Double-claw metamorphic climbing robot

Abstract

The invention discloses a double-claw metamorphic climbing robot which comprises a power trunk, two climbing claws and a monitoring system, the power trunk comprises a holder mechanism and a body arm mechanism, the two climbing claws are of the same structure and each comprise a driving mechanism and three bionic fingers, the three bionic fingers are of the same structure, and the monitoring system is arranged on the holder mechanism. Each movement mechanism comprises a first-stage movement unit, a second-stage movement unit, a third-stage movement unit and a fourth-stage movement unit, the driving mechanism is connected with the second-stage movement unit through the first-stage movement unit, and the second-stage movement unit is connected with the fourth-stage movement unit through the third-stage movement unit. According to the double-claw metamorphic climbing robot, a multi-connecting-rod mechanism composed of four movement units is adopted for the bionic fingers, the number of actuators can be reduced through the under-actuated technology, the flexibility and self-adaptability of the climbing claws are higher, and the double-claw metamorphic climbing robot can replace manual work to implement forestry monitoring and has high market popularization value.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a dual-claw metamorphic climbing robot. Background Art

[0002] With the continuous improvement of robot technology, the application of bionic robots has become increasingly widespread. Among them, the application of bionic climbing robots in tree pruning, pest control, fruit picking, field detection and monitoring is also increasing. Therefore, applying climbing robots to forestry monitoring work can overcome the shortcomings of existing technologies.

[0003] Traditional climbing robots often use rigid fixed structures or single-drive clamping mechanisms, which pose core challenges of insufficient adaptability and poor dynamic stability in complex pipe, tree, or truss environments. For example, the cylindrical pipe-climbing robot disclosed in existing patent CN113415353A, while capable of basic climbing, lacks obstacle-crossing capabilities and cannot adapt to sudden changes in pipe diameter or cross-bend pipes. Furthermore, the bionic tree-climbing robot disclosed in patent CN108583713A, while incorporating a flexible trunk design, lacks adaptive adjustment capabilities in its mechanical claws, making it prone to slipping on wet or uneven surfaces and exhibiting insufficient load stability.

[0004] The introduction of metamorphic mechanisms provides new ideas for the design of climbing robots. Metamorphic mechanisms are intelligent mechanical systems that achieve degree of freedom switching by dynamically reconstructing topological structures. Their core advantage lies in the multi-modal characteristics of a single mechanism. They can adjust motion chain constraints in real time according to task requirements, significantly improving environmental adaptability.

[0005] At present, there is no climbing robot for forestry monitoring that has simple driving, strong obstacle-crossing ability, and adaptability to tree trunks of different diameters. Summary of the Invention

[0006] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a double-claw metamorphic climbing robot with simple drive, good mobility and suitable for climbing tree trunks, which is used for forestry monitoring and has high market promotion value.

[0007] The technical solution of the present invention is: a double-claw metamorphic climbing robot, including a power trunk 1, a climbing claw I2, a climbing claw II3 and a monitoring system 4, the power trunk 1 includes two pan-tilt mechanisms and a body-arm mechanism, the two climbing claws have the same structure, both including a driving mechanism 5, a bionic finger I6, a bionic finger II7 and a bionic finger III8, the three bionic fingers have the same structure, both including a primary motion unit, a secondary motion unit, a tertiary motion unit and a quaternary motion unit, wherein the driving mechanism 5 is connected to the secondary motion unit through the primary motion unit, and the secondary motion unit is connected to the quaternary motion unit through the tertiary motion unit.

