Parallel leg-imitating type quick tree-climbing robot

Abstract

The invention discloses a parallel leg-imitating type quick tree climbing robot which comprises a trunk rack, a clamping mechanism, an operation manipulator, two arm holding modules and two mechanical legs, the operation manipulator is mounted at the top of the trunk rack, and the clamping mechanism is mounted on the trunk rack; the two embracing arm modules and the two mechanical legs are symmetrically installed on the two sides of the trunk rack respectively, each mechanical leg comprises a hip joint module, a thigh module, a shank module, an ankle module, a foot plate and a climber module, the thigh module comprises a first connecting rod, a second connecting rod, a second motor and a third motor, the second motor is connected with the first connecting rod, and the third motor is connected with the second connecting rod; the shank module comprises a third connecting rod and a fourth connecting rod, the third connecting rod is connected with the first connecting rod, the fourth connecting rod is connected with the second connecting rod, and the fourth connecting rod is connected with the third connecting rod, so that the thigh module and the shank module are connected in parallel; through cooperation of the clamping mechanism and the operation mechanical arm, the function that the tree climbing robot works on tree trunk branches is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a parallel leg-like fast tree-climbing robot. Background Art

[0002] At present, tree branch pruning, fruit picking, forest environment monitoring and power line tree pruning all require tree climbing operations. Traditionally, tree climbing operations rely on people, which is labor-intensive and dangerous. Tree climbing robots can well replace manual work on trees and have great application prospects.

[0003] Existing tree-climbing robots are mainly divided into creeping, clamping, wheeled and crawler types according to the movement mode, and they can be freely combined into many combinations to form different styles of tree-climbing robots. For example, in the patent document with application number "CN2021108369796", a stepping tree-climbing robot is disclosed, including: an upper platform, a lower platform, a telescopic mechanism and two clamping mechanisms; during the tree-climbing process, the upper platform and the lower platform can clamp the tree trunk through the clamping mechanism, one of the platforms is stationary as a static platform, and the other platform moves under the action of the telescopic mechanism as a dynamic platform, and accessories can be added to the tree-climbing robot to achieve functions such as trimming branches. By adopting a stepping tree-climbing robot composed of an upper platform, a lower platform, a telescopic mechanism and two clamping mechanisms, compared with wheeled or crawler climbing methods, the tree trunk can be alternately held tightly, stability can be enhanced, and the risk of falling can be reduced. However, this structure can only work on the main trunk, not on the trunk branches, the working space is limited, and the working capacity is insufficient for picking tasks on the trunk branches. At the same time, the inventors have found that most of the tree-climbing robots in the prior art embrace the main trunk of the tree to be operated, move up and down or stay on the main trunk, and then use the operating manipulator mounted on the tree-climbing robot to pick the leaves or fruits on the trunk branches, but cannot operate directly on the trunk branches. For some leaves or fruits on the trunk branches that are far away from the main trunk, it is difficult for the manipulator of the tree-climbing robot to complete the picking work.

[0004] In view of this, the present invention proposes a parallel leg-like fast tree-climbing robot to solve the above technical problems. Summary of the invention

[0005] The purpose of the present invention is to provide a parallel leg-like fast tree-climbing robot to solve the technical problem in the prior art that the tree-climbing robot cannot directly operate on the trunk branches.

[0006] To achieve the above object, the present invention provides a parallel leg-like fast tree-climbing robot, comprising a trunk frame, a clamping mechanism, an operating manipulator, two arm modules, and two mechanical legs. A control box and a camera module are arranged on the trunk frame, a controller and a battery are arranged in the control box, and the controller is connected to the camera module.

