Telescopic gripper type climbing mechanism

Abstract

The invention discloses a telescopic gripper type climbing mechanism, relates to the technical field of climbing robots, and solves the problem that the effect of a climbing robot during forestry protection operation is affected as the climbing robot is difficult to freely and automatically climb trees in different shapes. The telescopic gripper type climbing mechanism comprises a lower base and an upper platform, a plurality of supporting columns are installed at the included angle of the top of the lower base, the upper platform is welded to the tops of the supporting columns, a plurality of gripper type climbing mechanical arms are installed between the lower base and the upper platform, and each gripper type climbing mechanical arm comprises a multi-angle rotating assembly. The multi-angle rotating assembly is installed between the lower base and the upper platform. In the invention, the climbing robot has two main working modes, and can freely and flexibly climb on trees with irregular growth postures such as bending, so that the effects of the climbing robot during forestry protection and tree branch cutting operation are improved.

Description

Technical Field

[0001] The invention relates to the technical field of climbing robots, in particular to a telescopic gripper type climbing mechanism. Background Art

[0002] The research and development goal of the telescopic gripper climbing robot is to assist and replace workers in climbing trees to perform forestry work such as inspection, maintenance, and pest control. It is an automated machine that can help reduce the risk of worker injury, improve work efficiency, and reduce the risk of tree collapse in cities. It is mainly composed of an original high-degree-of-freedom mobile device and a pair of mechanical claws.

[0003] The existing Chinese patent with authorization announcement number CN111361658B discloses an intelligent climbing robot, including a first climbing frame, a second climbing frame and a connector, the first climbing frame is provided with a driving assembly and a first wheel group, the second climbing frame is provided with a second wheel group and a third wheel group; a control motor is provided on the top of the second climbing frame, a plug hole is provided on the second climbing frame, and a transverse movement mechanism is connected to the plug hole; the transverse movement mechanism includes a shell, a conveyor belt, a driving wheel, a driving shaft and a transverse movement block, and a camera assembly is provided on the transverse movement block; the invention can quickly climb trees and electric poles, and it has a camera assembly, which can perform camera operations at high altitudes, can replace manual operations such as high-altitude maintenance, and improve construction efficiency.

[0004] However, the climbing robot has the following defects when used: 1. When existing climbing robots are used on trees and remove excess branches from trees to achieve forestry protection operations, there are certain differences due to the different structural shapes of different trees. Traditional climbing robots are difficult to climb freely and automatically on trees of different shapes, especially on trees with large bending angles, which affects the effectiveness of climbing robots in forestry protection operations. 2. When existing climbing robots cut the excess branches of trees, they generally use a motor to drive a cutting wheel to cut the branches of trees. However, in actual operation, the above scheme is complicated due to the uncertainty of the growth position and angle of tree branches, resulting in low efficiency of forestry protection. Summary of the invention

[0005] The object of the present invention is to provide a telescopic gripping claw type climbing mechanism to solve the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme: The present invention provides a telescopic gripping claw climbing mechanism, comprising a lower base and an upper platform, a plurality of support columns are installed at the top angle of the lower base, the upper platform is welded to the top of the plurality of support columns, and a plurality of gripping claw climbing mechanical arms are installed between the lower base and the upper platform. Wherein, the gripping claw climbing mechanical arm comprises: A multi-angle rotating assembly, the multi-angle rotating assembly is installed between the lower base and the upper platform, the multi-angle rotating assembly is arranged at the edge of the lower base and the upper platform, the multi-angle rotating assembly is located on the side of the supporting column, and the multi-angle rotating assembly is provided in plurality; A gripping claw climbing assembly, wherein the gripping claw climbing assembly is installed on the side of the multi-angle rotating assembly, and the gripping claw climbing assembly is provided in plurality, and the gripping claw climbing assembly is provided on the side of the lower base, and a cutting and debris removing assembly is installed on the side of the gripping claw climbing assembly, and the cutting and debris removing assembly is provided in two, and the two cutting and debris removing assemblies are provided in the front of the device.

