A movable tree climbing robot capable of rotating to avoid obstacles

Abstract

The present application relates to the field of robot technology, disclose a kind of movable rotary obstacle avoidance tree climbing robot, to solve the problem of insufficient flexibility of existing tree climbing robot, when lateral obstacle cannot effectively avoid obstacle.The robot mainly includes clamping device, move climbing device, rotary device and clamping power device.Clarke worm drive, combined with support spring and connecting rod mechanism, can self-adaptively adjust clamping force to adapt to different diameter of tree trunk.Move climbing device uses multiple lifting support arms and multiple servo motors to cooperate, and climbs the tree trunk flexibly.The rotary device drives the upper half device to rotate through gear engagement, realizes quick rotary obstacle avoidance during climbing.The present application has the advantages of large clamping force, self-adaptation tree diameter, strong obstacle crossing ability and fast obstacle avoidance speed.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a movable, rotating, obstacle-avoiding tree-climbing robot. Background Technology

[0002] With the widespread application of automation technology in forestry, power line inspection, and agricultural harvesting, tree-climbing robots have become important equipment to replace manual labor in high-altitude and high-risk operations. Their core task is to achieve stable climbing along irregular tree trunk surfaces, overcoming various obstacles such as branches, burls, and vines in the process.

[0003] Some tree-climbing robots employ a fixed structure that wraps around the tree trunk, such as a wraparound design. While this provides a secure grip, it severely lacks flexibility. This structure typically cannot effectively adjust its path when encountering lateral obstacles, limiting its operational range in complex canopy environments. For example, the tree-climbing harvesting robot disclosed in existing patent CN121697764A cannot adjust its path when encountering obstacles and can only move vertically up and down; while the retractable obstacle-avoiding tree-climbing robot disclosed in CN119428900A can avoid obstacles, its speed is too slow.

[0004] Currently, there is no known tree-climbing robot that features simple rotary drive, strong obstacle-crossing ability, fast obstacle-crossing speed, and adaptability to different tree diameters. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a tree-climbing robot that can stably and quickly climb poles and trees of different diameters, while also achieving rapid obstacle avoidance. This climbing robot uses a worm gear to drive a gear and rack, which in turn moves a fixed plate, causing the upper and lower clamping plates to move. When the upper plate encounters the tree trunk, it stops moving, compressing a spring that drives a connecting rod to clamp the trunk. This allows it to adapt to tree trunks of different diameters. The springs on the rods and lower plate provide sufficient force and can withstand significant weight. The connecting rod device also features a self-locking mechanism to prevent loosening during clamping.

[0006] The technical solution of this invention: A movable, rotating, obstacle-avoiding tree-climbing robot, comprising a clamping device, a moving and climbing device, a rotating device, and a clamping power device. The clamping device and the clamping power device are connected together and located on the upper and lower sides. The moving and climbing device is located in the middle, connected to the clamping power device at the top and to the rotating device at the bottom.

[0007] The clamping device includes an upper clamping plate, a lower clamping plate, a support spring, connecting rods 1, 2, 3, 4, 5, and 6, and a positioning pin. The fixed plate and the lower clamping plate are connected together, and the lower clamping plate is connected to the upper clamping plate via the positioning pin. The upper and lower plates are restrained by the support spring. Connecting rods 1, 2, 3, 4, 5, and 6 are connected to each other. Connecting rods 1, 2, and 3 are also connected; connecting rods 1 and 2 are connected; connecting rods 2 and 3 are connected; connecting rods 3 and 4 are connected; connecting rods 4 and 5 are connected; and connecting rod 6 is connected to connecting rod 5. Connecting rods 1, 2, and 3 are installed in pairs.

[0008] The clamping power device includes a worm gear housing, a worm gear, a gear rack, a sliding guide rail, a clamping housing, and a positioning pin. The positioning pin is fixed to the middle of the housing with bolts and screws. The sliding guide rail is embedded in the clamping housing, and the gear rack is embedded inside the sliding guide rail. The gear and bearing are installed in the middle of the housing and mesh with the gear rack. The bearing at the other end is used to install the worm gear and mesh with the worm. The motor is installed on the outside of the housing with screws, and the worm gear engages with the motor through a slot.

