A wheeled tree-climbing robot

Abstract

The present invention discloses a wheeled tree-climbing robot, which relates to the technical field of tree-climbing robots and comprises a main board, side panels are rotatably mounted on both sides of the main board via a movable shaft, a flip drive assembly is arranged between the main board and the side panels, climbing wheel assemblies are mounted on both the main board and the side panels, and limiting assemblies are mounted on the ends of the two side panels; the climbing wheel assemblies each comprise a pair of symmetrically arranged L-shaped end boxes, a plurality of pairs of the L-shaped end boxes are respectively fixed on the main board and the side panels, and a connecting square tube is fixedly connected between each pair of the L-shaped end boxes, and an electric telescopic rod is fixedly mounted on one end of each of the L-shaped end boxes; with the aid of a pressure sensor and an electric telescopic rod, the robot can automatically adjust the pressure according to different tree trunk diameters and surface features, maintain stable contact with the tree trunk, and achieve hydraulic balance through the connecting square tube; at the same time, it can be adjusted in real time to ensure constant pressure on the tree trunk and improve operation stability.

Description

Technical Field

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

[0002] Wheeled tree-climbing robots are able to move and climb stably on tree trunks; they are widely used in forestry management, fruit picking, scientific research and other fields.

[0003] After searching, the patent document with publication number CN215043239U discloses a wheeled tree-climbing robot, including a first positioning frame and a second positioning frame, the first positioning frame and the second positioning frame are connected by hinges, the sides of the first positioning frame are fixedly installed with a fixed box and a battery box, the sides of the fixed box are fixedly installed with two drive motors, the output ends of the two drive motors extend to the inside of the fixed box and are fixedly installed with threaded columns, the surface of the threaded column is threadedly connected with a square internal threaded barrel, the left end of the square internal threaded barrel is fixedly installed with a fixed frame, the inner wall of the fixed frame is connected with a rotating shaft, and the surface of the rotating shaft is fixedly installed with a tree-climbing roller. The patent sets the first positioning frame, the second positioning frame, the fixed frame, the tree-climbing roller, the tree-climbing teeth, the rotating motor and the toothed disc, so that the tree-climbing robot can drive the tree-climbing roller to rotate through the rotation of the two rotating motors, thereby achieving the purpose of automatic tree climbing under the action of the tree-climbing teeth.

[0004] Based on the above search and combined with the prior art, we found that:

[0005] Current tree-climbing robots are generally designed with a driving wheel assembly and a telescopic contact wheel assembly to adapt to the protrusions or depressions on the surface of the tree trunk to ensure smooth tree climbing operations. However, in the prior art, the above two groups of components are mostly designed independently. At the same time, the driving wheel assembly generally has a constant driving force, while the telescopic contact wheel assembly mostly uses a piston and a spring assembly. During actual operation, it can only be adaptively retracted and retracted with the surface of the tree trunk, while the supporting force cannot be adaptively compensated, which will lead to unstable supporting force. When the trunk diameter fluctuates greatly, it is easy to destroy the stability of tree climbing, and in severe cases, slipping will occur. Therefore, there are limitations. Summary of the invention

[0006] The object of the present invention is to provide a wheeled tree-climbing robot to solve the problems raised in the above-mentioned background technology.

[0007] The technical solution of the present invention is: a wheeled tree climbing robot, comprising a main board, side panels are rotatably mounted on both sides of the main board through a movable shaft, a flip driving assembly is arranged between the main board and the side panels, climbing wheel assemblies are mounted on the main board and the side panels, and limit assemblies are mounted on the ends of the two side panels;

[0008] The climbing wheel assembly comprises a pair of symmetrically arranged L-shaped end boxes, multiple pairs of the L-shaped end boxes are respectively fixed on the main board and the side board, and a connecting square tube is commonly fixedly connected between each pair of the L-shaped end boxes, and an electric telescopic rod is fixedly installed at one end of each of the L-shaped end boxes, and the extended end of the electric telescopic rod is fixedly connected to a pressure sensor, and the other end of the pressure sensor is fixedly installed with a push plate that slidably cooperates with the inner wall of the L-shaped end box, a piston plate is slidably installed inside the other end of the L-shaped end box, and a mounting column is fixedly connected to one side of the piston plate, a transmission column is rotatably installed at the end of the mounting column, a driving wheel is fixedly connected to the outer peripheral wall of the transmission column, a recess is opened on the mounting column, and a self-locking servo motor is fixedly installed in the recess, a transmission belt is commonly sleeved between the output shaft of the self-locking servo motor and the transmission column, and a reset spring 1 is fixedly connected between one side of the piston plate and the L-shaped end box;

[0009] A protective component is arranged above the main board and the side boards.