[0007] As a preferred solution of the present invention, a camera module is installed in front of the connection between the lower base and the upper platform, and the camera module is arranged between two supporting columns. One side of the bottom of the support column is set as an opening, and an infrared detection module is installed at the opening of the support column. The infrared detection module is arranged on the left and right sides of the camera module. Wherein, the camera module, infrared detection module and gripping claw type climbing mechanical arm are all electrically connected to the control platform.

[0008] As a preferred solution of the present invention, two partitions are installed in the middle part of the connection between the lower base and the upper platform by screws, and a reserved opening is set between the two partitions. Wherein, the reserved opening is arranged on the side of the multi-angle rotating component.

[0009] As a preferred embodiment of the present invention, the multi-angle rotation assembly includes: A vertical mounting plate, the vertical mounting plate is welded and fixed at the edge where the lower base and the upper platform are connected, one side of the vertical mounting plate supports and positions a first motor, and the first motor is arranged on the side of the reserved opening; A transmission belt, the transmission belt is movably arranged on the top of the lower base, the transmission belt is arranged to penetrate the vertical mounting plate, and the transmission belt is connected to the outer side of the output end of the first motor through a synchronous wheel connected with an inner key; A transmission shaft, the transmission shaft is rotatably connected between the lower base and the upper platform, the transmission shaft is arranged on the other side of the vertical mounting plate, and the transmission shaft is connected to the inner side of the transmission belt through a synchronous wheel connected by an outer key; A horizontal rotating arm is installed on the outside of the transmission shaft, and the horizontal rotating arm is rotatably connected to the inner side of the side stopper, and the side stopper is installed on the other side of the vertical mounting plate.

[0010] As a preferred solution of the present invention, a second motor is installed on the top of the horizontal rotating arm, and the output end of the second motor is connected to a deflection arm, and the deflection arm is rotatably connected to the inner side of the horizontal rotating arm. Wherein, a third motor is installed on the inner side of the deflection arm away from the second motor, and an output end of the third motor is connected to a connecting arm, and the connecting arm is rotatably connected to the outer side of the deflection arm. Wherein, a gripping claw climbing assembly is installed and fixed on the inner side of the connecting arm.

[0011] As a preferred embodiment of the present invention, the gripping claw climbing assembly comprises: A lower mounting arm, wherein the lower mounting arm is mounted and fixed on the inner side of the connecting arm, a telescopic cylinder is mounted inside the lower mounting arm, and a protective shell is mounted at the bottom of the lower mounting arm; A tooth rod, the tooth rod is connected to the output end of the telescopic cylinder, the tooth rod is movably arranged inside the protective shell, the left and right sides of the tooth rod are meshed and connected with transmission gears, and the transmission gears are movably arranged inside the protective shell, Wherein, a transmission rod is provided through the inner center of the transmission gear, and the transmission rod is rotatably connected to the inside of the protective shell; A mechanical gripper is installed on the outside of the transmission rod and extends to the outside of the protective shell.

[0012] As a preferred solution of the present invention, a plurality of distance detection modules are installed on the inner bottom of the protective housing, and a cutting and impurity removal component is installed on the side of the lower mounting arm. Wherein, the cutting and impurity removing component is arranged above the telescopic cylinder.

[0013] As a preferred embodiment of the present invention, the cutting and impurity removal component comprises: A linear motor, the linear motor is mounted on one side of the lower mounting arm, the output end of the linear motor is connected to a spindle, the spindle passes through the lower mounting arm, and the spindle is arranged above the telescopic cylinder; A main gear, the main gear is mounted on the side of the main shaft, the side of the main gear is meshed with a slave gear, the slave gear and the main gear are both rotatably connected to the side of a T-shaped bracket, and the T-shaped bracket is mounted on the other side of the lower mounting arm by screws; A lower connecting rod, the lower connecting rod is installed at the bottom of the slave gear, one side of the lower connecting rod is recessed inwards and forms a recessed portion, the recessed portion is slidably connected to the raised portion, and the raised portion is installed on the inner wall of the rotating shaft. Wherein, the lower connecting rod extends to the inner wall of the rotating shaft, and a lifting assembly is installed on the outer side of the rotating shaft.

