CN210275192U - Pneumatic tree-climbing pruning robot - Google Patents
Pneumatic tree-climbing pruning robot Download PDFInfo
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- CN210275192U CN210275192U CN201920340202.9U CN201920340202U CN210275192U CN 210275192 U CN210275192 U CN 210275192U CN 201920340202 U CN201920340202 U CN 201920340202U CN 210275192 U CN210275192 U CN 210275192U
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- 238000013138 pruning Methods 0.000 title claims abstract description 75
- 230000009193 crawling Effects 0.000 claims abstract description 18
- 238000005520 cutting process Methods 0.000 claims abstract description 13
- 238000010008 shearing Methods 0.000 claims abstract description 13
- 230000009194 climbing Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 2
- 238000009966 trimming Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 4
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit 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
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002184 metal Substances 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
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000029553 photosynthesis Effects 0.000 description 1
- 238000010672 photosynthesis Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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Abstract
The utility model provides a pneumatic tree-climbing pruning robot, which comprises a power source and a host, wherein the host is provided with a clamping and holding crawling module, a side branch cutting module, a rotating speed sensor, an attitude sensor and a control unit; the clamping mechanism and the shearing mechanism are designed to be opened and closed, so that the tree pruning machine is simpler to operate, the tree conversion time is shortened, the shearing efficiency is improved, meanwhile, the running condition of the main machine is detected by utilizing a plurality of sensors, the self-adaptive control is carried out through the control unit, the tree pruning efficiency is greatly improved, and the labor intensity of workers is reduced.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technology of forestry machinery, in particular to an automatic mechanical device for pruning branches.
[ background of the invention ]
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 part of areas, a tree climbing robot is adopted for pruning, but in the process of climbing trees and pruning by using the existing method, the tree climbing robot adopts a spiral climbing mode, the tree climbing track is not controllable, the relation between the diameter of a trunk and the length of a chain saw needs to be considered, the tree needs to be completely surrounded during installation, the difficulty is high, the problems of low pruning efficiency, high pruning labor intensity and the like are caused, and adverse effects are generated on the economic benefits of large-area planting of fast-growing forests.
The pruning maintenance robot for the fast-growing forests is good in operability, high in automation degree, high in working efficiency and good in safety, aims at solving the problems that the pruning machinery for the fast-growing forests is poor in safety, high in labor intensity, and the pruning height cannot meet requirements, and the like, is used for completing the pruning maintenance work of the fast-growing forests, and plays an important role in promoting the development of the fast-growing forest production industry.
[ summary of the invention ]
The invention aims to solve the problems in the prior art, and provides an air pressure power tree climbing and pruning robot which can realize automatic and rapid tree climbing and pruning.
In order to achieve the purpose, the invention provides a pneumatic power driven tree-climbing pruning robot which comprises a host and a power source communicated with the host through a gas transmission pipe, wherein a clamping and holding crawling module, a side branch cutting module and a plurality of sensors arranged at different positions of the host are arranged on the host, the clamping and holding crawling module is used for clamping the host on a trunk in an encircling manner, the plurality of sensors, the clamping and holding crawling module and the side branch cutting module are respectively and electrically connected with a control unit, and the control unit is used for controlling mechanical actions of the clamping and holding crawling module and the side branch cutting module according to sensing signals of the sensors.
For example, a rotational speed sensor may be arranged to detect the real-time operating speed of the tree-climbing pruning robot. On the basis, the posture sensor can be arranged to be used for detecting the posture of the main frame during operation, and the displacement sensor can be used for detecting the extending length of a piston rod of the hydraulic cylinder, so that the diameter of the tree to be trimmed can be calculated. The control unit is connected to the sensors to control the motion and travel of the main frame and may be remotely wirelessly communicated to the wireless controller.
In one embodiment, the main frame comprises an upper fixing plate, a lower fixing plate, a front supporting rod and a rear supporting rod, wherein the front supporting rod and the rear supporting rod are used for connecting and fixing the upper fixing plate and the lower fixing plate, the upper fixing plate and the lower fixing plate are integrally metal plates with a trapezoidal structure, the supporting rods are cylindrical straight rods, and the front supporting rod and the rear supporting rod are arranged between the upper fixing plate and the lower fixing plate.