[0008] The driving mechanism 5 includes a first servo motor 9, a driving helical gear 10, a bearing 11, an output helical gear 12, a first screw rod 13, a first pillar 14, a contact plate 15, a lower plate 16, a second pillar 17, a middle plate 18, an upper plate 19, a cylindrical slide 20, a threaded flange 21 and a linear bearing 22; wherein, the first servo motor 9 is fixedly mounted under the lower plate 16 by a pin, the output shaft end of the first servo motor 9 is fixedly mounted with the driving helical gear 10, the driving helical gear 10 is meshed with the output helical gear 12, and the first servo motor 9 is fixedly mounted with the driving helical gear 10. A servo motor 9 drives the active helical gear 10 to rotate, and the active helical gear 10 drives the output helical gear 12 to rotate; the outer ring of the bearing 11 is fixed to the lower plate 16, and the output shaft of the first servo motor 9 passes through the inner ring of the bearing 11; the output helical gear 12 is fixedly mounted on one end of the first screw rod 13, and the output helical gear 12 drives the first screw rod 13 to rotate; the first screw rod 13 is mounted on the contact plate 15 and the lower plate 16 and can rotate, and the first support 14 fixes the contact plate 15 and the lower plate 16 with a pin; the second support 17 The lower plate 16 is fixedly connected to the upper plate 19 by pins; the upper plate 19 is fixed to the first flange 36 in the pan / tilt mechanism by bolts; the cylindrical slide rail 20 is fixedly installed between the lower plate 16 and the upper plate 19; the threaded flange 21 is installed on the first screw rod 13 to form a spiral pair, and the rotation of the first screw rod 13 drives the movement of the threaded flange 21; the threaded flange 21 and the linear bearing 22 are fixedly installed on the middle plate 18 by pins, and the movement of the threaded flange 21 drives the movement of the middle plate 18, and the linear bearing 22 is fixed on the cylindrical slide rail 20 The slide rail 20 slides on the middle plate 18 to limit the rotation of the lower plate 16; the lower plate 16 is connected to the second connecting rod 24 in the first-level motion unit of the bionic finger I6, bionic finger II7, and bionic finger III8 and the first rocker rod 27 in the second-level motion unit through a pin to form a rotation pair; the middle plate 18 is connected to the first connecting rod 23 in the first-level motion unit of the bionic finger I6, bionic finger II7, and bionic finger III8 through a pin to form a rotation pair, with the bionic finger I6 distributed on one side and the bionic finger II7 and bionic finger III8 distributed on the other side.

[0009] The primary motion unit includes a first connecting rod 23 and a second connecting rod 24; wherein, one end of the first connecting rod 23 is connected to the middle plate 18 in the driving mechanism 5 through a pin shaft to form a rotating pair, the other end of the first connecting rod 23 and one end of the second connecting rod 24 are connected to the third connecting rod 25 in the secondary motion unit to form a rotating pair, and the other end of the second connecting rod 24 is connected to the lower plate 16 in the driving mechanism 5 and the first rocker rod 27 in the secondary motion unit to form a rotating pair.

[0010] The secondary motion unit includes a third link 25, a fourth link 26, a first rocker arm 27, and a proximal toe belly 28; wherein, one end of the third link 25 is connected to the first link 23 and the second link 24 in the primary motion unit through a pin to form a revolving pair, the other end of the third link 25 and one end of the fourth link 26 are connected to the fifth link 30 in the tertiary motion unit through a pin to form a revolving pair, the other end of the fourth link 26 and one end of the two first rocker arms 27 are connected to the two second rocker arms 29 in the tertiary motion unit to form a revolving pair, the other ends of the two first rocker arms 27 are connected to the lower plate 16 in the driving mechanism 5 and the second link 24 in the primary motion unit to form a revolving pair, and the proximal toe belly 28 is installed on the inner side of the first rocker arm 27.

[0011] The three-stage motion unit includes a second rocker arm 29, a fifth connecting rod 30, and a middle section toe belly 31; wherein, one end of the two second rocker arms 29 is connected to the fourth connecting rod 26 and the first rocker arm 27 in the secondary motion unit through a pin to form a rotation pair, one hole of the two hole ends of the two second rocker arms 29 is connected to the sixth connecting rod 32 in the four-stage motion unit through a pin to form a rotation pair, the other hole of the two hole ends of the two second rocker arms 29 is connected to the third rocker arm 33 in the four-stage motion unit through a pin to form a rotation pair, one end of the fifth connecting rod 30 is connected to the third connecting rod 25 and the fourth connecting rod 26 in the secondary motion unit to form a rotation pair, the other end of the fifth connecting rod 30 is connected to the sixth connecting rod 32 in the four-stage motion unit through a pin to form a rotation pair, and the middle section toe belly 31 is installed on the inner side of the second rocker arm 29.

[0012] The four-stage motion unit includes a sixth link 32, a third rocker 33, a fourth rocker 34, and a distal toe 35; wherein, the three holes of the sixth link 32 are respectively connected to the second rocker 29, the fifth link 30, and the fourth rocker 34 through pins to form a rotation pair, one end of the two third rocker 33 is respectively connected to the second rocker 29 in the three-stage motion unit through pins to form a rotation pair, the other end of the two third rocker 33 is connected to the fourth rocker 34 to form a rotation pair, the two holes in the fourth rocker 34 are respectively connected to the sixth link 32 and the third rocker 33 through pins to form a rotation pair, and the distal toe 35 is fixed on the fourth rocker 34.

