Stepping type hybrid-drive flexible tree-climbing robot

Abstract

A stepping type hybrid-drive flexible tree-climbing robot includes hybrid-drive mechanical leg systems and a rack rod assembly. The hybrid-drive mechanical leg systems include the first hybrid-drive mechanical leg system, the second hybrid-drive mechanical leg system, the third hybrid-drive mechanical leg system and the fourth hybrid-drive mechanical leg system. According to the stepping type hybrid-drive flexible tree-climbing robot, when a small-power servo motor is used for driving alone, complicated tree climbing and tree hugging motion can be achieved, and driving is simple; slant angles exist between mechanical legs and trunks, dead lock can be achieved by using counter-acting force of drive force, and climbing is safe and reliable; when the robot climbs trees, the degree of freedom is changed, the hugging angle can be changed, and the robot can flexibly adapt to the change of diameters of the trunks; by simulating the body structures of animals, the tree-climbing robot flexibly adapts to the trunks different in shape; a large-power conventional motor and the small-power servo motor are adopted for hybrid driving, the cost is reduced, the flexible output level is high, and the robot is easy to control.

Description

technical field [0001] The invention relates to the field of robot design, in particular to a hybrid-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 each clasping arm is equipped with three motors, the drive...

AI Technical Summary

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 hybrid drive tree climbing robot with simple drive, reliable and safe tree climbing, flexible adaptation to trees of different diameters and shapes, simple control, and high degree of flexible output.

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