On the basis, the clamping and holding crawling module comprises a driving wheel, a pneumatic motor, an auxiliary wheel, a movable side wheel, a clamping and holding arm and a clamping and holding cylinder, the driving wheel is fixed on the lower fixing plate through a support, the pneumatic motor is connected with the driving wheel, the auxiliary wheel is fixed on the bottom side of the upper fixing plate, the movable side wheel is installed at the tail end of the clamping and holding arm, and the clamping and holding arm is installed on the front supporting rod and can rotate around the front supporting rod; one end of the clamping cylinder is arranged on the rear supporting rod, and the other end of the clamping cylinder is connected with the clamping movable arm so as to control the opening and clamping of the clamping movable arm through the expansion and contraction of the clamping cylinder;
on this basis further, the side branch cutting module includes telescopic cylinder, activity tool arm and shearing tool, telescopic cylinder and activity tool arm all install on the preceding bracing piece and this activity tool arm is connected with telescopic cylinder, control the angle that opens and shuts of this activity tool arm through telescopic cylinder in order to cut the branch of different diameters, shearing tool includes fixed blade and movable blade, fixed blade installs on the top side of last fixed plate, movable blade installs on the activity tool arm.
On the basis, the sensors comprise rotating speed sensors respectively arranged on the driving wheel and the auxiliary wheel and are used for detecting the moving running speed of the tree-climbing pruning robot, and the sensing data of the two rotating speed sensors are compared to detect whether the tree-climbing pruning robot slips or not.
As an improvement of this embodiment, the clamping cylinder and the telescopic cylinder are both provided with displacement sensors for sensing and controlling the extension length of the telescopic cylinder, controlling the distance between the movable cutter arm and the trunk, and preventing the bark of the tree from being cut.
As another improvement, the attitude sensor is mounted on the upper fixing plate and configured to reduce the pressure of the inclined side clamping cylinder when detecting that the main machine body is inclined, and further adjust the attitude of the tree-climbing pruning robot so as to keep the tree-climbing pruning robot in a vertical working state.
As an optimization of the above embodiment, the main frame may further comprise a third fixed mounting plate or more fixed mounting plates mounted in parallel to each other to arrange different types of said sensors on, for example, the third fixed mounting plate.
In another embodiment, the surfaces of the driving wheel and the auxiliary wheel are both provided with rubber anti-skid layers, and the movable side wheel tire is a pneumatic tire.
In yet another embodiment, the auxiliary wheel is identical in structure to the driving wheel.
In the above embodiments, the driving wheel and the auxiliary wheel are both replaceable structures, and the thickness of the anti-slip layer on the surface is different to adapt to different kinds of trees.
In each of the above embodiments, the movable blade is of a replaceable construction and has a plurality of different sizes to accommodate tree pruning in a range of different diameters.
In each of the above embodiments, the cutting blade is an arc-shaped structure integrally fitted to the outer contour of the branch.
In each of the above embodiments, the clamping cylinder and the telescopic cylinder are both provided with displacement sensors, the length X of the clamping cylinder is used for detecting the radius R of the branch to be trimmed, and then the control unit is used for controlling the extension length of the telescopic cylinder and controlling the distance between the movable cutter arm and the trunk, so as to prevent the bark of the tree from being cut.
The invention has the beneficial effects that: according to the invention, the pneumatic transmission is applied to the tree-climbing pruning robot, so that the weight of the tree-climbing pruning robot is reduced; meanwhile, a plurality of sensors are arranged to detect the running condition of the main machine, and self-adaptive control is performed through the control unit, so that the tree trimming efficiency is greatly improved, and the labor intensity of workers is reduced.
[ description of the drawings ]
Some or all of the features and advantages of the present invention will be described in detail by way of embodiments in conjunction with the accompanying drawings. The construction of a device and its components may be illustrated in different views in different drawings to facilitate a better understanding of the present invention, wherein:
FIG. 1 is a schematic structural diagram of a pneumatic tree-climbing pruning robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a main frame of the pneumatic tree-climbing pruning robot according to the embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a clamping and crawling module of the pneumatic tree-climbing pruning robot according to the embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a lateral branch cutting module of the pneumatic power tree-climbing pruning robot according to the embodiment of the present invention;
FIG. 5 is a schematic view of the pneumatic power tree-climbing pruning robot clamping the tree according to the embodiment of the present invention;
FIG. 6 is a schematic view of a pneumatic tree-climbing pruning robot according to an embodiment of the present invention;
in the figure: 1-an upper fixed plate, 2-a front supporting rod, 3-a front supporting rod, 4-a rear supporting rod, 5-a rear supporting rod, 6-a bearing, 7-a driving wheel, 8-a pneumatic motor, 9-an auxiliary wheel, 10-a movable side wheel, 11-a movable side wheel, 12-a clamping and holding arm, 13-a clamping and holding arm, 14-a clamping and holding cylinder and 15-a movable knife arm, 16-movable knife arm, 17-movable knife blade, 18-movable knife blade, 19-telescopic cylinder, 20-telescopic cylinder, 21-fixed knife, 22-lower fixed plate, 23-clamping cylinder, 24-rotating speed sensor, 25-rotating speed sensor, 26-attitude sensor, 100-host, 200-power source and 201-gas transmission pipe.
