A tree climbing robot

Abstract

The application discloses a tree climbing robot, comprising a base plate, an upper turnover plate arranged above the base plate and driven to turn over by a first driving mechanism arranged on the base plate, a lower turnover plate arranged below the base plate and driven to turn over by a second driving mechanism arranged on the base plate, an upper clamping mechanism arranged above the upper turnover plate and used for clamping a tree trunk, an upper lifting mechanism arranged on the upper turnover plate and used for driving the upper clamping mechanism to lift, a lower clamping mechanism arranged below the lower turnover plate and used for clamping the tree trunk, and a lower lifting mechanism arranged on the lower turnover plate and used for driving the lower clamping mechanism to lift. The upper turnover plate and the lower turnover plate are arranged, and the driving mechanism and the upper clamping mechanism, the lower clamping mechanism, the upper lifting mechanism and the lower lifting mechanism are matched, so that the tree climbing robot can climb on a non-straight or curved tree trunk, and the problem that the existing tree climbing robot is difficult to climb on a non-straight or curved tree trunk is solved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a tree-climbing robot. Background Technology

[0002] Fruit picking, tree growth monitoring, forest environmental condition monitoring, and power maintenance may all require tree climbing operations. Based on this, tree climbing robots have emerged and developed rapidly.

[0003] Existing tree-climbing robots mainly include a clamping mechanism for holding the tree and a lifting mechanism for raising and lowering the clamping mechanism. These existing tree-climbing robots are primarily suitable for climbing straight trees, but are not applicable to tree trunks that are not straight or have curves. To address the above-mentioned technical issues, this application aims to provide a tree-climbing robot. Summary of the Invention

[0004] To address the above shortcomings, this invention provides a tree-climbing robot that solves the problem that existing tree-climbing robots cannot be used on tree trunks that are not straight or have curves.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A tree-climbing robot, comprising:

[0007] substrate;

[0008] An upper flip plate is disposed above the substrate and is driven to flip by a first drive mechanism disposed on the substrate;

[0009] The lower flip plate is disposed below the substrate and is driven to flip by a second drive mechanism disposed on the substrate;

[0010] An upper clamping mechanism, located above the upper flip plate, is used to clamp the tree trunk;

[0011] An upper lifting mechanism, which is mounted on the upper flip plate, is used to drive the upper clamping mechanism to lift and lower.

[0012] The lower clamping mechanism is located below the lower flip plate and is used to clamp the tree trunk;

[0013] A lower lifting mechanism is mounted on the lower flip plate to drive the lower clamping mechanism to lift.

[0014] Furthermore, the upper clamping mechanism and the lower clamping mechanism have the same structure, each including:

[0015] First semi-circular guide rail;

[0016] A notched clamping ring rack is mounted on the first semi-annular guide rail and coaxially arranged with the first semi-annular guide rail so that it can rotate circumferentially on the first semi-annular guide rail; the clamping ring rack has a plurality of notches evenly distributed radially along the clamping ring rack.

[0017] A first drive motor is provided with a first gear that meshes with the clamping ring rack for driving the clamping ring rack to rotate;

[0018] The uprights are multiple and evenly distributed around the clamping ring-shaped rack.

[0019] A push rod is mounted on radially distributed notches on the clamping annular rack and is capable of moving radially along the clamping annular rack;

[0020] The transmission rod has one end rotatably connected to the upright and the other end rotatably connected to the end of the push rod away from the clamping ring rack.

[0021] Furthermore, the upper clamping mechanism and the lower clamping mechanism, which have the same structure, also include:

[0022] The mounting plate is installed on the upper or lower lifting mechanism;

[0023] The second semi-circular guide rail is mounted on the mounting plate;

[0024] An obstacle-avoiding ring rack with a notch is mounted on and coaxially arranged on the second semi-annular guide rail, so that it can rotate circumferentially on the second semi-annular guide rail; the first semi-annular guide rail is arranged on the side of the obstacle-avoiding ring rack.

[0025] A second drive motor is mounted on the mounting plate. The second drive motor is equipped with a second gear that meshes with the obstacle avoidance ring rack for driving the obstacle avoidance ring rack to rotate.

