Telescopic obstacle-avoiding tree-climbing robot

Abstract

The invention discloses a telescopic obstacle-avoiding tree-climbing robot. The telescopic obstacle-avoiding tree-climbing robot comprises a clamping mechanism, a moving mechanism and a telescopic mechanism, the three clamping mechanisms are arranged in parallel up and down and are the same in structure, each clamping mechanism is formed by connecting five arc-shaped blocks and two knuckles through a steering engine, and the knuckles and the arc-shaped blocks are controlled by the steering engines to extrude and clamp the tree trunk inwards; the moving mechanism is mounted on the arc-shaped block in the middle and used for moving and avoiding obstacles when the clamping mechanism is unfolded; the telescopic mechanism is installed on the platform, a roller is connected with the second arc-shaped block and the fourth arc-shaped block through a belt, a motor controls rotation of a gear, the belt is driven to contract the second arc-shaped block and the fourth arc-shaped block of the clamping mechanism into a third arc-shaped block, and crotches can be conveniently avoided during obstacle avoidance. By means of the clamping mechanism, the moving mechanism, the telescopic mechanism and the like, obstacle-avoiding crawling and self-adaptive clamping capacity can be achieved on a tree trunk with a certain crotch, and the problem that an existing tree-climbing robot is difficult to crawl on the tree trunk with the crotch is solved.

Description

Technical Field

[0001] The invention relates to the technical field of telescopic climbing and obstacle avoidance, and in particular to a telescopic obstacle avoidance tree climbing robot. Technical Background

[0002] With the development of forestry, pesticide spraying, trunk inspection, forest survey, etc. are mostly manual operations. This kind of high-altitude operation is not only arduous and complicated, but also has a high risk factor and great difficulty, and personal safety is threatened. Tree-climbing robots came into being and developed.

[0003] At present, tree-climbing robots are mainly of winding, embracing, rolling and clamping types. Among them, the winding type has high flexibility and strong obstacle-crossing ability, but the design of actuators and controllers is relatively complex; the embracing type has uniform force, strong load capacity and reliable operation; the rolling type can only be used for climbing very regular main trunks, and cannot avoid branches to continue climbing upwards; the clamping type mainly relies on claws to climb, and the center of gravity is not at its symmetry center, so the stability during the climbing process is not very good. Summary of the invention

[0004] The main purpose of the present invention is to provide a retractable obstacle-avoiding tree-climbing robot, which can solve the problem that the existing tree-climbing robots cannot avoid tree branches and continue to climb upwards and has adaptive clamping capabilities.

[0005] To achieve the above object, the present invention provides a retractable obstacle-avoiding tree-climbing robot, comprising: There are three clamping mechanisms, which are arranged in parallel up and down and have the same structure, namely an upper clamping mechanism, a middle clamping mechanism and a lower clamping mechanism, which are used for the entire device to clamp the tree trunk; A moving mechanism, which is arranged on the third arc block of the clamping mechanism, and is used to move the clamping mechanism to bypass the tree branch located directly above the third arc block to achieve moving obstacle avoidance; A telescopic mechanism is arranged on the platform and is used to extend the second and fourth arc blocks to the inside of the third arc block, so as to avoid tree branches when avoiding obstacles; The electric telescopic rod is arranged on the moving slide block and is used to realize the upward and downward telescopic climbing of the entire device.