[0010] Preferably, the limit assembly includes two pairs of auxiliary boxes, and each pair of auxiliary boxes is fixed on the side plates, and a piston rod is slidably installed in each auxiliary box, and a return spring is fixedly connected between one end of the piston rod and the auxiliary box, and a limit wheel is rotatably installed on the end of each piston rod.

[0011] Preferably, a connecting folded pipe is fixed between the auxiliary box and the adjacent L-shaped end box, a controller is fixedly installed on the main board, the signal input end of the controller is electrically connected to the signal output end of the pressure sensor, and the signal output end of the controller is electrically connected to a plurality of electric telescopic rods, and a pair of reinforcing hoops is fixed to the connecting folded pipe, and each pair of reinforcing hoops is respectively fixed to the L-shaped end box and the side panel.

[0012] Preferably, the flip drive assembly includes a dual-axis drive motor fixedly mounted on one side of the main board, and a worm is fixedly connected to the output shaft of the dual-axis drive motor, and a pair of limiting arc plates are also fixedly mounted on the main board near the dual-axis drive motor, one side of the two side plates are fixedly connected to an inner tooth arc plate, the inner tooth arc plate is slidably connected to the limiting arc plate, a pair of extension rods are fixedly mounted on the main board near the limiting arc plate, and each pair of extension rods is rotatably mounted with a mounting rod, each mounting rod is fixedly mounted with a worm wheel and a transmission gear, the worm wheel and the worm are meshed with each other, and the lead angle between the worm and the worm wheel is smaller than the friction angle, and the transmission gear is meshed with the inner tooth arc plate.

[0013] Preferably, a pair of L-shaped end boxes located on the main board are commonly fixedly connected to a connecting plate on one side, two side panels are fixedly connected to a U-shaped reinforcement frame on one side, and a corrugated membrane is fixedly connected between one side of the two U-shaped reinforcement frames and the connecting plate, and a protective cover is fixedly connected between the other side of the two U-shaped reinforcement frames and the side panels.

[0014] Preferably, the protective assembly includes two pairs of cantilever rods fixedly mounted on the outer sides of the side panels, and the top of each pair of cantilever rods is fixedly connected to an arc-shaped outer rod, and a U-shaped frame is fixedly mounted on the top of the main board.

[0015] Preferably, an extension rod is fixedly connected to the end of one of the arc-shaped outer rods, and an insertion interface is provided on the other arc-shaped outer rod.

[0016] Preferably, a connecting side rod is fixedly installed at one end of the two arc-shaped outer rods close to the U-shaped frame, and a corrugated membrane 2 is fixedly connected between the two connecting side rods and the U-shaped frame.

[0017] Preferably, the arc-shaped outer rod and the U-shaped frame are fixedly mounted with different numbers of mounting tubes, and extension columns are slidably mounted in the mounting tubes, a tensioning spring is fixedly connected between the extension column and the mounting tube, and the ends of the extension columns are rollingly connected with balls.

[0018] Preferably, the ends of the two side panels are provided with staggered snap-in slots.

[0019] The present invention provides a wheeled tree climbing robot through improvement, which has the following improvements and advantages compared with the prior art:

[0020] First, the present invention utilizes an electric telescopic rod, a pressure sensor and a push plate to achieve effective fit and gripping of trees with different diameters; at the same time, the pressure can be automatically adjusted according to the protrusions and depressions on the surface of the tree, ensuring stability and adaptability during the crawling process;

[0021] Second: When the diameter of the tree or the protrusions and depressions cause the installation column to move, the present invention will act on the push plate under the action of hydraulic pressure. At the same time, in conjunction with the connecting square tube, when the hydraulic pressure inside the L-shaped end box increases, the electric telescopic rod will be retracted under the action of the subsequent controller, and the hydraulic pressure inside the L-shaped end box will be reduced to the pressure setting value of the pressure sensor; conversely, when the hydraulic pressure inside the L-shaped end box decreases, the electric telescopic rod will be extended under the action of the subsequent controller, and the hydraulic pressure inside the L-shaped end box will be increased to the pressure setting value of the pressure sensor. In summary, the tree climbing robot can automatically compensate for the abutment force between the driving wheel and the tree trunk, and maintain the constant abutment force, thereby avoiding unstable climbing or even slipping due to the abutment force between the driving wheel and the tree trunk.