[0014] As a preferred solution of the present invention, an assembly is fixed to the bottom of the rotating shaft by a latch, and a cutting wheel is installed at the bottom of the assembly. Wherein, the cutting wheel is arranged on the side of the protective shell.

[0015] As a preferred solution of the present invention, the lifting assembly includes: A side support block is mounted on the other side of the lower mounting arm by screws, a lifting electric cylinder is positioned on the top support of the side support block, and a lifting block is connected to the output end of the lifting electric cylinder. The rotating shaft is installed inside the lifting block, and the center of the inner wall of the lifting block protrudes outward to form an extended protrusion, which extends to the inside of the annular part. Wherein, the annular portion is opened outside the rotating shaft.

[0016] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects: 1. In the telescopic gripping claw climbing mechanism, the mechanical claw structure for climbing has two main working modes. First, when climbing on trees growing in the vertical direction, the first motor can be started to operate, driving the mechanical claw structure of the climbing robot to rotate, and cooperating with the operation of the mechanical claw structure (gripping claw climbing component) to achieve vertical climbing operations; second, based on the above-mentioned first working mode, the second motor and the third motor can be operated to further increase the rotation angle of the mechanical claw structure in the vertical direction, and can achieve horizontal rotation, which is convenient for the climbing robot to climb on trees with irregular growth postures such as bending, and improve the effect of the climbing robot in forestry protection operations; 2. In the telescopic gripper climbing mechanism, the camera module and infrared detection module in front of the climbing robot are designed to ensure that when the climbing robot is climbing on the tree, the growth posture and growth of the tree in front of the climbing robot can be detected in advance by optical photography and infrared detection, so as to ensure that the subsequent climbing robot is more intelligent when climbing and cutting and clearing branches, and reduce the occurrence of the situation where the tree branches cannot be climbed or cleared; 3. In the telescopic claw climbing mechanism, when cleaning the branches of trees, the cutting wheel for cutting and clearing the branches of trees is installed on the side of the lower mounting arm, that is, the mechanical claw structure used by the climbing robot can simultaneously serve as an adjustment structure for the position of the cutting wheel for cutting the branches of trees, ensuring that when cutting and clearing the branches of trees with different growth postures, the cutting wheel can be accurately positioned on the side of the corresponding tree branches, thereby efficiently realizing the cutting and clearing operations of trees with different growth postures, and meeting the requirements for cutting and clearing the branches of different trees; 4. In the telescopic gripper climbing mechanism, the cutting wheel for cutting and clearing tree branches can be driven by the lifting electric cylinder to drive the rotating shaft to move up and down, thereby driving the cutting wheel installed at the bottom of the rotating shaft to move up and down, so as to ensure that when the tree branches are not cut and cleared, the cutting wheel is located above the mechanical gripper, and is not likely to interfere with the climbing operation of the climbing robot. The rotating shaft and cutting wheel that are lifted and lowered at the same time can be lifted and lowered without affecting the normal rotation of the rotating shaft, thereby reducing the floor space occupied by the above structure and ensuring that the rotation and lifting and lowering operations of the cutting wheel can be carried out normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0018] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the present invention as a whole viewed from above; Figure 3 It is a schematic diagram of the structure of the present invention when climbing as a whole; Figure 4 It is a schematic structural diagram of the overall main view of the present invention; Figure 5 It is a schematic structural diagram of the overall cross-section of the present invention; Figure 6 It is a schematic structural diagram of the claw-type climbing mechanical arm of the present invention; Figure 7 is a schematic structural diagram of a cross-section of a gripping climbing assembly of the present invention; Figure 8 It is a structural schematic diagram of the cross-section of the connection between the gripping climbing assembly and the vertical lifting assembly of the present invention; Fig. 9 It is an exploded view of the cutting and impurity removal component of the present invention; Fig.10 The present invention Fig. 9 A schematic diagram of the structure of the enlarged area in the middle A; In the figure: 10. Lower base; 100. Support column; 101. Camera module; 102. Infrared detection module; 20, upper platform; 201, partition; 202, reserved opening; 30. Claw-type climbing mechanical arm; 40. Multi-angle rotation assembly; 401. Vertical mounting plate; 402. First motor; 403. Transmission belt; 404. Transmission shaft; 405. Horizontal rotation arm; 4051. Second motor; 4052. Deflection arm; 4053. Third motor; 4054. Connecting arm; 406. Side block; 50. Climbing gripper assembly; 501. Lower mounting arm; 502. Telescopic cylinder; 503. Protective housing; 5031. Distance detection module; 504. Tooth rod; 505. Transmission gear; 506. Transmission rod; 507. Mechanical gripper; 60. Cutting and removing component; 601. Linear motor; 602. Main shaft; 603. Main gear; 604. Slave gear; 605. T-shaped bracket; 606. Lower connecting rod; 607. Concave portion; 6071. Raised portion; 608. Rotating shaft; 6081. Assembly; 6082. Cutting wheel; 609, lifting assembly; 6091, side support block; 6092, lifting cylinder; 6093, lifting block; 6094, extension protrusion; 6095, annular portion. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0021] See also Figure 1-Figure 10The telescopic gripping claw climbing mechanism includes a lower base 10 and an upper platform 20, a plurality of support columns 100 are installed at the top angle of the lower base 10, the upper platform 20 is welded on the top of the plurality of support columns 100, a plurality of gripping claw climbing mechanical arms 30 are installed between the lower base 10 and the upper platform 20, wherein the gripping claw climbing mechanical arms 30 include a multi-angle rotating assembly 40, the multi-angle rotating assembly 40 is installed between the lower base 10 and the upper platform 20, and the multi-angle rotating assembly 40 is arranged between the lower base 10 and the upper platform At the edge of the platform 20, the multi-angle rotating assembly 40 is located on the side of the supporting column 100, and multiple multi-angle rotating assemblies 40 are provided; the gripping climbing assembly 50 is installed on the side of the multi-angle rotating assembly 40, and multiple gripping climbing assemblies 50 are provided, and the gripping climbing assembly 50 is arranged on the side of the lower base 10, and the side of the gripping climbing assembly 50 is installed with a cutting and debris removing assembly 60, and two cutting and debris removing assemblies 60 are provided, and the two cutting and debris removing assemblies 60 are arranged in front of the device.

