Tree climbing device with axial climbing and circumferential steering functions

Abstract

The invention discloses a tree climbing device with axial climbing and circumferential steering functions. The tree climbing device comprises a vertically symmetrical main trunk mechanism, an upper clamping and climbing mechanism and a lower clamping and climbing mechanism, wherein the upper clamping and climbing mechanism and the lower clamping and climbing mechanism are identical and bilaterally symmetrical. The main trunk mechanism is arranged in the middle of the robot, telescopic mechanisms are placed in an upper operation platform and a lower operation platform of the main trunk mechanism to control clamping and loosening of the clamping mechanisms, the clamping and climbing mechanisms are arranged on the upper portion and the lower portion of the main trunk and each composed of two grabbing clamps of the completely same structure, and universal wheels are carried in the clamping and climbing mechanisms to serve as execution ends. The rotor wings are carried outside to serve as a power mechanism, and climbing and circumferential movement of the robot on trees are achieved through driving of the auxiliary effect of the rotor wings. A turnover mechanism is arranged in the middle of the main trunk mechanism, the robot can be controlled to turn over through steering engine driving, and conversion of the robot from the trunk to the side trunk is achieved. Under the movement action of the main trunk mechanism, the upper clamping and climbing mechanism and the lower clamping and climbing mechanism, the tree climbing device is simple in structure, good in obstacle crossing ability and good in stability, and clamping force can be actively adjusted to adapt to continuous changes 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] This invention relates to the field of robotics, and more particularly to a tree-climbing device with axial climbing and circumferential turning functions. Background Technology

[0002] Modern tree-climbing robots, as an important branch of special service robots, demonstrate significant technological advantages in the field of high-altitude operations by integrating cutting-edge technologies such as multimodal sensing systems, intelligent control algorithms, and biomimetic motion mechanisms. These devices not only achieve an intelligent combination of autonomous climbing and precise operation, but also adapt to different scenario requirements through modular design, greatly expanding the possibilities of high-altitude work. Tree-climbing devices integrate multiple intelligent technologies and have played a significant role in the field of high-altitude operations. Currently, tree-climbing devices possess climbing and operational functions, aiming to replace humans in performing dangerous work in complex high-altitude environments, completing tasks such as tree pruning, fruit harvesting, specimen collection, military reconnaissance, and cleaning, maintenance, and quality inspection of pole-shaped structures.

[0003] Existing tree climbing devices mainly include a clamping mechanism for holding the tree and a lifting mechanism for raising and lowering the clamping mechanism. These existing tree climbing devices are primarily suitable for climbing straight, unobstructed trees, but are unsuitable for tree trunks that are not straight or have obstacles. To address the above-mentioned issues, this application aims to provide a tree climbing device with both axial climbing and circumferential turning functions. Summary of the Invention

[0004] To address the above shortcomings, this invention provides a tree climbing device with axial climbing and circumferential turning functions, which can solve the problem that existing tree climbing devices cannot be applied to tree trunks with obstacles.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A tree-climbing device with axial climbing and circumferential turning functions includes: Main trunk structure (1); The upper clamping climbing mechanism (2) is located on the upper part of the main body mechanism and is connected to the upper operating platform of the main body mechanism. The lower clamping climbing mechanism (3) is located in the lower part of the main body mechanism and is connected to the lower operating platform of the main body mechanism;

[0006] Furthermore, the main torso mechanism (1) includes: Two operating platforms (101) are placed above the upper flip frame and below the lower flip frame, respectively. Two left and right spiral screws (102) are respectively installed in the upper and lower operating platforms and are coaxially connected through the screw holes next to the operating platforms. Two lead screws (103) are set above the left and right helical lead screws and are connected to each other through the lead screw holes of the operating platform. Two servo motors (104) are respectively located on the outer side of the upper and lower operating platforms, and their output ends are connected to the left and right helical screws. A tilting servo (105) is positioned between the upper and lower tilting frames; The upper flip frame (106) is located below the upper operating platform, with its upper end fixedly connected to the operating platform and its lower end connected to the flip servo motor. The lower flip frame (107) is located below the lower operating platform, with its lower end fixedly connected to the operating platform and its upper end connected to the flip servo motor.

