CN110149944A - One kind is climbed tree the robot that prunes - Google Patents
One kind is climbed tree the robot that prunes Download PDFInfo
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- CN110149944A CN110149944A CN201910204039.8A CN201910204039A CN110149944A CN 110149944 A CN110149944 A CN 110149944A CN 201910204039 A CN201910204039 A CN 201910204039A CN 110149944 A CN110149944 A CN 110149944A
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- 244000141353 Prunus domestica Species 0.000 title claims description 34
- 238000013138 pruning Methods 0.000 claims abstract description 33
- 239000000523 sample Substances 0.000 claims abstract description 10
- 230000009194 climbing Effects 0.000 claims description 24
- 230000000694 effects Effects 0.000 claims description 22
- 238000010008 shearing Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000009966 trimming Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 241000826860 Trapezium Species 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 239000002023 wood Substances 0.000 claims description 2
- 239000003292 glue Substances 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 4
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000029553 photosynthesis Effects 0.000 description 1
- 238000010672 photosynthesis Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012913 prioritisation Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
It climbs tree beta pruning robot the invention proposes a kind of Pneumatic pressure power, comprising: power source, host, the host are equipped with and hold crawler module, side shoot cutting module, speed probe, attitude transducer and control unit；And the structure of folding is designed to by the way that mechanism and cutting mechanism will be held, make to operate simpler, shorten the time of conversion trees, it is high to improve shear efficiency, host operating condition is detected using multiple sensors simultaneously, and self adaptive control is carried out by control unit, the pruning efficiency of trees is substantially increased, the labor intensity of worker is reduced.
Description
[technical field]
The present invention relates to the automated machine devices of the technology of forestry machinery, especially branch pruning.
[background technique]
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 reasonable prune to fast-growing woods can promote
Into the growth of trees, improve the toughness of the logical straight degree of trees, 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 low efficiency and while trimming higher trees have risk；It adopts some areas
It is pruned with robot capable of climbing trees, but climb tree during pruning with existing method, robot capable of climbing trees uses spiral
Climb mode, track of climbing tree is uncontrollable, needs to consider the relationship between the size of trunk diameter and chain saw length, and when installation needs
The problems such as unbroken loop around trees, difficulty is larger, in turn results in pruning low efficiency, pruning large labor intensity, to fast-growing woods large area
The economic benefit of plantation produces adverse effect.
Not the problems such as poor, large labor intensity, height of pruning do not reach requirement for safety existing for fast-growing woods pruning machinery
Invent that a kind of operability is good, high degree of automation, work efficiency is high, the fast-growing woods pruning maintaining robot of good security
To complete fast-growing woods pruning maintenance work, there is important impetus for fast-growing woods industry development.
[summary of the invention]
The object of the invention is to solve the problems of the prior art, propose that a kind of Pneumatic pressure power is climbed tree the robot that prunes,
It can make to realize and quickly climbing and pruning work are automated to trees.
To achieve the above object, the invention proposes a kind of robots that prunes of climbing tree of Pneumatic pressure power driving, including host
The power source of the host is connected to by a gas delivery tube, the host is equipped with and holds crawler module, side shoot cutting module
With several sensors being installed at the host different location, the crawler module that holds is used to encircle in host to be clamped on tree
On dry, several described sensors hold crawler module and side shoot cutting module is respectively electrically connected a control unit, the control list
Member is for controlling the mechanical action for holding crawler module and side shoot cutting module according to the sensing signal of the sensor.
For example, the speed probe of arrangement can be used for detecting the real time execution speed of robot of pruning of climbing tree.In this base
On plinth, it can also arrange attitude transducer with for detecting the posture of mainframe at runtime, displacement sensor can be used for detecting liquid
The extension elongation of pressure cylinder piston bar, and then calculate the diameter of required pruning trees.Described control unit and these sensor phases
Connect to control the movement of mainframe and travel condition and can pass to wireless controller to long distance wireless.
In one embodiment, the host includes upper and lower fixing plate and for being connected and fixed the upper and lower fixing plate
Back and front supporting bar, the upper and lower fixing plate generally trapezium structure metal plate, the support rod are cylinder straight-bar, before described,
Back support rod is installed between upper and lower fixing plate.