[0022] In the present invention, a camera module 101 is installed in front of the connection between the lower base 10 and the upper platform 20, and the camera module 101 is arranged between two support columns 100, wherein one side of the bottom of the support column 100 is arranged as an opening, and an infrared detection module 102 is installed at the opening of the support column 100, and the infrared detection module 102 is arranged on the left and right sides of the camera module 101, wherein the camera module 101, the infrared detection module 102 and the claw-type climbing robot arm 30 are all electrically connected to the control platform.

[0023] The above working principle: when cutting and clearing tree branches, multiple multi-angle rotating components 40 can simulate the state of climbing, and cooperate with the gripping climbing component 50 to clamp and fix the tree, so as to realize the automatic and efficient tree branch clearing operation. At the same time, there are multiple multi-angle rotating components 40, and each multi-angle rotating component 40 operates independently. When climbing on the tree, it is more flexible, and can climb freely on the tree with a larger bending angle, and has a wide range of applications. And the cutting and debris removal component 60 follows a group of multi-angle rotating components 40 to perform multi-angle movements, and can cut tree branches with different growth conditions and postures, thereby improving the efficiency of forestry protection.

[0024] In the present invention, through the design of the camera module 101 and the infrared detection module 102, the growth posture of the tree and the trend of the branches can be detected, so as to facilitate the realization of automated climbing operations.

[0025] Specific reference Figure 5 Two partitions 201 are installed in the middle part of the connection between the lower base 10 and the upper platform 20 by screws, and a reserved opening 202 is set between the two partitions 201, wherein the reserved opening 202 is set on the side of the multi-angle rotation component 40.

[0026] In the telescopic gripper climbing mechanism of the present invention, the design of the reserved opening 202 can leave a sufficiently large space for the device, which is convenient for installing the support platform for the installation of systems such as tree protection liquid spraying.

