立木攀爬修枝机器人设计与试验OA

Too many branches were retained during the growth of standing trees,which could lead to premature aging of the tree.At the same time,excessive branch growth would form dead knots in the trunk,thereby affecting the growth of trees.In order to automatically prune the standing tree and keep the pruning personnel away from the dangerous pruning environment,a climbing and pruning robot for standing trees that could prune at a fixed point was designed.Firstly,the de-sign scheme of using straight climbing for the climbing mechanism and rotary pruning for the pruning mechanism was de-termined,and the virtual prototype design of the whole machine was completed by SolidWorks software.Then,the basic structural parameters and working parameters of key components werecalculated,and the selection of key components was completed,and the equations of the slide adjustment distance and the ring rail rotation angle in the pruning mechanism were solved.Finally,processing and assembly of the physical prototype were completed,and an experimental platform was built to verify the climbing and pruning performance of the robot.The experimental results showed that the robot was capable of overcoming frictional resistance,gravity and acceleration resistance to climb steadily along simulated tree trunks.The maximum climbing speed was about 1.18 m/s and the slip rate was about 6.11%,which was suitable for climbing and pruning on tree trunks with diameters ranging from 80 mm to 230 mm.The maximum diameter of the pruning branch was about 40 mm,the cut flatness after pruning was more than 75%,and the residual stubble branchlength was about 5 mm,which proved the functionality and feasibility of the robot design.