CN108738811B - Robot tree-climbing pruning method capable of controlling track - Google Patents
Robot tree-climbing pruning method capable of controlling track Download PDFInfo
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- CN108738811B CN108738811B CN201810646393.1A CN201810646393A CN108738811B CN 108738811 B CN108738811 B CN 108738811B CN 201810646393 A CN201810646393 A CN 201810646393A CN 108738811 B CN108738811 B CN 108738811B
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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
Abstract
The invention discloses a track-controllable robot tree-climbing pruning method, which comprises the following steps: and (3) mounting and fixing: installing a tree climbing robot on a trunk of a tree to be pruned; adjusting the helix angle: adjusting the angle between a driving wheel of the tree climbing robot and the axis of the trunk, and selecting an angle position; climbing trees and pruning: controlling the tree climbing robot to climb upwards around the surface of the trunk at a certain helix angle, and simultaneously controlling the electric chain saw to work for pruning; adjusting the helix angle in the midway: in the pruning process, the angle between a driving wheel of the tree climbing robot and the axis of the trunk is adjusted at any time according to the actual position condition of the branch to be pruned, and the helix angle is changed; finishing pruning: and after the tree climbing robot finishes pruning, controlling the electric chain saw to close, and taking down the tree climbing robot. The tree climbing robot controls the tree climbing track by adjusting the angle between the driving wheel of the tree climbing robot and the axis of the trunk, has high practicability, can improve the pruning efficiency of fast-growing forests, and reduces the labor intensity of forestry workers.
Description
Technical Field
The invention belongs to the field of forestry machinery, and relates to a track-controllable robot tree-climbing pruning method.
Background
The fast-growing forest is an artificial forest with short felling period, has great demand in the field of industrial papermaking, and has excellent economic value owing to the advantages of fast growth, high quality, high afforestation survival rate and other excellent features. The reasonable pruning of the fast-growing forest can promote the growth of trees, improve the straightness, roundness, bending strength and wood toughness of trees, improve the growth environment and the fire-proof condition of trees, and enhance the photosynthesis of the upper part.
The planting area of fast-growing forests in China is continuously enlarged, but the pruning mode of the fast-growing forests is backward, and many areas still prune through manual hand-held tools, so that the labor amount is large, the pruning efficiency is low, and high trees are dangerous when being pruned; in some areas, a tree climbing robot is adopted for pruning, but in the process of climbing trees and pruning by using the existing method, the climbing spiral angle of the tree climbing robot is uncontrollable, the climbing track is uncontrollable, the relation between the diameter of a trunk and the length of a chain saw needs to be considered, and the pruning track cannot be controlled according to the trunk condition of the tree to be pruned, so that the problems of low pruning efficiency, high pruning labor intensity and the like of forestry workers are caused, and the economic benefit of large-area planting of fast-growing forests is adversely affected.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides the track-controllable robot tree-climbing pruning method, the track of the tree climbing is controlled by adjusting the angle between the driving wheel of the tree-climbing robot and the axis of the trunk, the practicability is high, the pruning efficiency of the fast-growing forest can be improved, and the labor intensity of forestry workers is reduced.
The invention adopts the technical scheme that a robot tree-climbing pruning method with a controllable track is provided, and the method comprises the following steps:
and (3) mounting and fixing: installing the tree climbing robot on a trunk of a tree to be pruned, and enabling a driving wheel of the tree climbing robot to be tightly attached to the surface of the trunk;
adjusting the helix angle: adjusting the angle between a driving wheel of the tree climbing robot and the axis of the trunk, and selecting an angle position;
climbing trees and pruning: controlling a driving wheel of the tree climbing robot to rotate, enabling the tree climbing robot to climb upwards around the surface of a trunk at a certain spiral angle, and simultaneously controlling an electric chain saw of the tree climbing robot to work, so that the electric chain saw carries out pruning along with the climbing of the tree climbing robot;
adjusting the helix angle in the midway: in the pruning process, the angle between a driving wheel of the tree climbing robot and the axis of the trunk is adjusted at any time according to the actual position condition of the branch to be pruned so as to change the helix angle;
finishing pruning: when the tree climbing robot prunes the take-up height, control electric chain saw and close, then control tree climbing robot scrambles downwards along the trunk, and the drive wheel of stopping tree climbing robot is taken off up to forestry staff position of standing to take off tree climbing robot, in order to be ready for next use.