[0007] Furthermore, the upper clamping climbing mechanism (2) consists of two identical symmetrical structures, one of which includes, There are two grippers (201), which are respectively set in front of the operating platform. Their heads are fixedly connected to the moving platform on the left and right helical screws through screw holes. The left and right helical screws are driven to rotate by the servo motor, which in turn drives the moving platform to move and thus drives the grippers to move, so as to realize the grippers clamping and releasing the tree trunk. There are four rotor frames (202), arranged in an X shape on the outside of the gripper and fixedly connected to the gripper. They are used to house the rotor's flight motor and for protection. There are four omnidirectional wheels (203), which are symmetrically arranged on the inside of the gripper and fixedly connected to the gripper. They serve as actuators and contact the tree trunk to enable the robot to climb and move in all directions. There are four rotors (204), which are connected to the output of the flight motor; There are four flight motors (205), each set in a corresponding rotor frame and fixed to the rotor frame to provide power to the rotor.

[0008] Furthermore, the upper clamping climbing mechanism (3) consists of two identical symmetrical structures, one of which includes, There are two grippers (301), which are respectively set in front of the operating platform. Their heads are fixedly connected to the moving platform on the left and right helical screws through screw holes. The left and right helical screws are driven to rotate by the servo motor, which in turn drives the moving platform to move and thus drives the grippers to move, so as to realize the grippers clamping and releasing the tree trunk. There are four rotor frames (302), arranged in an X shape on the outside of the gripper and fixedly connected to the gripper. They are used to house the rotor's flight motor and for protection. There are four omnidirectional wheels (303), which are symmetrically arranged on the inside of the gripper and fixedly connected to it. They serve as actuators and contact the tree trunk to enable the robot to climb and move in all directions. There are four rotors (304), which are connected to the output of the flight motor; There are four flight motors (305), each set in a corresponding rotor frame and fixed to the rotor frame to provide power to the rotor.

[0009] Compared with the prior art, the beneficial effects of the present invention are: 1. The obstacle-avoiding tree-climbing device of the present invention, by setting up a gripping climbing mechanism, etc., can achieve lifting and lowering on the tree trunk; 2. With the assistance of the multi-functional rotor, the gripping and climbing mechanism can move circumferentially on the tree trunk, thereby achieving obstacle avoidance.

[0010] 3. The robot can be converted from the main trunk to the side trunk through the flipping mechanism in the main trunk mechanism. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0012] Figure 1 This is a schematic diagram of the obstacle-avoiding tree-climbing device of the present invention from one perspective; Figure 2 This is a schematic diagram of the obstacle-avoiding tree-climbing device of the present invention from another perspective; Figure 3 This is a schematic diagram of the main body mechanism of the present invention from one perspective; Figure 4 This is a schematic diagram of the upper clamping climbing mechanism of the present invention from one perspective; Figure 5 This is a schematic diagram of the lower clamping climbing mechanism of the present invention from one perspective.

[0013] The markings shown in the figure are: 10—Main trunk mechanism; 20—Upper clamping climbing mechanism; 30—Lower clamping climbing mechanism 101—Operating platform; 102—Left and right helical screws; 103—Screw; 104—Servo motor; 105—Tilting servo motor; 106—Upper tilting frame; 107—Lower tilting frame; 201—Upper gripper; 201—Upper rotor frame; 203—Upper caster wheel; 204—Upper rotor; 205—Upper flight motor 301—Lower gripper; 301—Lower rotor frame; 303—Lower caster wheel; 304—Lower rotor; 305—Lower flight motor Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0015] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0016] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0017] Example 1

[0018] like Figure 1 , 2 As shown in this embodiment, a tree climbing device with axial climbing and circumferential turning functions is provided. The tree climbing device includes a main trunk mechanism 1, an upper clamping climbing mechanism 2 and a lower clamping climbing mechanism 3. The upper climbing mechanism 2 and the lower clamping climbing mechanism 3 are composed of two identical structures, which are respectively arranged on the upper and lower sides of the main trunk mechanism 1 and connected to the operating platform in the main trunk mechanism 1.

[0019] like Figure 3As shown, the main body mechanism 1 consists of two operating platforms 101, respectively placed above the upper flip frame 106 and below the lower flip frame 107. Inside each platform, left and right helical screws 102 are coaxially connected via screw holes next to the operating platforms 101, and screws 103 are connected via screw holes in the operating platforms. A servo motor 104 controlling the left and right helical screws is located outside the upper and lower operating platforms, with its output end connected to the left and right helical screws. A flip servo motor 105 is located between the upper and lower flip frames. The upper flip frame 106 is located below the upper operating platform, with its upper end fixedly connected to the operating platform and its lower end connected to the flip servo motor. The lower flip frame 107 is located below the lower operating platform, with its lower end fixedly connected to the operating platform and its upper end connected to the flip servo motor.