On this basis, it is described hold crawler module include driving wheel, air motor, auxiliary wheel, movable side wheel, hold it is dynamic
Arm and cylinder being held, the driving wheel is fixed by the bracket on the bottom plate, and the air motor is connected with driving wheel,
The auxiliary wheel is fixed on upper mounted plate bottom side, and the activity side wheel, which is mounted on, holds swing arm end, described to hold swing arm installation
It can rotate on front support rod and around front support rod；The described cylinder one end that holds is mounted on back support rod, other end cylinder with
Swing arm is held to be connected to hold the opening of swing arm by the extension and contraction control for holding cylinder and hold；
On this basis further, the side shoot cutting module includes telescopic cylinder, movable tool arm and shearing tool, institute
It states telescopic cylinder and movable tool arm is installed on front support rod and the activity tool arm is connected with telescopic cylinder, by flexible
Cylinder control the folding angle of the activity tool arm with to different-diameter branch shearing, the shearing tool include fixed blade and
Movable blades, the fixed blade are mounted on upper mounted plate top side, and the movable blades are mounted on movable tool arm.
On this basis further, the sensor includes that the revolving speed being respectively arranged on driving wheel and auxiliary wheel passes
Sensor for detecting the mobile speed of service of robot of pruning of climbing tree, and compares the sensing data of two speed probes to examine
Survey whether the robot that prunes of climbing tree has skidded.
It is described to hold cylinder and telescopic cylinder is equipped with displacement sensor as one of this embodiment improvement, it is used for
The extension elongation of the telescopic cylinder is sensed and controls, control activity tool arm prevents from being cut to tree skin at a distance from trunk.
As another improvement, the attitude transducer is installed on upper mounted plate, is configured as to detect host body
When tilting, inclined side is reduced by control unit and holds the pressure of cylinder, and then adjusts the appearance of robot of pruning of climbing tree
State, make to climb tree the working condition that robot keeps vertical of pruning.
As a kind of prioritization scheme of above embodiments, the mainframe may also include third fixed mounting plate or more that
This fixed mounting plate being mounted in parallel in such as third fixed mounting plate to arrange the different types of sensor.
In another embodiment, the driving wheel, auxiliary wheel surface have rubber antiskid layer, the activity side wheel tire
For pneumatic tire.
In yet another embodiment, the auxiliary wheel is identical as the structure of driving wheel.
In the embodiment above, the driving wheel and auxiliary wheel are replaceable structure, and rubber surface anti-slip layer thickness
Difference is to adapt to different types of trees.
In above each embodiment, the movable blades are replaceable structure and have multiple and different sizes, to adapt to not
With the tree trimming of diameter range.
In above each embodiment, the shear-blade is overall co-ordination in the arcuate structure of branch gabarit.
It is described to hold cylinder and telescopic cylinder is equipped with displacement sensor in above each embodiment, by holding gas
The radius R for the branch trimmed needed for the length X detection of cylinder, and then telescopic cylinder extension elongation is controlled by above-mentioned control unit,
And control activity tool arm prevents from being cut to tree skin at a distance from trunk.
Specifically, the detection of the radius R meets relational expression
(1)
Defining a point is the connection center for holding cylinder and holding swing arm, and b point is the axle center of back support rod, and c point is main
The contact point of driving wheel and auxiliary wheel and trees, d point are the contact points of movable side wheel and trees, and o point is the axle center of front support rod,
It is the rotation center of movable side arm.
The L in the relational expression (1)1It is the distance between b point and c point, L2It is the distance between o point and a point, L3O point with
The distance between c point, L4It is the distance between o point and d point, L5It is the distance between o point and b point, X is between a point and b point
Distance, θ are the angles between line oa and od.
Beneficial effects of the present invention: the present invention is reduced and is climbed tree by the way that Pneumatic Transmission is applied to the robot that prunes of climbing tree
The weight of pruning robot；Multiple sensor detection host operating conditions are set simultaneously, and are carried out adaptively by control unit
Control, substantially increases the pruning efficiency of trees, reduces the labor intensity of worker.