When the helix angle is adjusted midway, the driving wheel of the tree climbing robot is controlled to stop rotating, then the helix angle adjusting action is repeatedly carried out, so that the driving wheel of the tree climbing robot forms a new included angle with the axis of the trunk, and then the tree climbing and pruning actions are repeatedly carried out.
The tree climbing robot comprises a driving module, a battery controller module, an electric chain saw module and a steel wire locking hand crank module;
the driving modules are three, the driving modules are identical in structure and are arranged around the trunk at intervals in a ring shape, and gaps among the driving modules are marked as a first interval position, a second interval position and a third interval position respectively;
the driving module comprises a driving frame body, a motor support, an in-wheel motor, a linear motor and a steering push rod, the driving frame body is of a T-shaped frame structure, the motor support is hinged to the middle of the driving frame body through a pin shaft, the in-wheel motor is a driving wheel, a wheel shaft of the in-wheel motor is rotatably connected to the motor support, a wheel hub of the in-wheel motor is in rolling contact with a trunk, the linear motor is horizontally arranged, one end of the linear motor is fixed to the inner side wall of one side of the driving frame body, one end of the steering push rod is hinged to one end of a movable rod of the linear motor, and the other end;
the battery controller module is arranged at a first interval position and comprises a battery frame body, a controller and a storage battery for supplying power to the hub motors are fixedly arranged in the battery frame body, the storage battery is electrically connected with the controller through a lead, and the controller is respectively electrically connected with the hub motors in the driving modules through leads;
the electric chain saw module is arranged at the second interval position and comprises a chain saw frame body and an electric chain saw fixedly arranged on the chain saw frame body, and a saw blade of the electric chain saw faces the top of the trunk;
the steel wire locking hand crank module is arranged at a third interval position and comprises a hand crank frame body and a steel wire locking hand crank fixedly arranged on the hand crank frame body;
the battery frame body, the chain saw frame body, the hand-operated device frame body and the driving frame bodies of the driving modules are connected into a whole through springs respectively, and the steel wire locking hand-operated devices are connected with the driving frame bodies in the driving modules on two sides through steel wires respectively.
Preferably, the T-shaped frame structure of the driving frame body is composed of a vertical frame and a transverse support, the vertical frame is of a square structure and is parallel to the trunk axis, and the transverse support is horizontally arranged in the middle of the outer side of the vertical frame and at the two ends of the transverse support and fixedly connected with the left side plate and the right side plate of the vertical frame respectively.
Preferably, the motor support is the recess shape structure, and motor support's uncovered orientation trunk, motor support's outer panel is articulated through round pin axle and horizontal support.
Preferably, the number of in-wheel motors in every drive module is two, and one side fixedly connected with baffle towards the trunk on the outer panel of motor support, the baffle divide into two installation space with motor support, two in-wheel motors are located two installation space respectively.
Preferably, the number of the springs respectively connected between the battery frame body, the chain saw frame body, the hand crank frame body and the driving frame body of each driving module is two.
By adopting the technical scheme, the invention has the following advantages:
according to the tree-climbing robot, the tree-climbing track of the tree-climbing robot is controlled in the pruning process, namely the spiral ascending angle of the tree-climbing robot is adjusted, so that branches at any position on the trunk can be pruned, the relation between the diameter of the trunk and the length of the chain saw is not considered, the practicability is high, forestry workers are prevented from climbing to the high position of the trunk to prune the branches, the danger in the climbing process is avoided, and the pruning efficiency can be improved.