[0013] The pan / tilt mechanism includes a first flange 36, a single-axis servo 37, a bracket 38, a second flange 39, a dual-axis servo 40, and a U-shaped frame 41. The output shaft end of the single-axis servo 37 is connected to the upper plate 19 in the climbing claw via the first flange 36. Both sides of the dual-axis servo 40 shaft end, the second flange 39, and the U-shaped frame 41 are simultaneously connected by bolts. The single-axis servo 37 and the dual-axis servo 40 are fixed to the bracket 38 via bolts.

[0014] The body-arm mechanism includes a second servo motor 42, a first fixed end 43, a second screw rod 44, a threaded flange 45, a first support block 46, a seventh connecting rod 47, a first driven rod 48, a second driven rod 49, a gasket 50, a third pillar 51, a fourth pillar 52, a second support block 53, a third driven rod 54, a fourth driven rod 55 and a second fixed end 56; wherein, the second servo motor 42 is fixed to the inside of the first fixed end 43 by a bolt connection, the second servo motor 42 output shaft end is fixed to the second screw rod 44, and the threaded flange 45 is installed on the second screw rod 44 to form a spiral pair; the first support block 46 is fixed to the threaded flange 45 by a bolt connection; 6 of the 12 seventh connecting rods 47 are staggered in pairs and connected end to end to form two scissor-type telescopic mechanisms, each distributed in the second servo motor 42. On one side of the servo motor 42, the two scissor-type telescopic mechanisms are connected by the first support block 46, the third pillar 51, the fourth pillar 52, and the second support block 53. One end of the scissor-type telescopic mechanism is connected to the second driven rod 49, the first driven rod 48 and the gasket 50 through a pin to form a rotating pair, and the other end of the scissor-type telescopic mechanism is connected to the third driven rod 54 and the fourth driven rod 55 through a pin to form a rotating pair; the toothed end of the first driven rod 48 is meshed with the toothed end of the second driven rod 49 and is fixed to the first fixed end 43 through a pin; the toothed end of the third driven rod 54 is meshed with the toothed end of the fourth driven rod 55 and is fixed to the second fixed end 56 through a pin. The first fixed end 43 and the second fixed end 56 are respectively fixed to the U-shaped frame 41 in the two pan-tilt mechanisms through bolts.

[0015] The monitoring system 4 includes an infrared sensor 57, a temperature and humidity sensor 58, a carbon dioxide sensor 59 and a connecting plate 60; the infrared sensor 57, the temperature and humidity sensor 58, and the carbon dioxide sensor 59 are fixed on the connecting plate 60, and the connecting plate 60 is fixed to the second fixed end 56 in the body-arm mechanism by bolt connection.

[0016] The proximal toe web 28, the middle toe web 31 and the distal toe web 35 are rubber strips, which can effectively increase the friction between the climbing claw and the tree trunk, thereby improving the clamping effect thereof.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The bionic finger of the present invention adopts a multi-link mechanism composed of four motion units, and the climbing claw has good rigidity and high load capacity. The under-actuated technology can reduce the number of actuators, making the climbing claw more flexible and adaptable. When the climbing claw contacts a tree trunk, the position of each bionic finger is adjusted to adapt to tree trunks of different diameters, allowing the climbing claw to grasp tree trunks of different diameters more effectively. 2. The bionic fingers in the climbing claws have the same structure, so they can be mass-produced, which facilitates robot maintenance and reduces manufacturing costs. 3. The climbing claw adopts a screw-nut transmission mechanism. The screw cannot be driven by any axial force acting on the nut. It has mechanical self-locking properties and is safe and reliable. The end of the bionic finger is used with a pressure sensor. When a certain pressure is reached, the power is cut off and the motor stops rotating. Relying on the self-locking nature of the mechanism, the climbing claw can grab the tree trunk and not fall. The force distribution of the three bionic fingers is symmetrical and even, and will not overturn. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a three-dimensional diagram of a dual-claw metamorphic climbing robot provided according to an embodiment of the present invention;

[0019] Figure 2 is an exploded view of a climbing claw according to the present invention;

[0020] Figure 3 is an assembly diagram of a climbing claw according to the present invention;

[0021] Figure 4 1. It is an exploded view and an assembly view of the bionic finger of the present invention;

[0022] Figure 5 is an exploded view of the power trunk of the present invention;

[0023] Figure 6 It is an assembly diagram of the power trunk of the present invention;

[0024] Figure 7 is a diagram of the monitoring system of the present invention;