[Detailed description of the invention]
Some or all of present invention feature and advantage will be described in detail by embodiment combination attached drawing.One device
And its construction of components may be depicted in different drawings with different visual angles, in order to be best understood from skill of the invention
Art scheme, in which:
Fig. 1 is that the Pneumatic pressure power of the embodiment of the present invention is climbed tree the structural schematic diagram of robot of pruning；
Fig. 2 is that the Pneumatic pressure power of the embodiment of the present invention is climbed tree the main machine frame structural schematic diagram of robot of pruning；
Fig. 3 be the Pneumatic pressure power of the embodiment of the present invention climb tree prune robot hold crawler module structural schematic diagram；
Fig. 4 is that the Pneumatic pressure power of the embodiment of the present invention is climbed tree robot side shoot cutting module structural schematic diagram of pruning；
Fig. 5 is that the climb tree robot that prunes of the Pneumatic pressure power of the embodiment of the present invention holds trees operation schematic diagram；
Fig. 6 is that climb tree machine of pruning of the Pneumatic pressure power of the embodiment of the present invention manually makees schematic diagram；
In figure: 1- upper mounted plate, 2- front support rod, 3- front support rod, 4- back support rod, 5- back support rod, 6- bearing, 7-
Driving wheel, 8- air motor, 9- auxiliary wheel, 10- activity side wheel, 11- activity side wheel, 12- holds swing arm, 13- holds swing arm,
14- holds cylinder, 15- activity tool arm, 16- activity tool arm, 17- movable blades, 18- movable blades, 19- telescopic cylinder, 20- and stretches
Contracting cylinder, 21- fixed blade, 22- bottom plate, 23- hold cylinder, 24- speed probe, 25- speed probe, 26- appearance
State sensor, 100- host, 200- power source, 201- gas delivery tube.
[specific embodiment]
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that described herein
Specific embodiment be merely to illustrate and explain the present invention, be not intended to restrict the invention.In the present invention, do not making on the contrary
In the case where explanation, the noun of locality used such as " upper and lower, left and right " is typically referred to reference to upper and lower, left and right shown in the drawings.Example
Such as, from the visual angle of attached drawing, there are multiple fixed mounting plates, more can visually be considered according to from the point of view of the orientation installed and used
Upper mounted plate, bottom plate.Certainly, the exemplary construction in attached drawing is not a limitation on the technical scheme of the present invention.
Fig. 6 is arrived refering to fig. 1, and pneumatic type according to an embodiment of the present invention, which is climbed tree, prunes robot including repairing for executing to climb tree
The external power source 200 of the host 100 and one of branch.Connected between external connection power source 200 and host 100 by gas delivery tube 201
It is logical.
The host 100 is equipped with and holds crawler module, side shoot cutting module, speed probe 24,25, attitude transducer
25 and a control unit；The speed probe 24,25 is for detecting machine operating speed, and the attitude transducer 25 is for examining
Survey whether host 100 tilts；Described control unit is connected with the speed probe 24,25 and attitude transducer 25, for controlling
The operating attitude and traveling of host 100 processed.
The robot that the prunes as shown in Figure 1, Pneumatic pressure power of the embodiment of the present invention is climbed tree is arranged revolving speed by control unit and passes
Sensor 24,25, attitude transducer 25, the climb tree robot that prunes of Pneumatic pressure power can voluntarily trim trees side shoot, and repair
The problem of host 100 being effectively prevent to tilt during cutting, can also detect whether to have skidded phenomenon in time, make to climb tree
Pruning machine manually make it is more intelligent, to improve the pruning efficiency of robot of pruning of climbing tree.
As shown in Fig. 2, the Pneumatic pressure power of the embodiment of the present invention climb tree prune robot host include upper mounted plate 1, under
22, two front support rods 2,3 of fixed plate and two back support rods 4,5, the metal of the upper and lower fixing plate generally trapezium structure
Plate, such support rod are cylinder straight-bar, and support rod is installed between bottom plate.