The tree climbing robot is in a modular design, the structure is simple and reliable, and branches are trimmed by the electric chain saw along with the spiral rising of the tree climbing robot; the innovation point is that the spiral ascending angle of the tree climbing robot can be adjusted by controlling the size of the included angle between the hub motor and the axis of the trunk, so that branches on any position on the trunk can be pruned without considering the relation between the diameter of the trunk and the length of the chain saw.
The two hub motors are arranged in each driving module of the tree climbing robot, so that the tree climbing robot is more stable when climbing upwards and pruning, and the two springs arranged between the modules of the tree climbing robot can enhance the connection stability between the modules and the adaptability of a tree trunk when the diameter of the tree trunk changes.
In conclusion, the automatic tree-climbing pruning machine is easy to operate, simple in structure and low in cost, realizes automatic tree-climbing pruning, is suitable for pruning in fast-growing forests, can improve the economic benefit of large-area planting of fast-growing forests, reduces the labor intensity of forestry workers, improves the pruning efficiency of fast-growing forests, and plays an important role in the development of fast-growing forest production.
Drawings
FIG. 1 is a schematic top view of a tree-climbing robot according to the present invention;
FIG. 2 is a schematic front view of the structure of FIG. 1;
FIG. 3 is a schematic diagram of the right side view of FIG. 2;
FIG. 4 is a schematic perspective view of a tree climbing robot according to the present invention;
FIG. 5 is a second schematic perspective view of the tree climbing robot of the present invention;
fig. 6 is a schematic view of an angle formed between a motor bracket and a trunk of the tree climbing robot.
Detailed Description
The invention discloses a track-controllable robot tree-climbing pruning method, which comprises the following steps:
and (3) mounting and fixing: installing the tree climbing robot on a trunk of a tree to be pruned, and enabling a driving wheel of the tree climbing robot to be tightly attached to the surface of the trunk;
adjusting the helix angle: adjusting the angle between a driving wheel of the tree climbing robot and the axis of the trunk, and selecting an angle position;
climbing trees and pruning: controlling a driving wheel of the tree climbing robot to rotate, enabling the tree climbing robot to climb upwards around the surface of a trunk at a certain spiral angle, and simultaneously controlling an electric chain saw of the tree climbing robot to work, so that the electric chain saw carries out pruning along with the climbing of the tree climbing robot;
adjusting the helix angle in the midway: in the pruning process, the angle between a driving wheel of the tree climbing robot and the axis of the trunk is adjusted at any time according to the actual position condition of the branch to be pruned so as to change the helix angle; when the helix angle is adjusted midway, the driving wheel of the tree climbing robot is controlled to stop rotating, then the helix angle adjusting action is repeatedly carried out, so that a new included angle is formed between the driving wheel of the tree climbing robot and the axis of the trunk, and then the tree climbing and pruning actions are repeatedly carried out;
finishing pruning: when the tree climbing robot prunes the take-up height, control electric chain saw and close, then control tree climbing robot scrambles downwards along the trunk, and the drive wheel of stopping tree climbing robot is taken off up to forestry staff position of standing to take off tree climbing robot, in order to be ready for next use.
As shown in fig. 1 to 6, the tree-climbing robot of the present invention includes a driving module 1, a battery controller module 2, an electric chain saw module 3, and a wire locking hand crank module 4;
the driving modules 1 are three, the driving modules 1 are identical in structure and are arranged around the trunk 5 at intervals in a ring shape, and gaps among the driving modules 1 are marked as a first interval position, a second interval position and a third interval position respectively;
as shown in fig. 2, the driving module 1 includes a driving frame body 101, a motor support 102, an in-wheel motor 103, a linear motor 104 and a steering push rod 105, the driving frame body 101 is a T-shaped frame structure, the motor support 102 is hinged to the middle of the driving frame body 101 through a pin shaft, the in-wheel motor 103 is a driving wheel, a wheel shaft of the in-wheel motor 103 is rotatably connected to the motor support 102, a wheel hub of the in-wheel motor 103 is in rolling contact with the trunk 5, the linear motor 104 is horizontally arranged, one end of the linear motor 104 is fixed to the inner side wall of one side of the driving frame body 101, one end of the steering push rod 105 is hinged to one end of a movable rod of the linear motor 104, and the other end of;
the linear motor 104 moves linearly along the horizontal direction, the motor support 102 is driven to rotate around the axis where the pin shaft is located through the steering push rod 105, the linear motor 104 stops after rotating to a certain angle, the motor support 102 and the axis of the trunk 5 form an included angle alpha, the hub motor 103 and the axis of the trunk 5 form an included angle beta, the sum of alpha and beta is 90 degrees, beta is smaller than or equal to 90 degrees, when the hub motors 103 in all the driving modules 1 rotate simultaneously, the climbing track can be formed according to a certain spiral angle, in sum, the climbing track of the climbing track is adjusted through adjusting the inclination angle of the motor support 102, and the rising speed of the climbing track is adjusted through adjusting the rotating speed of the hub motors 103.
