Parallel leg-simulated fast tree-climbing robot

Abstract

The application discloses a parallel leg-simulating fast tree-climbing robot, which comprises a trunk frame, a clamping mechanism, a work manipulator, two arm-holding modules and two mechanical legs, the work manipulator is installed on the top of the trunk frame, and the clamping mechanism is installed on the trunk frame; the two arm-holding modules and the two mechanical legs are symmetrically installed on the two sides of the trunk frame respectively, the mechanical leg comprises a hip joint module, a thigh module, a shank module, an ankle module, a foot plate and a foot buckle module, wherein the thigh module comprises a connecting rod one, a connecting rod two, a motor two and a motor three, the motor two is connected with the connecting rod one, and the motor three is connected with the connecting rod two; the shank module comprises a connecting rod three and a connecting rod four, the connecting rod three is connected with the connecting rod one, the connecting rod four is connected with the connecting rod two, and the connecting rod four is connected with the connecting rod three, thereby forming parallel connection of the thigh module and the shank module; through cooperation of the clamping mechanism and the work manipulator, the function of the tree-climbing robot in branch work of a trunk is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a parallel leg-simulating fast tree-climbing robot. BACKGROUND

[0002] At present, tree branch pruning, fruit picking, forest environment monitoring and power line tree pruning all need to be carried out on the tree, and the traditional method is to rely on human climbing trees, which is labor-intensive and dangerous. The tree climbing robot can well replace manual work on the tree and has great application prospect.

[0003] The existing tree climbing robots are mainly divided into peristaltic type, clamping type, wheel type and track type according to the moving mode. They can be freely combined to form different styles of tree climbing robots. For example, in the patent document with the application number "CN2021108369796", a step-by-step tree climbing robot is disclosed, which comprises an upper platform, a lower platform, an extension mechanism and two clamping mechanisms. In the process of climbing trees, the upper platform and the lower platform can be clamped by the clamping mechanism, one of which is static as a static platform, and the other is movable as a dynamic platform under the action of the extension mechanism, and accessories can be added to the tree climbing robot to realize the function of trimming branches. By using the step-by-step tree climbing robot composed of the upper platform, the lower platform, the extension mechanism and the two clamping mechanisms, compared with the wheel type or track type climbing method, the tree trunk can be alternately clamped, the stability is enhanced, and the risk of falling is reduced. However, this structure can only work on the main trunk and cannot work on the branches, and the working space is limited. For picking tasks on the branches, the working capacity is insufficient. At the same time, the present inventors have found that most of the existing tree climbing robots in the prior art wrap around the main trunk of the tree to be worked on, move up and down or stay on the main trunk, and then use the working manipulator mounted on the tree climbing robot to pick leaves or fruits on the branches, but they cannot work directly on the branches. For some leaves or fruits on the branches far away from the main trunk, the manipulator of the tree climbing robot cannot complete the picking work.

[0004] Therefore, the present application provides a parallel leg-simulating fast tree-climbing robot to solve the above technical problems. SUMMARY

[0005] The present application aims to provide a parallel leg-simulating fast tree-climbing robot to solve the technical problem that the existing tree climbing robots cannot work directly on the branches.

[0006] To achieve the above-mentioned purpose, the present application provides a parallel leg-simulating fast tree-climbing robot, which comprises a trunk frame, 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 with the camera module.

[0007] The clamping mechanism is installed on the trunk frame, and the clamping mechanism includes a motor 5, a rotating frame, an electric telescopic rod 1 and a clamp. The motor 5 is installed on the trunk frame, the rotating shaft of the motor 5 is connected to the rotating frame, the electric telescopic rod 1 is fixed to the rotating frame, the rod body of the electric telescopic rod 1 is connected to the clamp, and the clamp includes two clamping jaws and a motor 6. 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 6 is connected to the gear of one of the clamping jaws;

[0008] an operating manipulator, the operating manipulator being mounted on top of the trunk frame;

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

[0010] Two mechanical legs, the two mechanical legs are symmetrically mounted at the lower end of the torso 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 torso 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] 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.