[0027] Specific reference Figure 6 The multi-angle rotation assembly 40 includes a vertical mounting plate 401, which is welded and fixed at the edge where the lower base 10 and the upper platform 20 are connected. One side of the vertical mounting plate 401 supports and positions a first motor 402, which is arranged on the side of the reserved opening 202; a transmission belt 403, which is movably arranged on the top of the lower base 10, and the transmission belt 403 is arranged through the vertical mounting plate 401. The transmission belt 403 is connected to the first motor 402 through a synchronous wheel connected by an inner key. The outside of the output end of the machine 402; a transmission shaft 404, the transmission shaft 404 is rotatably connected between the lower base 10 and the upper platform 20, the transmission shaft 404 is arranged on the other side of the vertical mounting plate 401, and the transmission shaft 404 is connected to the inner side of the transmission belt 403 through a synchronous wheel connected by an outer key; a horizontal rotating arm 405, the horizontal rotating arm 405 is installed on the outside of the transmission shaft 404, the horizontal rotating arm 405 is rotatably connected to the inner side of the side block 406, and the side block 406 is installed on the other side of the vertical mounting plate 401.

[0028] In this embodiment, a second motor 4051 is installed on the top of the horizontal rotating arm 405, and the output end of the second motor 4051 is connected to the deflection arm 4052, which is rotatably connected to the inner side of the horizontal rotating arm 405, wherein a third motor 4053 is installed on the inner side of the deflection arm 4052 away from the second motor 4051, and the output end of the third motor 4053 is connected to the connecting arm 4054, which is rotatably connected to the outer side of the deflection arm 4052, wherein a gripping claw climbing assembly 50 is installed and fixed on the inner side of the connecting arm 4054.

[0029] In the above embodiment, when climbing, the second motor 4051 can be started to operate, driving the deflection arm 4052 connected to the output end of the second motor 4051 to rotate, and adjusting the vertical angle of the gripping claw climbing assembly 50. At the same time, the third motor 4053 can drive the connecting arm 4054 to rotate, so as to facilitate the adjustment of the horizontal angle of the gripping claw climbing assembly 50. At the same time, the two can be used in combination to achieve tree climbing operations in different postures.

[0030] In the telescopic gripper climbing mechanism of the present invention, when a tree climbing operation is performed, the first motor 402 is started to operate, driving the transmission belt 403 connected to the outer side of the output end of the first motor 402 through the synchronous wheel to operate, and causing the transmission shaft 404 connected to the inner side of the transmission belt 403 through the synchronous wheel to rotate. When the transmission shaft 404 rotates, the horizontal rotating arm 405 installed on the outer side thereof can rotate, driving the gripper climbing assembly 50 to rotate in the vertical direction, cooperating with the third motor 4053 to drive the connecting arm 4054 to rotate, thereby realizing a climbing operation with a higher degree of freedom for the climbing robot.

[0031] Specific reference Figure 6 , Figure 7 and Figure 8 The grip climbing assembly 50 includes a lower mounting arm 501, which is fixedly mounted on the inner side of the connecting arm 4054, a telescopic cylinder 502 is mounted inside the lower mounting arm 501, and a protective shell 503 is mounted at the bottom of the lower mounting arm 501; a toothed rod 504, which is connected to the output end of the telescopic cylinder 502, and the toothed rod 504 is movably arranged inside the protective shell 503, and the left and right sides of the toothed rod 504 are meshingly connected with a transmission gear 505, and the transmission gear 505 is movably arranged inside the protective shell 503, wherein a transmission rod 506 is penetrated at the inner center of the transmission gear 505, and the transmission rod 506 is rotatably connected to the inside of the protective shell 503; a mechanical gripper 507, which is mounted on the outer side of the transmission rod 506, and the mechanical gripper 507 extends to the outer side of the protective shell 503.

[0032] In this embodiment, a plurality of distance detection modules 5031 are installed at the inner bottom of the protective housing 503 , and a cutting and debris removal component 60 is installed at the side of the lower mounting arm 501 , wherein the cutting and debris removal component 60 is arranged above the telescopic cylinder 502 .

