Crawler-type obstacle-avoiding climbing robot platform

Abstract

The invention discloses a crawler-type obstacle-avoiding climbing robot platform. The crawler-type obstacle-avoiding climbing robot platform comprises a power device, a rack, a gear transmission device and a guide rail clamping device. The power device is an internal driving type single crawler wheel, the assembled crawler is a rhombic crawler, and turning can be achieved through the electric push rod turning device. According to the gear transmission clamping device, the telescopic length of a push rod can be adjusted to adapt to trunks with different diameters, and meanwhile, universal wheels are assembled on clamping rods and can rotate in the transmission direction of crawler wheels. When encountering obstacles such as forks, the clamping devices can be loosened by staggering and matched with the crawler wheels to turn and pass. The crawler-type tree-climbing robot platform is good in rigidity, stable in climbing and high in load.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a crawler-type obstacle-avoiding climbing robot platform. Background Art

[0002] Fruit picking, tree growth detection, forest environment monitoring and power maintenance may all require climbing operations. Based on this, climbing robots came into being and have developed rapidly.

[0003] Climbing robots are mainly of embracing, crawler, winding and multi-legged types. The embracing and crawler climbing robots are evenly stressed, have strong load capacity, provide stable propulsion through continuous movement, and are suitable for rapid climbing, but cannot continue to climb upwards when encountering tree branches, such as CN 219269613 U discloses a tree climbing, pruning and picking robot that cannot avoid obstacles; winding and multi-legged tree climbing robots are highly flexible and have strong obstacle-crossing capabilities, but have low climbing efficiency, such as CN 107618584 A discloses a bionic flexible tree climbing robot, whose upper and lower trunks are connected by a connecting rod and have a slow climbing speed.

[0004] At present, there is no climbing robot that can climb quickly, avoid obstacles and adapt to tree trunks of different diameters. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a tracked variable diameter robot that can stably and quickly climb poles and trees and avoid obstacles. The climbing robot can adapt the telescopic device to tree trunks of different diameters through the cooperation of a small DC electric push rod, a micro electric push rod, and a pen-type electric push rod, so that the universal wheel can be close to the tree trunk and provide a sufficiently large load, so that the climbing robot platform can stably climb on the tree trunk and can bear peripherals of relatively large weight.

[0006] The technical solution of the present invention is: a crawler-type obstacle-avoiding climbing robot platform, comprising a power device, a fuselage, a primary clamping device, and a secondary clamping device. The power device and the primary clamping device are respectively installed at the front and rear of the fuselage. The secondary clamping device is installed at both sides of the primary clamping device.

[0007] The power device includes a diamond track, a gear fixing rod, a spur gear, a load-bearing plate, a planetary reduction motor, a driving wheel, a conical pinion, a conical large gear, a fixed baffle, an inclined plate, a driven rod, and a No. 2 electric push rod. The load-bearing plate is connected to the driving wheel through the fixed baffle, wherein the fixed baffle and the driving wheel are connected by a bearing. The conical large gear cooperates with the driving wheel shaft through a slot and cooperates with the conical pinion through gear meshing. The conical pinion cooperates with the planetary reduction motor through a slot. The planetary reduction motor is embedded in the load-bearing plate and fixed. A pair of spur gears are used to keep the two spur gears level through the gear fixing rod. The No. 2 electric push rod is fixed to a fixed baffle on one side, and the driven rod is connected to the fixed baffle through the inclined plate, and the driven rod is connected to the concentric axis of the No. 2 electric push rod through a cylindrical pin.

[0008] The fuselage includes a first base plate, a fixed cross bar, a first support rod, a second support rod, and a first connecting member. The lower ends of the first support rod and the second support rod are respectively welded to the outer sides of the four fixed baffles. The upper ends of the first support rod and the second support rod are connected to the base plate in a vertical relationship, wherein the upper end of the first support rod is spherical and embedded in the arc groove at the front end of the first base plate, and the upper end of the second support rod is fixed to the first base plate by pins. The fixed cross bar is respectively welded to the lower upper ends of the first support rod and the second support rod.