[0026] Furthermore, an arc-shaped buckle is provided on the other end of the push rod that extends into the clamping annular rack.

[0027] Furthermore, the arc-shaped buckle is detachably mounted on the push rod.

[0028] Furthermore, the first drive mechanism and the second drive mechanism have the same structure, each including:

[0029] A third drive motor is mounted on the base plate, and the third drive motor is coaxially connected to a rotating shaft via a coupling.

[0030] Side ears are provided on the side of the upper or lower flip plate, and the side ears are fixedly connected to the rotating shaft.

[0031] Furthermore, the first drive mechanism and the second drive mechanism each include:

[0032] A positioning block is disposed on the substrate, and the positioning block has a through hole that matches the rotating shaft;

[0033] The rotating shaft passes through the through hole of the positioning block;

[0034] There are at least two side ears, located on both sides of the positioning block.

[0035] Furthermore, the upper lifting mechanism and the lower lifting mechanism are one of the following: electric actuator, cylinder, lead screw mechanism, and turbine lead screw jack.

[0036] Furthermore, it also includes a pruning mechanism, which is disposed on the upper clamping mechanism.

[0037] Furthermore, the pruning mechanism includes a robotic arm and pruning blades mounted on the robotic arm.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] 1. The tree-climbing robot of the present invention, by setting up an upper flip plate and a lower flip plate, and cooperating with a drive mechanism, an upper clamping mechanism, a lower clamping mechanism, an upper lifting mechanism, and a lower lifting mechanism, can climb on tree trunks that are not straight or have a certain degree of curvature, thus solving the problem that existing tree-climbing robots are difficult to climb on tree trunks that are not straight or have a certain degree of curvature.

[0040] 2. With its flip-out structure, it can directly avoid smaller obstacles axially without circumferential obstacle avoidance, thus improving crawling efficiency;

[0041] 3. By setting a circumferential rack to drive multiple push rods to clamp simultaneously, the clamping method is made simpler. At the same time, an arc-shaped buckle is set at the end of the push rod, which can self-lock with the tree trunk when clamping, enhancing the clamping stability. Attached Figure Description

[0042] 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.

[0043] Figure 1 This is a schematic diagram of the tree-climbing robot of the present invention from one perspective;

[0044] Figure 2 This is a structural schematic diagram of the tree-climbing robot of the present invention from another perspective;

[0045] Figure 3This is a schematic diagram of the upper or lower clamping mechanism of the present invention from one perspective.

[0046] Figure 4 This is a schematic diagram of the upper or lower clamping mechanism of the present invention from another perspective.

[0047] Figure 5 This is a schematic diagram illustrating an embodiment of the tree-climbing robot of the present invention.

[0048] The markings shown in the figure are:

[0049] 10 - Substrate; 20 - Upper flip plate; 30 - Lower flip plate; 40 - Upper clamping mechanism; 50 - Lower clamping mechanism; 60 - Upper lifting mechanism; 70 - Lower lifting mechanism;

[0050] 41-First semi-circular guide rail; 42-Clamping ring rack; 43-First drive motor; 44-First gear; 45-Upright pole; 46-Push rod; 47-Transmission rod; 48-Arch-shaped buckle; 49-Mounting plate; 410-Second semi-circular guide rail; 411-Obstacle avoidance ring rack; 412-Second drive motor; 413-Second gear;

[0051] 61-Fourth drive motor; 62-Screw; 63-Slicker rod;

[0052] 81-Third drive motor; 82-Side ear; 83-Positioning block;

[0053] 90-Pruning mechanism; 91-Support plate; 92-Fifth drive motor; 93-First swing arm; 94-Sixth drive motor; 95-Second swing arm; 96-Seventh drive motor; 97-Pruning blade. Detailed Implementation

[0054] 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.

[0055] 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.

[0056] 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.

[0057] Please refer to Figures 1 to 4 A preferred embodiment of the present invention provides a tree-climbing robot, which mainly includes: a base plate 10, an upper flip plate 20, a lower flip plate 30, an upper clamping mechanism 40, a lower clamping mechanism 50, an upper lifting mechanism 60, and a lower lifting mechanism 70.

