make electric chain saw with robot capable of climbing trees climb into
Row is pruned；
Midway adjustment helix angle：During trimming, according to waiting for that the dry physical location situation of Pruning Away Branches adjusts tree-climbing machine at any time
Angle between the driving wheel and trunk axis of people, to change helix angle；When the adjustment helix angle of midway, machine of climbing tree first is controlled
The driving wheel of device people stops operating, and repeats and is adjusted helix angle action, makes the driving wheel and trunk axis of robot capable of climbing trees
Line forms new angle, then repeats pruning action of climbing tree；
It completes to prune：When robot capable of climbing trees is trimmed to certain altitude, control electric chain saw is closed, and robot capable of climbing trees edge is then controlled
It trunk to climb downwards, until work on forestry personnel standing place, shuts down the driving wheel of robot capable of climbing trees, remove tree-climbing machine
People, in case using next time.
As shown in Figures 1 to 6, robot capable of climbing trees of the invention includes drive module 1, battery controller module 2, electric chain
Saw module 3 and steel wire lock tightening hand-operated device module 4；
There are three drive module 1 is set, the structure of each drive module 1 is identical and circularizes uniform intervals setting around trunk 5, each
Gap between drive module 1 is denoted as the first interval location, the second interval location and third interval location respectively；
As shown in Fig. 2, drive module 1 includes driving frame body 101, electric machine support 102, wheel hub motor 103,104 and of linear motor
Push rod 105 is turned to, the driving frame body 101 is T shape frame structures, and the electric machine support 102 is hinged on bogie by axis pin
The middle part of body 101, wheel hub motor 103 be driving wheel, the wheel shaft of wheel hub motor 103 be rotatably connected on electric machine support 102 and
The wheel hub of wheel hub motor 103 is in rolling contact with trunk 5, and the linear motor 104 is horizontally disposed with and one end of linear motor 104 is solid
It is scheduled on the side madial wall of driving frame body 101, turns to motion bar one end of the end and linear motor 104 of push rod 105
Hinged, another end for turning to push rod 105 is hinged on the lateral wall of electric machine support 102；
Linear motor 104 moves along a straight line in the horizontal direction, drives electric machine support 102 around axis where axis pin by turning to push rod 105
Line rotates, and linear motor 104 stops after turning to certain angle, and electric machine support 102 forms angle α with 5 axis of trunk, then wheel hub
It is 90 ° that motor 103 forms angle β, the sum of α and β with 5 axis of trunk, and β is less than or equal to 90 °, the wheel in all drive modules 1
When hub motor 103 rotates simultaneously, the present invention can form track of creeping according to certain helix angle, to sum up, by adjusting electricity
Machine support 102 angle of inclination adjustment the present invention track of creeping, by adjusting wheel hub motor 103 adjustment of rotational speed the present invention
The rate of climb.
For the setting of battery controller module 2 in the first interval location, battery controller module 2 includes battery frame body 201, battery
Controller 202 and the accumulator 203 for powering to wheel hub motor 103, accumulator 203 and control are installed in frame body 201
Device 202 processed is electrically connected by conducting wire, and controller 202 is electrically connected with the wheel hub motor 103 in each drive module 1 by conducting wire respectively
It connects；In the second interval location, electric chain saw module 3 includes chain saw frame body 301 and is fixedly mounted on chain the setting of electric chain saw module 3
Electric chain saw 302 on saw frame body 301, the saw blade of electric chain saw 302 is towards 5 top of trunk；Electric chain saw 302 passes through external electrical
Source individually powers；For the setting of steel wire lock tightening hand-operated device module 4 in third interval location, steel wire lock tightening hand-operated device module 4 includes hand
Device frame body 401 and the steel wire lock tightening hand-operated device 402 being fixedly mounted on hand-operated device frame body 401；Battery frame body 201, chain saw frame body
301, hand-operated device frame body 401 and the driving frame body 101 of each drive module 1 are connected as one by spring 6 respectively, and spring 6 is removable
It unloads, steel wire lock tightening hand-operated device 402 is connected with the driving frame body 101 in the drive module of both sides 1 respectively by steel wire 7.It uses
Steel wire lock tightening hand-operated device 402 can tighten steel wire 7, and then tighten each module, and the controllable track of the present invention is finally made to climb tree pruner
Device people is still in 5 surface of trunk by the frictional force between wheel hub motor 103 and trunk 5.
Linear motor 104 in electric chain saw 302 and each drive module 1 is electrically connected with controller 202 respectively.The control
Device 202 belongs to existing conventional equipment, and concrete structure is no longer described in detail.
Controller 202 does acceleration and deceleration motion by sending tach signal control wheel hub motor 103 to each drive module 1, from
And the controllable track pruning robot complete machine of climbing tree for controlling the present invention carries out acceleration and deceleration motion on trunk 5, controller 202 passes through
Telescope signal control linear motor 104 is sent to linear motor 104 and does stretching motion, is controlled between complete machine of the present invention and trunk 5
Frictional force, achieve the purpose that adjust clamping force of the complete machine on trunk 5, controller 202 is positive and negative by sending to drive module 1
Rotaring signal control wheel hub motor 103 does positive and negative rotation campaign, to control traffic direction of the complete machine of the present invention on trunk 5.