[0009] The primary clamping device includes an electric push rod, a fixed column, a square tube, a second base plate, a limiting column, a first rack, a second connecting member, a first guide rail fixing frame, a guide rail, a slide plate, a second guide rail fixing frame, a first spur gear, a telescopic rod, a No. 3 electric push rod, a first universal wheel, a third connecting member, and a slide plate. The rear end of the electric push rod is fixed to the second base plate by welding, and the front end coincides with the fixed column. The front end of the extension rod of the electric push rod is clearance-matched with the upper end of the second connecting member, and the second connecting member passes through the notch of the second base plate and is connected to the rack by a pin bolt. The limiting column is fixed to the second base plate by a pin and matches with the notch of the rack. The square tube and the first guide rail fixing frame are fixedly mounted on the second base plate by pins. The second guide rail fixing frame is mounted at both ends of the square tube by bolts. The guide rail is fixedly mounted between the first guide rail fixing frame and the second guide rail fixing frame by pins. The lower end of the slide plate matches the concentric axis of the guide rail, and the upper end is fixed to the first rack end by bolts, and the slide plate can slide on the guide rail following the movement of the first rack. The first spur gear is clearance-matched with the middle protruding shaft of the second base plate, and the two first racks are meshed with the upper and lower parts of the first spur gear respectively. One end of the slide is fixedly mounted on the first rack by bolts, and the other end is clearance-matched with the trapezoidal notch of the second base plate. The telescopic rods are fixed to the two sides and the middle of the slide plate by pins respectively. The No. 3 electric push rod is fixed to the middle of the slide plate by bolts, and the gear box is close to the two middle telescopic rods. The extension rods of the two middle telescopic rods are fixed to the front end of the extension rod of the No. 3 electric push rod by connecting parts, and the front ends are connected to the extension rods of the two outer telescopic rods by the third connecting parts respectively, and the extension rods of the four telescopic rods can synchronously follow the extension rod of the No. 3 electric push rod to extend and retract. The first universal wheel is fixedly mounted to the front end of the outer shell of the telescopic rod and the front end of its extension rod by the third connecting part.

[0010] The secondary clamping device includes a No. 4 electric push rod, a first support plate, a small electric push rod, a third support rod, a third base plate, a second universal wheel, a second rack, a third rack, a No. 2 spur gear, a square telescopic sleeve, and a pen-type electric push rod. The rear end of the No. 4 electric push rod is connected to the end of the first support plate by a hinge, and the No. 4 electric push rod can rotate outward at a certain angle. The first support plate and the second support rod are connected to the front end of the extension tube of the square telescopic sleeve by bolts. The bottom of the third base plate cooperates with the second support rod and the front end of the extension rod of the No. 4 electric push rod to form a rotating pair, and the third base plate can rotate inward or outward according to the extension of the No. 4 electric push rod. The back of a pair of second racks is embedded in the trapezoidal slot of the third base plate, and the second rack can slide linearly on the third base plate. The No. 2 spur gear is meshed with the second rack and the third rack, and is fixed at a suitable height by the third base plate. The back of the third rack cooperates with the slot of the third base plate, and the lower end passes through the third base plate and is welded to the second universal wheel. A pair of second racks are connected by stud bolts, which are matched with the hole gap at the front end of the telescopic rod of the small electric push rod. The two second racks follow the extension and retraction of the telescopic rod of the small electric push rod to make linear motion forward and backward, driving the second spur gear and thus driving the third rack to move up and down. The bottom surface of the square telescopic sleeve coincides with the bottom surface of the extension rod of the lower telescopic rod and is fixed by welding. The pen-type electric push rod is welded and fixed to the outer tube of the square telescopic sleeve, and the front end of its extension rod is fixed to the extension tube of the square telescopic sleeve by bolt connection. The extension tube of the square telescopic sleeve can rise or fall with the extension rod of the pen-type electric push rod.

