A clamping wheel type rotary tree climbing device

Abstract

The application discloses a clamping wheel type rotary tree climbing device, which comprises a clamping mechanism and a rotary driving mechanism. The clamping mechanism is composed of a plurality of longitudinal interval arranged embracing components, the embracing arms of each embracing component are closed to form a tree trunk passage, and the embracing arms are elastically contracted to lock the tree trunk. The rotary driving mechanism comprises a plurality of driving wheels, each driving wheel is distributed along the circumference of the tree trunk and contacts the surface of the tree trunk. In work, the driving wheels are synchronously or differentially rotated to generate an axial thrust to move the device as a whole up and down along the tree trunk, and the device can rotate around the tree trunk axis to adjust the circumferential position by changing the steering and rotating speed of each driving wheel. The gravity centers of all the embracing arms and the driving wheels are annularly distributed and always surround the tree trunk axis, thereby avoiding unilateral concentration and significantly improving the climbing stability, and the overturning risk caused by the gravity center deviation of a traditional tree climbing robot is solved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a wheeled rotating tree-climbing device capable of gripping. Background Technology

[0002] In fields such as forestry operations, urban greening maintenance, and tree research, it is often necessary to work on trees at high altitudes.

[0003] Traditional tree-climbing equipment has several limitations. These devices typically employ tracked, gripper-type, or spiral structures. Specifically: Tracked tree-climbing equipment, while providing significant friction, causes considerable damage to the bark, which is detrimental to tree protection and may negatively impact tree health with prolonged use. Gripper-type tree-climbing equipment, while offering better bark protection, has weak obstacle-crossing ability and struggles to adapt to uneven sections of the trunk, such as knots and bumps, limiting its operational range and efficiency. Spiral tree-climbing equipment requires pre-winding around the trunk, making operation complex, inefficient, and difficult to maintain continuous rotation during operation, thus limiting operational flexibility and continuity.

[0004] Therefore, there is an urgent need in existing technologies for a tree-climbing device that can flexibly clamp and continuously rotate, while also possessing shock absorption and obstacle-crossing capabilities, in order to improve operational efficiency, protect trees, adapt to different working environments, and meet the needs of modern forestry operations. Summary of the Invention

[0005] This invention provides a novel tree-climbing device. This device achieves non-destructive clamping of the tree trunk through a flexible clamping mechanism, while employing a multi-degree-of-freedom rotary structure to realize continuous rotary motion, improving operational flexibility and adaptability. Furthermore, the integrated shock-absorbing mechanism effectively buffers vibrations and impacts generated during operation, improving the device's stability and safety. In addition, the optimized obstacle-crossing structure can adapt to obstacles of different shapes and heights, significantly enhancing the device's obstacle-crossing ability and operational efficiency, providing reliable technical support for efficient and environmentally friendly modern forestry operations.

[0006] The technical solution of the present invention is as follows: A clamping wheel-type rotating tree climbing device includes: a clamping mechanism (101), which is composed of three identical clamping arm motion units, each clamping arm motion unit including a first clamping arm (12), a second clamping arm (11), a third clamping arm (10), a connecting rod (20), a first connecting rod (19), a second connecting rod (17), a short connecting rod (16), a connecting plate (18), and a universal ball (13); a rotating drive mechanism (102), including a wheel assembly, a gear (24), a wheel mounting seat (23), and a motor (22), the wheel assembly including a wheel (26), a wheel bracket (21), a gear (24), and a shock-absorbing spring (25); and a mounting seat (103), which is used to fix the clamping mechanism and the rotating drive mechanism and maintain the relative positions of each component.