[0013] Preferably, in the above technical scheme, the work manipulator comprises a base, a rotating disc, a movable arm one, a movable arm two, a mechanical claw, a steering engine one, a steering engine two, a steering engine three, a steering engine four and a steering engine five, the base is arranged on the trunk frame, the base is provided with the rotating disc, the steering engine one is installed in the base, the rotating shaft of the steering engine one is connected with the rotating shaft of the rotating disc, the steering engine one is used for controlling the rotating disc to rotate, one end of the movable arm one is rotatably connected with the rotating disc, the steering engine two is installed on the rotating disc, the rotating shaft of the steering engine two is connected with one end of the movable arm one, the other end of the movable arm one is rotatably connected with one end of the movable arm two, the steering engine four is installed on the other end of the movable arm two, the rotating shaft of the steering engine four is connected with the mechanical claw, the steering engine five is used for controlling the mechanical claw to open and close, the steering engine three is used for controlling the movable arm two to rotate, and the steering engine two is used for controlling the movable arm one to rotate.

[0014] Preferably, in the above technical scheme, the arm embracing module comprises an arc-shaped arm embracing and a motor four, the motor four is arranged on the trunk frame, and the rotating shaft of the motor four is connected with one end of the arc-shaped arm embracing.

[0015] Preferably, in the above technical scheme, the hip joint module comprises a motor one, a swing arm one, a swing arm two, a fixed seat and a hip joint frame, the swing arm one and the swing arm two are symmetrically arranged at the front and back ends of the hip joint frame, the motor one is installed at the front end of the trunk frame, the rotating shaft of the motor one is connected with one end of the swing arm one, the fixed seat is installed at the rear end of the trunk frame, and one end of the swing arm two is rotatably connected with the fixed seat.

[0016] Preferably, in the above technical scheme, the motor two and the motor three are installed in the hip joint frame, and the motor two is installed in front of the motor three.

[0017] Preferably, in the above technical scheme, the thigh module comprises a connecting rod one and a connecting rod two, the upper end of the connecting rod one is connected with the rotating shaft of the motor two through gear transmission, and the upper end of the connecting rod two is connected with the rotating shaft of the motor three through gear transmission.

[0018] Preferably, in the above technical scheme, the lower leg module comprises a connecting rod three and a connecting rod four, the upper end of the connecting rod three is rotatably connected with the lower end of the connecting rod one, the connecting rod three is provided with a connecting piece, the upper end of the connecting rod four is rotatably connected with the lower end of the connecting rod two, and the lower end is rotatably connected with the connecting piece.

[0019] Preferably, in the above technical scheme, the ankle module comprises a sleeve and a motor seven, the motor seven is fixed at the lower end of the connecting rod three, the rotating shaft of the motor seven is connected with the sleeve, and the foot plate is installed on the sleeve.

[0020] Preferably, in the above technical solution, the bottom of the trunk frame is provided with an arc-shaped movement groove, and the swing arm one and the swing arm two are each provided with a cylindrical protrusion with a diameter corresponding to the aperture of the arc-shaped movement groove, and the cylindrical protrusion is sleeved in the arc-shaped movement groove.

[0021] Compared with the prior art, the present application has the following beneficial effects:

[0022] 1. The present application realizes the action of simulating the use of a human body to climb a tree with a climbing shoe, and realizes climbing and fixing on a tree trunk by installing a climbing shoe module on two mechanical legs in combination with two arm embracing modules. The main tree trunk is fixed by the clamp of the clamping mechanism, the work mechanical hand holds a branch of the tree trunk, then the work mechanical hand is bent 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 is extended and retracted in cooperation, the trunk frame of the tree climbing robot is tilted to the branch of the tree trunk, then the two mechanical legs, the two arm embracing modules, the clamping mechanism and the work mechanical hand cooperate to make the tree climbing robot climb the branch of the tree trunk and climb on the branch of the tree trunk, the work is performed by the work mechanical hand, and the function of the tree climbing robot working on the branch of the tree trunk is realized.

