CN220391374U - Novel tree climbing machine - Google Patents

Abstract

The utility model relates to a novel tree climbing machine, which comprises a first clamping part, a connecting part, a second clamping part, a driving wheel and a processing unit, wherein the first clamping part is connected with the second clamping part through the connecting part; the first clamping part and the second clamping part are respectively provided with a detection part for detecting the clamping trunk force, and the detection parts are electrically connected with the processing unit. Through set up the detection portion on the first clamping part and the second clamping part of climbing the machine, the pressure detection numerical value rethread processing unit of detection portion sends for operating personnel in real time, and operating personnel can make the adjustment to the clamping dynamics of climbing the machine in real time according to pressure numerical value change, avoids clamping jaw excessive centre gripping trunk to lead to the trunk to damage, and clamping jaw clamping force degree is too little when also can avoid the trunk diameter to diminish, avoids climbing the machine landing.

Description

Novel tree climbing machine

Technical Field

The utility model relates to the technical field of tree climbing machinery, in particular to a novel tree climbing machine.

Background

The forestry in China develops rapidly, the demands on the aspect of tree climbing operation are also increasing increasingly, for picking fruit trees, the traditional operation mode is to manually hook the fruit down by utilizing a bamboo pole tool, or the manual tree climbing operation is carried out, the operation mode is low in working efficiency, has larger potential safety hazards and consumes manpower and material resources. In order to improve the working efficiency, tree climbing machines are appeared in the market, and the problems can be solved.

The mode of present climbing machine centre gripping trunk is comparatively simple, adopts sharp claw embedding trunk to carry out the flexible climbing of centre gripping mostly, and this kind of mode work efficiency that crawls is not high, and can harm the trunk in-process of crawling, and in addition, the clamping dynamics of this kind of climbing machine clamping jaw is fixed, and to thicker trunk that the clamping jaw centre gripping trunk caused, the damage that is particularly obvious. The climbing efficiency of the climbing machine for rotating and climbing by using the roller driving machine is not high, and when the climbing machine is required to be kept static on a tree and then fruit picking operation is carried out, the tree trunk cannot be firmly clamped by the rotating and climbing machine, and a stable working platform cannot be provided for the fruit picking operation. Therefore, the two types of tree climbing machines are not suitable for large-scale fruit picking work.

Disclosure of Invention

The utility model provides a novel tree climbing machine, which aims to overcome the defect that the tree climbing machine in the prior art cannot adjust the clamping force according to the diameter of a trunk and is easy to cause the damage of the trunk or the sliding of the tree climbing machine, and can adjust the clamping force of the tree climbing machine to prevent the trunk from being clamped and damaged and prevent the machine from sliding.

In order to solve the technical problems, the utility model adopts the following technical scheme: the novel tree climbing machine comprises a first clamping part, a connecting part, a second clamping part, a driving wheel and a processing unit, wherein the first clamping part is connected with the second clamping part through the connecting part, the bottoms of the first clamping part and the second clamping part are respectively provided with the driving wheel for providing lifting driving force for the tree climbing machine, the driving wheel is electrically connected with the processing unit, and the processing unit has a wireless communication function; the first clamping part and the second clamping part are respectively provided with a detection part for detecting the clamping trunk force, and the detection parts are electrically connected with the processing unit.

The machine is mainly used for climbing the tree, and in actual use, the picking device for picking fruits can be connected to the first clamping part, and the picking device is detachably connected with the machine, can be selected by various technical schemes and can be mutually independent from the structure of the machine, so that excessive repeated description of the picking device is avoided. According to the technical scheme of the tree climbing machine, the first clamping part and the second clamping part are connected by the tree climbing machine, the trunk is clamped by the first clamping part and the second clamping part, the tree climbing machine is clamped on the trunk, and then the machine is driven to climb upwards by rotation of the driving wheel; it is worth noting that, the drive wheel contains driving motor and gyro wheel, driving motor drive gyro wheel is rotatory when climbing tree machine rises, the gyro wheel passes through the frictional force with the trunk, drive climbing tree machine when rotatory and climb, the clamping part needs the centre gripping trunk all the time, avoid the machine to drop, simultaneously the clamping force of detection portion real-time supervision clamping part, and on feeding back the detection numerical value to processing unit, processing unit gives operating personnel through radio communication with the real-time transmission of detection numerical value, operating personnel is at the in-process that the climbing tree machine risen of operation, according to the numerical value that detection portion monitored, can nimble adjustment clamping force of clamping part, in order to guarantee that the clamping force of clamping part is in suitable scope all the time, avoid the machine to drop down or rise in-process because of the too big clamping force leads to rising difficulty.