[0009] The aforementioned moving and climbing device includes a first lifting arm, a second lifting arm, a third lifting arm, a fourth lifting arm, a servo motor 1, a servo motor 2, a servo motor 3, a rotating end cover 1, a rotating end cover 2, and a rotating end cover 3. The worm gear housing is bolted to the outside of the clamping housing. The first lifting arm is welded to the worm gear housing, and its lower side is connected to the servo motor 1 via the rotating end cover 1. The upper side of the second lifting arm is connected to the servo motor 1 via pins, and its lower side is connected to the servo motor 2 via the rotating end cover 2. The upper side of the third lifting arm is connected to the servo motor 2 via pins, and its lower side is connected to the servo motor 3 via the rotating end cover 3. The upper side of the fourth lifting arm is connected to the servo motor 3 via pins, and its lower side is connected to the upper plate of the rotating housing via screws.

[0010] The rotary device includes a rotary housing, a rotary servo motor, a rotary track, a rotary sliding track, and a lower arm. The rotary housing and the rotary servo motor are connected by screws. The gear driven by the motor engages with the external gear of the rotary track. The upper side of the rotary track and the sliding track are inlaid, and the sliding track and the rotary housing are connected by screws. The lower side of the rotary track is welded to the lower lifting arm, and the lower arm is then welded to the clamping housing. A reduction motor and a worm gear that cooperate with the reduction motor are located on the outside of the clamping housing. The worm gear drives a gear rack. A positioning plate is installed in the center of the outside of the clamping housing, and a fixing plate is installed on the rack. The lower plate of the gripper is connected to the fixing plate. A spring is located between the upper and lower plates, and a pin is located in the middle of the spring. Connecting rods are located on both sides of the upper and lower plates. The connecting rods and multiple connecting rods drive and connect to the hooks.

[0011] Compared with existing technologies, this invention has the following advantages: 1. The clamping power device adopts a worm gear with a self-locking function, providing a very large clamping force. The upper and lower clamping claws have a very large contact area, resulting in high friction and resistance to torque. The retractable mechanical claws can adjust their size to adapt to the trunk diameter, and the built-in springs can adaptively adjust the clamping force to protect the trunk surface while providing corresponding friction. 2. The moving and lifting device is driven by three motors, and the upper claw has high flexibility. Compared with tree-climbing robots that are pushed by push rods, it can get closer to the tree trunk and adjust according to the tree's tilt. 3. The rotating device rotates through gear meshing, resulting in high rotation speed. It can quickly rotate to avoid obstacles. Attached Figure Description

[0012] Figure 1 This is an overall structural diagram of the present invention.

[0013] Figure 2 This is a structural diagram of the clamping power device and clamping device of the present invention.

[0014] Figure 3 This is a structural diagram of the moving climbing device and rotating device of the present invention.

[0015] Figure 4 This is a specific implementation method of the obstacle avoidance motion diagram of the present invention.

[0016] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0017] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0018] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0019] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0020] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0022] To facilitate a unified understanding of the various reference numerals in the accompanying drawings, the following explanations are provided for the reference numerals appearing in the drawings:

[0023] 10-Clamping device; 20-Moving and climbing device; 30-Rotation obstacle avoidance device;

[0024] 1-Clamping housing; 2-Gear and rack; 3-Fixing plate; 4-Lower clamping jaw plate; 5-Support spring; 6-Positioning pin; 7-Upper clamping jaw plate; 8-Link 1; 9-Link 2; 11-Link 3; 12-Link 4; 13-Link 5; 14-Grip hook; 15-Grip servo motor; 16-Gear; 17-Worm gear; 18-Worm

[0025] 19-First support arm; 21-Servo motor 1; 22-Second support arm; 23-Servo motor 2; 24-Third support arm; 25-Servo motor 3; 26-Fourth support arm; 27-Swivel pinion; 28-Swivel housing; 29-Swivel gear; 31-Sliding rail; 32-Swivel base plate;

[0026] like Figure 1 As shown, the clamping claw and clamping power device constitute my clamping device 10, located at the top and connected to the moving and climbing device 20. The rotating obstacle avoidance device 30 and the moving and climbing device 20 are connected vertically.

