A step-by-step metamorphic tree-climbing robot mechanism

Abstract

Provided is a marching type metamorphism tree-climbing robot mechanism. The marching type metamorphism tree-climbing robot mechanism comprises mechanical leg devices and a frame bar assembly. The mechanical leg devices comprise the first mechanical leg device, the second mechanical leg device, the third mechanical leg device and the fourth mechanical leg device; and the first mechanical leg device comprises a driving rocker, a driven rocker, a connecting rod, a connecting frame, a sliding sleeve, a sliding sleeve driving hydraulic cylinder, mechanical legs, a mechanical leg driving hydraulic cylinder, a fixed jaw, an arc-shaped limiting sliding chute, a rolling bearing and a controllable limiting hinge. When the driving rocker is driven independently, a complicated tree-climbing and tree-embracing movement can be achieved, so that driving is simple; the mechanical legs have an inclined angle with a tree trunk, a deadlock can be achieved using counterforce of driving force, so that a tree-climbing operation is safe and reliable; a robot can change a tree-brooding angle by switching the degree of freedom, and achieves that the robot adapts to the diameter change of a tree flexibly in the process of tree-climbing; and the tree-climbing robot mechanism flexibly adapts to trees in different shapes through simulation of an animal body structure.

Description

technical field [0001] The invention relates to the field of robot mechanism design, in particular to a step-by-step metamorphic tree-climbing robot mechanism. Background technique [0002] With the continuous improvement of the technical level of robot mechanisms, the application of bionic robot mechanisms is becoming more and more extensive. Among them, the application of bionic tree climbing robot mechanisms is also increasing in tree pruning, disease control, pest control, fruit picking, field detection and monitoring, etc. Now There are tree-climbing robot mechanisms that mainly include snake-like winding robots, up-and-down retractable robots, flipping robots, etc. Existing tree-climbing robots have many driving components, slow movement speed, small load capacity, and poor versatility for trees of different diameters. , can not well realize tree climbing and work tasks. [0003] Chinese patent ZL2012103468033 discloses a quadruped climbing robot, which utilizes self-...

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Problems solved by technology

[0002] With the continuous improvement of the technical level of robot mechanisms, the application of bionic robot mechanisms is becoming more and more extensive. Among them, the application of bionic tree climbing robot mechanisms is also increasing in tree pruning, disease control, pest control, fruit picking, field detection and monitoring, etc. Now There are tree-climbing robot mechanisms that mainly include snake-like winding robots, up-and-down retractable robots, flipping robots, etc. Existing tree-climbing robots have many driving components, slow movement speed, small load capacity, and poor versatility for trees of different diameters. , can't realize tree climbing and work tasks well

[0003] Chinese patent ZL2012103468033 discloses a quadruped climbing robot, which utilizes self-weight and self-locking, and each clasping arm is equipped with three motors, the drive is more complicated, and the overall movement speed is slower, which is not applicable; Chinese patent CN105963931A A new type of automatic tree climbing equipment was announced. This patent uses hydraulic cylinders to shrink the crawler to realize crawling, and uses arc-shaped rods to achieve clinging. In actual operation, it is only suitable for straight trees with equal cross-sections, and it cannot be completed when the thickness of trees changes. Hold tight, applications are very limited

[0004] At present, there is no tree-climbing robot mechanism that is simple to drive, reliable and safe to climb trees, and can adapt to trees of different thicknesses and shapes.

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