[0025] The numbers in the figure are: 1-power trunk, 2-climbing claw I, 3-climbing claw II, 4-monitoring system, 5-driving mechanism, 6-bionic finger I, 7-bionic finger II, 8-bionic finger III, 9-first servo motor, 10-driving helical gear, 11-bearing, 12-output helical gear, 13-first screw, 14-first pillar, 15-contact plate, 16-lower plate, 17-second pillar, 18-middle plate, 19-upper plate, 20-cylindrical slide rail, 21-threaded flange, 22-linear bearing, 23-first connecting rod, 24-second connecting rod, 25-third connecting rod, 26-fourth connecting rod, 27-first rocker arm, 28-proximal toe belly, 29-second rocker arm, 30-fifth connecting rod, 31-middle toe belly , 32-sixth connecting rod, 33-third rocker arm, 34 fourth rocker arm, 35-distal toe belly, 36-first flange, 37-single-axis servo, 38-bracket, 39-second flange, 40-dual-axis servo, 41-U-shaped frame, 42-second servo motor, 43-first fixed end, 44-second screw rod, 45-threaded flange, 46-first support block, 47-seventh connecting rod, 48-first driven rod, 49-second driven rod, 50-gasket, 51-third pillar, 52-fourth pillar, 53-second support block, 54-third driven rod, 55-fourth driven rod, 56-second fixed end, 57-infrared sensor, 58-temperature and humidity sensor, 59-carbon dioxide sensor, 60-connecting plate. DETAILED DESCRIPTION

[0026] The invention will be further described below with reference to the accompanying drawings and embodiments, but the content of the present invention is not limited to the scope of the drawings.

[0027] Example 1: Figure 1-7 As shown, a double-claw metamorphic climbing robot includes a power trunk 1, a climbing claw I 2, a climbing claw II 3 and a monitoring system 4. The power trunk 1 includes two pan-tilt mechanisms and a body-arm mechanism. The two climbing claws have the same structure and both include a driving mechanism 5, a bionic finger I 6, a bionic finger II 7 and a bionic finger III 8. The three bionic fingers have the same structure and both include a primary motion unit, a secondary motion unit, a tertiary motion unit and a quaternary motion unit. The driving mechanism 5 is connected to the secondary motion unit through the primary motion unit, and the secondary motion unit is connected to the quaternary motion unit through the tertiary motion unit.

[0028] For example, the driving mechanism 5 in the figure includes a first servo motor 9, a driving helical gear 10, a bearing 11, an output helical gear 12, a first screw rod 13, a first pillar 14, a contact plate 15, a lower plate 16, a second pillar 17, a middle plate 18, an upper plate 19, a cylindrical slide 20, a threaded flange 21 and a linear bearing 22; wherein, the first servo motor 9 is fixedly mounted under the lower plate 16 by a pin, and the driving helical gear 10 is fixedly mounted on the output shaft end of the first servo motor 9, and the driving helical gear 10 is meshed with the output helical gear 12, and the first servo motor 9 drives the driving helical gear 10 to mesh with the output helical gear 12. The movable helical gear 10 rotates, and the active helical gear 10 drives the output helical gear 12 to rotate; the outer ring of the bearing 11 is fixed on the lower plate 16, and the output shaft of the first servo motor 9 passes through the inner ring of the bearing 11; the output helical gear 12 is fixedly mounted on one end of the first screw rod 13, and the output helical gear 12 drives the first screw rod 13 to rotate; the first screw rod 13 is mounted on the contact plate 15 and the lower plate 16 and can rotate, and the first pillar 14 fixes the contact plate 15 and the lower plate 16 with a pin; the second pillar 17 fixes the lower plate 16 and the upper plate 19 with a pin; the upper plate 1 9 is fixed to the first flange 36 in the pan / tilt mechanism through bolt connection; the cylindrical slide rail 20 is fixedly installed between the lower plate 16 and the upper plate 19; the threaded flange 21 is installed on the first screw rod 13 to form a spiral pair, and the rotation of the first screw rod 13 drives the movement of the threaded flange 21; the threaded flange 21 and the linear bearing 22 are fixedly installed on the middle plate 18 through pins, and the movement of the threaded flange 21 drives the movement of the middle plate 18, and the linear bearing 22 slides on the cylindrical slide rail 20 to limit the rotation of the middle plate 18; the lower plate 16 is respectively connected to the bionic finger Ⅰ6 and the bionic finger Ⅰ6 through the pin shaft. The second connecting rod 24 in the primary motion unit of bionic finger Ⅱ7 and bionic finger Ⅲ8 and the first rocker arm 27 in the secondary motion unit are connected to form a revolving pair; the middle plate 18 is connected to the first connecting rod 23 in the primary motion unit of bionic finger Ⅰ6, bionic finger Ⅱ7 and bionic finger Ⅲ8 through a pin shaft to form a revolving pair, with bionic finger Ⅰ6 distributed on one side and bionic finger Ⅱ7 and bionic finger Ⅲ8 distributed on the other side. The movement of the middle plate 18 provides power for the bionic finger joints to complete the extension and closing movements of the bionic fingers; the lower plate 16 has a limit block to limit the rotation angle of the first rocker arm 27.