[0006] Furthermore, the clamping mechanisms have the same structure and respectively include: The second arc block is coaxially installed on the right end of the third arc block, and a limit plate is provided on the third arc block to prevent the second arc block from sliding out, the second arc block is then connected to the second steering gear short bracket, the second steering gear short bracket is further connected to the second steering gear, the second steering gear long bracket is installed on the other side of the second steering gear, the second steering gear long bracket is connected to the first arc block and can be rotated, and the first arc block is coaxially installed with the third arc block, the first steering gear long bracket fixedly installed on the other side of the first arc block is further connected to the first steering gear, the other side of the first steering gear is connected to the first steering gear short bracket, and the first finger joint is installed on the other side of the first steering gear short bracket and can be rotated; The fourth arc block is coaxially installed at the left end of the third arc block, and a limit plate is provided on the third arc block to prevent the fourth arc block from sliding out. The fourth arc block is then connected to the third steering gear short bracket, and the third steering gear short bracket is further connected to the third steering gear. The third steering gear long bracket is installed on the other side of the third steering gear. The third steering gear long bracket is connected to the fifth arc block and can be rotated. The fifth arc block is coaxial with the third arc block, the fourth steering gear long bracket fixedly installed on the other side of the fifth arc block is further connected to the fourth steering gear, and the other side of the fourth steering gear is connected to the fourth steering gear short bracket, and the second finger joint is installed on the other side of the fourth steering gear short bracket to realize rotation.

[0007] Furthermore, the moving mechanism comprises: The arc guide rail is installed on the third arc block, the driving wheel is installed on the positioning hole on the left side of the arc guide rail, the driving wheel is coaxially connected to the first motor, the protrusion of the moving slider is installed and connected to the groove of the arc track, the driven wheel is installed on the positioning hole on the right side of the arc guide rail, and the conveyor belt is coaxially connected to the driving wheel, the moving slider and the driven wheel and is set on the arc guide rail.

[0008] Furthermore, the telescopic mechanism comprises: The platform is installed and connected to the outer arc segment of the third arc block, the driving gear is installed on the positioning hole on the right side of the platform, the driving gear is connected to the second motor coaxially, the first cylinder is installed on the driving gear coaxially, the long belt is connected to the first cylinder, and the long belt on the other side is installed on the outside of the second and fourth arc blocks to achieve stretching, the driven gear is installed on the positioning hole on the left side of the platform, and the gear cooperates with the driving gear, the second cylinder is installed on the driven gear coaxially, the short belt is connected to the second cylinder, and the short belt on the other side is installed on the inside of the second and fourth arc blocks to achieve contraction.

[0009] Furthermore, the electric telescopic rod is arranged on the movable slider, so that the upper clamping mechanism is supported and connected to the middle clamping mechanism, and the middle clamping mechanism is supported and connected to the lower clamping mechanism. The three are arranged in parallel up and down and have the same structure, and the upward and downward telescopic climbing of the entire device is realized at the same time.

[0010] Compared with the prior art, the present invention has the following beneficial effects: 1. A retractable obstacle-avoiding tree-climbing robot provided by the present invention comprises: a clamping mechanism, a moving mechanism, a retracting mechanism and an electric retractable rod; in the process of climbing a tree, the first and fifth arc-shaped blocks and the first and second finger joints are formed into a ring through the servo in the clamping mechanism, and the entire force is squeezed and clamped toward the inside of the trunk at the same time. When the size of the trunk is similar to that of the third arc-shaped block, four-point force can be achieved, the clamping effect is optimal, and the clamping stability is enhanced. When the size of the trunk is smaller than the third arc-shaped block, the retracting mechanism adjusts the retracting length of the second and fourth arc-shaped blocks, so that the first and fifth arc-shaped blocks or the first and second finger joints are combined and squeezed and clamped, so that two-point force is achieved, and trunks of different sizes can be clamped, which has universality. 2. When the third arc block is on the side of the tree branch, the upper clamping mechanism opens and the other two clamping mechanisms are clamped. The third arc block of the upper clamping mechanism can be slowly moved to the side without the tree branch through the moving mechanism. Then the middle clamping mechanism and the lower clamping mechanism are moved to repeat the above method to move the third arc block to the side without the tree branch, and then opened in turn to pass through the tree branch, thereby realizing the obstacle avoidance function when there are tree branches during the tree climbing process, solving the problem that the existing tree climbing robots are difficult to avoid tree branches and continue to climb upwards. At the same time, the telescopic mechanism can retract the second and fourth arc blocks into the third arc block, greatly improving the efficiency of obstacle avoidance and the flexibility of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural schematic diagram of a retractable obstacle-avoiding tree-climbing robot of the present invention from one perspective;