[0058] The base plate 10 is a plate-shaped structure used to support and connect the upper and lower components. The base plate 10 is located in the middle of the entire robot, serving as a link between the upper and lower components.

[0059] The upper flip plate 20 is disposed above the substrate 10 and is driven to flip by the first driving mechanism disposed on the substrate 10. That is, the flip plate 20 can be flipped by the first driving mechanism disposed on the substrate 10.

[0060] The lower flip plate 30 is disposed below the substrate 10 and is driven to flip by the second driving mechanism disposed on the substrate 10. That is, the flip plate 30 can be flipped by the second driving mechanism disposed on the substrate 10.

[0061] In this exemplary embodiment, the first drive mechanism and the second drive mechanism have the same structure, that is, they use the same structure to achieve the flipping. The first drive mechanism and the second drive mechanism each include a third drive motor 81 and a side lug 82.

[0062] The third drive motor 81 is fixedly mounted on the base plate 10, and is coaxially connected to a rotating shaft via a coupling. The third drive motor 81 of the first drive mechanism is fixedly mounted on the top surface of the base plate 10, and the third drive motor 81 of the second drive mechanism is fixedly mounted on the bottom surface of the base plate 10. A side lug 82 is located on the side of the upper flip plate 20 or the lower flip plate 30, and is fixedly connected to the rotating shaft. The side lug 82 of the first drive mechanism is located on the upper flip plate 20 and is fixedly connected to the rotating shaft of the third drive motor 81. When the third drive motor 81 of the first drive mechanism operates, it can drive the rotating shaft to rotate, thereby driving the side lug 82 to rotate, ultimately driving the upper flip plate 20 to rotate and achieve flipping. The flipping of the upper flip plate 20 is a side-rotation. The side ear 82 of the second drive mechanism is set on the lower flip plate 30 and is fixedly connected to the rotating shaft of the third drive motor 81. At this time, the third drive motor 81 of the second drive mechanism is running, which can drive the rotating shaft to rotate, thereby driving the side ear 82 to rotate, and finally driving the lower flip plate 30 to rotate to achieve flipping. The flipping of the lower flip plate 30 is a flipping around the side.

[0063] In a preferred embodiment, the first driving mechanism and the second driving mechanism each include a positioning block 83. The positioning block 83 is fixedly mounted on the substrate 10. The positioning block 83 of the first driving mechanism is fixedly mounted on the top surface of the substrate 10, and the positioning block 83 of the second driving mechanism is fixedly mounted on the bottom surface of the substrate 10. The positioning block 83 has a through hole that matches the rotating shaft, and the rotating shaft passes through the through hole of the positioning block 83. The first driving mechanism and the second driving mechanism each have two side ears 82, located on both sides of the positioning block 83. Considering that the upper flip plate 20 and the lower flip plate 30 have a certain weight, and the components on them (such as the upper clamping mechanism 40, the lower clamping mechanism 50, the upper lifting mechanism 60, and the lower lifting mechanism 70, etc.) also have a certain weight, the rotating shaft is prone to bending and swaying under stress, which affects its use. Based on this, the positioning block 83 is set to cooperate with the rotating shaft. The rotating shaft is limited to ensure that it will not bend or sway, thereby ensuring the normal operation of the upper flip plate 20 and the lower flip plate 30.

[0064] In this exemplary embodiment, the upper clamping mechanism and the lower clamping mechanism have the same structure, that is, they use the same structure to achieve clamping. The upper clamping mechanism and the lower clamping mechanism respectively include a mounting plate 49, a second semi-annular guide rail 410, an obstacle-avoiding annular rack 411 with a notch, a second drive motor 412, a first semi-annular guide rail 41, a clamping annular rack 42 with a notch, a first drive motor 43, a vertical rod 45, a push rod 46, and a transmission rod 47, etc.

[0065] Mounting plate 49 is a plate-shaped structure that is mounted on the upper lifting mechanism 60 or the lower lifting mechanism 70 for lifting and lowering driven by either mechanism. Mounting plate 49 of the upper clamping mechanism is mounted on the upper lifting mechanism 60, and mounting plate 49 of the lower clamping mechanism is mounted on the lower lifting mechanism 70. One side of mounting plate 49 has an arc-shaped notch to facilitate the passage of tree trunks without interfering with them during implementation.