The battery controller module 2 is arranged at a first interval position, the battery controller module 2 comprises a battery frame body 201, a controller 202 and a storage battery 203 for supplying power to the in-wheel motor 103 are fixedly arranged in the battery frame body 201, the storage battery 203 is electrically connected with the controller 202 through a conducting wire, and the controller 202 is respectively electrically connected with the in-wheel motors 103 in the driving modules 1 through conducting wires; the electric chain saw module 3 is arranged at a second interval position, the electric chain saw module 3 comprises a chain saw frame body 301 and an electric chain saw 302 fixedly arranged on the chain saw frame body 301, and a saw blade of the electric chain saw 302 faces to the top of the trunk 5; the electric chain saw 302 is powered separately by an external power source; the steel wire locking hand crank module 4 is arranged at a third interval position, and the steel wire locking hand crank module 4 comprises a hand crank frame body 401 and a steel wire locking hand crank 402 fixedly arranged on the hand crank frame body 401; the battery frame body 201, the chain saw frame body 301, the hand-operated device frame body 401 and the driving frame bodies 101 of the driving modules 1 are respectively connected into a whole through springs 6, the springs 6 can be detached, and the steel wire locking hand-operated device 402 is respectively connected with the driving frame bodies 101 in the driving modules 1 on two sides through steel wires 7. The steel wire locking hand crank 402 can tighten the steel wire 7, further tighten each module, and finally enable the controllable-track tree-climbing pruning robot to be static on the surface of the trunk 5 by means of friction force between the hub motor 103 and the trunk 5.
The electric chain saw 302 and the linear motor 104 in each drive module 1 are electrically connected to the controller 202. The controller 202 belongs to the existing conventional device, and the specific structure is not described in detail.
The controller 202 sends rotating speed signals to the driving modules 1 to control the hub motor 103 to do acceleration and deceleration movement, so that the whole controllable-track tree-climbing pruning robot of the invention is controlled to do acceleration and deceleration movement on the trunk 5, the controller 202 sends extension signals to the linear motor 104 to control the linear motor 104 to do extension and contraction movement, so that the friction force between the whole robot and the trunk 5 is controlled, the clamping force of the whole robot on the trunk 5 is adjusted, and the controller 202 sends forward and reverse rotation signals to the driving modules 1 to control the hub motor 103 to do forward and reverse rotation movement, so that the running direction of the whole robot on the trunk 5 is controlled.
As shown in fig. 3, the T-shaped frame structure of the driving frame 101 is composed of a vertical frame 106 and a horizontal bracket 107, the vertical frame 106 is of a square structure and is parallel to the axis of the trunk 5, the horizontal bracket 107 is horizontally disposed in the middle of the outer side of the vertical frame 106, and two ends of the horizontal bracket 107 are respectively fixedly connected to the left and right side plates of the vertical frame 106.
The motor support 102 is of a groove-shaped structure, an opening of the motor support 102 faces the trunk 5, and an outer side plate of the motor support 102 is hinged to the transverse support 107 through a pin shaft.