[0007] The clamping mechanism is installed on the trunk frame, and the clamping mechanism includes a motor five, a rotating frame, an electric telescopic rod one and a clamp. The motor five is installed on the trunk frame, the rotating shaft of the motor five is connected to the rotating frame, the electric telescopic rod one is fixed on the rotating frame, the rod body of the electric telescopic rod one is connected to the clamp, and the clamp includes two clamping claws and a motor six, one end of the clamping claw is provided with a gear, the gears of the two clamping claws are meshed with each other, and the rotating shaft of the motor six is ​​connected to the gear of one of the clamping claws;

[0008] The operating manipulator is mounted on the top of the trunk frame;

[0009] The two arm modules are symmetrically mounted on the upper end of the trunk frame;

[0010] The two mechanical legs are symmetrically mounted at the lower end of the trunk frame, and the mechanical legs include a hip joint module, a thigh module, a calf module, an ankle module, a foot plate and a foot buckle module. The hip joint module is mounted on the trunk frame, one end of the thigh module is connected to the hip joint module, the other end of the thigh module is connected to one end of the calf module, the other end of the calf module is connected to the ankle module, the foot plate is mounted on the ankle module, and the foot buckle module is mounted on the foot plate;

[0011] The clamping mechanism, the operating manipulator, the two arm modules and the two mechanical legs are respectively connected to the controller.

[0012] Preferably, in the above technical scheme, the operating manipulator includes a base, a turntable, movable arm one, movable arm two, mechanical claws, servo one, servo two, servo three, servo four and servo five, the base is arranged on the trunk bracket, the base is provided with a turntable, the servo one is installed in the base, the rotating shaft of the servo one is connected to the rotating shaft of the turntable, the servo one is used to control the rotation of the turntable, one end of the movable arm one is rotatably connected to the turntable, the servo two is installed on the turntable, the rotating shaft of the servo two is connected to one end of the movable arm one, the other end of the movable arm one is rotatably connected to one end of the movable arm two, the servo four is installed at the other end of the movable arm two, the rotating shaft of the servo four is connected to the mechanical claw, the servo five is used to control the opening and closing of the mechanical claw, the servo three is used to control the rotation of the movable arm two, and the servo two is used to control the rotation of the movable arm one.

[0013] Preferably, in the above technical solution, the arm module includes an arc-shaped arm and a motor four, the motor four is arranged on the trunk frame, and the rotating shaft of the motor four is connected to one end of the arc-shaped arm.

[0014] Preferably, in the above technical solution, the hip joint module includes motor 1, swing arm 1, swing arm 2, a fixed seat and a hip joint frame, the hip joint frame is symmetrically provided with swing arm 1 and swing arm 2 at the front and rear ends, the motor 1 is installed at the front end of the trunk frame, the rotating shaft of the motor 1 is connected to one end of the swing arm 1, the fixed seat is installed at the rear end of the trunk frame, and one end of the swing arm 2 is rotatably connected to the fixed seat.

[0015] Preferably, in the above technical solution, motor 2 and motor 3 are installed in the hip joint frame, and motor 2 is installed in front of motor 3.

[0016] Preferably, in the above technical solution, the thigh module includes connecting rod one and connecting rod two, the upper end of connecting rod one is connected to the rotating shaft of motor two through gear transmission, and the upper end of connecting rod two is connected to the rotating shaft of motor three through gear transmission.

[0017] Preferably, in the above technical solution, the calf module includes connecting rod three and connecting rod four, the upper end of connecting rod three is rotatably connected to the lower end of connecting rod one, connecting rod three is provided with a connecting piece, the upper end of connecting rod four is rotatably connected to the lower end of connecting rod two, and the lower end is rotatably connected to the connecting piece.

[0018] Preferably, in the above technical solution, the ankle module includes a sleeve and a motor seven, the motor seven is fixed to the lower end of the connecting rod three, the rotating shaft of the motor seven is connected to the sleeve, and the foot plate is mounted on the sleeve.

[0019] Preferably, in the above technical solution, the foot buckle module includes a front foot buckle, an electric telescopic rod 2 and a rear foot buckle, the front foot buckle is movably connected to one end of the rear foot buckle, the other end of the rear foot buckle is fixed to the foot plate, the electric telescopic rod 2 is fixed to the front foot buckle, the rod body of the electric telescopic rod 2 is connected to the rear foot buckle, and a plurality of iron teeth are provided on the arc-shaped buckles of the front foot buckle and the rear foot buckle.

[0020] Preferably, in the above technical solution, an arc-shaped motion groove is provided at the bottom of the torso support, and the swing arm 1 and the swing arm 2 are both provided with a cylindrical protrusion with a diameter corresponding to the aperture of the arc-shaped motion groove, and the cylindrical protrusion is sleeved in the arc-shaped motion groove.