[0029] Furthermore, the primary motion unit includes a first connecting rod 23 and a second connecting rod 24; wherein, one end of the first connecting rod 23 is connected to the middle plate 18 in the driving mechanism 5 through a pin shaft to form a rotating pair, the other end of the first connecting rod 23 and one end of the second connecting rod 24 are connected to the third connecting rod 25 in the secondary motion unit to form a rotating pair, and the other end of the second connecting rod 24 is connected to the lower plate 16 in the driving mechanism 5 and the first rocker rod 27 in the secondary motion unit to form a rotating pair.

[0030] Furthermore, the secondary motion unit includes a third link 25, a fourth link 26, a first rocker arm 27, and a proximal toe belly 28; wherein, one end of the third link 25 is connected to the first link 23 and the second link 24 in the primary motion unit through a pin to form a revolving pair, the other end of the third link 25 and one end of the fourth link 26 are connected to the fifth link 30 in the tertiary motion unit through a pin to form a revolving pair, the other end of the fourth link 26 and one end of the two first rocker arms 27 are connected to the two second rocker arms 29 in the tertiary motion unit to form a revolving pair, the other ends of the two first rocker arms 27 are connected to the lower plate 16 in the driving mechanism 5 and the second link 24 in the primary motion unit to form a revolving pair, the proximal toe belly 28 is installed on the inner side of the first rocker arm 27 through a bolt connection, and a limiting block is provided at the end of the first rocker arm 27 to limit the rotation angle of the second rocker arm 29.

[0031] Furthermore, the three-stage motion unit includes a second rocker arm 29, a fifth connecting rod 30, and a middle section toe belly 31; wherein, one end of the two second rocker arms 29 is connected to the fourth connecting rod 26 and the first rocker arm 27 in the secondary motion unit through a pin to form a rotation pair, one hole at the two hole ends of the two second rocker arms 29 is connected to the sixth connecting rod 32 in the four-stage motion unit through a pin to form a rotation pair, the other hole at the two hole ends of the two second rocker arms 29 is connected to the third rocker arm 33 in the four-stage motion unit through a pin to form a rotation pair, one end of the fifth connecting rod 30 is connected to the third connecting rod 25 and the fourth connecting rod 26 in the secondary motion unit to form a rotation pair, the other end of the fifth connecting rod 30 is connected to the sixth connecting rod 32 in the four-stage motion unit through a pin to form a rotation pair, and the middle section toe belly 31 is installed on the inner side of the second rocker arm 29 by a bolt connection.

[0032] Furthermore, the four-stage motion unit includes a sixth link 32, a third rocker 33, a fourth rocker 34, and a distal toe 35; wherein, the three holes of the sixth link 32 are respectively connected to the second rocker 29, the fifth link 30, and the fourth rocker 34 through pins to form a revolute pair, one end of the two third rocker 33 is respectively connected to the second rocker 29 in the three-stage motion unit through pins to form a revolute pair, the other end of the two third rocker 33 is connected to the fourth rocker 34 to form a revolute pair, the two holes in the fourth rocker 34 are respectively connected to the sixth link 32 and the third rocker 33 through pins to form a revolute pair, and the distal toe 35 is fixed to the fourth rocker 34 by bolts.

[0033] Furthermore, the pan / tilt mechanism includes a first flange 36, a single-axis servo 37, a bracket 38, a second flange 39, a dual-axis servo 40, and a U-shaped frame 41; wherein, the output shaft end of the single-axis servo 37 is connected to the upper plate 19 in the climbing claw through the first flange 36, and both sides of the shaft end of the dual-axis servo 40 and the second flange 39 are simultaneously connected to the U-shaped frame 41 with bolts, and the single-axis servo 37 and the dual-axis servo 40 are fixed to the bracket 38 by bolt connection.

