Bidirectional crawler tree climbing device

By designing a two-way crawler tree climbing device, the clamping mechanism and universal ball dispersing weight, combined with cylinder and motor drive, rapid climbing and obstacle avoidance are achieved, solving the problems of slow crawling speed and poor adaptability in the prior art. Tree trunks of different diameters reduce damage to trees.

CN119239793APending Publication Date: 2025-01-03GUILIN UNIV OF ELECTRONIC TECH +1
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Patent Information

Application Number
CN202411507006.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-10-28
Publication Date
2025-01-03

AI Technical Summary

Technical Problem

Existing tree climbing devices can only crawl slowly and cannot adapt to tree trunks of different diameters, making it impossible to achieve rapid climbing and obstacle avoidance.

Method used

A two-way crawler tree climbing device is designed. By clamping the trunk, the weight is dispersed by universal balls and crawlers, combined with cylinders, motors and lead screw mechanisms, the clamping and relaxation of the clamping plates are realized. The motor drives the crawlers to move in both directions. The bar adjusts the clamp width and the universal ball comes into contact with the trunk to reduce friction.

Benefits of technology

It achieves rapid climbing and obstacle avoidance, adapts to tree trunks of different diameters, reduces damage to trees, and improves tree climbing efficiency and safety.

✦ Generated by Eureka AI based on patent content.

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    Figure CN119239793A_ABST
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Abstract

The bidirectional crawler tree climbing device comprises a mounting support and a cross arm connected to the lower portion of the mounting support, the two ends of the cross arm are connected with a first clamping plate frame and a second clamping plate frame respectively, the first clamping plate frame and the second clamping plate frame are arranged in parallel, a first clamping plate is connected to the first clamping plate frame, and a second clamping plate is connected to the second clamping plate frame; a first air cylinder is arranged on the first clamping plate frame, an ejector rod of the air cylinder is hinged to the first end of the first connecting rod mechanism, and the first clamping plate is hinged to the second end of the first connecting rod mechanism. A second air cylinder is arranged on the second clamping plate, a fixing claw is further hinged to the lower portion of the second clamping plate, an ejector rod of the second air cylinder is hinged to the first end of the second connecting rod mechanism, and the fixing claw is hinged to the second end of the second connecting rod mechanism. The device adopts a unique bidirectional driving track system, can synchronously move on the two sides of a tree trunk, realizes up-down free movement and circumferential adjustment, and greatly improves the climbing stability and efficiency.
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Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a bidirectional crawler tree climbing device. Background Art

[0002] With the development of the times, fields such as tree pruning, tree growth detection and fruit picking are evolving towards automation, humanization, high efficiency, environmental protection, safety and reliability. This has prompted the development of a tree climbing device. The new tree climbing robot not only has the functions of climbing and pruning, but can also quickly prune the branches of tall trees such as fast-growing trees. This move can significantly reduce the potential dangers and costs of manual pruning, while improving work efficiency during batch operations, saving time and labor costs.

[0003] There are also some tree climbing devices in the prior art, but these devices are bionic designs, and the basic principle is to use a design similar to an insect claw. Although this design can safely grasp and fix on the tree trunk, its climbing mechanism design makes it only able to crawl slowly, and it is not possible to avoid tree branches and adapt to tree trunks of different diameters. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a two-way crawler tree climbing device that can climb quickly and avoid obstacles and adapt to tree trunks of different diameters. The tree climbing device provides strong fixed support by clamping the tree trunk and can withstand heavier loads. The universal ball and crawler contact the tree trunk to disperse the weight of the robot, reduce local pressure on the tree, and reduce damage to the tree.

[0005] The technical solution of the present invention is: a bidirectional crawler tree climbing device, including a mounting support and a cross arm connected to the lower part of the mounting support, the two ends of the cross arm are respectively connected to a first clamping plate frame and a second clamping plate frame arranged parallel to each other, the first clamping plate frame is hingedly connected to a first clamping plate, and the second clamping plate frame is connected to a second clamping plate.

[0006] The first clamping plate frame is provided with a first cylinder, a push rod of the first cylinder is hinged to the first end of the first connecting rod mechanism, and the first clamping plate frame is hinged to the second end of the first connecting rod mechanism.