[0020] like Figure 4 As shown, the upper clamping climbing mechanism 2 consists of two identical structures, with their heads symmetrically placed inside the operating platform 101 of the main trunk mechanism 1, and connected to the left and right helical screws 102 and the screw 103. One of the structures includes a gripper 201, which is located in front of the operating platform. Its head is fixedly connected to the moving platform on the left and right helical screws 102 through a screw hole. The servo motor 104 drives the left and right helical screws 102 to rotate, thereby driving the moving platform to move and in turn driving the gripper 201 to move, realizing the clamping and releasing of the gripper on the tree trunk; The wing frame 202, consisting of two units, is arranged in an X-shape on the outside of the gripper 201 and fixedly connected to it. It houses the flight motor 205 of the rotor 204 and provides protection. The casters 203, totaling four units, are symmetrically arranged on the inside of the gripper 201 and fixedly connected to it. They act as actuators, contacting the tree trunk to enable the robot's climbing and circumferential movement. The rotor 204 is connected to the output of the flight motor. The flight motor 205 is located in the corresponding rotor frame and fixedly connected to the rotor frame 202, providing power to the rotor 204.

[0021] Figure 5 and Figure 4 Same as above, same settings.

[0022] The specific implementation method is as follows:

[0023] In this embodiment, a tree-climbing device with axial climbing and circumferential turning functions is provided. The tree-climbing device includes a main body mechanism 1, an upper climbing mechanism 2, and a lower clamping climbing mechanism 3. The upper climbing mechanism 2 and the lower clamping climbing mechanism 3 are each composed of two identical structures, respectively arranged on the upper and lower sides of the main body mechanism 1 and connected to the upper and lower operating platforms in the main body mechanism 1. The upper and lower clamping climbing mechanisms 2 and 3 are used to realize the robot's lifting and circumferential movements. The main body mechanism 1 consists of two operating platforms 101, respectively placed above the upper flip frame 106 and below the lower flip frame 107. Inside each platform, there are left and right helical screws 102 coaxially connected through screw holes next to the operating platforms 101, and screws 103 connected through screw holes in the operating platforms. The servo motors 104 that control the left and right helical screws 102 are located outside the upper and lower operating platforms, and their output ends are connected to the left and right helical screws 102. The servo motors 104 control the left and right helical screws 102. This causes the gripper 201 to move, enabling the robot to clamp and release the tree trunk. A flip servo motor 105 is positioned between the upper and lower flip frames. The upper flip frame 106 is located below the upper operating platform, with its upper end fixedly connected to the operating platform and its lower end connected to the flip servo motor 105. The lower flip frame 107 is located below the lower operating platform, with its lower end fixedly connected to the operating platform and its upper end connected to the flip servo motor 105. Controlling the upper and lower flip frames via the flip servo motor 105 enables the robot to flip. The upper gripping and climbing mechanism 2 consists of two identical structures, their ends symmetrically placed on the main body. Inside the operating platform 101 of the trunk mechanism 1, it is connected to the left and right helical screws 102 and the screw 103. One of the structures includes a gripper 201, which is located in front of the operating platform 101. Its head is fixedly connected to the moving platform on the left and right helical screws through a screw hole. The left and right helical screws 102 are driven to rotate by the servo motor, which in turn drives the moving platform to move and thus drives the gripper 201 to move, realizing the clamping and releasing of the gripper 201 on the tree trunk. There are two rotor frames 202 in one mechanism. The two structures are arranged in an X shape outside the gripper 201. The lower gripping climbing mechanism is fixedly connected to the gripper 201 and is used to house the rotor's flight motor 205 and for protection. Four casters 203, arranged symmetrically on the inside of the gripper 201, are fixedly connected to it and act as actuators to contact the tree trunk, enabling the robot to climb and move in all directions. The rotor 204 is connected to the output of the flight motor 205. The flight motor 205 is located in the corresponding rotor frame 202 and fixedly connected to it, providing power to the rotor 204. The lower gripping climbing mechanism has the same structure and motion mechanism as the upper gripping climbing mechanism.