[0011] Compared with the prior art, the present invention has the following beneficial effects: 1. The power unit uses diamond tracks and is driven by two planetary reduction motors inside. It has a large contact area with poles, trees, etc., has large friction, and is powerful. The built-in semicircular teeth allow the diamond tracks to turn as the small electric push rods extend and retract, allowing the robot to rotate on poles and trees with high flexibility. 2. The first-level clamping device uses an electric push rod in conjunction with gears and guide rails to provide sufficient pressure for the robot to clamp the tree trunk, allowing the robot to fit firmly on the tree trunk. The rod that fits the tree trunk can also adjust its width through guide rails or telescopic rods to accommodate tree trunks of different diameters. 3. The first-level clamping device provides lateral pressure to the robot. When the universal wheel of the second-level clamping device is close to the tree trunk, the No. 5 electric push rod shrinks, causing the second universal wheel to squeeze the tree trunk, thereby providing vertical pressure to the robot, allowing the robot to move steadily on the tree trunk. At the same time, the sufficient thrust generated by the No. 1 electric push rod of the first-level device enables the robot to configure more peripherals on the first substrate and realize more functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is the overall structure diagram of the present invention;

[0013] Figure 2.1 , Figure 2.2 It is a structural diagram of the power device of the present invention;

[0014] Figure 3 It is a fuselage structure diagram of the present invention;

[0015] Figure 4 , Figure 5 It is a structural diagram of the primary clamping device of the present invention;

[0016] Figure 6 It is a structural diagram of the secondary clamping device of the present invention;

[0017] Figure 7.1 , Figure 7.2 , Figure 7.3 , Figure 7.4 , Figure 7.5 , Figure 7.6 , Figure 7.7 The obstacle avoidance motion graph provided by the embodiment of the present invention; DETAILED DESCRIPTION

[0018] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0019] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0020] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0022] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0024] In order to facilitate the unified viewing of the various reference numerals in the drawings of the specification, the reference numerals appearing in the drawings of the specification are uniformly explained as follows:

[0025] 10-power device; 11-diamond crawler; 12-gear fixing rod; 13-spur semicircular gear; 14-load-bearing plate; 15-planetary reduction motor; 16-driving wheel; 17-conical small gear; 18-conical large gear; 19-fixed baffle; 110-tilt plate; 111-driven rod; 112-No. 2 electric push rod;

[0026] 20-body; 21-first base plate; 22-fixed cross bar; 23-first support bar; 24-second support bar; 25-first connecting member;

[0027] 30-first-stage clamping device; 31-No. 1 electric push rod; 32-fixed column; 33-square tube; 34-second base plate; 35-limiting column; 36-first rack; 37-second connecting piece; 38-first guide rail fixing frame; 39-guide rail; 310-slide plate; 311-second guide rail fixing frame; 312-first spur gear; 313-telescopic rod; 314-No. 3 electric push rod; 315-first universal wheel; 316-third connecting piece; 317-sliding piece;

[0028] 40-secondary clamping device; 41-No. 4 electric push rod; 42-first support plate; 43-No. 5 electric push rod; 44-third support rod; 45-third base plate; 46-second universal wheel; 47-second rack; 48-third rack; 49-No. 2 spur gear; 410-square telescopic sleeve; 411-pen-type electric push rod.

[0029] like Figure 1 As shown, the power device 10 and the primary clamping device 40 are respectively installed at the front and rear of the fuselage 20. The secondary clamping device 40 is installed at both sides of the primary clamping device 30.

[0030] The power device 10 is as follows Figure 2.1 As shown, the planetary reduction motor 15 is embedded in the load-bearing plate 14, driving the bevel pinion 17 to rotate, thereby driving the bevel gear to rotate, so that the driving wheel rotates. The load-bearing plate 14 is welded and fixed to the fixed baffle 19, and the fixed baffle 19 is connected to the driving wheel 16 through a bearing. The built-in spur semicircular teeth 13 are kept in mesh by the gear fixing rod 12, and the spur semicircular teeth 13 are welded and fixed to the front and rear load-bearing plates 14. The No. 2 electric push rod 112 is welded to the fixed baffle 19 on the two driving wheels 16 sides at an inclination angle of 3 degrees, and forms a rotating pair with the driven rod 111. When the extension rod of the No. 2 electric push rod 112 on one side is extended, the No. 2 electric push rod 112 on the other side retracts at the same speed. At this time, the spur semicircular gear 13 rotates, and the diamond track 11 tilts to one side, so that the track wheel can turn, as shown in FIG. Figure 2.2 shown.

