Bionic flexible tree climbing robot

A robot and flexible technology, applied in the field of robot design, can solve the problems of complex tree-holding movement, difficult turning, fixed use scene, etc., and achieve the effect of safe and reliable tree climbing work and simple driving

CN107618584AInactive Publication Date: 2018-01-23SHANGHAI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2018-01-23
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a bionic flexible tree climbing robot. The robot comprises a trunk system, mechanical leg systems and a display and detection system. The trunk system is composed of an upper trunk and a lower trunk which are connected through a connecting rod, the body structure of an animal is simulated, the two trunks are driven by electric cylinders, and the robot is controlled to steerand move forwards; the mechanical leg systems are independently driven through the electric cylinders, front-back swinging and up-down tree trunk climbing actions of mechanical legs are achieved, andtree holding and climbing tasks are completed. In the tree climbing process of the robot, the stroke of the electric cylinders of the mechanical legs is changed, the holding angle can be changed, andthe robot can adapt to trees with different diameters; the multi-degree-of-freedom display and detection system feeds back information detected by the robot in real time, the states of the trees arechecked, and field monitoring and detection work is completed.
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Description

technical field

[0001] The invention relates to the field of robot design, in particular to a bionic flexible tree-climbing robot. Background technique

[0002] The level of robot technology continues to improve, and the application of bionic robots is becoming more and more extensive. Among them, bionic tree-climbing robots have played a very good role in tree pruning, pest control, fruit picking and field detection.

[0003] Existing tree-climbing robots mostly use a one-piece fuselage, and the torso is connected through a rigid structure, which can realize the forward movement of the robot, but cannot realize the steering function, resulting in the inability to observe a large-scale scene.

[0004] Most of the existing tree-climbing robots use one or more pairs of mechanical arms to hug the trees to be climbed. This kind of robot is only suitable for scenes with fixed trunk sizes, and does not have good adaptability to trees with different diameters.

[0005] At present,...

Examples

Embodiment Construction

[0026] The technical solutions of the present invention will be fully described below in conjunction with the accompanying drawings and embodiments, and the accompanying drawings are only part of the embodiments of the present invention, rather than complete embodiments. Based on the implementation of the present invention, all other implementations obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] control figure 1 , figure 2 with image 3 , a kind of bionic flexible tree-climbing robot described in the present invention, comprises trunk system, mechanical leg system, sensor, display and detection system, concrete structure and connection relation are:

[0028] The trunk system includes an upper body trunk system and a lower body trunk system, and the upper body trunk system includes a trunk support frame 2, a first trunk electric cylinder 5, a second trunk electric cylinder 14, a pluralit...