Structure Design of Surrounding Tree-climbing and Pruning Robot

Yang, Xi; Wang, Jichen; Yan, Mengxuan; Fan, Shan

doi:10.1088/1742-6596/2029/1/012052

Cited by 5 publications

(3 citation statements)

References 2 publications

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“…When the tree-climbing and pruning robot works, they are in danger of sliding downward and overturning. In order to avoid the instability of the tree-climbing and pruning robot, it is necessary to ensure that the static friction force generated by the active wheel and clamping mechanism is greater than the gravity force of the robot along the tree trunk, and the anti-tilting torque of the clamping mechanism is greater than the tilting torque of the robot under the action of gravity [6].…”

Section: Structure Design Of a Tree-climbing And Pruning Robotmentioning

confidence: 99%

Design and test of a tree-climbing and pruning robot

Yang

Gao

et al. 2022

J. Phys.: Conf. Ser.

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In view of the problems of manual pruning, such as time-consuming, labor-intensive, low efficiency and low degree of automation, the structure and working principle of the robot for tree-climbing and pruning were studied. Finding the problems in the process of product design, analyzing and defining them, transforming them into the standard mode of solving problems, and using TRIZ theory according to the essence of contradictions to solve the contradictions one by one. The virtual prototype was created to carry out the interference analysis and kinematics simulation analysis of the whole machine. The robot for tree-climbing and pruning was designed by modular design method, which can automatically climb to a certain height to realize the function of pruning and cutting the top of the tree trunk. The duty cycle of the motor output is gradually adjusted by PID algorithm to make multiple motors work synchronously and keep the robot stable in the up-tree pruning process and down-tree process. The robot was made and tested. The experimental results show that the diameter of climbing trunk is 100 mm∼300 mm, and the climbing speed is 1 m/min. It can be used for tree-climbing, pruning lateral branches and cutting main trunks of high-straight trunk trees. It can be self-adaptively held, fall-resistant, obstacle-crossing, and manual operate to improve efficiency.

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Section: Structure Design Of a Tree-climbing And Pruning Robotmentioning

confidence: 99%

Design and test of a tree-climbing and pruning robot

Yang

Gao

et al. 2022

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

show abstract

“…The four displacement functions are shown in Table 1. According to the above settings, the design evaluation tool is used in ADAMS to solve the minimum mean square error of the target value in the DV _ 1 variable value [5].…”

Section: Simulation Calculation Modelmentioning

confidence: 99%

Modeling and driving function optimization of tree climbing robot

Yang

Pan

Wang

et al. 2022

J. Phys.: Conf. Ser.

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To ensure the tree-climbing robot can complete the up-tree or down-tree process, its arms need to adjust the displacement of the push rod in real-time according to the diameter size of the tree trunk so that the tire can smoothly bypass the smaller tree pile. However, the irregular shape of the trunk surface makes the inflatable tire vibrate during rolling, which will reversely affect the performance of the push rod. Based on this, the three-dimensional model of the tree-climbing robot is established by Solid Works software, and the kinematics simulation model of the tree-climbing robot is established by Automatic Dynamic Analysis of Mechanical Systems (ADAMS). The kinematics simulation analysis is carried out. According to the tire displacement curve of the tree-climbing robot, the optimal solution of the push rod driving function is solved. Under the condition of ensuring the trajectory of the spiral rise is unchanged, the mean square deviation of the distance between the two arms of the tree-climbing robot is the smallest, and the push rod is the least affected by the reverse effect of the tire. The simulation results show that under the condition of the optimal solution, the frequency distribution and amplitude of the four springs are basically the same. The force of the four springs is uniform, and the reverse influence of the tires on the two push rods is minimized, which is conducive to the improvement of the stability of the tree climbing robot.

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“…This type of backpack pruning machine mostly uses gasoline engines as the power source, has low costs and good working effects, but still requires manual carrying, with high work noise, strong vibration, and difficulty in operation.There are also lifting assisted pruning platforms in the market,Meng Chao et al [14] , designed a new type of lifting auxiliary lifting platform represented by a multi degree of freedom high branch pruning manipulator, which has a high degree of automation, good work efficiency and effectiveness, and is suitable for planting large-scale orchards. However, due to its large size and high price, it is not suitable for many small farmers who plant scattered crops.Wang Jichen [15] and others studied and designed tree climbing robots, Yang Xi [16] and others, and developed and designed tree pruning robots. Meng Fanjia et al [17] , developed a raspberry pruning robot that collects sprout information through a camera, thereby directing the tool to move to the sprout for cutting.…”

mentioning

confidence: 99%

A PLC-based pomegranate sprout removal device design

Qiu,

Sun,

Zhang

et al. 2023

Preprint

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In order to liberate manual labor, reduce Labor burden and improve the efficiency of cutting pomegranate sprouts, this paper designed a pomegranate sprout cutting machine. Based on SOLIDWORKS software, 3D digital design and overall assembly of key components were carried out; Adopting PLC FX3U-32MT to control the stepper motor, cylinder and other related execution components, achieving the removal of sprouts and the removal of interfering branches and leaves; Control the actual operation of related structures using the MCGS configuration software control interface. Real time determination of cutting position, achieving the cutting of sprouts under different growth conditions. According to experimental measurements, the removal rate of sprouts in this device can reach 74.62%, and the damage rate can reach 18%. This device can promote the development of mechanical semi-automatic cutting in the field of pomegranate sprouting.

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Structure Design of Surrounding Tree-climbing and Pruning Robot

Cited by 5 publications

References 2 publications

Design and test of a tree-climbing and pruning robot

Design and test of a tree-climbing and pruning robot

Modeling and driving function optimization of tree climbing robot

A PLC-based pomegranate sprout removal device design

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