[0021] Compared with the existing technology, the present invention has the following beneficial effects:

[0022] 1. The present invention realizes the action of simulating the human body using foot buckles to climb a tree. The foot buckle modules are installed on the two mechanical legs in combination with two arm-holding modules to realize crawling and fixing on the tree trunk. The main trunk is fixed by the clamp of the clamping mechanism. The operating manipulator holds the trunk branch. Then, the operating manipulator bends and the motor five of the clamping mechanism drives the rotating frame to rotate. The rotating frame drives the electric telescopic rod one to rotate. The electric telescopic rod one performs telescopic cooperation to make the trunk frame of the tree-climbing robot tilt toward the trunk branch. Then, through the cooperation of the two mechanical legs, the two arm-holding modules, the clamping mechanism and the operating manipulator, the tree-climbing robot climbs up the trunk branch and crawls on the trunk branch. The operating manipulator performs operations, thereby realizing the function of the tree-climbing robot to operate on the trunk branch.

[0023] 2. The present invention provides friction between the robot and the tree trunk through the foot buckle module, avoiding the use of electric or hydraulic mechanisms to drive the clamps to fix the tree climbing robot body and the tree trunk in the prior art. By reducing these mechanisms, the kinetic energy loss of the system is reduced, the endurance of the tree climbing robot is improved, and the tree climbing efficiency is improved. The distance between the front foot buckle and the rear foot buckle is adjusted by the electric telescopic rod 2 to adapt to trees of different diameters or changes in tree diameter during the tree climbing process.

[0024] 3. The present invention uses motor 2 and motor 3 arranged in the hip joint frame as driving components of the mechanical leg. The thigh module is composed of connecting rod 1 and connecting rod 2, and the calf module is composed of connecting rod 3 and connecting rod 4. The connecting rod 4 and connecting rod 3 are connected in parallel through the connecting piece, thereby realizing the parallel connection of the thigh module and the calf module. The motor 2 drives the connecting rod 1 to rotate, the motor 3 drives the connecting rod 2 to rotate, the connecting rod 1 drives the connecting rod 3 to rotate, and the connecting rod 2 drives the connecting rod 4 to rotate, thereby realizing the simulation of the human body's thigh lifting and knee bending to drive the calf movement, realizing the action simulation of the human body's thigh lifting and knee bending to drive the calf movement, and the parallel connection of the thigh module and the calf module is improved. The motor 2 and motor 3 are arranged in the hip joint frame, so that the mechanical leg has the advantages of small motion load, fast movement speed and high control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of a parallel leg-like fast tree-climbing robot.

[0026] Figure 2 This is the right view of the parallel leg-like fast tree-climbing robot.

[0027] Figure 3 It is a structural schematic diagram of the clamping mechanism of the present invention.

[0028] Figure 4 It is a structural schematic diagram of the operating manipulator of the present invention.

[0029] Figure 5 It is a schematic diagram of the implementation of the climbing pole of the present invention.

[0030] Figure 6 It is a demonstration diagram of the action process of the left leg of the present invention.

[0031] Figure 7 It is a demonstration diagram of the action process of the right leg of the present invention.

[0032] Figure 8 It is a demonstration diagram of the action process of the present invention in climbing a tree trunk branch.

[0033] Fig. 9 It is a schematic diagram of the implementation of the present invention on a tree trunk branch.

[0034] In the figure: 1-trunk frame, 2-clamping mechanism, 3-arm module, 4-hip joint module, 5-thigh module, 6-calf module, 7-sleeve, 8-control box, 9-camera module, 10-operating manipulator, 11-foot plate, 12-foot buckle module, 13-arc motion slot, 201-motor five, 202-rotating frame, 203-electric telescopic rod one, 204-gripping claw, 205-motor six, 301-arc arm, 302-motor four, 401-motor one, 402-swing arm one, 403- Hip joint support, 404—fixed seat, 405—swing arm 2, 501—connecting rod 1, 502—connecting rod 2, 503—motor 2, 504—motor 3, 601—connecting rod 3, 602—connecting rod 4, 603—connecting piece, 1201—front foot buckle, 1202—rear foot buckle, 1203—electric telescopic rod 2, 101—base, 102—movable arm 1, 103—movable arm 2, 104—mechanical claw, 105—servo 2, 106—servo 3, 107—servo 4, 108—servo 5. DETAILED DESCRIPTION

[0035] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the invention is not limited by the specific implementation modes.