[ detailed description ] embodiments
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration and explanation only and are not intended to limit the scope of the invention. In the present invention, the use of directional terms such as "upper, lower, left, right" generally means upper, lower, left, right as viewed with reference to the accompanying drawings, unless otherwise specified. For example, from the perspective of the drawings, there are a plurality of fixed mounting plates, which may be more visually considered as an upper fixed plate and a lower fixed plate in terms of the orientation of installation and use. Of course, the exemplary structure in the drawings is not a limitation on the technical solution of the present invention.
Referring to fig. 1 to 6, the pneumatic tree-climbing pruning robot according to the embodiment of the present invention includes a main machine 100 for performing tree-climbing pruning and an external power source 200. The external power source 200 is communicated with the main engine 100 through a gas transmission pipe 201.
The main machine 100 is provided with a clamping crawling module, a lateral branch cutting module, rotating speed sensors 24 and 25, an attitude sensor 25 and a control unit; the rotation speed sensors 24 and 25 are used for detecting the running speed of the machine, and the attitude sensor 25 is used for detecting whether the main machine 100 is inclined; the control unit is connected with the rotation speed sensors 24 and 25 and the attitude sensor 25, and is used for controlling the working attitude and the travel of the main machine 100.
As shown in fig. 1, the pneumatic power tree-climbing pruning robot according to the embodiment of the present invention is provided with the rotation speed sensors 24 and 25 and the attitude sensor 25 through the control unit, and the pneumatic power tree-climbing pruning robot can prune the lateral branches of the tree by itself, and can effectively prevent the main machine 100 from tilting during pruning, and can also detect whether the slip phenomenon occurs in time, so that the work of the tree-climbing pruning robot is more intelligent, and the pruning efficiency of the tree-climbing pruning robot is improved.
As shown in fig. 2, the main machine of the pneumatic power tree-climbing pruning robot according to the embodiment of the present invention includes an upper fixing plate 1, a lower fixing plate 22, two front support rods 2 and 3, and two rear support rods 4 and 5, wherein the upper and lower fixing plates are integrally metal plates having a trapezoidal structure, such support rods are cylindrical straight rods, and the support rods are installed between the upper and lower fixing plates.
As shown in fig. 3, the clamping and crawling module of the pneumatic tree-climbing pruning robot according to the embodiment of the present invention includes a driving wheel 7, a pneumatic motor 8, an auxiliary wheel 9, movable side wheels 10 and 11, clamping and moving arms 12 and 13, and clamping and moving cylinders 14 and 23. The driving wheel 7 is fixed on the lower fixing plate 22 through a bracket, and the driving wheel 7 is provided with a rubber tire. The pneumatic motor 8 is arranged on the bracket and is connected with the driving wheel 7; the auxiliary wheel 9 has the same structure as the driving wheel 7, the auxiliary wheel 9 is fixed below the upper fixing plate 1 through a support, the movable side wheels 10 and 11 are provided with rubber tires, and the movable side wheels 10 and 11 are installed at the tail ends of the clamping movable arms 12 and 13. The clamping and holding arms 12 and 13 are arranged on the front supporting rods 2 and 3, the clamping and holding cylinders 14 and 23 are arranged on the rear supporting rods 4 and 5, the clamping and holding cylinders 14 and 23 are connected with the clamping and holding arms 12 and 13, and the stretching and the clamping of the clamping and holding arms 12 and 13 are controlled by the stretching and the contracting of the pistons of the clamping and holding cylinders 14 and 23; the clamping cylinders 14 and 23 are provided with control valves for adjusting pressure, and the trunk is prevented from being damaged due to overlarge pressure of the clamping cylinders 14 and 23.