Meanwhile, it is easy to think that the processing unit can be further set by utilizing the characteristic of real-time detection of the detection part, so that the processing unit has the function of automatically adjusting the clamping force of the first clamping part and the second clamping part, for example, the area threshold value of the clamping force is set in the processing unit, and when the clamping force is larger than or smaller than the area threshold value, the processing unit can respectively send out instructions for reducing or improving the clamping force to the first clamping part and the second clamping part, so that the clamping force of the first clamping part and the second clamping part is always in the set range, and the workload of operators is reduced.

Preferably, the first clamping part comprises a first shell, a driving unit installed in the first shell and a first clamping jaw connected with the driving unit and used for clamping the trunk, and the second clamping part comprises a second shell, a driving unit installed in the second shell and a second clamping jaw connected with the driving unit and used for clamping the trunk; the detection portion comprises a pressure sensing piece and a contact plate, the pressure sensing pieces used for detecting clamping force of the first clamping jaw and the second clamping jaw are arranged on the inner walls of the first clamping jaw and the second clamping jaw, the contact plate used for contacting a trunk is covered on the surface of the pressure sensing piece, and the driving unit and the pressure sensing piece are electrically connected with the processing unit.

The existing tree climbing machine clamps or clamps the trunk according to the preset clamping force when climbing the tree, so that the tree climbing machine does not fall down, when the diameter of the trunk changes in the process, corresponding force adjustment cannot be made, the tree climbing machine clamps the trunk in a non-tight manner or the clamping force is too large, and the tree climbing machine slides down or clamps the trunk. This climb tree machine is provided with the forced induction piece at the clamping jaw inner wall, plays the effect of real-time supervision clamping jaw centre gripping dynamics, and the pressure numerical value that the forced induction piece monitored can send to operating personnel in real time, when the clamping jaw runs into the condition that trunk diameter changes, and the forced induction piece can monitor the change of pressure, and when operating personnel received monitoring pressure and changed, the action of pressing from both sides tightly or loosening was made through wireless instruction operation clamping jaw, makes the clamping dynamics of clamping jaw remain in suitable range throughout, avoids appearing foretell slip whereabouts or the problem of clamping the trunk. In addition, the surface of the pressure sensing piece is covered with a contact plate, and the contact plate can isolate the trunk from the pressure sensing piece, so that the pressure sensing piece is protected.

Preferably, one end of the first clamping jaw, which is far away from the first shell, is provided with an arc-shaped part, the second clamping jaw and the first clamping jaw are identical in structure, the pressure sensing piece is arranged on the inner wall of the arc-shaped part, and the contact plate is an arc-shaped plate matched with the arc-shaped part.

Trunk appearance is cylindrically, and current similar clamping jaw has and is arc type or straight line bending type, in the in-service use, when clamping jaw arc diameter and trunk diameter differ little, can have great area of contact between curved clamping jaw and the trunk, and the clamping jaw of straight line bending type is line contact between the clamping jaw with the trunk, and area of contact is little relatively, because this clamping jaw inner wall of climbing tree machine needs to set up the forced induction piece, so all be provided with arc portion on first clamping jaw and second clamping jaw to increase the area of contact of first clamping jaw and second clamping jaw and trunk, guarantee forced induction piece's monitoring accuracy.

Preferably, the connecting part comprises a first steering engine, a first connecting rod and a sliding part, the side surface of the first shell is connected with the first steering engine, the first steering engine rotating shaft is vertically downward, the first steering engine rotating shaft is connected with the first connecting rod, the first connecting rod is connected with the sliding part which enables the second clamping part to be far away from the first clamping part, one end of the sliding part far away from the first connecting rod is connected with the side surface of the second shell, and the first clamping jaw and the second clamping jaw are oppositely arranged; the first steering engine is electrically connected with the processing unit.