[0066] The second semi-circular guide rail 410 is fixedly mounted on the mounting plate 49. The second semi-circular guide rail 410 is located on the side of the mounting plate 49 with an arc-shaped notch. The second semi-circular guide rail 410 has only half a ring or almost half a ring and has a notch, which facilitates the passage of the tree trunk.

[0067] An obstacle-avoidance ring rack 411 with a notch is mounted on and coaxially arranged on the second semi-circular guide rail 410, allowing it to rotate circumferentially on the second semi-circular guide rail 410. The notch of the obstacle-avoidance ring rack 411 faces approximately the same direction as the notch of the second semi-circular guide rail 410 (although they can be slightly offset as they can rotate circumferentially). The notch of the obstacle-avoidance ring rack 411 facilitates the passage of tree trunks. By aligning the two notches, tree trunks can pass through.

[0068] The second drive motor 412 is fixedly mounted on the mounting plate 49. The output shaft of the second drive motor 412 is provided with a second gear 413 that meshes with the obstacle avoidance ring rack 411 to drive the obstacle avoidance ring rack 411 to rotate. In practice, the second drive motor 412 drives the second gear 413 to rotate, thereby driving the obstacle avoidance ring rack 411 to rotate. By the forward and reverse rotation of the second drive motor 412, the obstacle avoidance ring rack 411 can be driven to rotate circumferentially on the second semi-circular guide rail 410.

[0069] The first semi-circular guide rail 41 is fixedly mounted on the side of the obstacle avoidance ring rack 411, specifically on the upward-facing side of the obstacle avoidance ring rack 411. The first semi-circular guide rail 41 has only one or approximately one half-circle and has a notch to facilitate the passage of the tree trunk. The first semi-circular guide rail 41 is coaxially mounted with the obstacle avoidance ring rack 411.

[0070] A notched clamping ring rack 42 is mounted on and coaxially arranged on the first semi-circular guide rail 41, allowing it to rotate circumferentially on the first semi-circular guide rail 41. The notch of the clamping ring rack 42 is oriented in a manner substantially consistent with the notch of the first semi-circular guide rail 41 (though they can be slightly offset as they can rotate circumferentially), and the notch of the clamping ring rack 42 facilitates the passage of the tree trunk.

[0071] The clamping ring rack 42 has a plurality of notches evenly distributed radially along the clamping ring rack 42. The notches penetrate the inner and outer sides of the clamping ring rack 42. In this exemplary embodiment, the clamping ring rack 42 has three notches, and the adjacent notches are basically spaced 90 degrees apart.

[0072] The first drive motor 43 is fixedly mounted on the side of the obstacle avoidance ring rack 411. The output shaft of the first drive motor 43 is provided with a first gear 44 that meshes with the clamping ring rack 42 for driving the clamping ring rack 42 to rotate. In practice, the first drive motor 43 drives the first gear 44 to rotate, thereby driving the clamping ring rack 42 to rotate. By the forward and reverse rotation of the first drive motor 43, the clamping ring rack 42 can be driven to rotate circumferentially on the first semi-circular guide rail 41.

[0073] The uprights 45 are set vertically and fixed on the side of the obstacle avoidance ring rack 411. They are evenly distributed around the clamping ring rack 42. The number of uprights 45 is the same as the number of notches on the clamping ring rack 42, and they are located next to the notches one by one.

[0074] The push rod 46 is slidably mounted on the radially distributed notches of the clamping ring rack 42 and can move radially along the clamping ring rack 42, that is, it can achieve radial sliding inward or outward.

[0075] One end of the transmission rod 47 is rotatably connected to the upright rod 45, and the other end is rotatably connected to the end of the push rod 46 away from the clamping ring rack 42.

