The invention discloses a variable-
diameter intelligent obstacle-avoiding tree-climbing
robot. The
robot comprises a main
trunk mechanism, an upper climbing mechanism and a lower steering mechanism which are in
bilateral symmetry. The main
trunk mechanism is arranged in the middle of the
robot, driving steering engines are placed on the four limb parts respectively to control rotation of joints, the upper climbing mechanism is arranged on the upper half portion of the main
trunk and is composed of two structures which are identical in structure and provided with driving motors at the
tail ends, and tires are driven by the driving motors to achieve
vertical climbing of the robot. The lower steering mechanism is arranged on the
lower half portion of the main trunk and is also composed of two structures which are identical in structure and provided with driving motors at the
tail ends, and lower tires are driven by the driving motors to achieve circumferential movement of the robot to the trees. The upper climbing mechanism and the lower steering mechanism are connected with the rotating joints of the four limbs of the main trunk through the arm structures respectively, so that the climbing mechanism and the steering mechanism clamp and unclamp a tree. Under the action of movement of the main trunk mechanism, the upper climbing mechanism and the lower rotating mechanism, the tree climbing robot is simple in structure, good in
obstacle crossing ability and good in stability, and clamping force can be actively adjusted to adapt to continuous change of the
diameter of a tree; the self-locking device can move axially and circumferentially along a trunk, has a self-locking function and can stop at any position.