Above-mentioned, this climb tree machine can connect picking device when in-service use, so, climb tree machine when rising to setting for the position, need hover on the tree firmly to guarantee picking device's smooth operation, so, this first clamping jaw and the second clamping jaw of climbing tree machine are the opposite direction setting, will climb the tree machine and accomplish relatively even mass distribution in the design. In actual work, picking device generally connects with first clamping part top, and picking device is according to picking the difference of fruit kind, also can adopting different picking device, and then various picking device self weight is inconsistent yet, to the picking device that weight surpasses climbing machine whole weight 1.5 times, after being connected with climbing machine, still can set up the balancing weight of certain weight on the second clamping part to fully guarantee climbing machine hover stability. Because the first clamping jaw and the second clamping jaw are oppositely arranged, the sliding part is arranged, the second clamping part can move towards the radial direction of the trunk relatively to the trunk, the tree climbing machine is ensured to be clamped on the trunk smoothly, and the tree climbing machine does not need to be inclined. In addition, the first steering engine that sets up in this tree climbing machine for it is rotatory to drive connecting portion other part component and second clamping part, and the increase of sliding part and first steering engine for increase two degrees of freedom between first clamping part and the second clamping part, meet crooked trunk in the in-process that rises, climb tree machine and can deal with better, simultaneously, after having increased two degrees of freedom, when tree climbing machine needs hover in trunk crooked department, first steering engine cooperation sliding part can make first clamping part and second clamping part grasp the trunk simultaneously, fully guarantee tree climbing machine can stably hover.

Preferably, the sliding part comprises a second steering engine, a sliding rail, a crank, a second connecting rod and a sliding block, wherein the first connecting rod is connected with the second steering engine, the side surface of the second steering engine adjacent to the first connecting rod is connected with the sliding rail, a second steering engine rotating shaft is connected with one end of the crank, the other end of the crank is rotationally connected with the second connecting rod, the sliding block is arranged in the sliding rail, one end of the sliding block is rotationally connected with the second connecting rod, the other end of the sliding block is connected with the side surface of the second housing, and the second steering engine is electrically connected with the processing unit.

This slip part of climbing tree machine adopts steering wheel drive crank to drive the second connecting rod and rotates, the second connecting rod drives the slider and removes, and then drive second clamping part and remove, the machine of climbing tree is before the work, need first with climbing tree machine equipment self centre gripping to the trunk on, at this moment, the slider is in the settlement position of keeping away from first steering wheel one end for there is sufficient space between first clamping jaw and the second clamping jaw, make things convenient for operating personnel to climb tree machine centre gripping to the tree on, the same reason, after the operation is accomplished, the second steering wheel also can drive the slider and then drive second clamping part to keeping away from trunk direction and remove, leave sufficient space, make things convenient for operating personnel to take off the machine of climbing tree. Meanwhile, based on the consideration of purchasing, maintenance and the like, the parts or components selected by the tree climbing machine can be the same in structural shape or model as far as possible, and the first steering engine and the second steering engine of the tree climbing machine belong to the same model, so that the operation of debugging the machine, maintenance of the machine and the like by an operator is facilitated.

It is worth noting that, when the first clamping part or the second clamping part independently operates, the tree climbing machine can be clamped on the trunk and does not fall down, when the tree climbing machine ascends and encounters a trunk branch or a trunk bending position, an operator can transmit an instruction to the processing unit through the remote controller, the first clamping jaw is loosened, then the second steering engine is rotated, the first clamping part is further far away from the trunk branch or the trunk bending position, at the moment, the second clamping jaw is kept in a clamping state, then moves upwards, after the first clamping part ascends beyond the trunk branch or the trunk bending position, the second steering engine is rotated again, then the first clamping jaw clamps the trunk, then the second clamping jaw is loosened, and the action of avoiding the trunk branch or the trunk bending position by referring to the first clamping part is performed, and after the operation is performed sequentially, the tree climbing machine passes through the trunk branch or the trunk bending position.

Preferably, the top and the bottom of the first clamping jaw and the second clamping jaw are respectively provided with an inclined guide surface, and the inclined surfaces of the guide surfaces incline from the outer wall of the clamping jaw to the inner wall of the clamping jaw.