[0022] In summary, with the help of pressure sensors and electric telescopic rods, the robot can automatically adjust the pressure according to different tree trunk diameters and surface features, maintain stable contact with the tree trunk, and achieve hydraulic balance through connecting square tubes; at the same time, real-time adjustments can be made to ensure constant pressure on the tree trunk, thereby improving operation stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the cutaway structure of the L-shaped end box of the present invention;

[0026] Figure 3 For the present invention Figure 2 The enlarged structural diagram at A in the middle;

[0027] Figure 4 It is a schematic diagram of the protective cover and the connecting folded tube structure of the present invention;

[0028] Figure 5 It is a structural schematic diagram of a corrugated membrane of the present invention;

[0029] Figure 6 It is a schematic diagram of the arc-shaped outer rod and U-shaped frame structure of the present invention;

[0030] Figure 7 It is a schematic diagram of the three-dimensional structure of the mounting column of the present invention;

[0031] Figure 8 For the present invention Figure 7 The enlarged structural diagram at B in the middle;

[0032] Fig. 9 It is a schematic diagram of the three-dimensional structure of the inner gear arc plate and the limit arc plate of the present invention;

[0033] Fig.10 It is a schematic diagram of the internal structure of the auxiliary box of the present invention.

[0034] Reference numerals:

[0035] 1. Side panel; 101. Overhanging rod; 102. Protective cover; 103. Corrugated membrane 1; 2. Main board; 201. U-shaped frame; 202. Corrugated membrane 2; 3. L-shaped end box; 301. Electric telescopic rod; 302. Push plate; 303. Piston plate; 304. Reset spring 1; 305. Connecting square tube; 306. Pressure sensor; 4. Mounting column; 401. Drive wheel; 402. Drive belt; 403. Self-locking servo motor; 5. Dual-axis drive motor; 501. Worm; 6. Mounting rod; 601. Worm wheel ; 602, extension rod; 603, transmission gear; 604, inner gear arc plate; 605, limit arc plate; 7, arc-shaped outer rod; 701, installation tube; 702, extension column; 703, rolling ball; 704, plug interface; 705, extension plug rod; 706, tensioning spring; 707, connecting side rod; 8, connecting plate; 9, auxiliary box; 901, piston rod; 902, limit wheel; 903, connecting folding pipe; 904, reinforcement hoop frame; 905, reset spring 2; 10, U-shaped reinforcement frame; 11, snap-in slot. DETAILED DESCRIPTION

[0036] The present invention is described in detail below, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] The present invention provides a wheeled tree climbing robot through improvement. The technical solution of the present invention is:

[0038] like Figures 1 to 10 As shown, an embodiment of the present invention provides a wheeled tree-climbing robot, including a main board 2, side panels 1 are rotatably mounted on both sides of the main board 2 via a movable shaft, a flip drive assembly is arranged between the main board 2 and the side panels 1, climbing wheel assemblies are mounted on both the main board 2 and the side panels 1, and limiting assemblies are mounted on the ends of the two side panels 1; through the above structure, the climbing wheel assembly is used to drive the robot to move on the surface of the tree trunk; and the limiting assembly is capable of improving the stability of the robot when climbing the tree trunk.

[0039] The climbing wheel assembly includes a pair of symmetrically arranged L-shaped end boxes 3, and multiple pairs of L-shaped end boxes 3 are respectively fixed on the main board 2 and the side board 1, and each pair of L-shaped end boxes 3 are fixedly connected with a connecting square tube 305, and one end of each L-shaped end box 3 is fixedly installed with an electric telescopic rod 301, and the extended end of the electric telescopic rod 301 is fixedly connected with a pressure sensor 306, and the other end of the pressure sensor 306 is fixedly installed with a push plate 302 that slides with the inner wall of the L-shaped end box 3, and a piston plate 303 is slidably installed inside the other end of the L-shaped end box 3, and one side of the piston plate 303 is fixedly connected to It is connected to a mounting column 4, a transmission column is rotatably mounted on the end of the mounting column 4, a driving wheel 401 is fixedly connected to the outer peripheral wall of the transmission column, a recess is opened on the mounting column 4, and a self-locking servo motor 403 is fixedly mounted in the recess, a transmission belt 402 is commonly sleeved between the output shaft of the self-locking servo motor 403 and the transmission column, and a reset spring 304 is fixedly connected between one side of the piston plate 303 and the L-shaped end box 3; the self-locking servo motor 403 and the transmission belt 402 can drive the driving wheel 401 to rotate, which can not only provide stable power transmission, but also have good overload protection performance.