As shown in figure 3, the Pneumatic pressure power of the embodiment of the present invention climb tree prune robot hold crawler module include actively
Wheel 7, air motor 8, auxiliary wheel 9, movable side wheel 10,11 hold swing arm 12,13 and hold cylinder 14,23.The driving wheel 7
It is fixed by the bracket on bottom plate 22, rubber tyre is had on driving wheel 7.The air motor 8 it is rack-mount with
Driving wheel 7 is connected；The auxiliary wheel 9 is identical as 7 structure of driving wheel, and auxiliary wheel 9 is fixed by the bracket below upper mounted plate 1,
The activity side wheel 10,11 has rubber tyre, and movable side wheel 10,11, which is mounted on, holds swing arm 12,13 ends.It is described hold it is dynamic
Arm 12,13 is mounted on front support rod 2,3, and the cylinder 14,23 that holds is mounted on back support rod 4,5, holds cylinder 14,23
It is connected with swing arm 12,13 is held, by holding cylinder 14,23 piston extension and contraction controls hold the opening of swing arm 12,13 and hold；Institute
It states and holds the control valve that cylinder 14,23 is equipped with adjusting pressure, prevent from holding the excessive damage trunk of cylinder 14,23 pressure.
As shown in figure 4, the Pneumatic pressure power of the embodiment of the present invention is climbed tree, the prune side shoot cutting module of robot includes flexible
Cylinder 19,20, movable tool arm 15,16 and shearing tool.The telescopic cylinder 19,20 is mounted on front support rod, the activity
Tool arm 15,16 is mounted on front support rod 2,3, movable tool arm 15,16 by being connected with telescopic cylinder 19,20, telescopic cylinder 19,
The folding angle of 20 control activity tool arms 15,16 completes the shearing to different-diameter trees, and the shearing tool includes fixing cutter
Piece 21 and movable blades 17,18, the fixed blade 21 are arc, are mounted on above upper mounted plate 1, the movable blades 17,
18 are mounted on movable tool arm 15,16.
The robot that prunes as shown in figure 5, Pneumatic pressure power according to an embodiment of the present invention is climbed tree, a point are to hold cylinder and folder
It embraces swing arm and connects center；B point is back support rod center；C point is driving wheel and auxiliary wheel and trees contact point；D point is active side
Wheel and trees contact point；O point is front support rod center, and the rotation center of movable side arm；It is described to hold cylinder 14,23 and stretch
Contracting cylinder 19,20 is the cylinder with displacement sensor, can by holding cylinder 14,23 length X calculate trees radius R, into
And the extension elongation of telescopic cylinder 19,20 is controlled, control activity tool arm 15,16 prevents from being cut to trees table at a distance from trunk
Skin.Following relationship (1) can be met to the judgement of trees radius R:
(1)
In formula: R---- trees radius；
L1--- the distance between-b point and c point；
L2--- the distance between-o point and a point；
L3--- the distance between-o point and c point；
L4--- the distance between-o point and d point；
L5--- the distance between-o point and b point；
The distance between X----a point and b point；
Angle between θ ----oa and od；
The course of work of the present invention: the robot that prunes of climbing tree is placed in trunk bottom, make trees be in two hold swing arm 12,
Between 13.
When start-up operation, the piston rod for holding cylinder 14,23 stretches out, and promotion, which holds swing arm 12,13, makes movable side wheel 10,11
Surface of trees is clamped, the piston of subsequent telescopic cylinder 19,20 stretches out, and promotion activity tool arm 15,16 holds trees, air motor 8
Starting drives driving wheel 7 to rotate, and driving wheel 7 drives pruning robot 100 is whole to move upwards.
Shearing tool reams the side shoot on trees under the action of pneumatic drive.In the process, attitude transducer
Real-time detection is climbed tree the operating attitude of robot of pruning, when climb tree prune robot tilt when, attitude transducer is by signal
It is transferred to control unit, pruner of climbing tree is adjusted by the pressure for holding cylinder 14,23 that control unit reduces inclined side
Device people's holds posture, and make to climb tree the working condition that robot keeps vertical of pruning.