As shown in fig. 5, the number of the in-wheel motors 103 in each driving module 1 is two, a partition 108 is fixedly connected to one side of the outer side plate of the motor bracket 102, which faces the trunk 5, the partition 108 divides the motor bracket 102 into two installation spaces, and the two in-wheel motors 103 are respectively located in the two installation spaces.
The number of the springs 6 connected between the battery frame body 201, the chain saw frame body 301, the hand crank frame body 401, and the drive frame body 101 of each drive module 1 is two. The two springs 6 enhance the stability of the connection between the modules and the adaptability of the trunk 5 to changes in diameter.
When the robot tree-climbing pruning method with the controllable track and the tree-climbing robot are used for tree-climbing pruning, the following steps can be carried out:
a, mounting and fixing: the controllable-track tree-climbing pruning robot is arranged on a trunk 5 of a tree to be pruned, and the steel wire 7 is tightened through the steel wire locking hand crank 402, so that the controllable-track tree-climbing pruning robot is static on the surface of the trunk 5 by means of friction force between each hub motor 103 and the trunk 5;
b, adjusting the helix angle: the linear motors 104 in the driving modules 1 are controlled by the controller to be started simultaneously, so that the movable rods of the linear motors 104 in the driving modules 1 drive the motor support 102 to rotate simultaneously through the steering push rod 105, as shown in fig. 6, when the motor support 102 forms an included angle α with the trunk 5, the linear motors 104 are controlled to stop simultaneously, and at the moment, the hub motors 103 in the driving modules 1 form an included angle β with the axis of the trunk 5;
c, climbing trees and pruning: the controller 202 controls the hub motors 103 in the driving modules 1 to rotate forwards at the same time, the controllable-track tree-climbing pruning robot climbs upwards at a certain helix angle, and the controller controls the electric chain saw 302 to start at the same time, so that the simultaneous actions of upwards climbing spirally and pruning are realized; the springs 6 connected among the modules can be adaptively adjusted according to the change of the diameter of the trunk 5, when the diameter of the trunk 5 is increased, the springs 6 are stretched, and when the diameter of the trunk 5 is reduced, the springs 6 are contracted;
d, adjusting the helix angle in the midway: in the pruning process, the helix angle of the controllable-track tree-climbing pruning robot is adjusted at any time according to the actual position condition of the branch to be pruned, and the method specifically comprises the following steps: firstly, the controller 202 controls the hub motors 103 in the driving modules 1 to stop rotating, then the step b is repeated, so that the hub motors 103 and the axis of the trunk 5 form a new included angle beta', and then the step c is repeated;
e, finishing pruning: when the controllable-track tree-climbing pruning robot is pruned to a certain height, the controller is used for controlling the electric chain saw 302 to be closed, the controller 202 is used for controlling the hub motors 103 in the driving modules 1 to rotate reversely at the same time, the controllable-track tree-climbing pruning robot climbs downwards until forestry workers stand, the controller 202 is used for controlling the hub motors 103 to stop rotating, the steel wire 7 is loosened through the steel wire locking hand crank 402, and the controllable-track tree-climbing pruning robot is taken down and recovered for next use.
The hub motor 103, the linear motor 104, the controller 202, the electric chain saw 302 and the wire locking hand crank 402 are conventional devices, and the detailed structure is not described in detail.