[0012] Figure 2 It is a structural schematic diagram of the entire actuator of the present invention from one perspective;

[0013] Figure 3 It is a structural schematic diagram of the clamping mechanism and the telescopic mechanism of the present invention from one viewing angle;

[0014] Figure 4 It is a structural schematic diagram of the mobile mechanism of the present invention from one viewing angle;

[0015] Figure 5 It is a schematic diagram of an implementation of a retractable obstacle-avoiding tree-climbing robot of the present invention clamping a tree trunk with a small diameter;

[0016] Figure 6 It is a schematic diagram of an obstacle avoidance process of relative movement of a clamping mechanism on a retractable obstacle avoidance tree climbing robot of the present invention;

[0017] Figure 7 The present invention is a schematic diagram of a retractable obstacle-avoiding tree-climbing robot that climbs by bypassing a tree branch.

[0018] The reference numerals are: 1-clamping mechanism; 1-1-upper clamping mechanism; 1-2-middle clamping mechanism; 1-3-lower clamping mechanism; 2-electric telescopic rod; 3-moving mechanism; 4-telescopic mechanism; 20-first finger joint; 21-first steering gear short bracket; 22-first steering gear; 23-first steering gear long bracket; 24-first arc block; 25-second steering gear long bracket; 26-second steering gear; 27-second steering gear short bracket; 28-second arc block; 29-third arc block; 30-fourth arc block; 31-first Three servo short brackets; 32-third servo; 33-third servo long bracket; 34-fifth arc block; 35-fourth servo long bracket; 36-fourth servo; 37-fourth servo short bracket; 38-second finger joint; 40-short belt; 41-first cylinder; 42-long belt; 43-second cylinder; 44-platform; 45-driven gear; 46-second motor; 47-driving gear; 50-arc guide rail; 51-driving wheel; 52-first motor; 53-conveyor belt; 54-moving slider; 55-driven wheel. DETAILED DESCRIPTION

[0019] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment 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.

[0020] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" 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 components. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0022] Please refer to Figure 1 and Figure 2 A preferred embodiment of the present invention provides a retractable obstacle-avoiding tree-climbing robot, characterized in that it includes: a clamping mechanism 1, which has three vertically parallel arrangements and have the same structure, namely an upper clamping mechanism 1-1, a middle clamping mechanism 1-2 and a lower clamping mechanism 1-3, for the entire device to clamp the tree trunk; a moving mechanism 3, which is arranged on the third arc block 29 of the clamping mechanism 1, and is used to move the clamping mechanism 1 to bypass the tree branch directly above the third arc block 29 to achieve mobile obstacle avoidance; a telescopic mechanism 4, which is arranged on a platform 44, and is used to telescope the second 28 and fourth arc blocks 30 to the inside of the third arc block 29, so as to avoid the tree branch when avoiding obstacles; an electric telescopic rod 2.

[0023] Please refer to Figure 3 and Figure 4 In a preferred embodiment, the clamping mechanism 1 has the same structure, and includes: the second arc block 28 is coaxially installed on the right end of the third arc block 29, and a limit plate is provided on the third arc block 29 to prevent the second arc block 28 from sliding out, the second arc block 28 is then connected to the second steering gear short bracket 27, the second steering gear short bracket 27 is further connected to the second steering gear 26, the second steering gear long bracket 25 is installed on the other side of the second steering gear 26, the second steering gear long bracket 25 is connected to the first arc block 24 and can be rotated, and the first arc block 24 is coaxial with the third arc block 29, the first steering gear long bracket 23 fixedly installed on the other side of the first arc block 24 is further connected to the first steering gear 22, the other side of the first steering gear 22 is connected to the first steering gear short bracket 21, and the first finger joint 20 is installed on the other side of the first steering gear short bracket 21 and can be rotated.