[0023] 2. The present application provides the friction force between the robot and the tree trunk through the climbing shoe module, avoids the use of electric or hydraulic mechanisms to drive the clamp to realize the fixing of the tree climbing robot body and the tree trunk in the prior art, reduces the kinetic energy loss of the system by reducing these mechanisms, improves the endurance of the tree climbing robot, and improves the climbing efficiency. The distance between the front climbing shoe and the rear climbing shoe is adjusted by the electric telescopic rod two to adapt to trees of different diameters or changes in tree diameter during the climbing process.

[0024] 3. The present application sets motor two and motor three in the hip joint frame as the driving components of the mechanical legs, the thigh module is composed of connecting rod one and connecting rod two, the lower leg module is composed of connecting rod three and connecting rod four, the connecting rod four and the connecting rod three are connected in parallel through the connecting piece, thereby realizing the parallel connection of the thigh module and the lower leg module, the connecting rod one is driven to rotate by the motor two, the connecting rod two is driven to rotate by the motor three, the connecting rod three is driven to rotate by the connecting rod one, and the connecting rod four is driven to rotate by the connecting rod two, thereby realizing the simulation of the action of lifting the human thigh and bending the knee to drive the lower leg movement, the action simulation of lifting the human thigh and bending the knee to drive the lower leg movement, the parallel connection of the thigh module and the lower leg module improves the carrying capacity of the mechanical leg, and the motor two and the motor three are arranged in the hip joint frame, so that the mechanical leg has the advantages of small movement load, fast action speed and high control precision. BRIEF DESCRIPTION OF DRAWINGS

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

[0026] Figure 2 is a right view of a parallel leg type fast tree climbing robot.

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

[0028] Figure 4 is a structural schematic diagram of the work manipulator of the present application.

[0029] Figure 5 is an implementation schematic diagram of the pole climbing of the present application.

[0030] Figure 6 is a motion process demonstration diagram of the left leg of the present application.

[0031] Figure 7 is a motion process demonstration diagram of the right leg of the present application.

[0032] Figure 8 is a motion process demonstration diagram of the present application in climbing a tree branch.

[0033] Figure 9 is an implementation schematic diagram of the work on a tree branch of the present application.

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

[0035] The specific embodiments of the present application are described in detail below with reference to the accompanying drawings, but it should be understood that the protection scope of the application is not limited by the specific embodiments.

[0036] Reference Figures 1 to 5The application provides a parallel imitated leg type fast tree climbing robot, which comprises a trunk frame 1, a clamping mechanism 2, a work manipulator 10, two arm embracing modules 3 and two mechanical legs, the clamping mechanism 2 is installed on the trunk frame 1, the work manipulator 10 is installed on the top of the trunk frame 1, the two arm embracing modules 3 are symmetrically installed on the upper end of the trunk frame 1, and the two mechanical legs are symmetrically installed on the lower end of the trunk frame 1, a control box 8 and a camera module 9 are arranged on the trunk frame 1, a controller and a battery are arranged in the control box 8, and the clamping mechanism 2, the work manipulator 10, the two arm embracing modules 3 and the two mechanical legs are connected with the controller, wherein in the embodiment, the controller can be selected from an STM32F407 series single-chip microcomputer.

[0037] The mechanical leg comprises a hip joint module 4, a thigh module 5, a lower leg module 6, an ankle module, a foot plate 11 and a foot buckle module 12, the hip joint module 4 is installed on the trunk frame 1, one end of the thigh module 5 is connected with the hip joint module 4, the other end of the thigh module 5 is connected with one end of the lower leg module 6, the other end of the lower leg module 6 is connected with 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 comprises a motor one 401, a fixed seat 404, a hip joint support 403, a motor two 503 and a motor three 504, the hip joint support 403 is symmetrically provided with a swing arm one 402 and a swing arm two 405 at the front end and the rear end, the motor one 401 is arranged at the front end of the trunk frame 1, a rotating shaft of the motor one 401 is connected with one end of the swing arm one 402, the fixed seat 404 is arranged at the rear end of the trunk frame 1, one end of the swing arm two 405 is rotationally connected with the fixed seat 404, the motor two 503 and the motor three 504 are installed in the hip joint support 403, and the motor two 503 is located in front of the motor three 504.

