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Robot steering structure

A robot and turntable technology, applied in the field of climbing equipment, can solve the problems of poor adaptability of the tree surface and inflexible fixing methods around the trunk.

Active Publication Date: 2019-04-05
新沂阿凡达智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The use of mechanical equipment instead of manual climbing of trees can reduce the risk of climbers falling and improve work efficiency. The current tree-climbing robot can realize tree pruning, fruit picking, pest control, tree growth detection, etc.; existing Most of the tree-climbing robots have three parts as a whole, the driving part for driving the tree climbing, the fixing part for fixing with the tree body, and the functional part for the robot to operate the tree body. Among them, Chinese patent CN201410242830.5 A tree-climbing robot is disclosed. The fixing part adopts the method of embracing the tree body. This robot mainly moves up and down the trunk to pruning the tree body and grasps the tree body firmly. The body surface has poor adaptability. In the process of tree growth detection or environmental detection, it is necessary to quickly and flexibly climb the tree without destroying the tree. Irregularly growing trees, to complete environmental monitoring, in order for the robot to climb to different areas of the tree, the robot needs to be able to turn on the surface of the tree

Method used

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specific Embodiment approach 1

[0099] A kind of tree-climbing robot disclosed in this embodiment combines figure 1 and figure 2 As shown, it includes a housing 1, a transmission belt 2, a tree climbing claw 3, a limit ring 4, a transmission belt driving member 5 and a pressure member 6. The housing 1 includes: a bottom surface in contact with the tree body surface, and a top surface opposite to the bottom surface , two sides parallel to the axis of the tree body on both sides of the bottom surface, a cavity for accommodating the internal structure is provided between the two sides of the housing 1, and a transmission belt 2 is arranged in the cavity, and the transmission belt 2 runs along the tree body. The axial direction is arranged, and the transmission belt 2 is driven to rotate through the transmission belt driver 5 inside the cavity, and several tree climbing claws 3 are arranged on both sides of the transmission belt 2, and several tree climbing claws 3 are arranged at equal intervals along the tran...

specific Embodiment approach 2

[0107] This embodiment is based on the specific implementation mode 1, specifically, in combination with image 3 As shown, the claw body 3-1 of the tree-climbing claw 3 is arc-shaped, and the center of the arc-shaped circle falls on the hinge shaft where the tree-climbing claw 3 and the transmission belt 2 are hinged;

[0108] It is convenient for the tip of the claw body 3-1 to penetrate into the tree body for fixing.

specific Embodiment approach 3

[0109] This embodiment is based on the specific implementation mode 1 or 2, specifically, in combination with Figure 5 As shown, the transmission belt driver 5 includes: a driving motor 5-1, a driving wheel 5-2, a frame body 5-3 and a driven wheel 5-4, the transmission belt 2 is sleeved outside the frame body 5-3, and the frame body The body 5-3 provides support for the transmission belt 2, and the two ends of the frame body 5-3 are respectively provided with a driving wheel 5-2 and a driven wheel 5-4, and the driving wheel 5-2 and the driven wheel 5-4 are connected with the synchronous teeth. 2-2 meshing, the driving wheel 5-2 is connected with the drive motor 5-1.

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Abstract

The invention belongs to the technical field of climbing equipment, and particularly relates to a robot steering structure. The robot steering structure comprises a rotating disk, tree climbing claw sliding blocks, second elastic pieces and two driving motors, wherein one end of each tree climbing claw sliding block is connected with a corresponding tree climbing claw, and the other end of each tree climbing claw sliding block is in sliding connection to a corresponding transmission belt; the sliding direction of the tree climbing claw sliding blocks is in parallel to an axis of the corresponding transmission belt; each second elastic piece is arranged between one tree climbing claw sliding block and the corresponding transmission belt; the rotating disk comprises two arc-shaped sections;the two arc-shaped sections are respectively arranged in two grasping sections; when the tree climbing claws are moved to the grasping sections, the inner side of a claw body of each tree climbing claw is attached to the outer side surface of the corresponding arc-shaped section; each tree climbing claw moves along the arc line of the corresponding arc-shaped section; and the two driving motors are used for respectively and independently driving the two transmission belts to rotate. Through the adoption of the robot steering structure disclosed by the invention, in-situ steering of a robot canbe realized; a robot steers on the surface of a tree body; when the robot faces irregular surfaces of the tree body, the robot has preferable flexibility, so that the robot climbs to different regions of the tree body, and the requirements of growth detection or environmental monitoring are met.

Description

technical field [0001] The invention belongs to the technical field of climbing equipment, and in particular relates to a robot steering structure. Background technique [0002] The use of mechanical equipment instead of manual climbing of trees can reduce the risk of climbers falling and improve work efficiency. The current tree-climbing robot can realize tree pruning, fruit picking, pest control, tree growth detection, etc.; existing Most of the tree-climbing robots have three parts as a whole, the driving part for driving the tree climbing, the fixing part for fixing with the tree body, and the functional part for the robot to operate the tree body. Among them, Chinese patent CN201410242830.5 A tree-climbing robot is disclosed. The fixing part adopts the method of embracing the tree body. This robot mainly moves up and down the trunk to pruning the tree body and grasps the tree body firmly. The body surface has poor adaptability. In the process of tree growth detection o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B62D57/024B25J9/00
CPCB25J9/00B25J9/0009B25J11/00B62D57/024
Inventor 韩志勇
Owner 新沂阿凡达智能科技有限公司
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