As shown in figure 3, the T shapes frame structure of the driving frame body 101 is by the munnion frame 106 being arranged in a mutually vertical manner and horizontal branch
Frame 107 forms, and munnion frame 106 is square structure and is arranged in parallel with 5 axis of trunk that lateral frame 107 is horizontally placed on munnion frame
The 106 outer middle side part and both ends of lateral frame 107 are fixedly connected with the left and right side plates of munnion frame 106 respectively.
The electric machine support 102 is groove type structure, electric machine support 102 it is open towards trunk 5, electric machine support 102
Outer panel is hinged by axis pin and lateral frame 107.
As shown in figure 5, the quantity of the wheel hub motor 103 in each drive module 1 is two, outside electric machine support 102
It is fixedly connected with partition board 108 to the side towards trunk 5 on side plate, electric machine support 102 is divided to by the partition board 108 to be installed for two
Space, described two wheel hub motors 103 are located in two installation spaces.
Divide between battery frame body 201, chain saw frame body 301, hand-operated device frame body 401 and the driving frame body 101 of each drive module 1
The spring 6 not connected is respectively two.When two springs 6 can enhance 5 diameter change of the stability connected between each module and trunk
Adaptability.
Climb tree pruning method using a kind of robot of above-mentioned controllable track and robot capable of climbing trees climb tree pruning when,
It can operate according to the following steps：
A installations are fixed：Pruning robot is climbed tree on the trunk 5 for waiting for pruning trees in the controllable track of the present invention, and is led to
It crosses steel wire lock tightening hand-operated device 402 and tightens steel wire 7, controllable track is made to climb tree pruning robot by each wheel hub motor 103 and trunk 5
Between frictional force be still in 5 surface of trunk；
B adjusts helix angle：The linear motor 104 in each drive module 1 is controlled by controller while being started, and each driving mould is made
The motion bar of linear motor 104 in block 1 drives electric machine support 102 to rotate by turning to push rod 105 simultaneously, as shown in fig. 6, electric
When machine support 102 forms angle α with trunk 5, controls each linear motor 104 and be simultaneously stopped, at this point, the wheel in each drive module 1
Hub motor 103 forms angle β with 5 axis of trunk；
C climbs tree pruning：The wheel hub motor 103 in each drive module 1 is controlled by controller 202 while being rotated forward, and controllable track is climbed
Tree pruning robot is climbed upwards with certain helix angle, while being controlled electric chain saw 302 by controller and being started, and is realized upward
It is acted while spiral climbing is with trimming；The spring 6 connected between each module can be adapted to according to the variation of 5 diameter of trunk
Property adjustment, when 5 diameter of trunk increases, stretch between each spring 6, when 5 diameter of trunk reduces, shunk between each spring 6；
The midways d adjustment helix angle：During trimming, according to waiting for that the dry physical location situation of Pruning Away Branches adjusts controllable track at any time
It climbs tree the helix angle of pruning robot, specially：It first passes through controller 202 and controls wheel hub motor 103 in each drive module 1
It stops operating, repeats step b, wheel hub motor 103 and 5 axis of trunk is made to form new angle β ', then repeatedly step c；
E completes to prune：Pruning robot is climbed tree when being trimmed to certain altitude in controllable track, and electric chain saw is controlled by controller
302 close, and control the wheel hub motor 103 in each drive module 1 by controller 202 while inverting, and controllable track is climbed tree pruning
Robot is climbed downwards, until work on forestry personnel standing place, is controlled each wheel hub motor 103 by controller 202 and is stopped turning
It is dynamic, steel wire 7 is loosened by steel wire lock tightening hand-operated device 402, removes and the controllable track for recycling the present invention is climbed tree pruning robot, with
Standby next time uses.
The wheel hub motor 103, linear motor 104, controller 202, electric chain saw 302 and steel wire lock tightening hand-operated device 402
It is existing conventional equipment, concrete structure is no longer described in detail.
The present embodiment is not to be made any form of restriction to shape, material, the structure etc. of the present invention, every according to this hair
Bright technical spirit belongs to the technology of the present invention side to any simple modification, equivalent change and modification made by above example
The protection domain of case.