[0039] The thigh module 5 comprises a connecting rod one 501 and a connecting rod two 502, the upper end of the connecting rod one 501 is connected with the rotating shaft of the motor two 503 through gear transmission, and the upper end of the connecting rod two 502 is connected with the rotating shaft of the motor three 504 through gear transmission.

[0040] The lower leg module 6 comprises a connecting rod three 601 and a connecting rod four 602, the upper end of the connecting rod three 601 is rotationally connected with the lower end of the connecting rod one 501, the connecting rod three 601 is provided with a connecting piece 603, the upper end of the connecting rod four 602 is rotationally connected with the lower end of the connecting rod two 502, the lower end is rotationally connected with the connecting piece 603, and the ankle module is fixed to the lower end of the connecting rod three 601.

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

[0042] With reference to the above description, the clamping mechanism 2 comprises a clamping arm 201, a clamping arm 202, a clamping arm 203, a clamping arm 204, a clamping arm 205 and a clamping arm 206, the clamping arm 201 is arranged on the trunk frame 1, the clamping arm 202 is arranged on the clamping arm 201, the clamping arm 203 is arranged on the clamping arm 202, the clamping arm 204 is arranged on the clamping arm 203, the clamping arm 205 is arranged on the clamping arm 204, and the clamping arm 206 is arranged on the clamping arm 205. Figure 3The clamping mechanism 2 comprises a motor 201, a rotating frame 202, an electric telescopic rod 203 and a clamp. The rotating shaft of the motor 201 is connected with the rotating frame 202. The electric telescopic rod 203 is fixed on the rotating frame 202. One end of the rod body of the electric telescopic rod 203 is connected with the clamp. The clamp comprises two clamping jaws 204 and a motor 205. One end of each clamping jaw 204 is provided with a gear. The gears between the two clamping jaws 204 are meshed with each other. The rotating shaft of the motor 205 is connected with one of the clamping jaws 204. One clamping jaw 204 is driven to rotate by the motor 205, so that the other clamping jaw 204 is driven to rotate. The two clamping jaws 204 are opened and closed to clamp the trunk or the branch of the trunk by the clamp. The rotating frame 202 is driven to rotate by the motor 201, so that the electric telescopic rod 203 is driven to rotate. The clamp is driven to extend and retract by the extension and retraction of the electric telescopic rod 203. In this embodiment, the motor 201 and the motor 205 can be selected as a rudder.

[0043] The front of the trunk frame 1 is symmetrically provided with two arc-shaped movement grooves 13. The swing arm one 402 and the swing arm two 405 are each provided with a cylindrical convex body with a diameter corresponding to the hole diameter of the arc-shaped movement groove 13. The cylindrical convex body is sleeved in the arc-shaped movement groove 13, so as to limit the swing of the swing arm one 402 and the swing arm two 405 along the arc-shaped movement groove 13, and at the same time, provide support force for the swing arm one 402 and the swing arm two 405 when the tree climbing robot climbs the pole.

[0044] Continuing to refer to Figure 1 and Figure 2 The ankle module comprises a sleeve 7 and a motor 7. The sleeve 7 is rotatably connected with the connecting rod three 601. The motor 7 is fixed on the lower end of the connecting rod three 601. The rotating shaft of the motor 7 is connected with the sleeve 7. The lower end of the sleeve 7 is connected with the foot plate 11. The sleeve 7 is driven to rotate by the motor 7, and the foot plate 11 is driven to rotate by the sleeve 7.

[0045] The foot hook module 12 comprises a front foot hook 1201, a rear foot hook 1202 and an electric telescopic rod two 1203. One end of the rear foot hook 1202 is movably connected with the front foot hook 1201, and the other end is fixed on the foot plate 11. A plurality of iron teeth are arranged on the arc-shaped clamping ring of the front foot hook 1201 and the rear foot hook 1202, so as to be clamped on the trunk when climbing the tree. The electric telescopic rod two 1203 is fixed on the front foot hook 1201. The rod body of the electric telescopic rod two 1203 is connected with the rear foot hook 1202. The rear foot hook 1202 is driven to move by the extension and retraction of the electric telescopic rod two 1203, so as to adjust the distance between the front foot hook 1201 and the rear foot hook 1202, so as to adapt to trees with different diameters or changes in the diameter of the tree during climbing.

