Hydraulic drive stepping type metamorphic tree-climbing robot

Abstract

A hydraulic drive stepping type metamorphic tree-climbing robot comprises a hydraulic drive mechanical leg system and a rack rod assembly. The hydraulic drive mechanical leg system comprises a first hydraulic drive mechanical leg system, a second hydraulic drive mechanical leg system, a third hydraulic drive mechanical leg system and a fourth hydraulic drive mechanical leg system. When mechanical leg hydraulic driving motors conduct separate drive, complex tree-climbing and tree-holding movement can be achieved, and drive is easy; the oblique angles exist between the mechanical legs and a trunk, dead lock can be achieved through counter acting force of 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 effect that the robot is flexibly adaptable to changing of the diameters of trees is achieved; by simulating the structure of an animal body, the tree-climbing robot is flexibly adaptable to the trees of different shapes; and through hydraulic drive, noise is small, movement transmitting is steady, force or moment of force is liable to obtain, and the power weight ratio is large.

Description

technical field [0001] The invention relates to the field of robot design, in particular to a hydraulically driven step-by-step 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 three motors are installed on each clasping arm, th...

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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 three motors are installed on each clasping arm, the drive is more complicated, and the overall movement speed is also slower, which is not applicable; Chinese patent CN 105963931A discloses a new type of automatic tree climbing equipment. This patent uses hydraulic cylinders to shrink the crawler tracks to achieve crawling, and uses arc-shaped rods to achieve hugging. In actual operations, it is only suitable for straight trees with equal cross-sections. Complete hugging, application is very limited

[0005] At present, there is no hydraulically driven tree-climbing robot with simple drive, reliable and safe tree climbing, flexible adaptation to trees of different diameters and shapes, high power-to-weight ratio, and stable transmission.

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