A scalable obstacle-avoiding tree climbing robot

Abstract

The application discloses a telescopic obstacle-avoiding tree climbing robot, which comprises a clamping mechanism, a moving mechanism and a telescopic mechanism; the clamping mechanism is composed of five arc-shaped blocks and two finger joints and is connected through a rudder; the rudder controls the finger joints and the arc-shaped blocks to clamp the tree trunk from inside; the moving mechanism is installed on the middle arc-shaped block and is used for moving to avoid obstacles when the clamping mechanism is unfolded; the telescopic mechanism is installed on a platform, a belt connects the roller and the second and fourth arc-shaped blocks, a motor controls the rotation of the gear, the belt drives the second and fourth arc-shaped blocks of the clamping mechanism to shrink into the third arc-shaped block, and the tree branch can be avoided when obstacles are avoided. The clamping mechanism, the moving mechanism and the telescopic mechanism can realize obstacle-avoiding climbing and self-adaptive clamping on the tree trunk with certain tree branches, and the problem that the existing tree climbing robot is difficult to climb on the tree trunk with tree branches is solved.

Description

Technical Field

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

[0002] With the development of forestry, pesticide spraying, tree trunk inspection, forest survey, etc. are mostly manual operations. This kind of high-altitude operation is not only heavy 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] Current tree-climbing robots primarily include wrapping, embracing, rolling, and clamping types. The wrapping type offers high flexibility and strong obstacle-crossing capabilities, but requires more complex actuator and controller designs. The embracing type offers uniform force distribution, strong load capacity, and reliable operation. The rolling type is only suitable for climbing highly regular tree trunks and cannot avoid branches to continue upward. The clamping type relies primarily on claws for climbing, and its center of gravity is not located at its center of symmetry, resulting in poor stability during the climbing process. Summary of the Invention

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

[0005] To achieve the above objectives, the present invention proposes a retractable obstacle-avoiding tree-climbing robot, comprising:

[0006] There are three clamping mechanisms arranged in parallel up and down with the same structure, namely the upper clamping mechanism, the middle clamping mechanism and the lower clamping mechanism, which are used for the entire device to clamp the tree trunk;

[0007] A moving mechanism, which is provided on the third arc-shaped block of the clamping mechanism and is used to move the clamping mechanism around the tree branch located directly above the third arc-shaped block to achieve obstacle avoidance;

[0008] The telescopic mechanism is provided on the platform and is used to extend the second and fourth arc blocks to the inside of the third arc block to facilitate avoiding tree branches when avoiding obstacles;

[0009] The electric telescopic rod is arranged on the movable slider and is used to realize the upward and downward telescopic climbing of the entire device.

[0010] Furthermore, the clamping mechanisms have the same structure and respectively include:

[0011] The second arc block is coaxially mounted 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, and the second steering gear short bracket is further connected to the second steering gear. The second steering gear long bracket is mounted on the other side of the second steering gear. The second steering gear long bracket is connected to the first arc block for rotation, and the first arc block and the third arc block are coaxially mounted, the first steering gear long bracket fixedly mounted on the other side of the first arc block is further connected to the first steering gear, and the other side of the first steering gear is connected to the first steering gear short bracket, and the first finger joint is mounted on the other side of the first steering gear short bracket for rotation;

[0012] The fourth arc block is coaxially installed at the left end of the third arc block, and a limit plate is 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 for rotation, and 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 then connected to the fourth steering gear. 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 for rotation.

[0013] Furthermore, the moving mechanism includes:

[0014] 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 connected to the first motor coaxially, 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 connected to the driving wheel, the moving slider and the driven wheel coaxially and is set on the arc guide rail.

[0015] Furthermore, the telescopic mechanism includes:

[0016] 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.

[0017] 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 upper and lower telescopic climbing of the entire device is realized at the same time.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention provides a retractable obstacle-avoiding tree-climbing robot, comprising: a clamping mechanism, a moving mechanism, a retractable mechanism, and an electric retractable rod; during the tree climbing process, 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 tree trunk. When the size of the tree 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 tree trunk is smaller than the third arc-shaped block, the retracting mechanism adjusts the retractable 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 to squeeze and clamp, achieving two-point force, which can clamp tree trunks of different sizes and has versatility.