[0040] Through the above structure, the electric telescopic rod 301, the pressure sensor 306 and the push plate 302 are used to effectively fit and grasp trees of different diameters. At the same time, the pressure can be automatically adjusted according to the protrusions and depressions on the surface of the tree, ensuring stability and adaptability during the crawling process. Specifically, when the diameter of the tree or the protrusions and depressions cause the installation column 4 to move, it will act on the push plate 302 under the action of the hydraulic pressure. At the same time, in conjunction with the connected square tube 305, when the hydraulic pressure inside the L-shaped end box 3 increases, the electric telescopic rod 301 will move under the action of the subsequent controller. The electric telescopic rod 301 will be retracted and the hydraulic pressure inside the L-shaped end box 3 will be reduced to the pressure setting value of the pressure sensor 306; conversely, when the hydraulic pressure inside the L-shaped end box 3 is reduced, the electric telescopic rod 301 will be extended under the action of the subsequent controller and the hydraulic pressure inside the L-shaped end box 3 will be increased to the pressure setting value of the pressure sensor 306. In summary, the tree-climbing robot can automatically compensate for the abutment force between the driving wheel 401 and the tree trunk and maintain the abutment force constant, thereby avoiding unstable climbing or even slipping due to the abutment force between the driving wheel 401 and the tree trunk fluctuating.

[0041] A protective component is arranged above the main board 2 and the side board 1 ; the protective component can protect the main board 2 and the top of the side board 1 .

[0042] Furthermore, the limiting assembly includes two pairs of auxiliary boxes 9, and each pair of auxiliary boxes 9 is fixed on the side plate 1, and a piston rod 901 is slidably installed in each auxiliary box 9, and a return spring 905 is fixedly connected between one end of the piston rod 901 and the auxiliary box 9, and a limiting wheel 902 is rotatably installed on the end of each piston rod 901; through the above structure, when the two side plates 1 move to both sides of the trunk, the set limiting wheel 902 can be against the outer wall of the trunk, and cooperate with the set driving wheel 401 so that the robot can stably embrace the trunk.

[0043] Furthermore, a connecting folding pipe 903 is fixed between the auxiliary box 9 and the adjacent L-shaped end box 3, a controller is fixedly installed on the main board 2, the signal input end of the controller is electrically connected to the signal output end of the pressure sensor 306, and the signal output end of the controller is electrically connected to multiple electric telescopic rods 301, and a pair of reinforcing hoops 904 are fixed to the connecting folding pipe 903, and each pair of reinforcing hoops 904 are respectively fixed to the L-shaped end box 3 and the side panel 1; through the above structure, the set controller can receive the pressure value of the pressure sensor 306, and realize the monitoring of the robot's embracing force on the tree trunk. When the value of the pressure sensor 306 changes, the controller can control the electric telescopic rod 301 to extend or retract to ensure the stability of the value of the pressure sensor 306.

[0044] By using the connecting folded pipe 903, the hydraulic strength in the auxiliary box 9 and the adjacent L-shaped end box 3 can be synchronized, and the stability of the robot during operation can be further improved.

[0045] As a further solution of the present invention, the flipping drive assembly includes a dual-axis drive motor 5 fixedly mounted on one side of the main board 2, and a worm 501 is fixedly connected to the output shaft of the dual-axis drive motor 5, and a pair of limiting arc plates 605 are also fixedly mounted at the position of the main board 2 near the dual-axis drive motor 5, and an inner tooth arc plate 604 is fixedly connected to one side of the two side plates 1, and the inner tooth arc plate 604 is slidingly connected to the limiting arc plate 605, and a pair of extension rods 602 are fixedly mounted at the position of the main board 2 near the limiting arc plate 605, and each pair of extension rods 602 is installed with a mounting rod 6 for rotation together, and each mounting rod 6 is fixedly installed with a worm wheel 601 and a transmission gear 603, the worm wheel 601 and the worm 501 are meshed with each other, and the lift angle between the worm 501 and the worm wheel 601 is smaller than the friction angle, and the transmission gear 603 is meshed with the inner tooth arc plate 604.