[0036] refer to Figures 1 to 5The present invention provides a parallel leg-like fast tree-climbing robot, comprising a trunk frame 1, a clamping mechanism 2, an operating manipulator 10, two arm modules 3 and two mechanical legs, wherein the clamping mechanism 2 is mounted on the trunk frame 1, the operating manipulator 10 is mounted on the top of the trunk frame 1, the two arm modules 3 are symmetrically mounted on the upper end of the trunk frame 1, and the two mechanical legs are symmetrically mounted on the lower end of the trunk frame 1. A control box 8 and a camera module 9 are provided on the trunk frame 1, and a controller and a battery are provided in the control box 8. The clamping mechanism 2, the operating manipulator 10, the two arm modules 3 and the two mechanical legs are respectively connected to the controller. In this embodiment, the controller can select a single-chip microcomputer of the STM32F407 series.

[0037] The mechanical leg includes a hip joint module 4, a thigh module 5, a calf module 6, an ankle module, a foot plate 11 and a foot buckle module 12. The hip joint module 4 is installed on the torso frame 1, one end of the thigh module 5 is connected to the hip joint module 4, the other end of the thigh module 5 is connected to one end of the calf module 6, the other end of the calf module 6 is connected to the ankle module, the foot plate 11 is installed on the ankle module, and the foot buckle module 12 is installed on the foot plate 11.

[0038] The hip joint module 4 includes a motor 1 401, a fixing seat 404, a hip joint bracket 403, a motor 2 503 and a motor 3 504. The hip joint bracket 403 is symmetrically provided with a swing arm 1 402 and a swing arm 2 405 at the front and rear ends. The motor 1 401 is arranged at the front end of the trunk frame 1, and its rotating shaft is connected to one end of the swing arm 1 402. The fixing seat 404 is arranged at the rear end of the trunk frame 1, and one end of the swing arm 2 405 is rotatably connected to the fixing seat 404. The motor 2 503 and the motor 3 504 are installed in the hip joint bracket 403, and the motor 2 503 is located in front of the motor 3 504.

[0039] The thigh module 5 includes a connecting rod 1 501 and a connecting rod 2 502 . The upper end of the connecting rod 1 501 is connected to the rotating shaft of the motor 2 503 through a gear transmission, and the upper end of the connecting rod 2 502 is connected to the rotating shaft of the motor 3 504 through a gear transmission.

[0040] The calf module 6 includes a connecting rod three 601 and a connecting rod four 602. The upper end of the connecting rod three 601 is rotatably connected to the lower end of the connecting rod one 501. A connecting piece 603 is provided on the connecting rod three 601. The upper end of the connecting rod four 602 is rotatably connected to the lower end of the connecting rod two 502, and the lower end is rotatably connected to the connecting piece 603. The ankle module is fixed to the lower end of the connecting rod three 601.

[0041] The arm module 3 includes an arc-shaped arm 301 and a motor 4 302. The motor 4 302 is arranged on the trunk frame 1, and the rotating shaft of the motor 4 302 is connected to one end of the arc-shaped arm 301.

[0042] Continue to refer Figure 3The clamping mechanism 2 includes a motor 5 201, a rotating frame 202, an electric telescopic rod 1 203 and a clamp. The rotating shaft of the motor 5 201 is connected to the rotating frame 202. The electric telescopic rod 1 203 is fixed on the rotating frame 202, and one end of its rod body is connected to the clamp. The clamp includes two clamping jaws 204 and a motor 6 205. One end of the clamping jaw 204 is provided with a gear, and the gears between the two clamping jaws 204 are meshed with each other. The rotating shaft of the motor 6 205 is connected to one of the clamping jaws 204. The motor 6 205 drives one clamping jaw 204 to rotate, thereby rotating the other clamping jaw 204, so that the two clamping jaws 204 open and close to achieve the clamp clamping of the trunk or trunk branch. The rotating frame 202 is driven to rotate by the motor 5 201, thereby driving the electric telescopic rod 1 203 to rotate, and the clamp is driven to extend and retract through the telescopic movement of the electric telescopic rod 1 203. In this embodiment, the motor 5 201 and the motor 6 205 can be a steering gear.