[0033] In the telescopic gripper climbing mechanism of the present invention, when climbing a tree, the telescopic cylinder 502 can be started to operate, driving the toothed rod 504 connected to the output end of the telescopic cylinder 502 to move up and down. When the toothed rod 504 moves up and down, the transmission gears 505 meshing on the left and right sides thereof will rotate in opposite directions, and the transmission rod 506 connected to the middle of the transmission gear 505 will rotate. At this time, when the transmission rod 506 rotates, the mechanical gripper 507 installed on the outside thereof will operate to achieve the operation of clamping or releasing the tree.

[0034] Specific reference Figure 8 , Fig. 9 and Fig.10The cutting and impurity removal component 60 includes a linear motor 601, which is mounted on one side of the lower mounting arm 501. The output end of the linear motor 601 is connected to a main shaft 602, which passes through the lower mounting arm 501 and is arranged above the telescopic cylinder 502; a main gear 603, which is mounted on the side of the main shaft 602, and the side of the main gear 603 is meshed with a slave gear 604, and the slave gear 604 and the main gear 603 are both rotatably connected to the T-shaped bracket 6 05, a T-shaped bracket 605 is mounted on the other side of the lower mounting arm 501 by screws; a lower connecting rod 606, the lower connecting rod 606 is mounted on the bottom of the gear 604, one side of the lower connecting rod 606 is recessed inward and forms a recessed portion 607, the recessed portion 607 and the raised portion 6071 are slidably connected, and the raised portion 6071 is mounted on the inner wall of the rotating shaft 608, wherein the lower connecting rod 606 extends to the inner wall of the rotating shaft 608, and a lifting assembly 609 is installed on the outer side of the rotating shaft 608.

[0035] In this embodiment, an assembly body 6081 is fixed to the bottom of the rotating shaft 608 via a latch, and a cutting wheel 6082 is installed at the bottom of the assembly body 6081 , wherein the cutting wheel 6082 is arranged on the side of the protective housing 503 .

[0036] In the above embodiment, the cutting wheel 6082 can be rotated by rotating the rotating shaft 608 to achieve the cutting and clearing operation of the tree branches. At the same time, the cutting wheel 6082 can be disassembled by pulling out the pin, which is convenient for replacing and maintaining the cutting wheel 6082.

[0037] In the telescopic gripper climbing mechanism of the present invention, when the cutting wheel 6082 is driven to rotate to cut the branches of the tree, the linear motor 601 is started to operate, driving the main shaft 602 connected to the output end of the linear motor 601 to rotate. When the main shaft 602 rotates, the main gear 603 connected to the bottom thereof rotates, causing the slave gear 604 meshingly connected to the side of the main gear 603 to rotate. At this time, when the slave gear 604 rotates, the lower connecting rod 606 connected to the bottom thereof rotates, causing the outer portion of the lower connecting rod 606 to rotate through the protruding portion 6071 connected to the recessed portion 607 and the rotating shaft 608.

[0038] Specific reference Figure 8 , Fig. 9 and Fig.10The lifting component 609 includes a side support block 6091, which is installed on the other side of the lower mounting arm 501 by screws. The top support of the side support block 6091 is positioned with a lifting electric cylinder 6092, and the output end of the lifting electric cylinder 6092 is connected to a lifting block 6093, wherein a rotating shaft 608 is installed inside the lifting block 6093, and the center of the inner wall of the lifting block 6093 protrudes outward and forms an extension protrusion 6094, and the extension protrusion 6094 extends to the inside of the annular portion 6095, wherein the annular portion 6095 is opened outside the rotating shaft 608.

[0039] In the telescopic gripper climbing mechanism of the present invention, when it is necessary to adjust the position of the cutting wheel 6082 to cut and remove the branches of the tree, the lifting block 6093 can be lifted and moved by the lifting electric cylinder 6092, so that the rotating shaft 608 connected to the inner side of the lifting block 6093 through the extension protrusion 6094 can be lifted and moved. At this time, when the rotating shaft 608 rotates, the extension protrusion 6094 can rotate inside the annular portion 6095, and will not affect the lifting block 6093 to drive the rotating shaft 608 to move up and down. When the rotating shaft 608 moves up and down, the lower connecting rod 606 arranged inside it can be lifted and moved (inside the rotating shaft 608) through the design of the recessed portion 607 and the raised portion 6071, and will not affect the operation of the lower connecting rod 606 driving the rotating shaft 608 to rotate.