[0046] Continuing to refer to Figure 4The operating machine hand 10 of the present application comprises a base 101, a movable arm 102, a movable arm 103, a mechanical claw 104, a rudder 1, a rudder 2 105, a rudder 3 106, a rudder 4 107 and a rudder 5 108, the base 101 is arranged on the trunk frame 1, the base 101 is provided with a rotating disc, the rudder 1 is installed in the base 101, the rotating shaft of the rudder 1 is connected with the rotating shaft of the rotating disc, the rudder 1 is used for controlling the rotating disc to rotate, one end of the movable arm 102 is rotatably connected with the rotating disc, the rudder 2 105 is installed on the rotating disc, the other end of the movable arm 102 is rotatably connected with one end of the movable arm 103, the rotating shaft of the rudder 2 105 is connected with one end of the movable arm 102, the rudder 4 107 is installed on the other end of the movable arm 103, the rotating shaft of the rudder 4 107 is connected with the mechanical claw 104, the rudder 4 107 is used for controlling the mechanical claw 104 to rotate, the rudder 5 108 is used for controlling the mechanical claw 104 to open and close, the rudder 3 106 is used for controlling the movable arm 103 to rotate, and the rudder 2 105 is used for controlling the movable arm 102 to rotate.

[0047] Reference Figures 5 to 7 When the parallel leg type fast tree climbing robot of the present application climbs a tree, two mechanical legs of the robot are in a high-low state, for example, the left mechanical leg is lower and the right mechanical leg is higher, two foot clamping modules 12 are clamped on the tree trunk to be operated, two arc-shaped arm embracing modules 301 embrace the tree trunk, the clamp of the clamping mechanism 2 abuts against the tree trunk, so that the gravity center of the robot is inclined backward, the two arc-shaped arm embracing modules 301 can fully contact the tree trunk, the robot is fixed to the tree trunk through the foot clamping module 12, which utilizes the lever principle, and the front foot clamping module 1201 and the rear foot clamping module 1202 are clamped on the tree trunk by the weight of the tree climbing robot, the friction between the front foot clamping module 1201 and the rear foot clamping module 1202 and the tree trunk can enable the tree climbing robot to be stably fixed on the tree trunk, at the beginning of tree climbing, the controller controls the motor two 503 of the thigh module 5 of the left mechanical leg to rotate clockwise, the motor two 503 drives the connecting rod one 501 to rotate clockwise, the connecting rod one 501 drives the connecting rod three 601 to move upward, the motor three 504 drives the connecting rod two 502 to rotate counterclockwise, the connecting rod two 502 drives the connecting rod four 602 to rotate clockwise around the connection between the two, and the connecting rod four 602 drives the connecting rod three 601 to retract backward, so as to realize the action of lifting the leg and bending of the thigh module 5 driving the calf module 6 as shown in Figure 6 (a), when the motor three 504 rotates to a set angle, that is, the connecting rod three 601 reaches a set height as shown in Figure 6 (b), the motor three 504 rotates clockwise to drive the connecting rod two 502 to rotate clockwise, the connecting rod two 502 drives the connecting rod four 602 to move forward, and the connecting rod three 601 rotates clockwise around the knee joint, that is, the connection between the connecting rod one 501 and the connecting rod three 601, under the pushing of the connecting rod four 602, so that the foot clamping module 12 is clamped and fixed to the tree trunk as shown in Figure 6(c) shown, during the process of lifting the leg, the pressure of the foot hook module 12 is reduced, the friction between the front foot hook 1201 and the rear foot hook 1202 of the foot hook module 12 and the trunk surface is also reduced, the foot hook module 12 follows the upward movement of the connecting rod three 601, at the same time, the controller controls the motor two 503 of the thigh module 5 on the right side to rotate counterclockwise, the connecting rod one 501 follows the motor two 503 to rotate counterclockwise, the motor three 504 rotates counterclockwise, 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 hook 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 Figure 7 (d) shown, the straightening action of the thigh module 5 is simulated, the trunk frame 1 is lifted under the action of the connecting rod two 502 and the connecting rod one 501 as shown in Figure 7 (e), by alternately repeating the lifting and bending of the thigh module 5 and the calf module 6 on both sides of the trunk frame 1, the climbing action of the robot is realized. By arranging the driving components motor two 503 and motor three 504 of the mechanical leg on the hip joint bracket 4, compared with the traditional series structure of the mechanical leg, the driving components are arranged at the movement joint, so that the weight of the movement part of the mechanical leg is greatly reduced, thereby reducing the inertia force and gravity that the mechanical leg needs to overcome when moving, so that the movement load is small, thereby greatly improving the movement speed of the mechanical leg. When the mechanical leg moves, the load borne by the mechanical leg from the trunk frame 1 is borne by the branch chain composed of the motor two 503, the motor three 504, the connecting rod one 501, the connecting rod two 502, the connecting rod three 601 and the connecting rod four 602. Compared with the traditional series mechanical leg, the load borne by each component is significantly reduced, each branch chain only needs to bear a part of the force and torque, which makes the overall movement load small, and also reduces the deformation and wear of each component due to bearing excessive load. By connecting the connecting rod one 501, the connecting rod two 502, the connecting rod three 601 and the connecting rod four 602 in parallel, the cumulative error of the thigh module 5 and the calf module 6 during movement is small, and the error on each branch chain composed of the connecting rod one 501, the connecting rod two 502, the connecting rod three 601 and the connecting rod four 602 is offset, which improves the control accuracy of the mechanical leg during movement.