[0007] The second clamping plate frame is provided with a second cylinder, the second reinforcing plate is also hingedly connected with a clamping plate, the top rod of the second cylinder is hingedly connected to the first end of the second connecting rod mechanism, and the second reinforcing plate is hingedly connected to the second end of the second connecting rod mechanism.

[0008] The cross arm includes a first cross arm and a second cross arm arranged in parallel, the first cross arm and the second cross arm are respectively connected to a first guide rail and a second guide rail, the second clamping plate frame is provided with a slide groove matching the first guide rail and the second guide rail, and the first guide rail and the second guide rail are clamped in the slide groove.

[0009] The second clamping plate frame is provided with a lead screw screw hole, in which a lead screw is sleeved; the mounting clamping plate frame is provided with a through hole, in which the end of the lead screw is movably sleeved.

[0010] A through hole for a movable crawler is provided at the bottom of the mounting support, and the through hole allows the motor to be connected to the crawler bracket.

[0011] The first and second reinforcing plates are provided with motors, which drive the bevel gears on the first and second clamping plates. Universal balls are connected to the opposite surfaces of the first clamping plate and the second clamping plate.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. After the tree climbing device is fixed on the tree trunk, the crawler is driven by the stepper motor to drive the tree climbing device to move along the tree trunk. At the same time, the first reinforcement plate and the second reinforcement plate are extended and retracted by the driving cylinder, and the clamping plate is clamped and loosened. The driving motor rotates the bevel gear, and the universal ball contacts the tree trunk to drive the device to move; 2. When the tree climbing device needs to clamp tree trunks of different diameters, the servo motor can be used to drive the lead screw to adjust the appropriate width according to the diameter of the tree trunk. 3. The crawler can be moved in both directions by driving the crawler to rotate with the motor; 4. The design of the universal ball and the clamping plate can achieve clamping and reduce friction. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is the overall three-dimensional structure diagram of the present invention;

[0014] Figure 2 It is the overall planar structure diagram of the present invention;

[0015] Figure 3 It is a planar structural diagram of the clamping mechanism of the present invention;

[0016] Figure 4 It is a three-dimensional structural diagram of the clamping mechanism of the present invention;

[0017] Markings shown in the figure are: 1-first clamping plate frame, 3-first guide rail, 4-second guide rail, 6-second clamping plate frame, 7-second reinforcement plate, 8-second clamping plate, 9-universal ball, 10-track, 11-first clamping plate, 12-first reinforcement plate, 13-second cross arm, 14-nut, 15-first connecting rod mechanism, 16-first cylinder, 17-screw, 18-first cross arm, 19-motor, 20-mounting support, 21-screw screw hole, 23-second connecting rod mechanism, 24-second cylinder, 26-bevel gear. DETAILED DESCRIPTION

[0018] The invention will be further described below in conjunction with the accompanying drawings and embodiments, but the content of the present invention is not limited to the scope of the embodiments.

[0019] like Figures 1 to 4 As shown, a bidirectional crawler tree climbing device comprises a mounting support 10 and a cross arm connected to the lower part of the mounting support 10, the two ends of which are respectively connected to a first clamping plate frame 1 and a second clamping plate frame 6 arranged in parallel with each other, the first clamping plate frame 1 is hingedly connected to a first reinforcing plate 12, and the second clamping plate frame 6 is connected to a second reinforcing plate 7; the first clamping plate frame 1 is provided with a first cylinder 16, the top rod of the first cylinder 16 is hinged to the first end of the first connecting rod mechanism 15, and the first reinforcing plate 12 is hinged to the second end of the first connecting rod mechanism 15; the second clamping plate frame 6 is provided with a second cylinder 24, the lower part of the second clamping plate 8 is also hingedly connected to a universal ball 9, and the top rod of the second cylinder 24 is hinged to the first end of the second connecting rod mechanism 23. The cross arm includes a first cross arm 18 and a second cross arm 13 arranged in parallel, and the first cross arm 18 and the second cross arm 13 are connected to the first guide rail 3 and the second guide rail 4 respectively, and the second clamping plate frame 6 is provided with a slide groove matched with the first guide rail 3 and the second guide rail 4, and the first guide rail 3 and the second guide rail 4 are clamped in the slide groove. The second clamping plate frame 6 is provided with a lead screw screw hole 21, and the lead screw 17 is inserted in the lead screw screw hole 21. The clamping plate frame is provided with a through hole, and the end of the lead screw 17 is movably inserted in the through hole. The first clamping plate 11 is provided with a first reinforcing rod 12, and the first reinforcing rod 12 is hingedly connected to the first connecting rod mechanism 15. The clamping plate frame is provided with a through hole for movably clamping the end of the lead screw 17, and the first clamping plate 11 and the second clamping plate 8 are connected to the opposite surfaces of the universal ball 9.

