Bionic flexible tree climbing robot

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.

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,...

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a bionic flexible tree-climbing robot, which can overcome the shortcomings of existing tree-climbing robots, such as difficult steering and fixed use scenarios; the torso of the robot is divided into an upper torso and a lower torso, and the torsos are connected by connecting rods. By changing the telescopic distance of the torso-driven electric cylinder, the robot's steering action is realized; the mechanical legs are driven by the leg electric cylinders to complete the forward and backward movement and left-right swing of the mechanical legs, realizing complex tree-hugging movements, and the drive is simple. The stroke of the leg electric cylinder can change the holding angle to adapt to trees with different diameters; the multi-degree-of-freedom display and detection system can feed back the information detected by the robot in real time, check the state of the trees, and complete the field monitoring and detection work

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