As shown in fig. 4, the lateral branch cutting module of the pneumatic tree-climbing pruning robot according to the embodiment of the present invention includes telescopic cylinders 19 and 20, movable cutter arms 15 and 16, and a shearing cutter. Telescopic cylinder 19, 20 installs on the preceding bracing piece, activity tool arm 15, 16 installs on preceding bracing piece 2, 3, and activity tool arm 15, 16 is through linking to each other with telescopic cylinder 19, 20, and telescopic cylinder 19, 20 control activity tool arm 15, 16's the angle that opens and shuts, the completion is to the shearing of different diameter trees, shearing tool includes fixed blade 21 and movable blade 17, 18, fixed blade 21 is the arc, installs in 1 top of the upper fixed plate, movable blade 17, 18 are installed on activity tool arm 15, 16.
The working process of the invention is as follows: the tree-climbing pruning robot is placed at the bottom of the trunk, so that the tree is positioned between the two clamping arms 12 and 13.
When the pruning robot starts to work, the piston rods of the clamping cylinders 14 and 23 extend out, the clamping arms 12 and 13 are pushed to enable the movable side wheels 10 and 11 to clamp the surface of a tree, then the pistons of the telescopic cylinders 19 and 20 extend out to push the movable knife arms 15 and 16 to clamp the tree, the pneumatic motor 8 is started to drive the driving wheel 7 to rotate, and the driving wheel 7 drives the pruning robot 100 to move upwards integrally.
The shearing cutter cuts off the lateral branches of the trees under the action of the pneumatic driving force. In the process, the attitude sensor detects the working attitude of the tree-climbing pruning robot in real time, when the tree-climbing pruning robot inclines, the attitude sensor transmits a signal to the control unit, the pressure of the clamping and holding cylinders 14 and 23 on the inclined side is reduced through the control unit, and then the clamping and holding attitude of the tree-climbing pruning robot is adjusted, so that the tree-climbing pruning robot keeps a vertical working state.
In one embodiment, the driving wheel 7 and the auxiliary wheel 9 are respectively provided with a rotating speed sensor, and whether the tree-climbing pruning robot slips or not is detected by comparing the speeds of the driving wheel 7 and the auxiliary wheel 9. When the phenomenon that the tree-climbing pruning robot slips is detected, the control unit controls the pneumatic motor 8 to rotate reversely, so that the pneumatic motor 8 is started forward again after the tree-climbing pruning robot runs downwards for a certain distance.
When the tree-climbing pruning robot runs to a designated height, the pneumatic motor 8 rotates reversely, the driving wheel 7 drives the pruning machine to move downwards, after the tree-climbing pruning robot reaches the ground, the pneumatic motor 8 stops working, the piston rods of the clamping cylinders 14 and 23 and the telescopic cylinders 19 and 20 retract, the clamping arms 12 and 13 and the movable cutter arms 15 and 16 are opened, the pruning process is finished completely, and the tree-climbing pruning robot can be transferred to the next tree to finish the tree pruning work by repeating the process.
The tree pruning machine adopts an air pressure driving design, has a simple structure and stable working performance of the whole machine, is simpler to operate by designing the clamping mechanism and the shearing mechanism into an opening and closing structure, shortens the tree conversion time, improves the shearing efficiency, simultaneously utilizes a plurality of sensors to detect the running condition of a main machine, and carries out self-adaptive control through the control unit, thereby greatly improving the tree pruning efficiency and reducing the labor intensity of workers.
The above embodiments are illustrative of the present invention, and are not intended to limit the present invention, and any simple modifications of the present invention are within the scope of the present invention.
Claims (9)
1. The utility model provides a tree climbing pruning robot, its characterized in that includes the host computer and communicates the power supply of this host computer through a gas transmission pipe, be equipped with on the host computer and press from both sides a plurality of sensor of embracing crawling module, side branch cutting module and installing in the different positions department of this host computer, press from both sides and embrace crawling module and be used for embracing the host computer and press from both sides on the trunk, a plurality of sensor, press from both sides and embrace crawling module and side branch cutting module and electricity connection a control unit separately, this control unit is used for the basis sensing signal of sensor controls press from both sides the mechanical action of embracing crawling module and side branch cutting module, wherein
The host comprises an upper fixing plate, a lower fixing plate, a front supporting rod and a rear supporting rod, wherein the front supporting rod and the rear supporting rod are used for connecting and fixing the upper fixing plate and the lower fixing plate;
the clamping and crawling module comprises a driving wheel, a pneumatic motor, an auxiliary wheel, a movable side wheel, a clamping and crawling arm and a clamping and crawling cylinder, the driving wheel is fixed on the lower fixing plate through a support, the pneumatic motor is connected with the driving wheel, the auxiliary wheel is fixed on the bottom side of the upper fixing plate, the movable side wheel is installed at the tail end of the clamping and crawling arm, and the clamping and crawling arm is installed on the front support rod and can rotate around the front support rod; one end of the clamping cylinder is arranged on the rear supporting rod, and the other end of the clamping cylinder is connected with the clamping movable arm so as to control the opening and clamping of the clamping movable arm through the expansion and contraction of the clamping cylinder;
the side branch cutting module comprises a telescopic cylinder, a movable cutter arm and a shearing cutter, wherein the telescopic cylinder and the movable cutter arm are both installed on the front supporting rod, the movable cutter arm is connected with the telescopic cylinder, the opening and closing angle of the movable cutter arm is controlled through the telescopic cylinder so as to shear branches with different diameters, the shearing cutter comprises a fixed blade and a movable blade, the fixed blade is installed on the top side of the upper fixing plate, and the movable blade is installed on the movable cutter arm.