[0046] Through the above structure, the dual-axis drive motor 5 is controlled to start, which can drive the worm 501 to rotate, and through the transmission action of the worm wheel 601, drive the mounting rod 6 to rotate, and through the transmission action of the transmission gear 603, drive the inner tooth arc plate 604 to move along the limit arc plate 605, thereby realizing the flipping of the side plate 1; at the same time, the lead angle between the worm 501 and the worm wheel 601 is smaller than the friction angle, so that its transmission has good self-locking properties to meet the stable operation requirements of the robot.

[0047] As a further solution of the present invention, a pair of L-shaped end boxes 3 located on the main board 2 are fixedly connected to a connecting plate 8 on one side, a U-shaped reinforcement frame 10 is fixedly connected to one side of the two side panels 1, and a corrugated membrane 103 is fixedly connected between one side of the two U-shaped reinforcement frames 10 and the connecting plate 8, and a protective cover 102 is fixedly connected between the other side of the two U-shaped reinforcement frames 10 and the side panels 1; through the above structure, when the two side panels 1 are flipped, the arranged corrugated membrane 103 can be adaptively retracted and expanded, and cooperated with the arranged protective cover 102 to provide good protection for the outside of the robot.

[0048] As a further solution of the present invention, the protective assembly includes two pairs of cantilever rods 101 fixedly installed on the outside of the side panel 1, and the top of each pair of cantilever rods 101 is fixedly connected with an arc-shaped outer rod 7, and a U-shaped frame 201 is fixedly installed on the top of the main board 2.

[0049] Furthermore, an extension rod 705 is fixedly connected to the end of one of the arc-shaped outer rods 7, and an insertion port 704 is provided on the other arc-shaped outer rod 7; this design enables the two arc-shaped outer rods 7 to be plugged and fixed to each other.

[0050] Furthermore, a connecting side rod 707 is fixedly installed at one end of the two arc-shaped outer rods 7 close to the U-shaped frame 201, and a corrugated membrane 202 is fixedly connected between the two connecting side rods 707 and the U-shaped frame 201.

[0051] Through the above structure, when the side plate 1 moves, the cantilever rod 101 can be used to drive the arc-shaped outer rod 7 to move synchronously, and at the same time, the corrugated membrane 202 can be adaptively extended and retracted.

[0052] Furthermore, different numbers of mounting tubes 701 are fixedly installed on the arc-shaped outer rod 7 and the U-shaped frame 201, and extension columns 702 are slidably installed in the mounting tubes 701. A tensioning spring 706 is fixedly connected between the extension column 702 and the mounting tube 701, and a rolling ball 703 is rollingly connected to the end of the extension column 702.

[0053] Through the above structure, the extension column 702 and the installation tube 701 cooperate with each other, and the rolling ball 703 can play an adaptive telescopic protection role. At the same time, the rolling ball 703 can also improve the robot's adhesion and embracing effect on the tree trunk and reduce the occurrence of slipping.

[0054] Furthermore, the ends of the two side panels 1 are provided with staggered engaging slots 11; the engaging slots 11 enable the two side panels 1 to be plugged and fixed to each other, thereby improving the operating stability of the robot.

[0055] The specific working method is: when in use, the main board 2 of the robot is placed on one side of the trunk, the dual-axis driving motor 5 is controlled to start, the worm 501 is driven to rotate, and the installation rod 6 is driven to rotate through the transmission action of the worm wheel 601, and the inner gear arc plate 604 is driven to move along the limit arc plate 605 through the transmission action of the transmission gear 603, thereby realizing the flipping of the side plate 1; when the two side plates 1 move to both sides of the trunk, the limit abutting wheel 902 is set against the outer peripheral wall of the trunk, and the driving wheel 401 is set to make the robot stably embrace the trunk;