[0024] In this specific embodiment, a tree-climbing device with axial climbing and circumferential turning functions uses a servo motor in the main body mechanism 1 to control the opening of the grippers 201 and 301 in the climbing mechanisms 2 and 3, bringing them close to the tree trunk. The servo motor then controls the clamping of the tree trunk, and the device contacts the tree trunk via casters 203 and 303. Finally, the flight motors 205 and 305 in the rotor frames 202 and 203 control the rotation of rotors 204 and 304, providing lift and enabling the robot to climb upwards. Because the quadcopters 204 and 304 are multifunctional... The robot's circumferential movement is achieved by controlling the rotors 204 and 303 at different speeds via the flight motor, which in turn controls the rotation of the rotors 204 and 303. In addition, by opening the upper clamping climbing mechanism 2 and clamping the lower clamping climbing mechanism 3, and then using the flipping mechanism to flip the upper clamping climbing mechanism 2 and clamp it, the robot can achieve an overall flipping movement from the main body to the side body.

[0025] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A tree-climbing device with axial climbing and circumferential turning functions, characterized in that, Including: Main trunk structure (1); The upper clamping climbing mechanism (2) is located on the upper part of the main body mechanism and is connected to the upper operating platform of the main body mechanism. The lower clamping climbing mechanism (3) is located in the lower part of the main body mechanism and is connected to the lower operating platform of the main body mechanism.

2. A tree climbing device with axial climbing and circumferential turning functions according to claim 1, characterized in that, The main body structure (1) includes: Two operating platforms (101) are placed above the upper flip frame and below the lower flip frame, respectively. Two left and right spiral screws (102) are respectively installed in the upper and lower operating platforms and are coaxially connected through the screw holes next to the operating platforms. Two lead screws (103) are set above the left and right helical lead screws and are connected to each other through the lead screw holes of the operating platform. Two servo motors (104) are respectively located on the outer side of the upper and lower operating platforms, and their output ends are connected to the left and right helical screws. A tilting servo (105) is positioned between the upper and lower tilting frames; The upper flip frame (106) is located below the upper operating platform, with its upper end fixedly connected to the operating platform and its lower end connected to the flip servo motor. The lower flip frame (107) is located below the lower operating platform, with its lower end fixedly connected to the operating platform and its upper end connected to the flip servo.

3. A tree climbing device with axial climbing and circumferential turning functions according to claim 1, characterized in that, The upper clamping climbing mechanism (2) consists of two identical symmetrical structures, one of which includes, There are two grippers (201), which are respectively set in front of the operating platform. Their heads are fixedly connected to the moving platform on the left and right helical screws through screw holes. The left and right helical screws are driven to rotate by the servo motor, which in turn drives the moving platform to move and thus drives the grippers to move, so as to realize the grippers clamping and releasing the tree trunk. There are four rotor frames (202), arranged in an X shape on the outside of the gripper and fixedly connected to the gripper. They are used to house the rotor's flight motor and for protection. There are four omnidirectional wheels (203), which are symmetrically arranged on the inside of the gripper and fixedly connected to the gripper. They serve as actuators and contact the tree trunk to enable the robot to climb and move in all directions. There are four rotors (204), which are connected to the output of the flight motor; There are four flight motors (205), each mounted in a corresponding rotor frame and fixed to the rotor frame to provide power to the rotor.

4. A tree climbing device with axial climbing and circumferential turning functions according to claim 1, characterized in that, The lower clamping climbing mechanism (3) consists of two identical symmetrical structures, one of which includes, There are two grippers (301), which are respectively set in front of the operating platform. Their heads are fixedly connected to the moving platform on the left and right helical screws through screw holes. The left and right helical screws are driven to rotate by the servo motor, which in turn drives the moving platform to move and thus drives the grippers to move, so as to realize the grippers clamping and releasing the tree trunk. There are four rotor frames (302), arranged in an X shape on the outside of the gripper and fixedly connected to the gripper. They are used to house the rotor's flight motor and for protection. There are four omnidirectional wheels (303), which are symmetrically arranged on the inside of the gripper and fixedly connected to it. They serve as actuators and contact the tree trunk to enable the robot to climb and move in all directions. There are four rotors (304), which are connected to the output of the flight motor; There are four flight motors (305), each mounted in its corresponding rotor frame and fixed to the rotor frame to provide power to the rotor.

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