[0024] The fourth arc block 30 is coaxially installed at the left end of the third arc block 29, and a limit plate is provided on the third arc block 29 to prevent the fourth arc block 30 from sliding out. The fourth arc block 30 is then connected to the third steering gear short bracket 31, and the third steering gear short bracket 31 is further connected to the third steering gear 32. The third steering gear long bracket 33 is installed on the other side of the third steering gear 32. The third steering gear long bracket 33 is connected to the fifth arc block 34 for rotation. The fifth arc block 34 is coaxial with the third arc block 29. The fourth steering gear long bracket 35 fixedly installed on the other side of the fifth arc block 34 is further connected to the fourth steering gear 36. The other side of the fourth steering gear 36 is connected to the fourth steering gear short bracket 37. The second finger joint 38 is installed on the other side of the fourth steering gear short bracket 37 for rotation.

[0025] In a preferred embodiment, the moving mechanism 3 includes: an arc guide rail 50 installed on the third arc block 29, a driving wheel 51 installed on the positioning hole on the left side of the arc guide rail 50, the driving wheel 51 is coaxially connected to the first motor 52, the protrusion of the moving slider 54 is installed and connected to the groove of the arc track 52, the driven wheel 55 is installed on the positioning hole on the right side of the arc guide rail 50, and the conveyor belt 53 is coaxially connected to the driving wheel 51, the moving slider 54 and the driven wheel 55 and is set on the arc guide rail 50.

[0026] In a preferred embodiment, the telescopic mechanism includes: a platform 44 is installed and connected to the outer arc segment of the third arc block 29, a driving gear 47 is installed on the positioning hole on the right side of the platform 44, the driving gear 47 is coaxially connected to the second motor 46, the first cylinder 43 is coaxially installed on the driving gear 47, the long belt 42 is connected to the first cylinder 43, and the other side of the long belt 42 is installed on the second 28 and the outer side of the four arc blocks 30 to achieve stretching, the driven gear 45 is installed on the positioning hole on the left side of the platform 44, and the gears are matched with the driving gear 47, the second cylinder 41 is coaxially installed on the driven gear 45, the short belt 40 is connected to the second cylinder 41, and the other side of the short belt 40 is installed on the inner side of the second 28 and the four arc blocks 30 to achieve contraction.

[0027] In a preferred embodiment, the electric telescopic rod 2 is arranged on the movable slider 54, so that the upper clamping mechanism 1-1 is supported and connected with the middle clamping mechanism 1-2, and the middle clamping mechanism 1-2 is supported and connected with the lower clamping mechanism 1-3. The three are arranged in parallel up and down and have the same structure, and the upward and downward telescopic climbing of the entire device is realized at the same time.

[0028] Please refer to Figure 6 and Figure 7The following is a tree climbing process of a retractable obstacle-avoiding tree-climbing robot of the present invention: when there is no branch or the branch is not directly above the third arc block 29, the steering engine is controlled to clamp the tree trunk with the three clamping mechanisms 1, and then the tree trunk is climbed up and down. First, the steering engine of the upper clamping mechanism 1-1 is controlled to open the first 24, five arc blocks 34 and the first 20, two finger joints 38 outward, and then the upper electric telescopic rod 2 is started, and the upper clamping mechanism 1-1 moves up. After the ascent is completed, the steering engine is controlled to squeeze and clamp the first 24, five arc blocks 34 and the first 20, two finger joints 38 inward. After clamping, the steering engine of the middle clamping mechanism 1-2 is controlled to squeeze and clamp the first 24, five arc blocks 34 and the first 20, two finger joints 38 inward. The joints 38 open outward, and then the upper electric telescopic rod 2 is started to contract and the lower electric telescopic rod 2 is stretched. After the middle clamping mechanism 1-2 is raised, the steering gear is controlled to squeeze and clamp the first 24, five arc blocks 34 and the first 20, two finger joints 38 of the middle clamping mechanism 1-2 inward. After clamping, the steering gear of the lower clamping mechanism 1-3 is controlled to open the first 24, five arc blocks 34 and the first 20, two finger joints 38 of the lower clamping mechanism outward, and then the lower electric telescopic rod 2 is started to contract. After the lower clamping mechanism 1-3 is raised, the steering gear is controlled to squeeze and clamp the first 24, five arc blocks 34 and the first 20, two finger joints 38 of the lower clamping mechanism 1-3 inward, thereby realizing a cycle of tree climbing process.