In actual operation, the trunk surface may have uneven arch, because the clamping part needs the centre gripping trunk all the time in the ascending process, so in the ascending process, climb the blocking of trunk protruding portion still probably can be received to the tree machine, consequently set up the guide surface on the clamping jaw, the guide surface can be with trunk protruding portion direction to the clamping part in, avoid the protruding portion card of trunk in clamping part upper end, the practicality of climbing the tree machine has been guaranteed in the increase of guide surface, the smooth degree of use of machine has been increased, work efficiency is guaranteed. Meanwhile, the connection part of the guide surface and the clamping inner wall is in smooth transition, so that the influence on the normal work of the tree climbing machine caused by the fact that fallen barks or other foreign matters are clamped on the inner wall of the clamping jaw is avoided.

Preferably, the first shell and the second shell are respectively provided with a sensor for preventing the first shell and the second shell from excessive movement to strike the trunk, and the sensors are electrically connected with the processing unit.

When the second clamping part moves, the trunk is required to be prevented from being impacted due to excessive movement, in the conventional means, the moving range of the sliding block can be set, the second clamping part is enabled to move to the set position every time, the trunk is prevented from being impacted, but if the design can lead to the lack of flexibility of the tree climbing machine, the tree climbing machine can only be suitable for trees with relatively straight trunks and little trunk diameter change, and the tree climbing machine is unfavorable for hovering on the trunks if the clamping positions of the first clamping part and the second clamping part are relatively fixed. The tree climbing machine is provided with the sensor on the clamping jaw shell, and the relative position of the clamping jaw and the trunk is judged by using the sensor so as to solve the problem. Meanwhile, the sensor may select a contact sensor or a distance detection sensor.

Preferably, the sensor is an infrared ranging sensor.

The tree climbing machine in the scheme further limits the sensors on the clamping jaw shells, and the infrared ranging sensors are selected to be used. The infrared ranging sensor does not need to be in contact with an object to be detected when in actual use, and based on the consideration that the tree climbing machine can rub with the trunk when ascending or descending, the infrared ranging sensor is selected to avoid the damage of the sensor caused by trunk friction, so that the use stability of the tree climbing machine is ensured. Meanwhile, the infrared ranging sensor can also detect the change of the diameter of the trunk, when the diameter of the trunk is reduced, the distance between the surface of the trunk and the sensor is increased, and when the diameter of the trunk is increased, the distance detected by the sensor is shortened; the infrared distance measuring sensor monitors the distance in real time, and the monitoring value is sent to an operator in real time through the processing unit, and when the distance change exceeds a set value, the operator can correspondingly adjust the position of the sliding block according to the monitoring value.

Preferably, the first clamping jaw comprises two clamping plates which are symmetrically arranged, one end, away from the arc-shaped part, of each clamping plate is provided with a gear part, the two clamping plates are meshed and rotated through the gear parts to carry out clamping action, the gear parts are rotationally connected with the first shell through rotating shafts, and the driving unit is connected with one rotating shaft; the second clamping jaw has the same structure as the first clamping jaw.

The clamping jaw clamping action is generally two clamping jaw moving clamping types or clamping jaw rotating clamping types, one side of the clamping jaw moving clamping type is generally fixed, the other side of the clamping jaw moving clamping type is used for clamping, and in the tree climbing machine, a clamping scheme of rotating clamping is selected. In actual use, the clamping force of the clamping jaw needs to be adjusted in real time by an operator according to the change of the trunk condition; for a clamping jaw for movable clamping, since one side of the clamping jaw is fixed, dynamic adjustment of clamping force cannot be well achieved, and the operation can be well achieved by rotating the clamping jaw for clamping. Meanwhile, the two clamping jaws are driven by the gear part, so that the accurate control of the clamping angle can be realized, and further, an operator can accurately control the clamping force.

Preferably, a damper is arranged at the rotating shaft.