[0076] In practice, the second drive motor 412 drives the second gear 413 to rotate, which in turn drives the obstacle avoidance ring rack 411 to rotate. At this time, the obstacle avoidance ring rack 411 and its first semi-annular guide rail 41, clamping ring rack 42, first drive motor 43, upright 45, push rod 46 and transmission rod 47 can rotate together with the obstacle avoidance ring rack 411. The openings of the first semi-annular guide rail 41, clamping ring rack 42 and obstacle avoidance ring rack 411 rotate to a certain position and can avoid the branches on the tree trunk to achieve obstacle avoidance. The clamping of the tree trunk is mainly achieved by push rods 46. When the tree trunk needs to be clamped by the upper clamping mechanism and / or the lower clamping mechanism, the first drive motor 43 drives the first gear 44 to rotate, which in turn drives the clamping ring rack 42 to rotate. When the clamping ring rack 42 rotates, due to the limiting and driving action of the upright rod 45 and the transmission rod 47, the push rods 46 can move inward along the radially distributed notches of the clamping ring rack 42. The inward movement of multiple push rods 46 can clamp the tree trunk to achieve clamping. When the first drive motor 43 rotates in the reverse direction, the multiple push rods 46 move outward to release the clamping effect on the tree trunk. This invention, by using the clamping ring rack 42 in conjunction with the upright rod 45 and the transmission rod 47, can simultaneously control the movement of multiple push rods 46, reducing the use of the drive mechanism, simplifying the device structure, and reducing the weight of the device.

[0077] In a preferred embodiment, an arc-shaped buckle 48 is provided on the other end of the push rod 46 that extends into the clamping annular rack 42. The arc-shaped buckle 48 is a strip-shaped structure with a certain curvature, arranged laterally, with the arc-shaped notch facing inward. One end of the arc-shaped buckle 48 is connected to the end of the push rod 46, and the other end is a free end. When the push rod 46 moves inward to clamp the tree trunk, the arc-shaped buckle 48 can interact with the tree trunk and abut against the side of the tree trunk, thereby forming a self-locking effect when abutting against the tree trunk, enhancing the clamping force. Furthermore, the arc-shaped buckle 48 is detachably installed on the push rod 46, so that different sizes of arc-shaped buckles 48 can be replaced according to different sizes of tree trunks, so that the arc-shaped buckle 48 can match the tree trunk as closely as possible to achieve self-locking with the tree trunk. The stability of the clamping is ensured by gravity self-locking.

[0078] In this exemplary embodiment, the tree-climbing robot further includes a pruning mechanism 90, which is disposed on the upper clamping mechanism 40 and is used to perform pruning. The pruning mechanism 90 includes a robotic arm and pruning blades 97 disposed on the robotic arm. In this exemplary embodiment, the pruning mechanism 90 has a support plate 91, which is fixedly mounted on the mounting plate 49 of the upper clamping mechanism 40. The robotic arm includes a fifth drive motor 92, a first swing arm 93, a second swing arm 95, a sixth drive motor 94, and a seventh drive motor 96. The fifth drive motor 92 is fixedly mounted on the support plate 91. The first swing arm 93 is fixedly connected to the output shaft of the fifth drive motor 92 and extends radially thereafter. The sixth drive motor 94 is fixedly mounted at the end of the first swing arm 93. The second swing arm 95 is fixedly connected to the output shaft of the sixth drive motor 94 and extends radially thereafter. The swing plane of the second swing arm 95 is perpendicular to the swing plane of the first swing arm 93. The seventh drive motor 96 is fixedly mounted at the end of the second swing arm 95. The pruning blade 97 is in the form of a disc-shaped blade and is fixedly mounted on the output shaft of the seventh drive motor 96. In practice, the first swing arm 93 is swung by the fifth drive motor 92 and the second swing arm 95 is swung by the sixth drive motor 94, so as to move the pruning blade 97 to a certain position. The seventh drive motor 96 drives the pruning blade 97 to rotate, thereby realizing pruning.

[0079] The upper clamping mechanism 40 is located above the upper flip plate 20 and is used to clamp the tree trunk; the lower clamping mechanism 50 is located below the lower flip plate 30 and is used to clamp the tree trunk.