[0048] The present application drives the swing arm one 402 to rotate through the motor one 401, and the swing arm two 405 rotates around the rotating shaft of the fixed seat 404, so as to realize the rotation of the hip joint support 403, so as to simulate the swing of the hip joint module 4, when encountering the branch trunk to avoid obstacles, through the control of the arc-shaped arm holding module 3 on the obstacle side to rotate, the arc-shaped arm holding module 3 on the other side holds the trunk, so that the tree climbing robot overcomes the obstacle, at the same time, through the control of the motor seven of the ankle module to rotate, the sleeve 7 is driven to rotate by the motor seven, the foot plate 11 is driven to rotate by the sleeve 7, and the foot hook module 12 is driven to rotate by the foot plate 11, so as to simulate that the human body clamps the trunk at different positions by using the foot hook when climbing the tree, so as to change the different positions of the legs, so as to realize the turning around, and the circumferential position of the tree climbing robot on the trunk is changed.

[0049] Reference Figure 8 And Figure 9 , the present application firstly clamps the trunk branch through the work manipulator 10 and the clamp of the clamping mechanism 2 respectively, the foot hook module 12 and the arm holding module 3 are away from the trunk respectively as shown in Figure 8 (a). Through the rotation of the motor five 201 of the clamping mechanism 2, the rotating frame 202 is driven to rotate, the electric telescopic rod one 203 is driven to rotate by the rotating frame 202, the rod body of the electric telescopic rod one 203 is elongated, the movable arm one 102 of the work manipulator 10 is rotated, the movable arm two 103 is fixed, the mechanical claw 105 clamps the trunk branch, so that the trunk frame 1 inclines to the trunk branch as shown in Figure 8 (b). Then, the movable arm one 102 is continuously controlled to rotate, the motor five 201 is continuously controlled to rotate, the electric telescopic rod one 203 is continuously 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 Figure 8 (c), finally, the angle of the movable arm one 102 and the movable arm two 103 of the work manipulator 10 is adjusted, the electric telescopic rod one 203 of the clamping mechanism 2 is adjusted to extend and retract, the arm holding module 3 is controlled to hold the trunk branch, and the foot hook module 12 is controlled to clamp the trunk branch as shown in Figure 8 (d), so as to realize that the trunk frame 1 is fixed on the trunk branch, the controller controls the hip joint module 4, the thigh module 5, the lower leg module 6, the ankle module and the foot hook module 12 to act in sequence, the work manipulator 10 is controlled to work, and the function of the tree climbing robot working on the trunk branch is realized.