2. The tree-climbing pruning robot according to claim 1, wherein the sensors comprise rotation speed sensors respectively mounted on the driving wheel and the auxiliary wheel for detecting the moving operation speed of the tree-climbing pruning robot, and comparing the sensed data of the two rotation speed sensors to detect whether the tree-climbing pruning robot slips.
3. The tree-climbing pruning robot of claim 1, wherein: the clamp cylinder and the telescopic cylinder are both provided with displacement sensors for sensing and controlling the extension length of the telescopic cylinder, controlling the distance between the movable cutter arm and the trunk and preventing the bark of the tree from being cut.
4. The tree-climbing pruning robot of claim 1, wherein: the surfaces of the driving wheel and the auxiliary wheel are both provided with rubber anti-skid layers, and the movable side wheel tire is a pneumatic tire.
5. The tree-climbing pruning robot of claim 4, wherein: the structure of auxiliary wheel is the same with the action wheel, and action wheel and auxiliary wheel are removable structure, and the thickness of surface rubber non-slip layer is different in order to adapt to different kind trees.
6. The tree-climbing pruning robot of claim 1, wherein: the movable blade is of a replaceable structure and has a plurality of different sizes so as to be suitable for trimming trees with different diameter ranges.
7. The tree-climbing pruning robot of claim 1, wherein: the attitude sensor is arranged on the upper fixing plate and is configured to reduce the pressure of the inclined side clamping cylinder when the main machine body is detected to incline, so that the attitude of the tree-climbing pruning robot is adjusted, and the tree-climbing pruning robot keeps a vertical working state.
8. The tree-climbing pruning robot of claim 1, wherein: the shearing blade is of an arc structure which is integrally matched with the outline of the branch.
9. The robot as claimed in claim 1, wherein the clamping cylinder and the telescopic cylinder are provided with displacement sensors, the radius R of the branch to be cut is detected by the length X of the clamping cylinder, and the control unit controls the extension length of the telescopic cylinder and the distance between the movable cutter arm and the trunk to prevent the bark of the tree from being cut.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920340202.9U CN210275192U (en) | 2019-03-18 | 2019-03-18 | Pneumatic tree-climbing pruning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920340202.9U CN210275192U (en) | 2019-03-18 | 2019-03-18 | Pneumatic tree-climbing pruning robot |
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| CN210275192U true CN210275192U (en) | 2020-04-10 |
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| CN201920340202.9U Active CN210275192U (en) | 2019-03-18 | 2019-03-18 | Pneumatic tree-climbing pruning robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN116671352A (en) * | 2023-06-07 | 2023-09-01 | 陕西创程电力开发有限公司 | Trimming means is used in high altitude electric power maintenance |
| CN116671352B (en) * | 2023-06-07 | 2024-05-10 | 陕西创程电力开发有限公司 | Trimming means is used in high altitude electric power maintenance |
-
2019
- 2019-03-18 CN CN201920340202.9U patent/CN210275192U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN116671352A (en) * | 2023-06-07 | 2023-09-01 | 陕西创程电力开发有限公司 | Trimming means is used in high altitude electric power maintenance |
| CN116671352B (en) * | 2023-06-07 | 2024-05-10 | 陕西创程电力开发有限公司 | Trimming means is used in high altitude electric power maintenance |
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Denomination of utility model: Pneumatic tree climbing and pruning robot Granted publication date: 20200410 Pledgee: Bank of Jinhua Limited by Share Ltd. science and Technology Branch Pledgor: JINHUA LVCHUAN TECHNOLOGY Co.,Ltd. Registration number: Y2024980008583 |