[0031] The fuselage 20 is as follows Figure 3 As shown, the first support rod 23 and the second support rod 24 are respectively welded and fixed to the outside of the fixed baffle 19 of the front and rear driving wheels 16 to ensure that the rotation of the track is not affected when the fuselage 20 is under pressure. The fixed cross bar 22 is welded and fixed to the lower upper end of the first support rod 23 and the second support rod 24 to ensure that the support rods are always on the same plane to prevent uneven force from causing welding cracks at the welding point. The second support rod 24 is fixed to the bottom of the first base plate 21 by bolts. The front end of the first support rod 23 is a round head, which is embedded in the arc-shaped groove of the first base plate 21. When the track turns, the front driving wheel 16 can slide under the first base plate 21 without separating from the first base plate 21.

[0032] The fuselage 20 is connected to the primary clamping device 30 via four first connecting members 25 .

[0033] The primary clamping device 30 is as follows Figure 4 As shown. The rear end of the No. 1 electric push rod 31 is welded and fixed to the second base plate 34, and the front end overlaps with the fixed column 32, so that the No. 1 electric push rod 31 remains fixed when it is extended or retracted. The front end of the extension rod of the No. 1 electric push rod 31 passes through the slot of the second base plate 34 through the second connecting member 37 and is connected to the first rack 36. The two first racks 36 are meshed with the first spur gear 312 in the same plane. When the No. 1 electric push rod 31 is extended or retracted, the two first racks 36 are driven to move in the opposite direction through the second connecting member 37. The limit column 35 is fixed to a suitable position of the second base plate by bolts to limit the movement distance of the first rack 36.

[0034] Furthermore, the square tube 33 is fixed to the middle of the upper part of the second base plate 34 by bolts, and the two ends are connected to the second guide rail fixing frame 311. The first guide rail fixing frame 38 is fixed to the two sides of the first spur gear 312 of the second base plate 34 by bolts. The guide rail 39 is fixed by the first and second guide rail fixing frames 38 and 311. The upper end of the slide plate 310 is connected to the first rack 36 by bolts, and the lower end cooperates with the guide rail 39 to form a sliding pair. When the two first racks 36 move in the opposite direction, the slide plate 310 can slide smoothly on the guide rail 39.

[0035] Furthermore, eight telescopic rods 313 are respectively fixed to the two sides and the middle of the slide plate 310 on both sides by bolts, and the telescopic rods 313 can clamp objects of different diameters as the slide plate moves. The third electric push rod 314 is fixed to the middle of the slide plate 310 by bolts, and the gear box is close to the two middle telescopic rods 313. The extension rods of the two middle telescopic rods 313 are fixed to the front end of the extension rod of the third electric push rod 314 by a connecting piece, and the front end is respectively connected to the extension rods of the two outer telescopic rods 313 by a third connecting piece 316. When the third electric push rod 314 telescopic movement, the four telescopic rods 313 can also follow the telescopic movement, so that the robot can adapt to different diameters in the horizontal and vertical directions. The first universal wheel 315 is respectively fixedly installed on the front end of the shell of the telescopic rod 313 and the front end of its extension rod through the third connecting piece 316, and can be close to the surface of the object to be climbed as the telescopic rod 313 and the slide plate 310 move.

[0036] The second-stage clamping device 40 is as follows Figure 6As shown. One side of the square telescopic sleeve 410 is welded to the three telescopic rods 313 at the bottom and can be telescoped upward; the other side of the square telescopic sleeve 410 is welded to the three telescopic rods 313 at the top and can be telescoped downward. The pen-type electric push rod 411 is welded and fixed to the outer tube of the square telescopic sleeve 410, and the front end of its extension rod is fixed to the extension tube of the square telescopic sleeve 410 by bolt connection. The extension tube of the square telescopic sleeve 410 can rise or fall with the extension rod of the pen-type electric push rod 411. This function is used for obstacle avoidance and will be described in detail below. The bottom of the third base plate 45 cooperates with the second support rod 44 and the front end of the extension rod of the fourth electric push rod 41 to form a rotating pair. The third base plate 45 can rotate inward or outward according to the extension of the extension rod of the fourth electric push rod 41. When the first-level clamping device 30 is clamped, the fourth electric push rod 41 pushes the third base plate 45 to rotate inward, so that the second universal wheel 46 is close to the surface of the object being climbed.