[0020] The present invention provides a two-way crawler tree climbing device, the main structure of which consists of three main parts: a mounting support 20, a cross arm and two clamping frames. The mounting support 20 is a fixed platform for supporting the entire device, and the cross arm is a horizontal arm mounted on the mounting support 20, which is connected to the mounting support 20 by bolts to ensure the stability of the structure. The cross arm consists of two parallel sections of a first cross arm 18 and a second cross arm 13, and their main function is to provide support for the clamping frames. The first clamping frame 1 and the second clamping frame 6 are respectively installed on the cross arm, and the first cross arm 18 and the second cross arm 13 play a supporting role for the clamping frames.

[0021] A first clamping plate frame 1 and a second clamping plate frame 6 are respectively provided at both ends of the cross arm. The first clamping plate frame 1 is fixed to the cross arm by bolts. A first reinforcing plate 12 is hingedly connected to the first clamping plate frame 1. The first clamping plate 11 can rotate relative to the first reinforcing plate 12. At the same time, a first connecting rod mechanism 15 is hingedly connected to the first clamping plate frame 1. The first connecting rod mechanism 15 realizes the reciprocating motion of the first connecting rod mechanism 15 under the push of the top rod of the first cylinder 16. At the same time, the first connecting rod mechanism 15 can drive the first reinforcing plate 12 to rotate to realize the clamping and loosening actions of the first clamping plate 11.

[0022] The other end of the cross arm is connected to the second clamping plate frame 6, and the second clamping plate frame 6 is provided with a slide groove. At the same time, the cross arm, i.e. the first cross arm 18 and the second cross arm 13, is provided with a first guide rail 3 and a second guide rail 4. The cooperation of the slide groove and the guide rail enables the second clamping plate frame 6 to slide on the cross arm. At the same time, the second clamping plate frame 6 can realize quantitative adjustment of its position through a screw mechanism.

[0023] Specifically, a screw threaded hole 21 is provided on the second clamping plate frame 6, and the screw 17 can rotate inside the screw threaded hole 21 to realize the relative movement of the screw 17 and the second clamping plate frame 6. At the same time, one end of the screw 17 is clamped inside the through hole on the clamping plate frame to realize the rotation of the screw 17 inside the through hole. Furthermore, a rolling bearing can be provided inside the through hole to realize the internal support of the rotation of the screw 17.

[0024] At the same time, the second clamping plate frame 6 is hingedly connected to the second reinforcing plate 7, and the second reinforcing plate 7 can rotate relative to the second clamping plate frame 6. A second cylinder 24 is provided on the second clamping plate frame 6. The push rod of the second cylinder 24 is connected to the end of the second connecting rod mechanism 23. At the same time, the second connecting rod mechanism 23 is connected to the second reinforcing plate 7, so that the second reinforcing plate 7 can be tightened and relaxed under the drive of the push rod, i.e., the second cylinder 24.

[0025] A plurality of universal balls 9 are arranged on the clamping plate, which rotate under the bevel gear 26 driven by the motor to realize the positioning and clamping of the tree trunk.

[0026] Furthermore, a first reinforcing rod 12 is provided on the first clamping plate 11, and the first reinforcing rod 12 can reinforce the first clamping plate 11. At the same time, the first clamping plate frame 1 is connected to the first connecting rod mechanism 15, which further enhances the stability of the overall structure and is also conducive to reducing vibration.

[0027] Procedure for adjusting the preset clamping width

[0028] When the tree climbing device needs to clamp tree trunks of different diameters, the servo motor can be used to drive the lead screw 17 to adjust the appropriate width according to the diameter of the tree trunk. The right clamping part of the tree climbing device (including the second cylinder 24, the second connecting rod mechanism 23, the second clamping plate frame 6, and the universal ball 9) is different according to the spiral direction of the lead screw 17, so as to increase and decrease the width between the clamping parts of the tree climbing device. When adjusting the width, the preset clamping width can be adjusted without disassembling any parts of the tree climbing device.

