Diameter-variable intelligent obstacle-avoiding tree-climbing robot

Abstract

The invention discloses a variable-diameter intelligent obstacle-avoiding tree-climbing robot. The robot comprises a main trunk mechanism, an upper climbing mechanism and a lower steering mechanism which are in bilateral symmetry. The main trunk mechanism is arranged in the middle of the robot, driving steering engines are placed on the four limb parts respectively to control rotation of joints, the upper climbing mechanism is arranged on the upper half portion of the main trunk and is composed of two structures which are identical in structure and provided with driving motors at the tail ends, and tires are driven by the driving motors to achieve vertical climbing of the robot. The lower steering mechanism is arranged on the lower half portion of the main trunk and is also composed of two structures which are identical in structure and provided with driving motors at the tail ends, and lower tires are driven by the driving motors to achieve circumferential movement of the robot to the trees. The upper climbing mechanism and the lower steering mechanism are connected with the rotating joints of the four limbs of the main trunk through the arm structures respectively, so that the climbing mechanism and the steering mechanism clamp and unclamp a tree. Under the action of movement of the main trunk mechanism, the upper climbing mechanism and the lower rotating mechanism, the tree climbing robot is simple in structure, good in obstacle crossing ability and good in stability, and clamping force can be actively adjusted to adapt to continuous change of the diameter of a tree; the self-locking device can move axially and circumferentially along a trunk, has a self-locking function and can stop at any position.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a variable-path intelligent obstacle-avoiding tree-climbing robot. Background Art

[0002] As early as the beginning of the 20th century, the concept of "robot" began to emerge and became a major high-tech field in modern times. Robot technology can help society complete various dangerous activities, not only liberating a large number of traditional labor forces, but also helping to ensure the safety of operators. Tree-climbing robots integrate multiple intelligent technologies and have played a huge role in the field of high-altitude operations. Although countries have currently focused on the research of tree-climbing robots, they are generally in the initial stage and still have room for development. At present, tree-climbing robots have climbing and operating functions, with the goal of replacing people in dangerous work in complex high-altitude environments, completing tasks such as tree pruning, fruit picking, specimen collection, military detection, cleaning and maintenance of pole-shaped buildings, and quality inspection.

[0003] The existing tree climbing robot mainly includes a clamping mechanism for clamping trees and a lifting mechanism for lifting the clamping mechanism. The tree climbing robot of the prior art is mainly suitable for climbing straight and unobstructed trees, but is not suitable for climbing non-straight trunks or tree trunks with obstacles. In order to solve the above technology, the present application is committed to providing a variable-diameter intelligent obstacle avoidance tree climbing robot. Summary of the invention

[0004] In view of the above shortcomings, the present invention provides a variable-diameter intelligent obstacle-avoiding tree-climbing robot, which can solve the problem that existing tree-climbing robots are not suitable for tree trunks with obstacles.

[0005] In order to achieve the above object, the present invention adopts the following technical scheme: A variable-path intelligent obstacle-avoiding tree-climbing robot, comprising: Main trunk mechanism; The upper climbing mechanism is arranged on the upper part of the main trunk mechanism and connected to the upper shoulder joint of the main trunk mechanism. Used to realize the lifting movement of the robot; A lower steering mechanism, which is arranged at the lower half of the main trunk mechanism and connected to the lower shoulder joint of the main trunk mechanism, and is used to realize the circumferential movement of the robot;

[0006] Furthermore, the main trunk structure (10) comprises: Middle connection frame; An upper shoulder joint, which is arranged on the upper side of the middle connection frame and is fixedly connected by a fixed connection; The lower shoulder joint is arranged below the middle connection frame and is fixedly connected by a fixed connection; The first steering gear placement frame and rotating joint are arranged on the left and right sides of the upper shoulder joint and are used for placing the steering gear and rotating; There are multiple servos, which are set on the left and right sides of the upper and lower shoulder joints; There are multiple universal balls, which are respectively arranged in the middle of the upper shoulder and lower shoulder joints, and are arranged symmetrically up and down; The second steering gear placement frame and rotating joint are arranged on the left and right sides of the lower shoulder joint and are used for placing the steering gear and rotating;