The present embodiment is not intended to limit the shape, material, structure, etc. of the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (6)
1. A robot tree-climbing pruning method with controllable tracks is characterized in that: the method comprises the following steps:
and (3) mounting and fixing: installing the tree climbing robot on a trunk of a tree to be pruned, and enabling a driving wheel of the tree climbing robot to be tightly attached to the surface of the trunk;
adjusting the helix angle: adjusting the angle between a driving wheel of the tree climbing robot and the axis of the trunk, and selecting an angle position;
climbing trees and pruning: controlling a driving wheel of the tree climbing robot to rotate, enabling the tree climbing robot to climb upwards around the surface of a trunk at a certain spiral angle, and simultaneously controlling an electric chain saw of the tree climbing robot to work, so that the electric chain saw carries out pruning along with the climbing of the tree climbing robot;
adjusting the helix angle in the midway: in the pruning process, the angle between a driving wheel of the tree climbing robot and the axis of the trunk is adjusted at any time according to the actual position condition of the branch to be pruned so as to change the helix angle;
finishing pruning: when the tree-climbing robot is trimmed to a certain height, the electric chain saw is controlled to be closed, then the tree-climbing robot is controlled to climb downwards along the trunk until forestry workers stand, the driving wheels of the tree-climbing robot are stopped, and the tree-climbing robot is taken down for the next use;
the tree climbing robot comprises a driving module, a battery controller module, an electric chain saw module and a steel wire locking hand crank module;
the driving modules are three, the driving modules are identical in structure and are arranged around the trunk at intervals in a ring shape, and gaps among the driving modules are marked as a first interval position, a second interval position and a third interval position respectively;
the driving module comprises a driving frame body, a motor support, an in-wheel motor, a linear motor and a steering push rod, the driving frame body is of a T-shaped frame structure, the motor support is hinged to the middle of the driving frame body through a pin shaft, the in-wheel motor is a driving wheel, a wheel shaft of the in-wheel motor is rotatably connected to the motor support, a wheel hub of the in-wheel motor is in rolling contact with a trunk, the linear motor is horizontally arranged, one end of the linear motor is fixed to the inner side wall of one side of the driving frame body, one end of the steering push rod is hinged to one end of a movable rod of the linear motor, and the other end;
the battery controller module is arranged at a first interval position and comprises a battery frame body, a controller and a storage battery for supplying power to the hub motors are fixedly arranged in the battery frame body, the storage battery is electrically connected with the controller through a lead, and the controller is respectively electrically connected with the hub motors in the driving modules through leads;
the electric chain saw module is arranged at the second interval position and comprises a chain saw frame body and an electric chain saw fixedly arranged on the chain saw frame body, and a saw blade of the electric chain saw faces the top of the trunk;
the steel wire locking hand crank module is arranged at a third interval position and comprises a hand crank frame body and a steel wire locking hand crank fixedly arranged on the hand crank frame body;
the battery frame body, the chain saw frame body, the hand-operated device frame body and the driving frame bodies of the driving modules are connected into a whole through springs respectively, and the steel wire locking hand-operated devices are connected with the driving frame bodies in the driving modules on two sides through steel wires respectively.
2. The robot tree-climbing pruning method with the controllable track as claimed in claim 1, characterized in that: when the helix angle is adjusted midway, the driving wheel of the tree climbing robot is controlled to stop rotating, then the helix angle adjusting action is repeatedly carried out, so that the driving wheel of the tree climbing robot forms a new included angle with the axis of the trunk, and then the tree climbing and pruning actions are repeatedly carried out.
3. The robot tree-climbing pruning method with the controllable track as claimed in claim 2, characterized in that: the T-shaped frame structure of the driving frame body is composed of vertical frames and transverse supports, the vertical frames are of square structures and are parallel to the trunk axis, and the transverse supports are horizontally arranged in the middle of the outer sides of the vertical frames and at the two ends of the transverse supports and fixedly connected with the left side plate and the right side plate of the vertical frames respectively.
4. The robot tree-climbing pruning method with controllable track according to claim 3, characterized in that: the motor support is of a groove-shaped structure, an opening of the motor support faces the trunk, and an outer side plate of the motor support is hinged with the transverse support through a pin shaft.
5. The robot tree-climbing pruning method with controllable track according to claim 4, characterized in that: the quantity of the in-wheel motors in each driving module is two, and the outer side plate of the motor support is provided with a partition plate towards one side of the trunk, the partition plate divides the motor support into two installation spaces, and the two in-wheel motors are respectively located in the two installation spaces.
6. The robot tree-climbing pruning method with the controllable track as claimed in claim 5, wherein: the springs respectively connected between the battery frame body, the chain saw frame body, the hand-operated device frame body and the driving frame body of each driving module are respectively two.
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