The clamping jaw drives the rotation through the inside drive unit of clamping jaw shell, during the use, in order to avoid climbing tree machine centre gripping unsteady downward landing, drive unit needs to apply the driving force to the clamping jaw all the time, make the clamping jaw cliies the trunk all the time, set up the damping in clamping jaw pivot department, need overcome the resistance when the clamping jaw rotates, when the clamping jaw needs to keep certain clamping force, the load of drive unit can be shared in the damped setting, meet the trunk diameter grow or the protruding adjustment on the trunk at the clamping jaw and open the angle and make, the damping setting also can avoid the clamping jaw to climb tree machine landing at the in-process of loosening, clamping jaw pivot damping cooperation forced induction piece adjustment clamping force, the stability of clamping jaw clamping force adjustment is fully guaranteed. In addition, can also set up the extension spring between two clamping jaws, further guarantee that climb tree machine can not the landing downwards when the clamping jaw loosens, corresponding, just need do more work when the clamping jaw opens this moment, the drive unit just needs to select the model of more power, and the extension spring between the clamping jaw can judge whether needs to increase according to the in-service use scene.

Compared with the prior art, the beneficial effects are that: through set up the detection portion on the first clamping part and the second clamping part of climbing the machine, the pressure detection numerical value rethread processing unit of detection portion sends for operating personnel in real time, and operating personnel can make the adjustment to the clamping dynamics of climbing the machine in real time according to pressure numerical value change, avoids clamping jaw excessive centre gripping trunk to lead to the trunk to damage, and clamping jaw clamping force degree is too little when also can avoid the trunk diameter to diminish, avoids climbing the machine landing.

Drawings

FIG. 1 is an overall perspective view of the present utility model;

FIG. 2 is a side view of the present utility model;

fig. 3 is a cross-sectional view of the A-A position of fig. 2.

In the figure: 1. a first clamping part; 101. a first housing; 102. a first jaw; 103. an arc-shaped portion; 104. a guide surface; 105. a gear portion; 106. a rotating shaft;

2. a connection part; 201. the first steering engine; 202. a first connecting rod; 203. the second steering engine; 204. a slide rail; 205. a crank; 206. a second connecting rod; 207. a slide block;

3. a second clamping portion; 301. a second housing; 302. a second jaw;

4. a driving wheel; 5. a contact plate; 6. an infrared ranging sensor.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the present patent; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent.

The same or similar reference numbers in the drawings of embodiments of the utility model correspond to the same or similar components; in the description of the present utility model, it should be understood that, if there are orientations or positional relationships indicated by terms "upper", "lower", "left", "right", "long", "short", etc., based on the orientations or positional relationships shown in the drawings, this is merely for convenience in describing the present utility model and simplifying the description, and is not an indication or suggestion that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so that the terms describing the positional relationships in the drawings are merely for exemplary illustration and are not to be construed as limitations of the present patent, and that it is possible for those of ordinary skill in the art to understand the specific meaning of the terms described above according to specific circumstances.

The technical scheme of the utility model is further specifically described by the following specific embodiments with reference to the accompanying drawings:

example 1

As shown in fig. 1-2, the novel tree climbing machine comprises a first clamping part 1, a connecting part 2, a second clamping part 3, a driving wheel 4 and a processing unit, wherein the first clamping part 1 is connected with the second clamping part 3 through the connecting part 2, the bottoms of the first clamping part 1 and the second clamping part 3 are respectively provided with the driving wheel 4 for providing lifting driving force for the tree climbing machine, the driving wheel 4 is electrically connected with the processing unit, and the processing unit has a wireless communication function; the first clamping part 1 and the second clamping part 3 are respectively provided with a detection part for detecting the clamping trunk force, and the detection parts are electrically connected with the processing unit.

The first clamping part 1 comprises a first shell 101, a driving unit installed in the first shell 101 and a first clamping jaw 102 connected with the driving unit and used for clamping a trunk, and the second clamping part 3 comprises a second shell 301, a driving unit installed in the second shell 301 and a second clamping jaw 302 connected with the driving unit and used for clamping the trunk; the detection portion comprises a pressure sensing piece and a contact plate 5, the inner walls of the first clamping jaw 102 and the second clamping jaw 302 are respectively provided with a pressure sensing piece used for detecting clamping force of the first clamping jaw 102 and the second clamping jaw 302, the surface of the pressure sensing piece is covered with the contact plate 5 used for contacting a trunk, and the driving unit and the pressure sensing piece are electrically connected with the processing unit.