[0020] 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, realizing the obstacle avoidance function when there are tree branches during the tree climbing process, solving the problem that the existing tree climbing robot is 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 inside of the third arc block, greatly improving the efficiency of obstacle avoidance and the flexibility of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of a retractable obstacle-avoiding tree-climbing robot according to the present invention from one perspective;

[0022] Figure 2 It is a structural schematic diagram of the entire actuator of the present invention from one perspective;

[0023] Figure 3 A schematic structural diagram of the clamping mechanism and the telescopic mechanism of the present invention from one perspective;

[0024] Figure 4 A schematic structural diagram of the mobile mechanism of the present invention from one perspective;

[0025] Figure 5 A schematic diagram of a retractable obstacle-avoiding tree-climbing robot of the present invention clamping a tree trunk with a small diameter;

[0026] Figure 6 Schematic diagram of the obstacle avoidance process of the relative movement of the clamping mechanism on a retractable obstacle-avoiding tree-climbing robot of the present invention;

[0027] Figure 7 The diagram is a schematic diagram of a retractable obstacle-avoiding tree-climbing robot of the present invention climbing around a tree branch.

[0028] The figures are marked as follows: 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

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the embodiments of the present application and to simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] 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 a communication between the 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 the 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.

[0032] Please refer to Figure 1 and Figure 2 A preferred embodiment of the present invention provides a retractable obstacle-avoiding tree-climbing robot, which is characterized in that it includes: a clamping mechanism 1, which has three vertically parallel arrangements and the same structure, namely an upper clamping mechanism 1-1, an intermediate 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 extend the second 28 and fourth arc blocks 30 to the inside of the third arc block 29, so as to avoid tree branches when avoiding obstacles; an electric telescopic rod 2.

[0033] Please refer to Figure 3 and Figure 4 In a preferred embodiment, the clamping mechanism 1 has the same structure, and includes: a second arc block 28 is coaxially mounted 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 servo short bracket 27, which is in turn connected to the second servo 26; a second servo long bracket 25 is mounted on the other side of the second servo 26; the second servo long bracket 25 is connected to the first arc block 24 for rotation, and the first arc block 24 and the third arc block 29 are coaxial; the first servo long bracket 23 fixedly mounted on the other side of the first arc block 24 is further connected to the first servo 22; the other side of the first servo 22 is connected to the first servo short bracket 21; and the first finger joint 20 is mounted on the other side of the first servo short bracket 21 for rotation.

[0034] The fourth arc block 30 is coaxially installed on 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 servo short bracket 31, and the third servo short bracket 31 is further connected to the third servo 32. The third servo long bracket 33 is installed on the other side of the third servo 32. The third servo long bracket 33 is connected to the fifth arc block 34 for rotation, and the fifth arc block 34 is coaxial with the third arc block 29. The fourth servo long bracket 35 fixedly installed on the other side of the fifth arc block 34 is further connected to the fourth servo 36. The other side of the fourth servo 36 is connected to the fourth servo short bracket 37. The second finger joint 38 is installed on the other side of the fourth servo short bracket 37 for rotation.

[0035] 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.

[0036] In a preferred embodiment, the telescopic mechanism includes: a platform 44 is mounted on the outer arc segment of the third arc block 29, a driving gear 47 is mounted 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 mounted on the driving gear 47, the long belt 42 is connected to the first cylinder 43, and the other side long belt 42 is mounted on the second 28, the outside of the four arc blocks 30 can be stretched, the driven gear 45 is mounted on the positioning hole on the left side of the platform 44, and the gears cooperate with the driving gear 47, the second cylinder 41 is coaxially mounted on the driven gear 45, the short belt 40 is connected to the second cylinder 41, and the other side short belt 40 is mounted on the inside of the second 28, four arc blocks 30 can be retracted.

[0037] 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 entire device can be telescopically climbed up and down at the same time.