[0029] The following is an obstacle avoidance process of a telescopic obstacle avoidance tree climbing robot of the present invention: during the climbing process, when a tree branch is encountered directly above the third arc block 29, the steering gear is controlled to clamp the tree trunk with the three clamping mechanisms 1, and the obstacle avoidance process of winding the third arc block 29 to the side without the tree branch is started. First, the steering gear of the upper clamping mechanism 1-1 is controlled to open the first 24, fifth arc block 34 and the first 20, second finger joint 38 outward, and then the telescopic mechanism 4 is used to control the second motor 46 to drive the driving gear 47 to rotate forward to loosen the long belt 42, drive the short belt 40 of the driven gear 45 to tighten, and the second 28, fourth arc block 30 is retracted into the third arc block 29. The first motor 52 is then controlled by the moving mechanism 3 to move the moving slider 54 below the upper clamping mechanism 1-1 to the far left, and the moving slider 54 above the middle clamping mechanism 1-2 to the far right, so as to realize the circumferential movement of the upper clamping mechanism 1-1. After the movement is completed, the second motor 46 is driven to reverse, the long belt 42 is tightened, the short belt 40 is loosened, the second 28 and the fourth arc block 30 are extended from the inside of the third arc block 29, and then the steering engine is controlled to squeeze and clamp the first 24 and the fifth arc block 34 and the first 20 and the second finger joint 38 inward, so that the upper clamping mechanism 1-1 hugs the tree and clamps it. After clamping, the steering engine of the middle clamping mechanism 1-2 is controlled. The first 24, five arc blocks 34 and the first 20, two finger joints 38 of the middle clamping mechanism 1-2 are opened outward, and then the second motor 46 is controlled to drive the driving gear 47 to rotate forward to loosen the long belt 42, drive the short belt 40 of the driven gear 45 to tighten, and the second 28, four arc blocks 30 are retracted toward the inside of the third arc block, and then the moving mechanism 3 is controlled, the first motor 52 is controlled, the moving slider 54 above the middle clamping mechanism 1-2 is moved to the leftmost end, the moving slider 54 below the middle clamping mechanism 1-2 is moved to the leftmost end, and the moving slider 54 above the lower clamping mechanism 1-3 is moved to the rightmost end, so that the middle clamping mechanism 1-2 is realized. 2 circumferential movement, after the movement is completed, the second motor 46 is driven to reverse, the long belt 42 is tightened, the short belt 40 is loosened, the second 28, four arc blocks 30 are extended from the inside of the third arc block 29, and then the steering engine is controlled to squeeze and clamp the first 24, five arc blocks 34 and the first 20, two finger joints 38 inward, and after the middle clamping mechanism 1-2 hugs the tree and clamps it, the lower clamping mechanism 1-3 is operated in the above manner, and the lower clamping mechanism 1-3 moves to a position parallel to the first two clamping mechanisms 1, and the above operations are repeated until the position where the third arc block 29 moves does not interfere with the tree trunk, realizing the obstacle avoidance function, and then the up and down climbing operation is performed.

[0030] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A retractable obstacle-avoiding tree-climbing robot, characterized in that: Included are: The clamping mechanisms (1) have three parts which are arranged in parallel up and down and have the same structure, namely an upper clamping mechanism (1-1), a middle clamping mechanism (1-2) and a lower clamping mechanism (1-3), and are used for the entire device to clamp the tree trunk; A moving mechanism (3) is arranged on the third arc-shaped block (29) of the clamping mechanism (1) and is used to move the clamping mechanism (1) to bypass the tree branch located directly above the third arc-shaped block (29) to achieve moving and obstacle avoidance; A telescopic mechanism (4) is arranged on the platform (44) and is used to telescope the second (28) and fourth arc-shaped blocks (30) to the inside of the third arc-shaped block (29) to facilitate avoiding tree branches when avoiding obstacles; An electric telescopic rod (2) is arranged on a movable slide block (54).