[0080] An upper lifting mechanism 60 is mounted on the upper tilting plate 20 to drive the upper clamping mechanism to rise and fall; a lower lifting mechanism 70 is mounted on the lower tilting plate 30 to drive the lower clamping mechanism to rise and fall. The upper lifting mechanism 60 and the lower lifting mechanism 70 are preferably one of an electric actuator, a cylinder, a lead screw mechanism, a worm gear screw jack, etc. However, "one of" here only means that either the upper lifting mechanism 60 or the lower lifting mechanism 70 can be chosen arbitrarily, and does not mean that the two must be the same lifting mechanism. For example, in some embodiments, an electric actuator is used, which is fixedly mounted on the upper tilting plate 20 or the lower tilting plate 30, and the end of its telescopic rod is connected to the upper lifting mechanism 60 and the lower lifting mechanism 70 to drive them to rise and fall. In this preferred exemplary embodiment, both the upper lifting mechanism 60 and the lower lifting mechanism 70 are lead screw mechanisms, and the structures of the two lead screw mechanisms are the same. That is, in this exemplary embodiment, the upper lifting mechanism 60 and the lower lifting mechanism 70 have the same structure, i.e., they use the same structure to achieve lifting. The upper lifting mechanism 60 and the lower lifting mechanism 70 each include a fourth drive motor 61, a screw 62, and a guide rod 63. The fourth drive motor 61 is fixedly mounted on the upper flip plate 20 or the lower flip plate 30. For example, the fourth drive motor 61 of the upper lifting mechanism 60 is fixedly mounted on the top surface of the upper flip plate 20, and the fourth drive motor 61 of the lower lifting mechanism 70 is fixedly mounted on the bottom surface of the lower flip plate 30. The fourth drive motor 61 is connected to the screw 62 via a reducer and can drive the screw 62 to rotate. The screw 62 is vertically mounted relative to the upper flip plate 20 or the lower flip plate 30. The guide rod 63 is rotatably mounted on the upper flip plate 20 or the lower flip plate 30 via a bearing. The guide rod 62 is vertically mounted relative to the upper flip plate 20 or the lower flip plate 30, and the guide rod 63 is parallel to the screw 62. The upper clamping mechanism and the lower clamping mechanism are respectively provided with screw holes matching the screw 62 and through holes matching the guide rod 63. For example, in this exemplary embodiment, the mounting plate 4 of the upper clamping mechanism... Mounting plate 49 of the lower clamping mechanism is provided with a screw hole matching the screw 62 of the upper lifting mechanism 60 and a through hole matching the smooth rod 63. Mounting plate 49 of the lower clamping mechanism is provided with a screw hole matching the screw 62 of the lower lifting mechanism 70 and a through hole matching the smooth rod 63. When implemented, the screw 62 is driven to rotate by the fourth drive motor 61. The rotation of the screw 62 interacts with the screw hole of the mounting plate 49. Under the limiting action of the smooth rod 63 and the through hole of the mounting plate 49, the mounting plate 49 can be driven to rise and fall, that is, to drive the upper clamping mechanism to rise and fall and / or the lower clamping mechanism to rise and fall. The ends of the smooth rod 63 and the screw 62 are provided with limit structures to prevent the mounting plate 49 from falling out.