The connecting part 2 comprises a first steering engine 201, a first connecting rod 202 and a sliding part, the side surface of the first shell 101 is connected with the first steering engine 201, a rotating shaft of the first steering engine 201 is vertically downward, the rotating shaft of the first steering engine 201 is connected with the first connecting rod 202, the first connecting rod 202 is connected with the sliding part which enables the second clamping part 3 to be far away from the first clamping part 1, one end of the sliding part far away from the first connecting rod 202 is connected with the side surface of the second shell 301, and the first clamping jaw 102 and the second clamping jaw 302 are oppositely arranged; the first steering engine 201 is electrically connected with the processing unit.

The sliding part includes second steering wheel 203, slide rail 204, crank 205, second connecting rod 206 and slider 207, and head rod 202 is connected with second steering wheel 203, and the side adjacent with head rod 202 on the second steering wheel 203 is connected with slide rail 204, and second steering wheel 203 pivot is connected with crank 205's one end, and crank 205's the other end rotates and is connected with second connecting rod 206, is equipped with slider 207 in the slide rail 204, and slider 207 one end rotates with second connecting rod 206 to be connected, and the other end is connected with second shell 301 side, second steering wheel 203 and processing unit electric connection.

When the tree climbing machine is in actual use, the tree climbing machine can work together with a picking device, and the picking device is generally connected to the clamping jaw shell of the first clamping part 1. Before formal use, the sliding block 207 in the sliding part is located at a set position far away from one end of the second steering engine 203, so that enough space is left between the first clamping part 1 and the second clamping part 3, and an operator can install the tree climbing machine on a trunk. The power supply of the tree climbing machine is turned on by an operator, the tree climbing machine is in a standby state, the clamping jaw of the first clamping part 1 is aligned to the trunk, the clamping jaw is rotated and clamped on the trunk by the operator, and the tree climbing machine is required to independently depend on the clamping action of the first clamping part 1 to be suspended on the trunk.

After the first clamping part 1 is clamped on a tree, an operator operates the second steering engine 203 to rotate, the steering engine rotates and then drives the crank 205 and the second connecting rod 206 to rotate, the sliding block 207 is driven to move, the second clamping part 3 is driven to move towards the trunk direction, and after the second clamping part 3 is moved to a proper position, the clamping jaw of the second clamping part 3 clamps the trunk, so that the tree climbing machine is installed. Then, operators need to keep away from the tree climbing machine first, and then operate the tree climbing machine to ascend and move so as to ensure the safety of the operators. The driving wheel 4 contains driving motor and gyro wheel, and driving motor drive gyro wheel is rotatory when climbing tree machine rises, and the gyro wheel passes through the frictional force with the trunk, drives climbing tree machine when rotatory and climbs, and clamping jaw on first clamping part 1 and the second clamping part 3 is in the clamping state all the time when climbing to guarantee that climbing tree machine can not drop. The machine runs into trunk diameter grow when rising, or runs into trunk surface and has uneven protruding messenger, and guide surface 104 on the clamping jaw can be with trunk protruding portion direction to the clamping part in, avoids trunk protruding portion card in clamping part upper end.

After the tree climbing machine rises to the set position, an operator remotely and wirelessly operates the driving wheel 4 to stop rotating, and at the moment, the tree climbing machine keeps a stable hovering state, so that the normal work of a picking device connected to the machine is ensured. In addition, when the tree climbing machine needs to hover at the trunk bending part, the first steering engine 201 is matched with the sliding part, so that the relative positions of the first clamping part 1 and the second clamping part 3 can be flexibly changed, and further, the first clamping part 1 and the second clamping part 3 can better clamp the trunk according to the trunk shape, and the tree climbing machine is fully ensured to hover stably.

When the picking work is finished, an operator operates the tree climbing machine to descend, after descending to the bottom of the trunk, the operator operates the driving wheel 4 to stop driving, the clamping jaw of the second clamping part 3 is loosened, the second steering engine 203 is driven again, the second clamping part 3 is moved towards the direction away from the trunk, the clamping jaw of the first clamping part 1 is loosened after the operator supports the tree climbing machine, and then the tree climbing machine is taken down, so that the picking work is completed once.