[0034] Furthermore, the body-arm mechanism includes a second servo motor 42, a first fixed end 43, a second screw rod 44, a threaded flange 45, a first support block 46, a seventh connecting rod 47, a first driven rod 48, a second driven rod 49, a gasket 50, a third pillar 51, a fourth pillar 52, a second support block 53, a third driven rod 54, a fourth driven rod 55 and a second fixed end 56; wherein, the second servo motor 42 is fixed to the inside of the first fixed end 43 by a bolt connection, the second servo motor 42 output shaft end is fixed to the second screw rod 44, and the threaded flange 45 is installed on the second screw rod 44 to form a spiral pair; the first support block 46 is fixed to the threaded flange 45 by a bolt connection; 6 of the 12 seventh connecting rods 47 are staggered in pairs and connected end to end to form two scissor-type telescopic mechanisms, each distributed in the first On one side of the second servo motor 42, the two scissor-type telescopic mechanisms are connected by the first support block 46, the third pillar 51, the fourth pillar 52, and the second support block 53. One end of the scissor-type telescopic mechanism is connected to the second driven rod 49, the first driven rod 48 and the gasket 50 through a pin to form a rotating pair, and the other end of the scissor-type telescopic mechanism is connected to the third driven rod 54 and the fourth driven rod 55 through a pin to form a rotating pair; the toothed end of the first driven rod 48 is meshed with the toothed end of the second driven rod 49 and is fixed to the first fixed end 43 through a pin; the toothed end of the third driven rod 54 is meshed with the toothed end of the fourth driven rod 55 and is fixed to the second fixed end 56 through a pin. The first fixed end 43 and the second fixed end 56 are respectively fixed to the U-shaped frame 41 in the two pan-tilt mechanisms through bolts.

[0035] Furthermore, the monitoring system 4 includes an infrared sensor 57, a temperature and humidity sensor 58, a carbon dioxide sensor 59 and a connecting plate 60; the infrared sensor 57, the temperature and humidity sensor 58, and the carbon dioxide sensor 59 are fixed on the connecting plate 60, and the connecting plate 60 is fixed to the second fixed end 56 in the body-arm mechanism by bolt connection.

[0036] Furthermore, the proximal toe web 28, the middle toe web 31 and the distal toe web 35 are rubber strips, which can effectively increase the friction between the climbing claw and the tree trunk, thereby improving its clamping effect.

[0037] The working principle of the present invention is as follows: during the climbing process, the center point of the climbing claw II 3 is first located above the tree trunk to be climbed. At this time, the first servo motor 9 in the climbing claw II 3 rotates forward, and the climbing claw II 3 contracts to grasp the tree trunk. That is, the first servo motor 9 drives the active bevel gear 10 to rotate, and the active bevel gear 10 drives the output bevel gear 12 to rotate, thereby rotating the first screw rod 13 fixed to the output bevel gear 12, thereby moving the threaded flange 21 that forms a spiral pair with the first screw rod 13, and thereby moving the middle plate 18 fixed to the threaded flange 21. The movement of the middle plate 18 provides power for the bionic finger joint to realize the movement of the first-level motion unit, thereby driving the third link 25 to swing, thereby driving the fourth link 26 to swing, thereby driving the first swing rod 27 to swing, thereby realizing the movement of the second-level motion unit. The swing of the third link 25 drives the fifth link 30 to swing, thereby driving the second swing rod 29 to swing, thereby realizing the movement of the third-level motion unit. The swing of the fifth link 30 drives the sixth link 32 to swing, thereby driving the third swing rod 33 to rotate, and finally driving the fourth swing rod 34 to move, thereby realizing the fourth motion unit. The dynamic unit moves, and the bionic finger completes the contraction action; then the single-axis servo 37 and the dual-axis servo 40 in the pan-tilt mechanism connected above the climbing claw Ⅱ 3 rotate, thereby driving the power trunk 1 and the climbing claw Ⅰ 2 to rotate, and making a rough adjustment to the forward direction. The second servo motor 42 rotates the body-arm mechanism and extends it forward, so that the center point of the climbing claw Ⅰ 2 is above the tree trunk that needs to be climbed in the next step. Then the single-axis servo 37 and the dual-axis servo 40 in the pan-tilt mechanism connected to the climbing claw Ⅰ 2 rotate, thereby driving the climbing claw Ⅰ 2 to rotate, so that the axis of the climbing claw Ⅰ 2 is parallel to the axis of the tree trunk. The first servo motor 9 in the climbing claw I2 rotates forward, the climbing claw I2 contracts and grasps the tree trunk, then the first servo motor 9 in the climbing claw II3 reverses, the bionic finger completes the extension action, the climbing claw II3 releases the tree trunk, the pan-tilt mechanism rotates to adjust the direction, the body-arm mechanism contracts or extends forward, so that the center point of the climbing claw II3 is above the next tree trunk to be climbed, completing a cycle of motion. This cycle of motion is repeated continuously, so that the present invention can achieve climbing on the tree trunk. During this process, the pan-tilt mechanism can adjust the direction to enable the robot to climb in any direction.

[0038] The specific embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the scope of the present invention.