[0007] Furthermore, the upper climbing mechanism is composed of two identical structures, one of which comprises: There are two upper mechanical arms, which are respectively arranged on both sides of the upper shoulder joint and fixedly connected to the first steering gear placement frame and the rotating joint by screws. The first steering gear placement frame and the rotating joint are driven to rotate by the steering gear, thereby driving the upper mechanical arms to rotate, thereby achieving the clamping and releasing of the tree trunk; A first end rotating motor is arranged at the end of the upper mechanical arm and is fixedly connected; A first terminal steering joint, which is arranged at the end of the upper mechanical arm and connected to the output end of the first terminal rotating motor, and the first terminal rotating motor drives the joint to rotate to realize the rotation of the terminal structure; A first DC motor placement frame, which is arranged at one side of the first steering joint and fixedly connected to the first steering joint; A first DC motor is a dual-axis motor, which is arranged on the first DC motor placement frame; The climbing tires, two of which are provided on one side, are arranged outside the first DC motor placement frame and are connected to the output end of the first DC motor. The robot is driven by the first DC motor to achieve lifting and lowering.

[0008] Furthermore, the lower steering mechanism is composed of two identical structures, one of which comprises: There are two lower mechanical arms, which are respectively arranged on both sides of the lower shoulder joint and fixedly connected to the second steering gear placement frame and the rotating joint by screws. The steering gear drives the second steering gear placement frame and the rotating joint (107) to rotate, thereby driving the lower mechanical arms to rotate, thereby achieving clamping and releasing of the tree trunk; A second end rotating motor is arranged at the end of the lower mechanical arm and is fixedly connected; A second terminal steering joint, which is arranged at the end of the lower mechanical arm and connected to the output end of the second terminal rotating motor, and the second terminal rotating motor drives the joint to rotate, thereby realizing the rotation of the terminal structure; A second DC motor placement frame, which is arranged at one side of the second steering joint and fixedly connected to the second steering joint; The second DC motor is a dual-axis motor and is arranged on the second DC motor placement frame; There are two steering tires on one side, which are arranged on the outside of the second DC motor placement frame and connected to the output end of the second DC motor. The robot is driven by the second DC motor to achieve circumferential movement.

[0009] Compared with the prior art, the present invention has the following beneficial effects: 1. The obstacle-avoiding tree-climbing robot of the present invention can achieve ascending and descending on a tree trunk by providing an upper climbing mechanism, etc.; 2. By providing a lower steering mechanism, it can achieve circumferential movement on the tree trunk, thereby achieving obstacle avoidance. 3. The servo of the shoulder rotation joint drives the rotation joint and then drives the arm to rotate, so as to achieve the clamping and loosening of the tree trunk, and then combine the upper climbing mechanism and the lower steering mechanism to enable the robot to move on the tree trunk with obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below. Figure 1 A schematic diagram of the structure of the obstacle-avoiding tree-climbing robot of the present invention from one perspective; Figure 2 It is a schematic diagram of the structure of the obstacle-avoiding tree-climbing robot of the present invention from another perspective; Figure 3 It is a structural schematic diagram of the main trunk mechanism of the present invention from one viewing angle; Figure 4 It is a structural schematic diagram of the upper steering mechanism of the present invention from one viewing angle; Figure 5 It is a structural schematic diagram of the lower steering mechanism of the present invention from one viewing angle.

[0011] The marks shown in the figure are: 10—main trunk mechanism; 20—upper climbing mechanism; 30—lower steering mechanism 101—middle connecting frame; 102—upper shoulder joint; 103—lower shoulder joint; 104—first servo placement frame and rotating joint; 105—servo; 106—universal ball; 107—second servo placement frame and rotating joint 201—upper mechanical arm; 202—first end rotating motor; 203—first end steering joint; 204—first DC motor placement frame; 205—first DC motor; 206—climbing tire 301—lower mechanical arm; 302—second end rotating motor; 303—second end steering joint; 304—second DC motor placement frame; 305—second DC motor; 306—steering tire DETAILED DESCRIPTION

[0012] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0013] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0014] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. Example 1

[0015] like Figure 1 , 2 As shown, in the present embodiment, a variable-diameter intelligent obstacle-avoiding tree-climbing robot is provided, which includes a main trunk mechanism 1, an upper climbing mechanism 2 and a lower steering mechanism 3. The upper climbing mechanism 2 and the lower steering mechanism 3 are both composed of two completely identical structures, which are respectively arranged on the upper and lower sides of the main trunk mechanism 1, and are connected to the upper and lower shoulder joints in the main trunk mechanism 1.