[0040] In the present invention, the cutting wheel 6082 used for cutting tree branches can be disassembled and can be installed with structures such as wire clamps to achieve various operations such as wire installation and construction.

[0041] Without limitation, any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent substitutions or changes according to the technical solution and inventive concept of the present invention, should be covered by the protection scope of the present invention.

Claims

1. A telescopic gripper climbing mechanism, comprising a lower base (10) and an upper platform (20), characterized in that: A plurality of support columns (100) are installed at the top angle of the lower base (10), an upper platform (20) is welded to the top of the plurality of support columns (100), and a plurality of gripping claw-type climbing mechanical arms (30) are installed between the lower base (10) and the upper platform (20). Wherein, the gripping claw type climbing mechanical arm (30) comprises: a multi-angle rotation assembly (40), the multi-angle rotation assembly (40) being installed between the lower base (10) and the upper platform (20), the multi-angle rotation assembly (40) being arranged at the edges of the lower base (10) and the upper platform (20), the multi-angle rotation assembly (40) being located on the side of the support column (100), and the multi-angle rotation assembly (40) being provided with a plurality; A gripping claw climbing assembly (50), the gripping claw climbing assembly (50) being mounted on the side of the multi-angle rotating assembly (40), the gripping claw climbing assembly (50) being provided in plurality, the gripping claw climbing assembly (50) being arranged on the side of the lower base (10), the side of the gripping claw climbing assembly (50) being provided with a cutting and debris removal assembly (60), the cutting and debris removal assembly (60) being provided with two, the two cutting and debris removal assemblies (60) being arranged in front of the device.

2. The telescopic gripper climbing mechanism according to claim 1, characterized in that: A camera module (101) is installed in front of the connection between the lower base (10) and the upper platform (20), and the camera module (101) is arranged between two support columns (100). One side of the bottom of the support column (100) is arranged as an opening, and an infrared detection module (102) is installed at the opening of the support column (100), and the infrared detection module (102) is arranged on the left and right sides of the camera module (101). The camera module (101), the infrared detection module (102) and the claw-type climbing mechanical arm (30) are all electrically connected to the control platform.

3. The telescopic gripper climbing mechanism according to claim 1, characterized in that: Two partitions (201) are installed in the middle part of the connection between the lower base (10) and the upper platform (20) by means of screws, and a reserved opening (202) is provided between the two partitions (201). Wherein, the reserved opening (202) is arranged on the side of the multi-angle rotation component (40).

4. The telescopic gripper climbing mechanism according to claim 3, characterized in that: The multi-angle rotation assembly (40) comprises: a vertical mounting plate (401), the vertical mounting plate (401) being welded and fixed at the edge where the lower base (10) and the upper platform (20) are connected, a first motor (402) being supported and positioned on one side of the vertical mounting plate (401), the first motor (402) being arranged on the side of the reserved opening (202); A transmission belt (403), the transmission belt (403) being movably arranged on the top of the lower base (10), the transmission belt (403) being arranged to penetrate the vertical mounting plate (401), and the transmission belt (403) being connected to the outside of the output end of the first motor (402) via a synchronous wheel connected with an inner key; A transmission shaft (404), the transmission shaft (404) being rotatably connected between the lower base (10) and the upper platform (20), the transmission shaft (404) being arranged on the other side of the vertical mounting plate (401), and the transmission shaft (404) being connected to the inner side of the transmission belt (403) via a synchronous wheel connected by an outer key; A horizontal rotating arm (405) is mounted on the outside of the transmission shaft (404), and the horizontal rotating arm (405) is rotatably connected to the inside of a side stopper (406), and the side stopper (406) is mounted on the other side of the vertical mounting plate (401).