Example 2

As shown in fig. 1-2, according to the technical solution described in embodiment 1, the present embodiment is provided with an infrared ranging sensor 6 on both the first housing 101 and the second housing 301 for preventing the jaw housing from being excessively moved to strike the trunk, and the infrared ranging sensor 6 is electrically connected to the processing unit. Meanwhile, one end, far away from the first shell 101, of the first clamping jaw 102 is provided with an arc-shaped portion 103, the second clamping jaw 302 and the first clamping jaw 102 are identical in structure, the pressure sensing piece is arranged on the inner wall of the arc-shaped portion 103, and the contact plate 5 is an arc-shaped plate matched with the arc-shaped portion 103.

When operating personnel operate the trunk of first clamping part 1 centre gripping, set up infrared ranging sensor 6 after, operating personnel under the numerical reference of sensor, can operate clamping jaw accomplish more accurate clamping position, clamping jaw position skew is too big when avoiding the centre gripping, leads to the dynamics accuracy of rising in-process pressure sensing piece monitoring not enough, and trunk appearance and clamping jaw have bigger laminating area also to guarantee to set up of arc portion 103. Meanwhile, when the second clamping part 3 slides to the trunk, the position of the clamping jaw relative to the trunk can be controlled more accurately under the numerical reference of the ranging sensor. Meanwhile, the infrared ranging sensor 6 can also detect the change of the diameter of the trunk, when the diameter of the trunk is reduced, the distance between the surface of the trunk and the sensor is increased, when the diameter of the trunk is increased, the distance detected by the sensor is shortened, and when the change of the distance exceeds a set value, an operator can correspondingly adjust the position of the sliding block 207 according to the monitoring value, and the accuracy of the clamping position of the clamping part is maintained.

The remaining features and operation principle of the present embodiment are the same as those of embodiment 1.

Example 3

As shown in fig. 1-3, based on the technical solution described in embodiment 1 or embodiment 2, the clamping mode of the clamping jaw is further limited in this embodiment, and the difference is as follows:

the first clamping jaw 102 comprises two clamping plates which are symmetrically arranged, one end of each clamping plate, which is far away from the arc-shaped part 103, is provided with a gear part 105, the two clamping plates are meshed and rotated through the gear part 105 to carry out clamping action, the gear part 105 is rotationally connected with the first shell 101 through a rotating shaft 106, and the driving unit is connected with one rotating shaft 106; the second jaw 302 is identical in construction to the first jaw 102. Meanwhile, a damper is provided at the rotation shaft 106.

When the tree climbing machine is used, the clamping forces of the first clamping part 1 and the second clamping part 3 can be dynamically adjusted according to the detection values of the pressure sensing sheets, clamping jaws which are symmetrically distributed and are used for rotating and clamping by utilizing the mutual meshing of the gear parts 105 can realize more accurate control of the clamping angles, so that the clamping forces are accurately controlled, and the tree climbing machine is more suitable for the tree climbing machine. In addition, set up the damping in clamping jaw pivot 106 department for the clamping jaw needs to overcome the resistance when rotating, when the clamping jaw needs to keep certain clamping force, the damped setting can share drive unit's load, runs into trunk diameter grow or the protruding adjustment on the trunk at the clamping jaw simultaneously and opens the angle messenger, and the damping setting also can avoid the clamping jaw to climb tree machine landing at the in-process that loosens, clamping jaw pivot 106 damping cooperation forced induction piece adjustment clamping force, fully guarantees the stability of clamping jaw clamping force adjustment.

The remaining operation principle and operation procedure of this embodiment are identical to those of embodiment 1 or embodiment 2.

It is to be understood that the above examples of the present utility model are provided by way of illustration only and not by way of limitation of the embodiments of the present utility model. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. The novel tree climbing machine comprises a first clamping part (1), a connecting part (2), a second clamping part (3), a driving wheel (4) and a processing unit, wherein the first clamping part (1) is connected with the second clamping part (3) through the connecting part (2), the bottoms of the first clamping part (1) and the second clamping part (3) are respectively provided with the driving wheel (4) for providing lifting driving force for the tree climbing machine, the driving wheel (4) is electrically connected with the processing unit, and the processing unit has a wireless communication function; the method is characterized in that: the first clamping part (1) and the second clamping part (3) are respectively provided with a detection part for detecting the clamping trunk force, and the detection parts are electrically connected with the processing unit.