[0081] The following is a specific and exemplary embodiment of the present invention: A tree trunk passes through the notch in the second semi-annular guide rail 410, the obstacle-avoiding annular rack 411, the first semi-annular guide rail 41, and the clamping annular rack 42, positioning the tree trunk at the center of the upper clamping mechanism 40 and the lower clamping mechanism 50. At this time, the first drive motor 43 of the lower clamping mechanism 50 drives the first gear 44 to rotate, thereby rotating the clamping annular rack 42 and driving multiple push rods 46 to move inward, thus clamping the tree trunk. Simultaneously, the upper lifting mechanism 60 and / or the lower lifting mechanism 70 drive the upper clamping mechanism 40 upward. When it reaches a certain position, the first drive motor 43 of the upper clamping mechanism 40 drives the first gear 44 to rotate, thereby rotating the clamping annular rack 42 and driving multiple push rods 46 to move inward, thus clamping the tree trunk. At this point, the first drive motor 43 of the lower clamping mechanism 50 reverses direction. The first gear 44 reverses, causing the clamping ring rack 42 to rotate. This drives multiple push rods 46 to move outward, releasing the clamp on the tree trunk. At this time, the upper lifting mechanism 60 and / or the lower lifting mechanism 70 drive the lower clamping mechanism 50 to move upward. When it reaches a certain position, the lower clamping mechanism 50 clamps the tree trunk again. Repeating this operation allows the tree-climbing robot to climb upward. Similarly, it can also climb downward in the same way. When the tree trunk is not straight or has a bend, taking upward climbing as an example, the lower clamping mechanism 50 clamps the tree trunk (the upper clamping mechanism 40 is released). Then, the first drive mechanism drives the upper flipping plate 20 to flip and / or the second drive mechanism drives the lower flipping plate 30 to flip. At the same time, the upper lifting mechanism 60 and / or the lower lifting mechanism 70 operate together, driving the upper clamping mechanism 40 to move upward, so that the upper clamping mechanism 40 flips to a non-straight position or a bend (after the bend, refer to...). Figure 5At this point, the non-straight or curved part of the tree trunk is located at the center of the upper clamping mechanism 40. The upper clamping mechanism 40 clamps the tree trunk, and then the lower clamping mechanism 50 releases its grip on the tree trunk. The upper lifting mechanism 60 and / or the lower lifting mechanism 70 drive the lower clamping mechanism 50 to move upwards until it reaches the non-straight or curved part of the tree trunk (before passing the inflection point). The lower clamping mechanism 50 then clamps the tree trunk again, and the upper clamping mechanism 40 releases. The upper lifting mechanism 60 and / or the lower lifting mechanism 70 then drive the upper clamping mechanism 40 to move upwards until it reaches a certain position. At this point, the upper clamping mechanism 40 clamps the tree trunk, and the lower clamping mechanism 50 releases. The first drive mechanism drives the upper flipping plate 20 to flip and / or the second drive mechanism to flip. The upper and lower flipping plates 20 and 30 are driven to flip, while the upper and / or lower lifting mechanisms 60 and 70 work together to drive the lower clamping mechanism 50 upward, so that the lower clamping mechanism 50 flips to a non-straight section or a bend (after the bend). In this way, the tree-climbing robot of the present invention can climb tree trunks that are not straight or have certain bends. Because the upper and lower flipping plates 20 and 30 are provided, they are both independent and can work together, allowing the flipping crawling to adapt to a wider range of bends. Furthermore, the flipping crawling method can avoid smaller obstacles, such as small protrusions, without requiring the circumferential rotation of the upper and lower clamping mechanisms 40 and 50. Obstacle avoidance is achieved through various mechanisms. For larger obstacles that cannot be overcome by flipping or crawling, such as forked branches, the circumferential rotation of the upper clamping mechanism 40 and the lower clamping mechanism 50 is used. For example, when the upper clamping mechanism 40 is circumferentially avoiding an obstacle, it releases the tree trunk, and the second drive motor 412 of the upper clamping mechanism 40 drives the second gear 413 to rotate, thereby driving the obstacle avoidance ring rack 411 to rotate. At this time, the obstacle avoidance ring rack 411, its first semi-circular guide rail 41, clamping ring rack 42, first drive motor 43, upright 45, push rod 46, and transmission rod 47 can rotate together with the obstacle avoidance ring rack 411. The first semi-circular guide rail 41, clamping ring rack 42, and obstacle avoidance ring rack 511 can all rotate together with the obstacle avoidance ring rack 411. When the notch of the toothed rack 411, etc., rotates to a certain position and can avoid obstacles such as branches on the tree trunk (at this time, the notch corresponds to the obstacle), the upper clamping mechanism 40 clamps the tree trunk, the lower clamping mechanism 50 releases the tree trunk, the second drive motor 412 of the upper clamping mechanism 40 reverses and the second gear 413 reverses, thereby driving the base plate 10, the upper flip plate 20, the lower flip plate 30, the lower clamping mechanism 50, the upper lifting mechanism 60 and the lower lifting mechanism 70 to rotate circumferentially together, and making the notch of the lower clamping mechanism 50 correspond to the obstacle. Thus, when the notches of the upper clamping mechanism 40 and the lower clamping mechanism 50 correspond to the obstacle, the obstacle cannot hinder the robot's crawling. At this time, the robot can crawl in the normal climbing manner.