Claims (7)
- The pruning method 1. a kind of robot of controllable track climbs tree, it is characterised in that：Include the following steps：Installation is fixed：Robot capable of climbing trees is mounted on the trunk for waiting for pruning trees, the driving wheel of robot capable of climbing trees is made to be adjacent to tree Dry surface；Adjust helix angle：The angle between the driving wheel and trunk axis of robot capable of climbing trees is adjusted, and selectes an angle position It sets；It climbs tree pruning：The driving wheel rotation of robot capable of climbing trees is controlled, robot capable of climbing trees is with certain helix angle around trunk table Climb upwardly, at the same control robot capable of climbing trees electric chain saw work, make electric chain saw with robot capable of climbing trees climb into Row is pruned；Midway adjustment helix angle：During trimming, according to waiting for that the dry physical location situation of Pruning Away Branches adjusts tree-climbing machine at any time Angle between the driving wheel and trunk axis of people, to change helix angle；It completes to prune：When robot capable of climbing trees is trimmed to certain altitude, control electric chain saw is closed, and robot capable of climbing trees edge is then controlled It trunk to climb downwards, until work on forestry personnel standing place, shuts down the driving wheel of robot capable of climbing trees, remove tree-climbing machine People, in case using next time.
- The pruning method 2. a kind of robot of controllable track according to claim 1 climbs tree, it is characterised in that：Midway adjusts When helix angle, the driving wheel for first controlling robot capable of climbing trees stops operating, and repeats and is adjusted helix angle action, makes to climb tree The driving wheel of robot forms new angle with trunk axis, then repeats pruning action of climbing tree.
- The pruning method 3. a kind of robot of controllable track according to claim 1 or 2 climbs tree, it is characterised in that：It climbs tree Robot includes drive module, battery controller module, electric chain saw module and steel wire lock tightening hand-operated device module；There are three drive module is set, the structure of each drive module is identical and circularizes uniform intervals setting, each drive around trunk Gap between dynamic model block is denoted as the first interval location, the second interval location and third interval location respectively；Drive module includes driving frame body, electric machine support, wheel hub motor, linear motor and turns to push rod, and the driving frame body is T Shape frame structure, the electric machine support are hinged on the middle part of driving frame body by axis pin, and wheel hub motor is driving wheel, wheel hub electricity The wheel shaft of machine is rotatably connected on electric machine support and the wheel hub of wheel hub motor is in rolling contact with trunk, and the linear motor level is set It sets and one end of linear motor is fixed on the side madial wall of driving frame body, turn to end and the linear motor of push rod Motion bar one end is hinged, another end for turning to push rod is hinged on the lateral wall of electric machine support；Battery controller module is arranged in the first interval location, and battery controller module includes battery frame body, is consolidated in battery carrier body Dingan County is equipped with controller and the accumulator for powering to wheel hub motor, and accumulator is electrically connected with controller by conducting wire, controls Device is electrically connected with the wheel hub motor in each drive module by conducting wire respectively；Electric chain saw module is arranged in the second interval location, and electric chain saw module includes chain saw frame body and is fixedly mounted on chain saw frame Electric chain saw on body, the saw blade of electric chain saw is towards at the top of trunk；Steel wire lock tightening hand-operated device module is arranged in third interval location, and steel wire lock tightening hand-operated device module includes hand-operated device frame body and consolidates Steel wire lock tightening hand-operated device of the Dingan County on hand-operated device frame body；Battery frame body, chain saw frame body, hand-operated device frame body and each drive module driving frame body be connected as one respectively by spring, Steel wire lock tightening hand-operated device is connected with the driving frame body in the drive module of both sides respectively by steel wire.
- The pruning method 4. a kind of robot of controllable track according to claim 3 climbs tree, it is characterised in that：The driving The T shapes frame structure of frame body is made of the munnion frame and lateral frame being arranged in a mutually vertical manner, and munnion frame is square structure and and trunk Axis is arranged in parallel, and lateral frame is horizontally placed on the both ends of the outer middle side part of the munnion frame and lateral frame left and right with munnion frame respectively Both side plate is fixedly connected.
- The pruning method 5. a kind of robot of controllable track according to claim 4 climbs tree, it is characterised in that：The motor Holder is groove type structure, and for the opening of electric machine support towards trunk, the outer panel of electric machine support is hinged by axis pin and lateral frame.
- The pruning method 6. a kind of robot of controllable track according to claim 5 climbs tree, it is characterised in that：Each driving The quantity of mould wheel hub motor in the block is two, on the outer panel of electric machine support to the side towards trunk be fixedly connected with every Electric machine support is divided into two installation spaces by plate, the partition board, and described two wheel hub motors are located in two installation spaces.
- The pruning method 7. a kind of robot of controllable track according to claim 6 climbs tree, it is characterised in that：Battery carrier The spring being separately connected between body, chain saw frame body, hand-operated device frame body and the driving frame body of each drive module is respectively two.
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| CN201810646393.1A CN108738811B (en) | 2018-06-21 | 2018-06-21 | Robot tree-climbing pruning method capable of controlling track |
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| CN201810646393.1A CN108738811B (en) | 2018-06-21 | 2018-06-21 | Robot tree-climbing pruning method capable of controlling track |
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| CN110053681A (en) * | 2019-03-20 | 2019-07-26 | 北京木业邦科技有限公司 | A kind of robot capable of climbing trees adaptively clamped and its control method |
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