5. The telescopic gripper climbing mechanism according to claim 4, characterized in that: A second motor (4051) is installed on the top of the horizontal rotating arm (405); an output end of the second motor (4051) is connected to a deflection arm (4052); and the deflection arm (4052) is rotatably connected to the inner side of the horizontal rotating arm (405). A third motor (4053) is installed on the inner side of the deflection arm (4052) away from the second motor (4051); an output end of the third motor (4053) is connected to a connecting arm (4054); and the connecting arm (4054) is rotatably connected to the outer side of the deflection arm (4052). Wherein, a gripping claw climbing assembly (50) is installed and fixed on the inner side of the connecting arm (4054).

6. The telescopic gripper climbing mechanism according to claim 5, characterized in that: The gripping claw climbing assembly (50) comprises: A lower mounting arm (501), the lower mounting arm (501) being mounted and fixed on the inner side of the connecting arm (4054), a telescopic cylinder (502) being mounted inside the lower mounting arm (501), and a protective housing (503) being mounted at the bottom of the lower mounting arm (501); a toothed rod (504), the toothed rod (504) being connected to the output end of the telescopic cylinder (502), the toothed rod (504) being movably disposed inside the protective housing (503), the left and right sides of the toothed rod (504) being meshingly connected with a transmission gear (505), the transmission gear (505) being movably disposed inside the protective housing (503), A transmission rod (506) is provided through the inner center of the transmission gear (505), and the transmission rod (506) is rotatably connected to the inside of the protective housing (503); A mechanical gripper (507), wherein the mechanical gripper (507) is mounted on the outside of the transmission rod (506), and the mechanical gripper (507) extends to the outside of the protective housing (503).

7. The telescopic gripper climbing mechanism according to claim 6, characterized in that: A plurality of distance detection modules (5031) are installed on the inner bottom of the protective housing (503), and a cutting and impurity removal component (60) is installed on the side of the lower mounting arm (501). Wherein, the cutting and impurity removal component (60) is arranged above the telescopic cylinder (502).

8. The telescopic gripper climbing mechanism according to claim 7, characterized in that: The cutting and impurity removal component (60) comprises: A linear motor (601), the linear motor (601) being mounted on one side of the lower mounting arm (501), the output end of the linear motor (601) being connected to a main shaft (602), the main shaft (602) being arranged to penetrate the lower mounting arm (501), and the main shaft (602) being arranged above the telescopic cylinder (502); A main gear (603), the main gear (603) being mounted on a side of the main shaft (602), the side of the main gear (603) being meshedly connected with a slave gear (604), the slave gear (604) and the main gear (603) being rotatably connected to a side of a T-shaped bracket (605), and the T-shaped bracket (605) being mounted on the other side of the lower mounting arm (501) by means of screws; A lower connecting rod (606), the lower connecting rod (606) is mounted on the bottom of the slave gear (604), one side of the lower connecting rod (606) is recessed inwardly to form a recessed portion (607), the recessed portion (607) and the raised portion (6071) are slidably connected, and the raised portion (6071) is mounted on the inner wall of the rotating shaft (608), The lower connecting rod (606) extends to the inner wall of the rotating shaft (608), and a lifting assembly (609) is installed on the outer side of the rotating shaft (608).

9. The telescopic gripper climbing mechanism according to claim 8, characterized in that: An assembly body (6081) is fixedly mounted on the bottom of the rotating shaft (608) via a latch, and a cutting wheel (6082) is mounted on the bottom of the assembly body (6081). Wherein, the cutting wheel (6082) is arranged on the side of the protective shell (503).

10. The telescopic gripper climbing mechanism according to claim 9, characterized in that: The lifting assembly (609) comprises: A side support block (6091) is mounted on the other side of the lower mounting arm (501) by means of screws, a lifting electric cylinder (6092) is positioned at the top support of the side support block (6091), and an output end of the lifting electric cylinder (6092) is connected to a lifting block (6093). The rotating shaft (608) is installed inside the lifting block (6093), and the center of the inner wall of the lifting block (6093) protrudes outward to form an extension protrusion (6094), and the extension protrusion (6094) extends to the inside of the annular portion (6095). Wherein, the annular portion (6095) is opened outside the rotating shaft (608).

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