2. A novel tree climbing machine according to claim 1, wherein: the first clamping part (1) comprises a first shell (101), a driving unit installed in the first shell (101) and a first clamping jaw (102) connected with the driving unit and used for clamping a trunk, and the second clamping part (3) comprises a second shell (301), a driving unit installed in the second shell (301) and a second clamping jaw (302) connected with the driving unit and used for clamping the trunk; the detection portion comprises a pressure sensing piece and a contact plate (5), the pressure sensing pieces used for detecting clamping force of the first clamping jaw (102) and the second clamping jaw (302) are arranged on the inner walls of the first clamping jaw (102) and the second clamping jaw (302), the contact plate (5) used for contacting a trunk is covered on the surface of the pressure sensing piece, and the driving unit and the pressure sensing piece are electrically connected with the processing unit.

3. A novel tree climbing machine according to claim 2, wherein: the first clamping jaw (102) is kept away from first shell (101) one end and is equipped with arc portion (103), second clamping jaw (302) are the same with first clamping jaw (102) structure, the forced induction piece sets up on arc portion (103) inner wall, contact plate (5) be with arc portion (103) matched with arc.

4. A novel tree climbing machine according to claim 2, wherein: the connecting part (2) comprises a first steering engine (201), a first connecting rod (202) and a sliding part, wherein the first steering engine (201) is connected to the side face of the first casing (101), the rotating shaft of the first steering engine (201) is vertically downward, the first steering engine (201) is connected with the first connecting rod (202) in a rotating manner, the first connecting rod (202) is connected with a sliding part which enables the second clamping part (3) to be far away from the first clamping part (1), one end of the sliding part far away from the first connecting rod (202) is connected with the side face of the second casing (301), and the first clamping jaw (102) and the second clamping jaw (302) are oppositely arranged; the first steering engine (201) is electrically connected with the processing unit.

5. A novel tree climbing machine according to claim 4, wherein: the sliding part comprises a second steering engine (203), a sliding rail (204), a crank (205), a second connecting rod (206) and a sliding block (207), wherein the first connecting rod (202) is connected with the second steering engine (203), the sliding rail (204) is connected to the side surface, adjacent to the first connecting rod (202), of the second steering engine (203), the rotating shaft of the second steering engine (203) is connected with one end of the crank (205), the other end of the crank (205) is rotationally connected with the second connecting rod (206), the sliding block (207) is arranged in the sliding rail (204), one end of the sliding block (207) is rotationally connected with the second connecting rod (206), the other end of the sliding block is connected with the side surface of the second housing (301), and the second steering engine (203) is electrically connected with the processing unit.

6. A novel tree climbing machine according to claim 2, wherein: the top and the bottom of the first clamping jaw (102) and the second clamping jaw (302) are respectively provided with an inclined guide surface (104), and the inclined surfaces of the guide surfaces (104) incline from the outer clamping jaw wall to the inner clamping jaw wall.

7. The novel tree climbing machine according to claim 6, wherein: the first shell (101) and the second shell (301) are respectively provided with a sensor for preventing the first shell (101) and the second shell (301) from excessively moving to strike the trunk, and the sensors are electrically connected with the processing unit.

8. A novel tree climbing machine according to claim 7, wherein: the sensor is an infrared ranging sensor (6).

9. A novel tree climbing machine according to claim 3, wherein: the first clamping jaw (102) comprises two clamping plates which are symmetrically arranged, one end, far away from the arc-shaped part (103), of each clamping plate is provided with a gear part (105), the two clamping plates are meshed and rotated through the gear parts (105) to carry out clamping action, the gear parts (105) are rotationally connected with the first shell (101) through rotating shafts (106), and the driving unit is connected with one rotating shaft (106); the second clamping jaw (302) is identical in structure to the first clamping jaw (102).

10. A novel tree climbing machine according to claim 9, wherein: damping is arranged at the rotating shaft (106).