[0029] The working principle of the present invention is that the tree climbing device includes first and second cylinders, which can be controlled to be extended and retracted, thereby driving the first and second moving link mechanisms connecting them. The moving link mechanism is a part of the mechanical system, which converts the linear motion of the cylinder into the swinging motion of other mechanical parts. By controlling the extension and retraction of the cylinder, the moving link mechanism can drive the reinforcing rod to tighten and relax, which may be to adjust the contact strength between the device and the tree trunk. When the device needs to clamp the tree trunk, the servo motor (a motor that can accurately control the speed and position) is started. The rotation of the servo motor is transmitted through a transmission device (such as a bevel gear) so that the clamp can rotate around the tree trunk. This rotational motion allows the universal ball (a connector that can rotate in multiple directions) in the device to accurately position and firmly contact the tree trunk, ensuring that the device can be firmly attached to the tree trunk. In order to adapt to tree trunks of different diameters, the device is designed with a motor-driven screw mechanism. Through the rotation of the motor, the screw can be extended and retracted, thereby adjusting the width of the clamp frame so that it can adapt to tree trunks of different thicknesses. During the climbing process, if the device encounters branches or other obstacles, it will stop climbing upward. At this point, the device activates the motor to rotate the crawler (a device that may be used to provide power and movement), allowing the entire tree climbing device to move left and right on the tree trunk. This mobility allows the device to cleverly avoid obstacles and continue climbing.

[0030] 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 two-way crawler tree climbing device, characterized in that: It comprises a mounting support (20) and a cross arm (18) connected to the lower part of the mounting support (20), and is characterized in that the two ends of the cross arm (18) are respectively connected to a first clamping plate frame (1) and a second clamping plate frame (6) which are arranged parallel to each other, the first clamping plate frame (1) is hingedly connected to a first reinforcing plate (12), and the second clamping plate frame (6) is connected to a second reinforcing plate (7); the first clamping plate frame (1) is provided with a first cylinder (16), the top rod of the first cylinder (16) is hingedly connected to the first end of the first connecting rod mechanism (15), and the first reinforcing plate (12) is hingedly connected to the second end of the first connecting rod mechanism (15); the second clamping plate frame (6) is provided with a second cylinder (24), the lower part of the second clamping plate (8) is also hingedly connected to a universal ball (9), the top rod of the second cylinder (24) is hingedly connected to the first end of the second connecting rod mechanism (23), and the second reinforcing plate (7) is hingedly connected to the second end of the second connecting rod mechanism (23).

2. The bidirectional crawler tree climbing device according to claim 1, characterized in that: The cross arm comprises a first cross arm (18) and a second cross arm (13) arranged in parallel, the first cross arm (18) and the second cross arm (13) are respectively connected to a first guide rail (3) and a second guide rail (4), the second clamping plate frame (8) is provided with a slide groove matching the first guide rail (3) and the second guide rail (4), and the first guide rail (3) and the second guide rail (4) are clamped in the slide groove.

3. The bidirectional crawler tree climbing device according to claim 1, characterized in that: The second clamping plate frame (8) is provided with a lead screw threaded hole (21), and a lead screw (17) is sleeved in the lead screw threaded hole (21).

4. The bidirectional crawler tree climbing device according to claim 1, characterized in that: A first reinforcing rod (12) is provided on the first clamping plate (11), and the first reinforcing rod (12) is hingedly connected to a first connecting rod mechanism (15).

5. The bidirectional crawler tree climbing device according to claim 3, characterized in that: The first clamping plate frame (1) and the second clamping plate frame (6) are provided with through holes for movably clamping the end of the lead screw (17).

6. The bidirectional crawler tree climbing device according to claim 1, characterized in that: Universal balls (9) are connected to the opposite surfaces of the first clamping plate (11) and the second clamping plate (8).

7. The bidirectional crawler tree climbing device according to claim 1, characterized in that: The mounting support (20) is provided with a motor (19), and the motor (19) is connected to the crawler support.

8. The bidirectional crawler tree climbing device according to claim 6, characterized in that: The first clamping plate (11) and the second clamping plate (8) are provided with bevel gears (26) for rotation.