[0043] Two arc-shaped motion grooves 13 are symmetrically penetrated on the front side of the torso support 1. Both the swing arm 1 402 and the swing arm 2 405 are provided with cylindrical protrusions with diameters corresponding to the apertures of the arc-shaped motion grooves 13. The cylindrical protrusions are sleeved in the arc-shaped motion grooves 13 to limit the swing arm 1 402 and the swing arm 2 405 from swinging along the arc-shaped motion grooves 13, and at the same time provide support force for the swing arm 1 402 and the swing arm 2 405 when the tree-climbing robot climbs the pole.

[0044] Continue to refer Figure 1 and Figure 2 The ankle module includes a sleeve 7 and a motor 7. The sleeve 7 is rotatably connected to the connecting rod 3 601. The motor 7 is fixed to the lower end of the connecting rod 3 601, and its rotating shaft is connected to the sleeve 7. The lower end of the sleeve 7 is connected to the foot plate 11. The sleeve 7 is driven to rotate by the motor 7, and the sleeve 7 drives the foot plate 11 to rotate.

[0045] The foot buckle module 12 includes a front foot buckle 1201, a rear foot buckle 1202 and an electric telescopic rod 1203. One end of the rear foot buckle 1202 is movably connected to the front foot buckle 1201, and the other end is fixed to the foot plate 11. The arc-shaped buckles of the front foot buckle 1201 and the rear foot buckle 1202 are provided with a plurality of iron teeth to bite the tree trunk when climbing a tree. The electric telescopic rod 1203 is fixed to the front foot buckle 1201, and the rod body of the electric telescopic rod 1203 is connected to the rear foot buckle 1202. The rear foot buckle 1202 is driven to move by the extension and retraction of the electric telescopic rod 1203 to adjust the distance between the front foot buckle 1201 and the rear foot buckle 1202 to adapt to trees of different diameters or changes in tree diameter during tree climbing.

[0046] Continue to refer Figure 4The working manipulator 10 of the present invention includes a base 101, a movable arm 102, a movable arm 2 103, a mechanical claw 104, a steering gear 1, a steering gear 2 105, a steering gear 3 106, a steering gear 4 107 and a steering gear 5 108. The base 101 is arranged on the trunk bracket 1, a turntable is arranged on the base 101, the steering gear 1 is installed in the base 101, the rotating shaft of the steering gear 1 is connected to the rotating shaft of the turntable, the steering gear 1 is used to control the rotation of the turntable, one end of the movable arm 102 is rotatably connected to the turntable, and the steering gear 2 105 is installed on the turntable. The other end of the movable arm 102 is rotatably connected to one end of the movable arm 2 103, the rotating shaft of the servo 2 105 is connected to one end of the movable arm 102, the servo 4 107 is installed at the other end of the movable arm 2 103, the rotating shaft of the servo 4 107 is connected to the mechanical claw 104, the servo 4 107 is used to control the rotation of the mechanical claw 104, the servo 5 108 is used to control the opening and closing of the mechanical claw 104, the servo 3 106 is used to control the rotation of the movable arm 2 103, and the servo 2 105 is used to control the rotation of the movable arm 102.