Claims

1. A dual-claw metamorphic climbing robot, characterized in that: The invention comprises a power trunk (1), a climbing claw I (2), a climbing claw II (3) and a monitoring system (4); the power trunk (1) comprises two pan-tilt mechanisms and a body-arm mechanism; the two climbing claws have the same structure and both comprise a driving mechanism (5), a bionic finger I (6), a bionic finger II (7) and a bionic finger III (8); the three bionic fingers have the same structure and both comprise a primary motion unit, a secondary motion unit, a tertiary motion unit and a quaternary motion unit; wherein the driving mechanism (5) is connected to the secondary motion unit via the primary motion unit, and the secondary motion unit is connected to the quaternary motion unit via the tertiary motion unit.

2. A dual-claw metamorphic climbing robot according to claim 1, characterized in that: The driving mechanism (5) comprises a first servo motor (9), a driving helical gear (10), a bearing (11), an output helical gear (12), a first screw rod (13), a first support (14), a contact plate (15), a lower plate (16), a second support (17), a middle plate (18), an upper plate (19), a cylindrical slide rail (20), a threaded flange (21) and a linear bearing (22); wherein the first servo motor (9) is fixedly mounted below the lower plate (16) by a pin, the output shaft end of the first servo motor (9) is fixedly mounted with the driving helical gear (10), the driving helical gear (10) and the output helical gear (12) are connected to each other. ) are engaged, the first servo motor (9) drives the active helical gear (10) to rotate, and the active helical gear (10) drives the output helical gear (12) to rotate; the outer ring of the bearing (11) is fixed on the lower plate (16), and the output shaft of the first servo motor (9) passes through the inner ring of the bearing (11); the output helical gear (12) is fixedly mounted on one end of the first screw rod (13), and the output helical gear (12) drives the first screw rod (13) to rotate; the first screw rod (13) is mounted on the contact plate (15) and the lower plate (16) and can rotate, and the first pillar (14) fixedly connects the contact plate (15) and the lower plate (16) through a pin; The two pillars (17) are fixedly connected to the lower plate (16) and the upper plate (19) by pins; the upper plate (19) is fixed to the first flange (36) in the pan / tilt mechanism by bolts; the cylindrical slide rail (20) is fixedly installed between the lower plate (16) and the upper plate (19); the threaded flange (21) is installed on the first screw rod (13) to form a spiral pair, and the rotation of the first screw rod (13) drives the movement of the threaded flange (21); the threaded flange (21) and the linear bearing (22) are fixedly installed on the middle plate (18) by pins, and the movement of the threaded flange (21) drives the movement of the middle plate (18), and the linear bearing (22) 2) Slide on the cylindrical slide rail (20) to limit the rotation of the middle plate (18); the lower plate (16) is connected to the second connecting rod (24) in the first-level motion unit of the bionic finger I (6), bionic finger II (7), and bionic finger III (8) and the first rocker (27) in the second-level motion unit through the pin to form a rotation pair; the middle plate (18) is connected to the first connecting rod (23) in the first-level motion unit of the bionic finger I (6), bionic finger II (7), and bionic finger III (8) through the pin to form a rotation pair, with the bionic finger I (6) distributed on one side and the bionic finger II (7) and bionic finger III (8) distributed on the other side.

3. A dual-claw metamorphic climbing robot according to claim 1, characterized in that: The primary motion unit comprises a first connecting rod (23) and a second connecting rod (24); wherein one end of the first connecting rod (23) is connected to the middle plate (18) in the driving mechanism (5) through a pin shaft to form a rotation pair, the other end of the first connecting rod (23) and one end of the second connecting rod (24) are connected to the third connecting rod (25) in the secondary motion unit to form a rotation pair, and the other end of the second connecting rod (24) is connected to the lower plate (16) in the driving mechanism (5) and the first rocker (27) in the secondary motion unit to form a rotation pair.

4. A dual-claw metamorphic climbing robot according to claim 1, characterized in that: The secondary motion unit comprises a third link (25), a fourth link (26), a first rocker (27), and a proximal toe belly (28); wherein, one end of the third link (25) is connected to the first link (23) and the second link (24) in the primary motion unit via a pin to form a rotation pair, the other end of the third link (25) and one end of the fourth link (26) are connected to the fifth link (30) in the tertiary motion unit via a pin to form a rotation pair, the other end of the fourth link (26) and one end of the two first rockers (27) are connected to the two second rockers (29) in the tertiary motion unit to form a rotation pair, the other ends of the two first rockers (27) are connected to the lower plate (16) in the driving mechanism (5) and the second link (24) in the primary motion unit to form a rotation pair, and the proximal toe belly (28) is installed on the inner side of the first rocker (27).