[0056] By using the electric telescopic rod 301, the pressure sensor 306 and the push plate 302, the trees with different diameters can be effectively fitted and gripped. At the same time, the pressure can be automatically adjusted according to the protrusions and depressions on the surface of the tree, ensuring the stability and adaptability during the crawling process. Specifically, when the diameter of the tree or the protrusions and depressions cause the installation column 4 to move, it will act on the push plate 302 under the action of the hydraulic pressure. At the same time, in conjunction with the connecting square tube 305, when the hydraulic pressure inside the L-shaped end box 3 increases, the electric telescopic rod 301 will return under the action of the subsequent controller. The hydraulic pressure in the L-shaped end box 3 is pumped out, and the hydraulic pressure in the L-shaped end box 3 is reduced to the pressure setting value of the pressure sensor 306; on the contrary, when the hydraulic pressure in the L-shaped end box 3 is reduced, the electric telescopic rod 301 will be extended under the action of the subsequent controller, and the hydraulic pressure in the L-shaped end box 3 is increased to the pressure setting value of the pressure sensor 306. In summary, the tree climbing robot automatically compensates for the abutment force between the driving wheel 401 and the tree trunk, and maintains the abutment force constant, so as to avoid unstable climbing or even slipping due to the abutment force between the driving wheel 401 and the tree trunk fluctuating.

[0057] The controller is set to receive the pressure value of the pressure sensor 306 and monitor the robot's embracing force on the tree trunk. When the value of the pressure sensor 306 changes, the controller can control the electric telescopic rod 301 to extend or retract to ensure that the value of the pressure sensor 306 is stable; the connecting folding pipe 903 is set to synchronize the hydraulic strength in the auxiliary box 9 and the adjacent L-shaped end box 3, and further improve the stability of the robot during operation;

[0058] Finally, when the two side panels 1 are flipped, the corrugated membrane 103 is adaptively retracted and expanded, and cooperates with the protective cover 102 to provide good protection for the outside of the robot; the extension column 702 and the mounting tube 701 cooperate with each other, and cooperate with the rolling ball 703 to provide adaptive retractable protection. At the same time, the rolling ball 703 can also improve the robot's adhesion and embracing effect on the tree trunk and reduce the occurrence of slipping.