[0047] refer to Figures 5 to 7 When the parallel leg-like fast tree-climbing robot of the present invention climbs a tree, the two mechanical legs of the robot are in a state of one high and one low, such as the left mechanical leg is at the bottom and the right mechanical leg is at the top, the two foot buckle modules 12 are clamped on the tree trunk to be operated, the two arc-shaped arms 301 hold the tree trunk, the clamp of the clamping mechanism 2 abuts against the tree trunk, so that the center of gravity of the robot tilts backward, the two arc-shaped arms 301 can fully contact the tree trunk, the robot and the tree trunk are fixed by the foot buckle module 12, which utilizes the principle of leverage, and with the help of the weight of the tree-climbing robot itself, the front foot buckle 1201 and the rear foot buckle 1202 are fastened to the tree trunk, and the front foot buckle 1201 and The friction between the rear foot buckle 1202 and the tree trunk can make the tree-climbing robot stably fixed on the tree trunk. When climbing the tree, the controller controls the motor 2 503 of the thigh module 5 of the left mechanical leg to rotate clockwise, and the motor 2 503 drives the connecting rod 1 501 to rotate clockwise, and the connecting rod 1 501 drives the connecting rod 3 601 to move upward, and the motor 3 504 drives the connecting rod 2 502 to rotate counterclockwise, and the connecting rod 2 502 drives the connecting rod 4 602 to rotate clockwise around the connection between the two, and the connecting rod 4 602 drives the connecting rod 3 601 to retract backward, so as to realize the thigh module 5 driving the calf module 6 to lift the leg and bend the leg. Figure 6 As shown in (a), when the motor 3 504 rotates to the set angle, that is, when the connecting rod 3 601 reaches the set height, Figure 6 (b), the motor 3 504 rotates clockwise to drive the connecting rod 2 502 to rotate clockwise, and the connecting rod 2 502 drives the connecting rod 4 602 to move forward. The connecting rod 3 601 is driven by the connecting rod 4 602 to rotate clockwise around the connection point between the connecting rod 1 501 and the connecting rod 3 601, i.e., the knee joint, so that the foot buckle module 12 is fixedly connected to the trunk. Figure 6As shown in (c), during the leg-lifting process, the pressure of the foot buckle module 12 is reduced, and the friction between the front foot buckle 1201 and the rear foot buckle 1202 of the foot buckle module 12 and the surface of the trunk also decreases, and the foot buckle module 12 moves upward following the connecting rod three 601. At the same time, the controller controls the motor two 503 of the thigh module 5 of the right leg to rotate counterclockwise, the connecting rod one 501 follows the motor two 503 to rotate counterclockwise, the motor three 504 rotates counterclockwise, and the connecting rod two 502 follows the motor three 504 to rotate counterclockwise. At this time, the connecting rod three 601 is fixed by the foot buckle module 12 and cannot move. Only the connecting rod one 501, the connecting rod two 502, and the connecting rod four 602 rotate as shown in FIG. Figure 7 As shown in (d), the straightening action simulation of the thigh module 5 is realized, and the trunk frame 1 is lifted up by the connecting rod 2 502 and the connecting rod 1 501. Figure 7 (e), by alternately repeating the leg lifting and bending of the thigh module 5 and the calf module 6 on both sides of the trunk frame 1, the robot's climbing action is realized. The present invention sets the driving components of the mechanical leg, motor 2 503 and motor 3 504, on the hip joint bracket 4. Compared with the serial structure of the traditional mechanical leg, the driving components are set at the motion joint, so that the weight of the moving part of the mechanical leg is greatly reduced, thereby reducing the inertia and gravity that the mechanical leg needs to overcome when moving, making the motion load smaller, and greatly improving the movement speed of the mechanical leg. When the mechanical leg moves, the load borne by the mechanical leg from the trunk bracket 1 is shared by the branch chain composed of motor 2 503, motor 3 504, connecting rod 1 501, connecting rod 2 502, connecting rod 3 601 and connecting rod 4 602. Compared with the traditional serial mechanical leg, the load borne by a single component is significantly reduced, and each branch chain only needs to bear a part of the force and torque, which reduces the overall motion load and also reduces the deformation and wear of a single component due to excessive load. By forming a parallel connection between connecting rod 1 501, connecting rod 2 502, connecting rod 3 601 and connecting rod 4 602, the cumulative error of the thigh module 5 and the calf module 6 is small when they are in motion, and the errors on each branch chain formed by connecting rod 1 501, connecting rod 2 502, connecting rod 3 601 and connecting rod 4 602 are offset, thereby improving the control accuracy of the mechanical leg during motion.