5. The dual-claw metamorphic climbing robot according to claim 1, characterized in that: The three-stage motion unit comprises a second swing rod (29), a fifth connecting rod (30), and a middle toe web (31); wherein one end of the two second swing rods (29) is connected to the fourth connecting rod (26) and the first swing rod (27) in the two-stage motion unit through a pin to form a rotation pair, one hole of the two hole ends of the two second swing rods (29) is connected to the sixth connecting rod (32) in the four-stage motion unit through a pin to form a rotation pair, the other hole of the two hole ends of the two second swing rods (29) is connected to the third swing rod (33) in the four-stage motion unit through a pin to form a rotation pair, one end of the fifth connecting rod (30) is connected to the third connecting rod (25) and the fourth connecting rod (26) in the two-stage motion unit to form a rotation pair, the other end of the fifth connecting rod (30) is connected to the sixth connecting rod (32) in the four-stage motion unit through a pin to form a rotation pair, and the middle toe web (31) is installed on the inner side of the second swing rod (29).

6. The dual-claw metamorphic climbing robot according to claim 1, characterized in that: The four-stage motion unit comprises a sixth link (32), a third swing link (33), a fourth swing link (34), and a distal toe web (35); wherein, the three holes of the sixth link (32) are respectively connected to the second swing link (29), the fifth link (30), and the fourth swing link (34) through a pin to form a rotation pair, one end of the two third swing links (33) are respectively connected to the second swing link (29) in the three-stage motion unit through a pin to form a rotation pair, the other ends of the two third swing links (33) are connected to the fourth swing link (34) to form a rotation pair, the two holes in the fourth swing link (34) are respectively connected to the sixth link (32) and the third swing link (33) through a pin to form a rotation pair, and the distal toe web (35) is fixed on the fourth swing link (34).

7. The dual-claw metamorphic climbing robot according to claim 1, characterized in that: The pan / tilt mechanism comprises a first flange (36), a single-axis steering gear (37), a bracket (38), a second flange (39), a double-axis steering gear (40) and a U-shaped frame (41); wherein the output shaft end of the single-axis steering gear (37) is connected to the upper plate (19) in the climbing claw through the first flange (36), both sides of the shaft end of the double-axis steering gear (40), the second flange (39) and the U-shaped frame (41) are simultaneously connected by bolts, and the single-axis steering gear (37) and the double-axis steering gear (40) are fixed to the bracket (38) by bolt connection.

8. The dual-claw metamorphic climbing robot according to claim 1, characterized in that: The body-arm mechanism comprises a second servo motor (42), a first fixed end (43), a second screw rod (44), a threaded flange (45), a first support block (46), a seventh connecting rod (47), a first driven rod (48), a second driven rod (49), a gasket (50), a third pillar (51), a fourth pillar (52), a second support block (53), a third driven rod (54), a fourth driven rod (55) and a second fixed end (56); wherein, the second servo motor (42) is fixed inside the first fixed end (43) by bolt connection, the output shaft end of the second servo motor (42) is fixed to the second screw rod (44), and the threaded flange (45) is installed on the second screw rod (44) to form a spiral pair; the first support block (46) is fixed together with the threaded flange (45) by bolt connection; 6 of the 12 seventh connecting rods (47) are staggered in pairs and connected end to end to form two scissor-type telescopic mechanisms, each divided into The invention relates to a scissor-type telescopic mechanism, which is arranged on one side of the second servo motor (42). The two scissor-type telescopic mechanisms are connected through a first support block (46), a third support column (51), a fourth support column (52) and a second support block (53). One end of the scissor-type telescopic mechanism is connected to a second driven rod (49), a first driven rod (48) and a gasket (50) through a pin to form a rotation pair. The other end of the scissor-type telescopic mechanism is connected to a third driven rod (54) and a fourth driven rod (55) through a pin to form a rotation pair. A toothed end of the first driven rod (48) is engaged with a toothed end of the second driven rod (49) and is fixed to the first fixed end (43) through a pin. A toothed end of the third driven rod (54) is engaged with a toothed end of the fourth driven rod (55) and is fixed to the second fixed end (56) through a pin. The first fixed end (43) and the second fixed end (56) are respectively fixed to the U-shaped frames (41) in the two pan / tilt mechanisms through bolt connection.

9. The dual-claw metamorphic climbing robot according to claim 1, characterized in that: The monitoring system (4) comprises an infrared sensor (57), a temperature and humidity sensor (58), a carbon dioxide sensor (59) and a connecting plate (60); the infrared sensor (57), the temperature and humidity sensor (58), and the carbon dioxide sensor (59) are fixed on the connecting plate (60), and the connecting plate (60) is fixed to the second fixed end (56) in the body-arm mechanism by means of bolt connection.

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