[0050] The foregoing description of specific exemplary embodiments of the application has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the application to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. It is intended that the scope of the application be limited not with this detailed description, but rather by the claims appended hereto.

Claims

1. A parallel leg-simulated fast tree-climbing robot, characterized in that, The utility model provides a kind of robot, including: Torso frame, control box and camera module are equipped on the torso frame, controller and battery are equipped in the control box, the controller is connected with the camera module; Clamping mechanism is installed on the torso frame, the clamping mechanism includes motor five, rotating frame, electric telescopic rod one and clamp, the motor five is installed on the torso frame, the rotating shaft of the motor five is connected with 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 with the clamp, the clamp includes two clamping jaws and motor six, the clamping jaw is equipped with gear on one end, the gear of two clamping jaws is engaged with each other, the rotating shaft of the motor six is connected with the gear of one clamping jaw; Work manipulator is installed on the top of the torso frame; Two arm embracing modules are symmetrically installed on the upper end of the torso frame; Two mechanical legs are symmetrically installed on the lower end of the torso frame, the mechanical leg includes hip joint module, thigh module, lower leg module, ankle module, foot plate and foot buckle module, the hip joint module is installed on the torso frame, one end of the thigh module is connected with the hip joint module, the other end of the thigh module is connected with one end of the lower leg module, the other end of the lower leg module is connected with the ankle module, the foot plate is installed on the ankle module, and the foot buckle module is installed on the foot plate; The clamping mechanism, work manipulator, two arm embracing modules and two mechanical legs are connected with the controller respectively; The foot buckle module includes front foot buckle, electric telescopic rod two and rear foot buckle, the front foot buckle is movably connected with one end of the rear foot buckle, the other end of the rear foot buckle is fixed on the foot plate, the electric telescopic rod two is fixed on the front foot buckle, the rod body of the electric telescopic rod two is connected with the rear foot buckle, and a plurality of iron teeth are arranged on the arc-shaped buckling rings of the front foot buckle and the rear foot buckle.

2. The parallel leg-simulated rapid tree-climbing robot according to claim 1, characterized in that, The work manipulator includes base, rotating disc, movable arm one, movable arm two, mechanical claw, rudder one, rudder two, rudder three, rudder four and rudder five, the base is arranged on the torso frame, the rotating disc is arranged on the base, the rudder one is installed in the base, the rotating shaft of the rudder one is connected with the rotating shaft of the rotating disc, the rudder one is used for controlling the rotating disc to rotate, one end of the movable arm one is rotatably connected with the rotating disc, the rudder two is installed on the rotating disc, the rotating shaft of the rudder two is connected with one end of the movable arm one, the other end of the movable arm one is rotatably connected with one end of the movable arm two, the rudder four is installed on the other end of the movable arm two, the rotating shaft of the rudder four is connected with the mechanical claw, the rudder five is used for controlling the mechanical claw to open and close, the rudder three is used for controlling the movable arm two to rotate, and the rudder two is used for controlling the movable arm one to rotate.

3. The parallel legged fast-climbing tree robot according to claim 1, wherein, The arm embracing module includes arc-shaped arm embracing and motor four, the motor four is arranged on the torso frame, and the rotating shaft of the motor four is connected with one end of the arc-shaped arm embracing.

4. The parallel legged fast-climbing tree robot according to claim 1, wherein, 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 torso 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 torso frame, and one end of swing arm 2 is rotatably connected to the fixed seat.

5. The parallel legged fast-climbing tree robot according to claim 4, wherein, 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 legged fast-climbing tree robot according to claim 5, wherein, 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 legged fast-climbing tree robot according to claim 6, wherein, 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.

8. The parallel legged fast-climbing tree robot according to claim 7, wherein, 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 legged fast-climbing tree robot according to claim 4, wherein, An arcuate motion groove is provided at the bottom of the trunk frame, and a cylindrical convex body with a diameter corresponding to the aperture of the arcuate motion groove is provided on the first swing arm and the second swing arm, and the cylindrical convex body is sleeved in the arcuate motion groove.

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