[0048] The present invention drives swing arm 1 402 to rotate through motor 1 401, and swing arm 2 405 rotates around the rotating shaft of fixed seat 404, thereby realizing the rotation of hip joint bracket 403, thereby simulating the swing of hip joint module 4, and when encountering branch tree trunk obstacle avoidance, the arc-shaped arm 301 of the arm module 3 on the obstacle side is controlled to rotate, and the arc-shaped arm 301 on the other side holds the trunk, so that the tree-climbing robot can cross the obstacle. At the same time, by controlling the rotation of motor 7 of the ankle module, motor 7 drives sleeve 7 to rotate, sleeve 7 drives foot plate 11 to rotate, and foot plate 11 drives foot buckle module 12 to rotate, thereby simulating the human body when climbing a tree, using foot buckles to clamp different positions of the trunk to change the different positions of the legs, thereby realizing turning, and realizing the change of the circumferential position of the tree-climbing robot on the trunk.

[0049] refer to Figure 8 and Fig. 9 When the present invention is working on a tree trunk branch, the tree trunk branch is first clamped by the operating manipulator 10 and the clamping mechanism 2, and the foot buckle module 12 and the arm module 3 are separated from the tree trunk. Figure 8 As shown in (a). The motor 5 201 of the clamping mechanism 2 rotates, driving the rotating frame 202 to rotate, and the rotating frame 202 drives the electric telescopic rod 1 203 to rotate, and the rod body of the electric telescopic rod 1 203 extends, the movable arm 102 of the operation manipulator 10 rotates, the movable arm 2 103 is fixed, and the mechanical claw 105 clamps the trunk branch, so that the trunk frame 1 tilts toward the trunk branch. Figure 8 Then, the movable arm 102 is controlled to rotate, the motor 5 201 is controlled to rotate, and the electric telescopic rod 1 203 is controlled to extend and retract, so that the clamp of the clamping mechanism 2 clamps the trunk branch, so that the trunk frame 1 rotates as shown in FIG. Figure 8 As shown in (c), finally, by adjusting the angles of the movable arm 102 and the movable arm 2 103 of the operating manipulator 10, and the extension and retraction of the electric telescopic rod 203 of the clamping mechanism 2, the arm holding module 3 is controlled to hold the trunk branch, and the foot buckle module 12 is controlled to clamp the trunk branch, as shown in FIG. Figure 8 As shown in (d), the trunk frame 1 is fixed on the tree trunk branch, and the controller sequentially controls the actions of the hip joint module 4, the thigh module 5, the calf module 6, the ankle module, and the foot buckle module 12 to perform crawling actions, and the operation is performed by the operating manipulator 10 to realize the function of the tree climbing robot operating on the tree trunk branch.

[0050] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the claims and their equivalents.

Claims

1. A parallel leg-like fast tree-climbing robot, characterized in that: include: A trunk frame, wherein a control box and a camera module are arranged on the trunk frame, a controller and a battery are arranged in the control box, and the controller is connected to the camera module; A clamping mechanism, wherein the clamping mechanism is mounted on the trunk frame, the clamping mechanism comprises a motor five, a rotating frame, an electric telescopic rod one and a clamp, the motor five is mounted on the trunk frame, the rotating shaft of the motor five is connected to the rotating frame, the electric telescopic rod one is fixed to the rotating frame, the rod body of the electric telescopic rod one is connected to the clamp, the clamp comprises two clamping jaws and a motor six, one end of the clamping jaw is provided with a gear, the gears of the two clamping jaws are meshed with each other, and the rotating shaft of the motor six is ​​connected to the gear of one of the clamping jaws; An operating manipulator, the operating manipulator being mounted on the top of the trunk frame; Two arm modules, the two arm modules are symmetrically mounted on the upper end of the trunk frame; Two mechanical legs, the two mechanical legs are symmetrically mounted at the lower end of the trunk frame, the mechanical legs include a hip joint module, a thigh module, a calf module, an ankle module, a foot plate and a foot buckle module, the hip joint module is mounted on the trunk frame, one end of the thigh module is connected to the hip joint module, the other end of the thigh module is connected to one end of the calf module, the other end of the calf module is connected to the ankle module, the foot plate is mounted on the ankle module, and the foot buckle module is mounted on the foot plate; The clamping mechanism, the operating manipulator, the two arm modules and the two mechanical legs are respectively connected to the controller.

