Servo drive stepping type metamorphic tree-climbing robot

Abstract

A servo drive stepping type metamorphic tree-climbing robot comprises servo drive mechanical leg systems and a rack rod assembly. The servo drive mechanical leg systems comprise the first servo drive mechanical leg system, the second drive mechanical leg system, the third drive mechanical leg system and the fourth drive mechanical leg system. When mechanical leg servo drive motors conduct separate drive, complex tree-climbing and tree-holding movement can be achieved, and drive is easy; the oblique angles exist between mechanical legs and a trunk, dead lock can be achieved through driving force, and tree-climbing work is safe and reliable; in the tree-climbing process of the robot, the tightly-holding angle can be changed by converting the degree of freedom, and thus the robot can be flexibly adaptable to changing of the diameters of trees; by simulating the structure of an animal body, the tree-climbing robot is flexibly adaptable to the trees of different shapes; and the servo motors are adopted for driving, so that response is quick, control is accurate, high-level flexible output is obtained through programming, and work is stable.

Description

technical field [0001] The invention relates to the field of robot design, in particular to a servo-driven stepping metamorphic tree-climbing robot. Background technique [0002] With the continuous improvement of robot technology, the application of bionic robots is becoming more and more extensive. Among them, the application of bionic tree-climbing robots is also increasing in tree pruning, disease control, pest control, fruit picking, field detection and monitoring, etc., existing tree-climbing robots Robots mainly include snake-like winding robots, up-and-down retractable robots, flipping robots, etc., which have many driving components, slow movement speed, small load capacity, and poor versatility for trees with different diameters, so they cannot climb trees and work well. Task. [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 m...

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Problems solved by technology

[0002] With the continuous improvement of robot technology, the application of bionic robots is becoming more and more extensive. Among them, the application of bionic tree-climbing robots is also increasing in tree pruning, disease control, pest control, fruit picking, field detection and monitoring, etc., existing tree-climbing robots Robots mainly include snake-like winding robots, up-and-down retractable robots, flipping robots, etc., which have many driving components, slow movement speed, small load capacity, and poor versatility for trees with different diameters, so they cannot climb trees and work well. Task

[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

[0005] At present, there is no servo-driven tree-climbing robot that is simple to drive, reliable and safe to climb trees, and can flexibly adapt to trees of different diameters and shapes.

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