[0027] Clamping devices such as Figure 2 As shown, the servo motor 15 is located outside the housing and is transmitted to the gear 15 through the worm gear 17 and worm 18, thereby driving the rack 2 to move and providing power for clamping. The fixing plate 3, the lower clamping claw plate 4, and the rack 2 are fixed together. The support spring 5 provides support for the upper clamping plate 7, and the positioning pin 6 positions the upper and lower plates. When the upper clamping plate 7 encounters the tree trunk, it will compress the spring, causing the connecting rod 1 and connecting rod 2 to move outward, pushing the connecting rod 3 to move upward and inward. The connecting rod 4 is close to the tree trunk, and the connecting rod 5 is tightened inward by the connecting rod 3, causing the hook 14 to grip the tree trunk.

[0028] like Figure 3 As shown, the first support arm 19 is welded to the worm gear housing. Servo motor 1 drives the first support arm 19 to rotate up and down to fit against the tree trunk. Servo motor 1 and the second support arm 19 are fixedly connected. Servo motor 2 drives the second support arm 24 to rotate up and down, achieving vertical movement. Servo motor 2 and the third support arm 25 are fixedly connected. Servo motor 3 drives the third support arm 25 to retract inward, achieving vertical movement and thus climbing. The fourth support arm 26 is fixedly connected to servo motor 3 at the top and to the rotating housing 28 at the bottom. The rotating motor 27 is fixed to the housing, driving the rotating gear 27 to mesh and rotate, thus rotating the entire upper part of the device, achieving rotating obstacle avoidance. The rotating track 31 and the rotating housing provide support and gripping force.

[0029] like Figure 4 As shown, when the robot encounters an obstacle, it will move the upper clamping device to an unobstructed location in advance. When the gripper cannot touch the tree trunk, it will rotate and move to the designated position through servo motors 2 and 3. Then, servo motor 1 will adjust the gripper to a position parallel to the tree trunk, and the clamping power device will drive the gripper to clamp. This achieves both clamping and obstacle avoidance functions.

Claims

1. A movable, rotating, obstacle-avoiding tree-climbing robot, characterized in that... This includes clamping devices, lifting mechanisms, and rotating devices.

2. A movable, rotating, obstacle-avoiding tree-climbing robot according to claim 1, characterized in that, The clamping device includes a geared motor mounted on the outside of the clamping housing and a worm gear that cooperates with the geared motor, which in turn drives a rack and pinion. A positioning post is mounted in the center of the outside of the clamping housing, and a fixing plate is mounted on the rack. The lower plate of the gripper is connected to the fixing plate. A spring is located between the upper and lower plates, with a pin in the center of the spring. Connecting rods are located on both sides of the upper and lower plates, and these connecting rods, along with multiple connecting rods, drive and connect to the gripper.

3. A movable, rotating, obstacle-avoiding tree-climbing robot according to claim 1, characterized in that, The lifting mechanism includes a worm gear housing fixed to the outside of the clamping housing by bolts; a lifting arm 1 welded to the worm gear housing; and a lower side connected to the servo motor 1 via a rotating end cover 1. The upper side of the lifting arm 2 is connected to the servo motor 1 via pins, and the lower side is connected to the servo motor 2 via a rotating end cover 2. The upper side of the lifting arm 3 is connected to the servo motor 2 via pins, and the lower side is connected to the servo motor 3 via a rotating end cover 3. The upper side of the lifting arm 4 is connected to the servo motor 3 via pins, and the lower side is connected to the upper plate of the rotating housing via screws.

4. A movable, rotating, obstacle-avoiding tree-climbing robot according to claim 1, characterized in that, The rotary device includes a rotary housing and a servo motor connected by screws. The motor-driven gear 1 engages with the external gear of the rotary track. The upper side of the rotary track has a rail and a slide rail embedded in it. The slide rail and the rotary housing are connected by screws. The lower side of the rotary track is welded to the lower lifting arm, which is then welded to a clamping housing. A reduction motor and a worm gear cooperating with the reduction motor are located on the outside of the clamping housing. The worm gear drives a gear rack. A positioning plate is installed in the center of the outside of the clamping housing, and a fixing plate is installed on the rack. The lower plate of the gripper is connected to the fixing plate. A spring is located between the upper and lower plates, with a pin in the middle of the spring. Connecting rods are located on both sides of the upper and lower plates, and these connecting rods and multiple connecting rods drive and connect to the hooks.

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