2. The parallel leg-like fast tree-climbing robot according to claim 1, characterized in that: The operating manipulator includes a base, a turntable, a movable arm 1, a movable arm 2, a mechanical claw, a servo 1, a servo 2, a servo 3, a servo 4 and a servo 5. The base is arranged on the trunk bracket, and a turntable is provided on the base. The servo 1 is installed in the base, and the rotating shaft of the servo 1 is connected to the rotating shaft of the turntable. The servo 1 is used to control the rotation of the turntable. One end of the movable arm 1 is rotatably connected to the turntable. The servo 2 is installed on the turntable. The rotating shaft of the servo 2 is connected to one end of the movable arm 1, and the other end of the movable arm 1 is rotatably connected to one end of the movable arm 2. The servo 4 is installed at the other end of the movable arm 2. The rotating shaft of the servo 4 is connected to the mechanical claw. The servo 5 is used to control the opening and closing of the mechanical claw. The servo 3 is used to control the rotation of the movable arm 2, and the servo 2 is used to control the rotation of the movable arm 1.

3. The parallel leg-like fast tree-climbing robot according to claim 1, characterized in that: The arm module includes an arc-shaped arm and a motor four, wherein the motor four is arranged on the trunk frame, and the rotating shaft of the motor four is connected to one end of the arc-shaped arm.

4. The parallel leg-like fast tree-climbing robot according to claim 1, characterized in that: The hip joint module includes motor 1, swing arm 1, swing arm 2, a fixed seat and a hip joint frame. Swing arm 1 and swing arm 2 are symmetrically provided at the front and rear ends of the hip joint frame. Motor 1 is installed at the front end of the trunk frame, and the rotating shaft of motor 1 is connected to one end of swing arm 1. The fixed seat is installed at the rear end of the trunk frame, and one end of swing arm 2 is rotatably connected to the fixed seat.

5. The parallel leg-like fast tree-climbing robot according to claim 4, characterized in that: Motor 2 and motor 3 are installed in the hip joint frame, and motor 2 is installed in front of motor 3.

6. The parallel leg-like fast tree-climbing robot according to claim 5, characterized in that: The thigh module includes a connecting rod 1 and a connecting rod 2, the upper end of the connecting rod 1 is connected to the rotating shaft of the motor 2 through a gear transmission, and the upper end of the connecting rod 2 is connected to the rotating shaft of the motor 3 through a gear transmission.

7. The parallel leg-like fast tree-climbing robot according to claim 6, characterized in that: The calf module includes a connecting rod three and a connecting rod four, the upper end of the connecting rod three is rotatably connected to the lower end of the connecting rod one, a connecting piece is provided on the connecting rod three, the upper end of the connecting rod four is rotatably connected to the lower end of the connecting rod two, and the lower end is rotatably connected to the connecting piece.

8. The parallel leg-like fast tree-climbing robot according to claim 7, characterized in that: The ankle module includes a sleeve and a motor seven, the motor seven is fixed to the lower end of the connecting rod three, the rotating shaft of the motor seven is connected to the sleeve, and the foot plate is installed on the sleeve.

9. The parallel leg-like fast tree-climbing robot according to claim 8, characterized in that: The foot buckle module includes a front foot buckle, a second electric telescopic rod and a rear foot buckle. The front foot buckle is movably connected to one end of the rear foot buckle, and the other end of the rear foot buckle is fixed to the foot plate. The second electric telescopic rod is fixed to the front foot buckle, and the rod body of the second electric telescopic rod is connected to the rear foot buckle. A plurality of iron teeth are provided on the arc-shaped buckles of the front foot buckle and the rear foot buckle.

10. The parallel leg-like fast tree-climbing robot according to claim 1, characterized in that: An arcuate motion groove is provided at the bottom of the trunk support, and cylindrical protrusions with diameters corresponding to the aperture of the arcuate motion groove are provided on the first swing arm and the second swing arm, and the cylindrical protrusions are sleeved in the arcuate motion groove.

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