[0082] 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 robot, characterized in that, Including: substrate(10); An upper flip plate (20) is disposed above the substrate (10) and is driven to flip by a first drive mechanism disposed on the substrate (10); The lower flip plate (30) is disposed below the substrate (10) and is driven to flip by a second drive mechanism disposed on the substrate (10); An upper clamping mechanism (40) is disposed above the upper flip plate (20) for clamping the tree trunk; An upper lifting mechanism (60) is provided on the upper flip plate (20) for driving the upper clamping mechanism to lift and lower; The lower clamping mechanism (50) is located below the lower flip plate (30) and is used to clamp the tree trunk; A lower lifting mechanism (70) is disposed on the lower flip plate (30) for driving the lower clamping mechanism to lift and lower; The upper clamping mechanism and the lower clamping mechanism have the same structure, each including: First semi-circular guide rail (41); A notched clamping ring rack (42) is mounted on the first semi-circular guide rail (41) and coaxially arranged with the first semi-circular guide rail (41) so that it can rotate circumferentially on the first semi-circular guide rail (41); the clamping ring rack (42) is provided with a plurality of notches evenly distributed radially along the clamping ring rack (42). The first drive motor (43) is provided with a first gear (44) that meshes with the clamping ring rack (42) for driving the clamping ring rack (42) to rotate; The uprights (45) are multiple and are evenly distributed around the clamping annular toothed rack (42); A push rod (46) is installed on the radially distributed notches of the clamping ring rack (42) and can move radially along the clamping ring rack (42). An arc-shaped buckle (48) is provided on the other end of the push rod (46) that extends into the clamping ring rack (42). The transmission rod (47) has one end rotatably connected to the upright rod (45) and the other end rotatably connected to the end of the push rod (46) away from the clamping ring rack (42); The upper clamping mechanism and the lower clamping mechanism have the same structure and each includes: Mounting plate (49) is mounted on the upper lifting mechanism (60) or the lower lifting mechanism (70); The second semi-circular guide rail (410) is mounted on the mounting plate (49); An obstacle avoidance ring rack (411) with a notch is mounted on the second semi-annular guide rail (410) and coaxially arranged with the second semi-annular guide rail (410) so that it can rotate circumferentially on the second semi-annular guide rail (410); the first semi-annular guide rail (41) is arranged on the side of the obstacle avoidance ring rack (411); The second drive motor (412) is mounted on the mounting plate (49). The second drive motor (412) is provided with a second gear (413) that meshes with the obstacle avoidance ring rack (411) to drive the obstacle avoidance ring rack (411) to rotate.

2. The tree-climbing robot according to claim 1, characterized in that, The arc-shaped buckle (48) is detachably mounted on the push rod (46).

3. The tree-climbing robot according to claim 1, characterized in that, The first drive mechanism and the second drive mechanism have the same structure, and each includes: A third drive motor (81) is mounted on the base plate (10), and the third drive motor (81) is coaxially connected to a rotating shaft via a coupling; Side ears (82) are provided on the side of the upper flip plate (20) or the lower flip plate (30), and the side ears (82) are fixedly connected to the rotating shaft.

4. A tree-climbing robot according to claim 3, characterized in that, The first drive mechanism and the second drive mechanism further include: A positioning block (83) is disposed on the substrate (10), and the positioning block (83) has a through hole that matches the rotating shaft; The rotating shaft passes through the through hole of the positioning block (83); There are at least two side ears (82), located on both sides of the positioning block (83).

5. A tree-climbing robot according to claim 1, characterized in that, The upper lifting mechanism (60) and the lower lifting mechanism (70) are one of the following: electric actuator, cylinder, or lead screw mechanism.

6. A tree-climbing robot according to claim 1, characterized in that, It also includes a pruning mechanism (90), which is disposed on the upper clamping mechanism (40).

7. A tree-climbing robot according to claim 6, characterized in that, The pruning mechanism (90) includes a robotic arm and a pruning blade (97) mounted on the robotic arm.

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