In one embodiment, it is separately installed with speed probe on driving wheel 7 and auxiliary wheel 9, by comparing driving wheel 7
Whether climb tree with the velocity measuring of auxiliary wheel 9 robot that prunes has skidded phenomenon.When detect climb tree prune robot occur
When slipping phenomenon, air motor 8 is controlled by control unit and is reversely rotated, the robot that prunes of making to climb tree runs down a distance
Afterwards, the positive starting again of air motor 8.
When climbing tree, the robot that prunes is run at specified altitude assignment, and air motor 8 reversely rotates, and driving wheel 7 drives pruner
It moves downward, after reaching ground, air motor 8 stops working, and holds the piston rod contracting of cylinder 14,23 and telescopic cylinder 19,20
It returns, holds swing arm 12,13 and movable tool arm 15,16 opens, trimming process all terminates, and the robot that prunes of can climbing tree is transferred to
Next tree wood repeats the above process completion and works tree trimming.
The present invention is using air pressure driving design, and structure is simple, complete machine stable working performance, by that will hold mechanism and shearing
Mechanism is designed to the structure of folding, makes to operate simpler, the time of shortening conversion trees, raising shear efficiency height, while benefit
Host operating condition is detected with multiple sensors, and self adaptive control is carried out by control unit, substantially increases repairing for trees
Efficiency is cut, the labor intensity of worker is reduced.
Above-described embodiment is the description of the invention, is not limitation of the invention, after any pair of simple transformation of the present invention
Scheme all belong to the scope of protection of the present invention.
Claims (10)
- The robot that prunes 1. one kind is climbed tree, which is characterized in that be connected to the dynamic of the host with by a gas delivery tube including host Power source, the host are equipped with and hold crawler module, side shoot cutting module and several being installed at the host different location Sensor, the crawler module that holds are used to encircle in host to be clamped on trunk, several described sensors hold mould of creeping Block and side shoot cutting module are respectively electrically connected a control unit, the control unit be used for according to the sensing signal of the sensor come The mechanical action of crawler module and side shoot cutting module is held described in control, whereinThe host includes upper and lower fixing plate and the back and front supporting bar for being connected and fixed the upper and lower fixing plate, described upper and lower Fixed plate generally trapezium structure metal plate, the support rod are cylinder straight-bar, and the back and front supporting bar is installed on upper and lower solid Between fixed board；The crawler module that holds includes driving wheel, air motor, auxiliary wheel, movable side wheel, holds swing arm and hold cylinder, institute It states driving wheel to be fixed by the bracket on the bottom plate, the air motor is connected with driving wheel, and the auxiliary wheel is fixed In upper mounted plate bottom side, the activity side wheel, which is mounted on, holds swing arm end, and the swing arm that holds is mounted on front support rod simultaneously It can be rotated around front support rod；The described cylinder one end that holds is mounted on back support rod, other end cylinder with hold swing arm be connected with It holds the opening of swing arm by the extension and contraction control for holding cylinder and holds；The side shoot cutting module includes telescopic cylinder, movable tool arm and shearing tool, and the telescopic cylinder and movable tool arm are equal It is mounted on front support rod and the activity tool arm is connected with telescopic cylinder, opening for the activity tool arm is controlled by telescopic cylinder For close angle degree with the branch shearing to different-diameter, the shearing tool includes fixed blade and movable blades, the fixed blade It is mounted on upper mounted plate top side, the movable blades are mounted on movable tool arm.
- 2. the robot that prunes of climbing tree as described in claim 1, which is characterized in that the sensor includes being respectively arranged in actively Wheel and the speed probe on auxiliary wheel, for detect the mobile speed of service of robot of pruning of climbing tree, and two revolving speeds of comparison The sensing data of sensor detect whether the robot that prunes of climbing tree has skidded.
- 3. the robot that prunes of climbing tree as described in claim 1, it is characterised in that: the cylinder that holds is equipped with telescopic cylinder Displacement sensor, for sensing and controlling the extension elongation of the telescopic cylinder, control activity tool arm prevents from cutting at a distance from trunk Cut tree skin.