[0038] Please refer to Figure 6 and Figure 7, the following is a tree climbing process of a retractable obstacle-avoiding tree-climbing robot of the present invention: when there is no tree branch or the tree branch is not directly above the third arc-shaped block 29, the steering engine is controlled to clamp the tree trunk with the three clamping mechanisms 1, and after clamping, 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-shaped blocks 34 and the first 20, two finger joints 38 outward, and then the electric telescopic rod 2 above 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-shaped 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-shaped 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 completing a cycle of tree climbing process.

[0039] The following is an obstacle avoidance process of a retractable obstacle-avoiding tree-climbing robot of the present invention: During the climbing process, when a tree branch is encountered directly above the third arc-shaped block 29, the servo is controlled to clamp the tree trunk with the three clamping mechanisms 1, and the obstacle avoidance process of moving the third arc-shaped block 29 to the side without the tree branch is started. First, the servo of the upper clamping mechanism 1-1 is controlled to open the first 24, fifth arc-shaped 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-shaped block 30 are retracted into the third arc-shaped 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, thereby realizing the circumferential motion 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 extend from the inside of the third arc block 29, and then the steering gear is controlled to squeeze and clamp the first 24 and fifth arc blocks 34 and the first 20 and second finger joints 38 inwards. The upper clamping mechanism 1-1 hugs the tree and clamps it. After clamping, the steering gear 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 intermediate 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 intermediate clamping mechanism 1-2 is moved to the extreme left end, the moving slider 54 below the intermediate clamping mechanism 1-2 is moved to the extreme left end, and the moving slider 54 above the lower clamping mechanism 1-3 is moved to the extreme right end, so that the intermediate clamping mechanism 1- 2 circumferential motion, 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 servo is controlled to squeeze and clamp the first 24, five arc blocks 34 and the first 20, two finger joints 38 inward. 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. 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.

[0040] The foregoing description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed herein are intended to be encompassed within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A retractable obstacle-avoiding tree-climbing robot, characterized in that: Includes: The clamping mechanism (1) has three members arranged in parallel and having the same structure, namely an upper clamping mechanism (1-1), an intermediate clamping mechanism (1-2) and a lower clamping mechanism (1-3), characterized in that each of the clamping mechanisms (1) comprises: a third arc block (29), the right end of which is coaxially mounted with a second arc block (28), 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), and the second steering gear long bracket (28) is mounted on the other side of the second steering gear (26). 5) is connected to the first arc block (24) to realize rotation, and the first arc block (24) and the third arc block (29) are coaxial, the first steering engine long bracket (23) fixedly installed on the other side of the first arc block (24) is further connected to the first steering engine (22), the other side of the first steering engine (22) is connected to the first steering engine short bracket (21), the first finger joint (20) is installed on the other side of the first steering engine short bracket (21) to realize rotation, the fourth arc block (30) is coaxially installed on the left end of the third arc block (29), and the fourth arc block (30) is then connected to the third steering engine 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 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) to achieve rotation, and 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), and the second finger joint (38) is installed on the fourth steering gear short bracket (37) The other side can be rotated, and the combined clamping mechanism is used for the entire device to clamp the tree trunk; the moving mechanism (3) 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 located directly above the third arc block (29) to achieve moving obstacle avoidance; the telescopic mechanism (4) is arranged on the platform (44), and is used to telescope the second arc block (28) and the fourth arc block (30) to the inside of the third arc block (29), so as to avoid the tree branch when avoiding obstacles; the electric telescopic rod (2) is arranged on the moving slider (54).

2. 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 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 movable slider (54) is connected to the groove of the arc guide rail (50), 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).

3. The retractable obstacle-avoiding tree-climbing robot according to claim 1, characterized in that: The telescopic mechanism includes: 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), and the other side long belt (42) is installed on the outside of the second and fourth arc blocks 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 short belt (40) is installed on the inside of the second and fourth arc blocks to achieve contraction.

4. 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 connected to the middle clamping mechanism (1-2) by support, and the middle clamping mechanism (1-2) is connected to the lower clamping mechanism (1-3) by support. The three are arranged in parallel and have the same structure, and the upward and downward telescopic climbing of the entire device is achieved at the same time.

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