[0059] The above description enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wheeled tree-climbing robot, comprising a main board (2), with side boards (1) rotatably mounted on both sides of the main board (2) via movable shafts, characterized in that: A turning drive assembly is arranged between the main board (2) and the side board (1), climbing wheel assemblies are installed on both the main board (2) and the side board (1), and limiting assemblies are installed at the ends of the two side boards (1); The climbing wheel assembly comprises a pair of symmetrically arranged L-shaped end boxes (3), wherein the plurality of pairs of the L-shaped end boxes (3) are respectively fixed on the main board (2) and the side board (1), and a connecting square tube (305) is fixedly connected between each pair of the L-shaped end boxes (3), and an electric telescopic rod (301) is fixedly installed at one end of each of the L-shaped end boxes (3), and a pressure sensor (306) is fixedly connected to the extended end of the electric telescopic rod (301), and a push plate (302) that slidably cooperates with the inner wall of the L-shaped end box (3) is fixedly installed at the other end of the pressure sensor (306), and the L-shaped end box A piston plate (303) is slidably mounted inside the other end of (3), and a mounting column (4) is fixedly connected to one side of the piston plate (303), a transmission column is rotatably mounted on the end of the mounting column (4), a driving wheel (401) is fixedly connected to the outer peripheral wall of the transmission column, a notch is formed on the mounting column (4), and a self-locking servo motor (403) is fixedly mounted in the notch, a transmission belt (402) is commonly sleeved between the output shaft of the self-locking servo motor (403) and the transmission column, and a return spring (304) is fixedly connected between one side of the piston plate (303) and the L-shaped end box (3); A protective component is provided above the main board (2) and the side board (1); The limit assembly comprises two pairs of auxiliary boxes (9), and each pair of auxiliary boxes (9) is fixed on the side plate (1), and a piston rod (901) is slidably installed in each auxiliary box (9), and a second return spring (905) is fixedly connected between one end of the piston rod (901) and the auxiliary box (9), and a limit stop wheel (902) is rotatably installed at the end of each piston rod (901). A connecting folded pipe (903) is fixed between the auxiliary box (9) and the adjacent L-shaped end box (3), and a controller is fixedly installed on the main board (2), and the signal input end of the controller is electrically connected to the signal output end of the pressure sensor (306), and the signal output end of the controller is electrically connected to the plurality of electric telescopic rods (301). The connecting folded pipe (903) is fixed with a pair of reinforcing hoops (904), and each pair of reinforcing hoops (904) is respectively fixed to the L-shaped end box (3) and the side plate (1). The flip drive assembly comprises a plurality of reinforcing hoops (904) fixedly installed on the main board (2). A dual-axis drive motor (5) is provided on one side of the main board (2), and a worm (501) is fixedly connected to the output shaft of the dual-axis drive motor (5); a pair of limit arc plates (605) are fixedly installed at a position of the main board (2) close to the dual-axis drive motor (5); one side of the two side plates (1) is fixedly connected to an inner tooth arc plate (604); the inner tooth arc plate (604) is slidably connected to the limit arc plate (605); the main board (2) is close to the limit arc plate (60 5), a pair of extension rods (602) are fixedly installed at the positions thereof, and each pair of extension rods (602) is rotatably installed with a mounting rod (6), each mounting rod (6) is fixedly installed with a worm wheel (601) and a transmission gear (603), the worm wheel (601) and the worm (501) are meshed with each other, and the lead angle between the worm (501) and the worm wheel (601) is smaller than the friction angle, and the transmission gear (603) is meshed with the inner tooth arc plate (604); When the diameter of the tree or the protrusions and depressions cause the installation column (4) to move, the hydraulic pressure will act on the push plate (302). At the same time, in conjunction with the connecting square tube (305), when the hydraulic pressure inside the L-shaped end box (3) increases, the electric telescopic rod (301) will be retracted under the action of the subsequent controller, and the hydraulic pressure inside the L-shaped end box (3) will be reduced to the pressure setting value of the pressure sensor (306); conversely, when the hydraulic pressure inside the L-shaped end box (3) decreases, the electric telescopic rod (301) will be extended under the action of the subsequent controller, and the hydraulic pressure inside the L-shaped end box (3) will be increased to the pressure setting value of the pressure sensor (306); By utilizing the provided communicating folded pipe (903), the hydraulic strength in the auxiliary tank (9) and the adjacent L-shaped end tank (3) can be synchronized.

2. A wheeled tree-climbing robot according to claim 1, characterized in that: A pair of L-shaped end boxes (3) located on the main board (2) are fixedly connected to a connecting plate (8) on one side, and a U-shaped reinforcement frame (10) is fixedly connected to one side of each of the two side panels (1), and a corrugated membrane (103) is fixedly connected between one side of each of the two U-shaped reinforcement frames (10) and the connecting plate (8), and a protective cover (102) is fixedly connected between the other side of the two U-shaped reinforcement frames (10) and the side panels (1).

3. A wheeled tree-climbing robot according to claim 1, characterized in that: The protection assembly comprises two pairs of cantilever rods (101) fixedly mounted on the outside of the side panels (1), and the top of each pair of cantilever rods (101) is fixedly connected to an arc-shaped outer rod (7), and a U-shaped frame (201) is fixedly mounted on the top of the main panel (2).

4. A wheeled tree-climbing robot according to claim 3, characterized in that: An extension plug rod (705) is fixedly connected to the end of one of the arc-shaped outer rods (7), and an insertion interface (704) is provided on the other arc-shaped outer rod (7).

5. A wheeled tree-climbing robot according to claim 4, characterized in that: A connecting side rod (707) is fixedly installed at one end of the two arc-shaped outer rods (7) close to the U-shaped frame (201), and a corrugated membrane 2 (202) is fixedly connected between the two connecting side rods (707) and the U-shaped frame (201).

6. A wheeled tree-climbing robot according to claim 5, characterized in that: The arc-shaped outer rod (7) and the U-shaped frame (201) are both fixedly mounted with different numbers of mounting cylinders (701), and extension columns (702) are slidably mounted in the mounting cylinders (701), a tensioning spring (706) is fixedly connected between the extension column (702) and the mounting cylinder (701), and a rolling ball (703) is rollingly connected to the end of the extension column (702).

7. A wheeled tree-climbing robot according to claim 1, characterized in that: The ends of the two side plates (1) are provided with staggered clamping notches (11).

Images