[0016] like Figure 3As shown, the main trunk mechanism 1 is composed of an intermediate connection frame 101, an upper shoulder joint 102 fixedly connected to the upper part, and a lower shoulder joint 103 fixedly connected to the lower part, wherein two universal balls 106 are placed on the middle side of the upper shoulder joint 102, and the first servo placement frame and the rotating joint 104 and the servo 105 are respectively arranged on both sides, wherein the servo 105 is placed in the first servo placement frame and the rotating joint 104 and connected to the upper shoulder joint 102. Two universal balls 106 are also placed on the middle side of the lower shoulder joint 103, and are symmetrically placed with the universal balls 106 arranged on the upper shoulder joint 102, and the second servo placement frame and the rotating joint 107 and the servo 105 are respectively arranged on both sides, wherein the servo 105 is placed in the second servo placement frame and the rotating joint 107 and connected to the lower shoulder joint 103.

[0017] like Figure 4 As shown, the upper climbing mechanism 2 is composed of two completely identical structures respectively placed on the upper shoulder joint 102, one of which includes an upper mechanical arm 201, which is arranged on one side of the upper shoulder joint 102, fixedly connected to the first servo placement frame and the rotating joint 104 by screws, and its end is fixedly connected to the first end rotating motor 202; a first end steering joint 203, which is arranged at the end of the upper mechanical arm 201 and connected to the output end of the first end rotating motor 202; a first DC motor placement frame 204, which is arranged on one side of the first steering joint 203 and fixedly connected to the first steering joint 203; a first DC motor 205 is a dual-axis motor, which is arranged on the first DC motor placement frame 204; a climbing tire 206, which is arranged on the outside of the first DC motor placement frame 204 and connected to the output end of the first DC motor 205.

[0018] like Figure 5 As shown, the lower steering mechanism 2 is composed of two completely identical structures respectively placed on the lower shoulder joint 103, one of which includes a lower mechanical arm 301, which is arranged on one side of the lower shoulder joint 103, fixedly connected to the second servo placement frame and the rotating joint 107 by screws, and its end is fixedly connected to the second end rotating motor 302; the second end steering joint 303, which is arranged at the end of the lower mechanical arm 301 and connected to the output end of the second end rotating motor 302; the second DC motor placement frame 304, which is arranged on one side of the second steering joint 303 and fixedly connected to the second steering joint 303; the second DC motor 305 is a dual-axis motor, which is arranged on the second DC motor placement frame 304; the steering tire 306, which is arranged on the outside of the second DC motor placement frame 304 and connected to the output end of the second DC motor 305. The specific implementation method is as follows:

[0019] In the present embodiment, a variable-diameter intelligent obstacle-avoiding tree-climbing robot is provided, which includes a main trunk mechanism 1, an upper climbing mechanism 2 and a lower steering mechanism 3. The upper climbing mechanism 2 and the lower steering mechanism 3 are both composed of two completely identical structures, which are respectively arranged on the upper and lower sides of the main trunk mechanism 1, and are connected to the upper and lower shoulder joints in the main trunk mechanism 1. The upper climbing mechanism is used to realize the lifting and lowering movement of the robot; the lower steering mechanism is used to realize the circumferential movement of the robot; the main trunk mechanism 1 is composed of an upper shoulder joint 102 fixedly connected to the middle connecting frame 101 and a lower shoulder joint 103 fixedly connected to the lower part, wherein two universal balls 106 are placed on the middle side of the upper shoulder joint 102, which are used to support the tree trunk and can move in all directions, and the first servo placement frame and rotating joint 104 and the servo 105 are respectively arranged on both sides, wherein the servo 105 is placed in the first servo placement frame and the rotating joint 104 and connected to the upper shoulder joint 102, and the first servo placement frame and the rotating joint 104 are driven to rotate by the servo, thereby driving the upper mechanical arm to rotate, thereby realizing the clamping and releasing of the tree trunk by the upper climbing mechanism 2. Two universal balls 106 are also placed on the side in the middle of the lower shoulder joint 103, and are placed symmetrically with the universal ball 106 set on the upper shoulder joint 102. A second servo placement frame and a rotating joint 107 and a servo 105 are respectively provided on both sides, wherein the servo 105 is placed in the second servo placement frame and the rotating joint 107 and connected to the lower shoulder joint 103. The second servo placement frame and the rotating joint 107 are driven to rotate by the servo, thereby driving the lower robotic arm to rotate, thereby realizing the clamping and release of the tree trunk by the lower steering mechanism 3. The upper climbing mechanism 2 is composed of two completely identical structures respectively placed on the upper shoulder joint 102, one of which includes an upper mechanical arm 201, which is arranged on one side of the upper shoulder joint 102, fixedly connected to the first servo placement frame and the rotating joint 104 by screws, and its end is fixedly connected to the first end rotating motor 202; a first end steering joint 203, which is arranged at the end of the upper mechanical arm 201, connected to the output end of the first end rotating motor 202, and driven to rotate by the first end rotating motor to realize the rotation of the end structure; a first DC motor placement frame 204, which is arranged on one side of the first steering joint 203 and fixedly connected to the first steering joint 203; a first DC motor 205 is a dual-axis motor, which is arranged on the first DC motor placement frame 204; a climbing tire 206, which is arranged on the outside of the first DC motor placement frame 204 and connected to the output end of the first DC motor 205, and driven by the first DC motor to realize the lifting and lowering of the robot.The lower steering mechanism 2 is composed of two completely identical structures respectively placed on the lower shoulder joint 103, one of which includes a lower mechanical arm 301, which is arranged on one side of the lower shoulder joint 103, fixedly connected to the second servo placement frame and the rotating joint 107 by screws, and its end is fixedly connected to the second end rotating motor 302; the second end steering joint 303, which is arranged at the end of the lower mechanical arm 301, connected to the output end of the second end rotating motor 302, and the joint is driven to rotate by the second end rotating motor to realize the rotation of the end structure; the second DC motor placement frame 304, which is arranged on one side of the second steering joint 303 and fixedly connected to the second steering joint 303; the second DC motor 305 is a dual-axis motor, which is arranged on the second DC motor placement frame 304; the steering tire 306, which is arranged on the outside of the second DC motor placement frame 304 and connected to the output end of the second DC motor 305, and is driven by the second DC motor to realize the circumferential movement of the robot.

[0020] In this specific embodiment, a variable diameter intelligent obstacle avoidance tree climbing robot is composed of rotating joints 104 and 107 connected by upper and lower shoulder joints. After the rotating joints 104 and 107 are opened by the steering gear to make the robot close to the tree trunk, the steering gear 105 is controlled to make the first steering gear placement frame and the rotating joint 104 drive the upper mechanical arm 201 to rotate and clamp the tree trunk. The first end rotating motor 202 set at the end of the upper mechanical arm 201 drives the first steering joint 203 to make the lifting tire 206 fit the tree trunk, and then the first DC motor 205 drives the tire to realize the lifting and lowering movement of the tree climbing robot on the tree. When encountering obstacles, the obstacle avoidance tree climbing robot controls the steering gear 105 to make the second steering gear placement frame and the rotating joint 107 drive the lower mechanical arm 301 to rotate and clamp the tree trunk, and at the same time, the first steering gear placement frame and the rotating joint 104 drive the upper mechanical arm 201 to rotate and release the tree trunk. The second end rotating motor 302 arranged at the end of the lower mechanical arm 301 drives the second steering joint 303 so that the steering tire 306 fits the tree trunk, and then the second DC motor 305 drives the steering tire to rotate. After the opening of the robot is aligned with one side of the tree trunk obstacle, the steering gear 105 is controlled to make the second steering gear placement frame and the rotating joint 107 drive the lower mechanical arm 301 to rotate and loosen the tree trunk, and at the same time, the first steering gear placement frame and the rotating joint 104 drive the upper mechanical arm 201 to rotate and clamp the tree trunk, and the first end rotating motor 202 at the end of the upper mechanical arm 201 drives the first steering joint 203 so that the ascending tire 206 fits the tree trunk, and then the first DC motor 205 drives the climbing tire to move upward, and after successfully avoiding the obstacle, continue to climb. This is repeated to achieve the climbing of the tree climbing robot on the tree trunk with obstacles.