[0037] Furthermore, two second racks 47 are embedded in the trapezoidal slots on the third base plate 45 to form a sliding pair. The second spur gear 49 is fixed on the top of the second rack 47 by the third base plate 45. The third rack 48 passes through the third base plate 45 to form a sliding pair, and the lower end is connected to the second universal wheel 46. The second rack 47, the third rack 48, and the second spur gear 49 cooperate with each other. Under the premise that the second universal wheel 46 is close to the surface of the object being climbed, the fourth electric push rod 41 is self-locking. When the fifth electric push rod 43 contracts, the second rack 47 slides toward the fifth electric push rod 43, thereby driving the second spur gear 49 to rotate, so that the third rack 48 is pushed downward, providing vertical inward pressure to the robot, which completes the clamping function of the primary and secondary clamping devices.

[0038] Furthermore, at this time, the power device 10 has sufficient friction with the surface of the object being climbed, and the power device 10 is started, and the robot can climb upwards smoothly.

[0039] like Figure 7.1 As shown, when the robot platform encounters an obstacle, the crawler turns in advance to turn the surface of the secondary device 40 to the direction of the obstacle, and the power device 10 stops. The pen-type electric push rods on both sides are pushed out to make the secondary clamping devices 40 on both sides rise and fall respectively, as shown in FIG. Figure 7.2 The secondary clamping device 40 on the first side is rotated outward, as Figure 7.3 As shown; the power device 10 is started, the robot platform rises, and when the secondary clamping device 10 on the second side reaches the lower end of the obstacle, the power device 10 stops, as shown Figure 7.4 The secondary device 40 on the first side rotates inwardly, close to the surface of the object being climbed, such as Figure 7.5 The secondary clamping device 40 on the second side is rotated outward, and the power device 10 is started, as shown Figure 7.6When the secondary device 40 on the second side passes the obstacle and rotates inward again, it clings to the surface of the object being climbed, such as Figure 7.7 As shown; obstacle avoidance is completed.

[0040] The specific implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A crawler-type obstacle-avoiding climbing robot platform, characterized in that: include: The power device comprises a diamond track and a driving wheel, two planetary reduction motors installed inside the track, and a bevel gear that cooperates with the planetary reduction motor to drive the driving wheel. Two No. 2 electric push rods are installed on both sides of the rear driving wheel of the track wheel, and form a rotating pair with the rods installed on both sides of the front driving wheel of the track. A pair of meshing spur semicircular teeth and a bearing plate are built in the middle of the track.

2. A tracked obstacle-avoiding tree-climbing robot platform according to claim 1, characterized in that: The first support rod is welded to the outer side of the fixed baffle plate connected to the front driving wheel of the crawler, and the second support rod is welded to the outer side of the fixed baffle plate connected to the rear driving wheel of the crawler. The top ends of the first and second support rods are respectively connected to the bottom of the first base plate, and an arc-shaped notch is chiseled at the connection between the bottom of the first base plate and the first support rod, which is embedded with the round head of the first support rod.

3. A crawler-type obstacle-avoiding climbing robot platform according to claim 1, characterized in that: The upper part of the first base plate is connected to the primary clamping device through four first connecting members. The center of the first spur gear in the primary clamping device is fixed between the upper part of the first base plate and the lower part of the second base plate.

4. A crawler-type obstacle-avoiding climbing robot platform according to claim 1, characterized in that: The two first racks are meshed with the first spur gear, and the No. 1 electric push rod is connected to the rack through the second base plate via the second connecting piece. The square tube is installed on the upper part of the second base plate, and the two ends cooperate with the first and second guide rail fixing frames to fix the guide rails. The slide plate is installed on the guide rail, and eight telescopic rods are provided. The No. 3 electric push rod is arranged beside the two middle telescopic rods. The first universal wheel is installed on the third connecting piece.

5. A crawler-type obstacle-avoiding climbing robot platform according to claim 1, characterized in that: The extension rod of the telescopic rod is provided with a square telescopic sleeve. The square telescopic sleeve is provided with a pen-type electric push rod, a first support plate, and a third support rod. The third base plate is provided on the third support rod, and the rear end is matched with the concentric axis of the fourth electric push rod.

6. A crawler-type obstacle-avoiding climbing robot platform according to claim 1, characterized in that: The third base plate is provided with a trapezoidal slot, a second rack, a third rack, a No. 5 electric push rod, and round teeth. The round teeth are meshed with the second and third racks, and the ground end of the third rack is welded with a second universal wheel.

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