- 4. the robot that prunes of climbing tree as described in claim 1, it is characterised in that: the driving wheel, auxiliary wheel surface have rubber Glue anti-slip layer, the activity side wheel tire is pneumatic tire.
- The robot that prunes 5. one kind as claimed in claim 4 is climbed tree, it is characterised in that: the structure of the auxiliary wheel and driving wheel Identical, driving wheel and auxiliary wheel are replaceable structure, and rubber surface anti-slip layer thickness difference is to adapt to different types of tree Wood.
- 6. the robot that prunes of climbing tree as described in claim 1, it is characterised in that: the movable blades are replaceable structure and have Multiple and different sizes, to adapt to the tree trimming of different-diameter range.
- 7. the robot that prunes of climbing tree as described in claim 1, it is characterised in that: the attitude transducer is installed on fixation Plate is configured as when detecting that host body tilts, and reduces the pressure that inclined side holds cylinder by control unit, into And the posture of robot of pruning of climbing tree is adjusted, make to climb tree the working condition that robot keeps vertical of pruning.
- 8. the robot that prunes of climbing tree as described in claim 1, it is characterised in that: the shear-blade is overall co-ordination in branch The arcuate structure of gabarit.
- The robot that prunes 9. one kind as described in claim 1 is climbed tree, which is characterized in that described to hold cylinder equal with telescopic cylinder Equipped with displacement sensor, the radius R for the branch that the length X by holding cylinder is trimmed needed for detecting, and then pass through above-mentioned control Unit controls telescopic cylinder extension elongation and control activity tool arm at a distance from trunk, prevents from being cut to tree skin.
- The robot that prunes 10. one kind as claimed in claim 10 is climbed tree, which is characterized in that the detection of the radius R, which meets, closes It is formula(1)Defining a point is the connection center for holding cylinder and holding swing arm, and b point is the axle center of back support rod, and c point is driving wheel With the contact point of auxiliary wheel and trees, d point is the contact point of movable side wheel and trees, and o point is the axle center of front support rod, and living The rotation center of dynamic side arm,The L in the relational expression (1)1It is the distance between b point and c point, L2It is the distance between o point and a point, L3It is o point and c point The distance between, L4It is the distance between o point and d point, L5The distance between o point and b point, X be between a point and b point away from From θ is the angle between line oa and od.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910204039.8A CN110149944A (en) | 2019-03-18 | 2019-03-18 | One kind is climbed tree the robot that prunes |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910204039.8A CN110149944A (en) | 2019-03-18 | 2019-03-18 | One kind is climbed tree the robot that prunes |
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| CN110149944A true CN110149944A (en) | 2019-08-23 |
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| CN201910204039.8A Pending CN110149944A (en) | 2019-03-18 | 2019-03-18 | One kind is climbed tree the robot that prunes |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110521421A (en) * | 2019-08-28 | 2019-12-03 | 三峡大学 | A kind of screen of trees based on image recognition removes robot and application method automatically |
| CN110588821A (en) * | 2019-09-26 | 2019-12-20 | 海南科技职业大学 | Elastic tree climbing machine |
| CN110663379A (en) * | 2019-10-18 | 2020-01-10 | 张利平 | Crawler-type automatic tree-feeding and pruning device |
| CN111448901A (en) * | 2020-05-08 | 2020-07-28 | 温州伊诺韦特科技有限公司 | Branch pruning equipment and control method |
| CN111990208A (en) * | 2020-07-21 | 2020-11-27 | 北京理工华汇智能科技有限公司 | Spiral track type rubber tapping mechanism |
| CN112352570A (en) * | 2020-11-10 | 2021-02-12 | 武汉轻工大学 | Branch pruning robot |
| CN113475264A (en) * | 2021-08-11 | 2021-10-08 | 朱兴帅 | Forest trunk climbing type liquid medicine injection system |
| 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 |
| CN115067092A (en) * | 2022-07-01 | 2022-09-20 | 国家林业和草原局哈尔滨林业机械研究所 | Pruning machine |
| 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 |
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