[0021] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A variable-path intelligent obstacle-avoiding tree-climbing robot, characterized in that: Included are: A main trunk mechanism (10); An upper climbing mechanism (20), which is arranged at the upper half of the main trunk mechanism and connected to the upper shoulder joint of the main trunk mechanism, and is used to realize the lifting and lowering movement of the robot; The lower steering mechanism (30) is arranged at the lower half of the main trunk mechanism and connected to the lower shoulder joint of the main trunk mechanism to realize the circumferential movement of the robot.

2. The variable-path intelligent obstacle-avoiding tree-climbing robot according to claim 1, characterized in that: The main trunk mechanism (10) comprises: Intermediate connecting frame (101); An upper shoulder joint (102) is arranged on the upper side of the middle connection frame and is fixedly connected by a fixed connection; A lower shoulder joint (103) is arranged below the middle connection frame and is fixedly connected by a fixed connection; A first steering gear placement frame and rotating joint (104), which is arranged on the left and right sides of the upper shoulder joint (102) and is used for placing the steering gear and rotating; There are multiple steering gears (105), which are respectively arranged on the left and right sides of the upper and lower shoulder joints; There are multiple universal balls (106), which are respectively arranged in the middle of the upper shoulder and lower shoulder joints, and are arranged symmetrically up and down; The second steering gear placement frame and rotating joint (107) are arranged on the left and right sides of the lower shoulder joint (103) and are used for placing the steering gear and rotating.

3. The variable-path intelligent obstacle-avoiding tree-climbing robot according to claim 1, characterized in that: The upper climbing mechanism (20) is composed of two identical structures, one of which comprises: There are two upper mechanical arms (201), which are respectively arranged on both sides of the upper shoulder joint (102), and are fixedly connected to the first steering gear placement frame and the rotating joint (104) by screws. The first steering gear placement frame and the rotating joint (104) are driven to rotate by the steering gear (105), thereby driving the upper mechanical arms to rotate, thereby achieving clamping and releasing of the tree trunk; A first end rotating motor (202) is arranged at the end of the upper mechanical arm (201) and is fixedly connected; A first terminal steering joint (203), which is arranged at the end of the upper mechanical arm (201) and connected to the output end of the first terminal rotating motor (202), and drives the joint to rotate through the first terminal rotating motor (202), thereby realizing the rotation of the terminal structure; A first DC motor placement frame (204), which is arranged on one side of the first steering joint (203) and is fixedly connected to the first steering joint (203); A first DC motor (205) is a dual-axis motor, which is arranged on the first DC motor placement frame (204); The climbing tires (206) are provided with two on one side and are arranged outside the first DC motor placement frame (204) and connected to the output end of the first DC motor (205). The robot can be lifted and lowered by being driven by the first DC motor (205).

4. The variable-path intelligent obstacle-avoiding tree-climbing robot according to claim 1, characterized in that: The lower steering mechanism (30) is composed of two identical structures, one of which comprises: There are two lower mechanical arms (301), which are respectively arranged on both sides of the lower shoulder joint (103), and are fixedly connected to the second steering gear placement frame and the rotating joint (107) by screws. The second steering gear placement frame and the rotating joint (107) are driven to rotate by the steering gear (105), thereby driving the lower mechanical arms to rotate, thereby achieving clamping and releasing of the tree trunk; A second end rotating motor (302) is arranged at the end of the lower mechanical arm (301) and is fixedly connected; A second terminal steering joint (303), which is arranged at the end of the lower mechanical arm (301) and connected to the output end of the second terminal rotating motor (302), and the second terminal rotating motor (302) drives the joint to rotate, thereby realizing the rotation of the terminal structure; A second DC motor placement frame (304), which is arranged on one side of the second steering joint (303) and is fixedly connected to the second steering joint (303); The second DC motor (305) is a dual-axis motor, which is arranged on the second DC motor placement frame (304); The steering tires (306) have two on one side and are arranged outside the second DC motor placement frame (304) and connected to the output end of the second DC motor (305). The robot is driven by the second DC motor (305) to achieve circumferential motion.

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