2. The retractable obstacle-avoiding tree-climbing robot according to claim 1, characterized in that: The clamping mechanism (1) has the same structure, and comprises: a second arc block (28) is coaxially mounted on the right end of the third arc block (29), the second arc block (28) is then connected to a second steering gear short bracket (27), the second steering gear short bracket (27) is further connected to a second steering gear (26), a second steering gear long bracket (25) is mounted on the other side of the second steering gear (26), the second steering gear long bracket (25) is connected to the first arc block (24) and can be rotated, and the first arc block (24) is coaxially mounted with the third arc block (29), a first steering gear long bracket (23) fixedly mounted on the other side of the first arc block (24) is further connected to the first steering gear (22), the other side of the first steering gear (22) is connected to the first steering gear short bracket (21), and a first finger joint (20) is mounted on the other side of the first steering gear short bracket (21) and can be rotated; The fourth arc block (30) is coaxially mounted on the left end of the third arc block (29), the fourth arc block (30) is then connected to the third steering gear short bracket (31), the third steering gear short bracket (31) is further connected to the third steering gear (32), the third steering gear long bracket (33) is mounted on the other side of the third steering gear (32), the third steering gear long bracket (33) is connected to the fifth arc block (34) and can be rotated, and the fifth arc block (34) is coaxially mounted with the third arc block (29), the fourth steering gear long bracket (35) fixedly mounted on the other side of the fifth arc block (34) is further connected to the fourth steering gear (36), the other side of the fourth steering gear (36) is connected to the fourth steering gear short bracket (37), and the second finger joint (38) is mounted on the other side of the fourth steering gear short bracket (37) and can be rotated.

3. The retractable obstacle-avoiding tree-climbing robot according to claim 1, characterized in that: The moving mechanism (3) comprises: The arc guide rail (50) is mounted on the third arc block (29), the driving wheel (51) is mounted on a positioning hole on the left side of the arc guide rail (50), the driving wheel (51) is coaxially connected to the first motor (52), the protrusion of the movable slider (54) is connected to the groove of the arc track (52), the driven wheel (55) is mounted on the positioning hole on the right side of the arc guide rail (50), and the conveyor belt (53) is coaxially connected to the driving wheel (51), the movable slider (54) and the driven wheel (55) and is arranged on the arc guide rail (50).

4. The retractable obstacle-avoiding tree-climbing robot according to claim 1, characterized in that: The telescopic mechanism comprises: The platform (44) is installed and connected to the outer arc segment of the third arc block (29), the driving gear (47) is installed on the positioning hole on the right side of the platform (44), the driving gear (47) is coaxially connected to the second motor (46), the first cylinder (43) is coaxially installed on the driving gear (47), the long belt (42) is connected to the first cylinder (43), the other side of the long belt (42) is installed on the outer side of the second (28) and the fourth arc block (30) to achieve stretching, the driven gear (45) is installed on the positioning hole on the left side of the platform (44), and the gears between the driven gear (47) and the second cylinder (41) are coaxially installed on the driven gear (45), the short belt (40) is connected to the second cylinder (41), and the other side of the short belt (40) is installed on the inner side of the second (28) and the fourth arc block (30) to achieve contraction.

5. The retractable obstacle-avoiding tree-climbing robot according to claim 1, characterized in that: The electric telescopic rod (2) is arranged on the movable slider (54), so that the upper clamping mechanism (1-1) is supported and connected with the middle clamping mechanism (1-2), and the middle clamping mechanism (1-2) is supported and connected with the lower clamping mechanism (1-3). The three are arranged in parallel up and down and have the same structure, and the upward and downward telescopic climbing of the entire device is realized at the same time.

Images