[0007] The clamping mechanism (101) consists of three symmetrically arranged clamping arms, each of which includes three clamping arm motion units (first clamping arm motion, second clamping arm motion, and third clamping arm motion). It achieves adaptive clamping of tree trunks of different diameters through a multi-layer linkage mechanism and spring system. The first clamping arm motion includes a first clamping arm (12), a connecting rod (20), a first connecting rod (19), and a connecting plate (18). One end of the first clamping arm (12) is connected to one end of the two connecting rods (20) through a pin to form a revolute joint; the other end is connected to the other end of the two connecting plates (18) and the two connecting rods (20) through a pin to form a revolute joint. One end of the two first connecting rods (19) is connected to the other end of the two connecting rods (20) to form a revolute joint; the other end is connected to the lower end and the upper end of the connecting plate (18) respectively to form a revolute joint. The second clamping arm motion includes a second clamping arm (11), the two connecting plates (18) of the first clamping arm motion, the connecting rod (20), the short connecting rod (16), and the second connecting rod (17). One end of the second arm (11) is connected to the connecting plate (18) of the first arm movement via a pin, forming a revolute joint. The other end is connected to the connecting rod (20) and the short connecting rod (16) via a pin, forming a revolute joint. One end of each of the two second connecting rods (17) is connected to the lower and upper ends of the connecting plate (18) of the first arm movement, forming a revolute joint; the other end is connected to the connecting rod (20) and the short connecting rod (16), forming a revolute joint. The third arm movement includes the third arm (10), the connecting rod (20) of the second arm movement, and the short connecting rod (16). The third arm (10) is connected to the connecting rod (20) and the short connecting rod (16) of the second arm movement via a pin, forming a revolute joint. The first arm (12), the second arm (11), and the third arm (10) are equipped with universal balls (13) to reduce friction between the device and the tree and improve the movement flexibility of the device. Two compression springs (15) are tensioned between the first link (19) and the second link (17) and between the second link (17) and the third arm (10), respectively, to provide a continuous radial clamping force.

[0008] The rotary drive mechanism (102) is responsible for driving the entire device to rotate along the tree trunk, including a wheel assembly, gears (24), wheel mounting bases (23), and a motor (22). The wheel assembly is responsible for the device's vertical movement and obstacle-crossing capability, including: wheels (26) mounted on wheel brackets (21), connected to the motor (22) via gears (24) to achieve self-rotation, thereby propelling the device to move vertically along the tree trunk. Shock-absorbing springs (25) are installed between the wheel brackets (21) and the wheel axle to absorb the impact from the unevenness of the tree trunk, improving the stability and durability of the device. The wheel brackets (21) enclose the outer end of the wheels (26) to prevent foreign objects from entering and protect the internal structure.

[0009] The mounting base (103) is the supporting structure of the entire device, and its design should ensure the stable installation and precise alignment of each component. The mounting base is provided with mounting holes or fixing grooves for fixing the clamping mechanism (101) and the rotary drive mechanism (102) to ensure the stability of the device during operation. It is designed as a quadrilateral frame structure, with a central cavity for fixing the rotary drive mechanism (102). Each arm movement unit is installed on the edge of the base through pins and bearing seats to form a complete rotation.

[0010] Compared with the prior art, the present invention has the following advantages: 1. The clamping mechanism (101) adopts a three-arm design, which can adapt to tree trunks of different diameters. It can achieve stable clamping from small branches to thick trunks, and the clamping force is evenly distributed, effectively reducing damage to the bark and protecting the health of the tree. 2. The design of the universal ball (13) and spring (15) on the inner side of the arm allows the device to absorb impact and reduce vibration when encountering unevenness or knots on the tree trunk, thus improving the stability and comfort of operation. At the same time, this design also enhances the device's obstacle-crossing ability, enabling it to pass through various obstacles smoothly. 3. The coordinated operation of the slewing drive mechanism (102) and the wheel assembly enables the device to achieve stepless speed regulation climbing and 360° continuous slewing, greatly improving the flexibility and efficiency of operation. This continuous slewing capability is particularly suitable for situations requiring comprehensive inspection or maintenance of trees. Attached Figure Description

[0011] Figure 1 This is a structural diagram of the clamping mechanism of the present invention;

[0012] Figure 2 This is a structural diagram of the rotary drive mechanism of the present invention;

[0013] Figure 3 This is a structural diagram of the mounting base of the present invention;

[0014] Figure 4This is an overall diagram of a wheel-type rotating tree-climbing device;

[0015] Figure 5 A view showing how a wheeled, rotating tree-climbing device can grip a tree trunk;

[0016] The markings in the figure are as follows: 101-Clamping mechanism, 102-Rotation drive mechanism, 103-Mounting base, 10-Third arm, 11-Second arm, 12-First arm, 13-Universal ball, 14-Nail, 15-Spring, 16-Short connecting rod, 17-Second link, 18-Connecting plate, 19-First link, 20-Connecting rod, 21-Wheel bracket, 22-Motor, 23-Wheel mounting base, 24-Gear, 25-Shock absorber spring, 26-Wheel, 27-End cap, 28-Mounting bracket, 29-Driving gear, 30-Driven gear. Detailed Implementation

[0017] The invention will be further described below with reference to the accompanying drawings and embodiments, but the scope of the invention is not limited to the description.

[0018] Example 1: As Figure 1-5 As shown, a wheeled rotating tree-climbing device includes a clamping mechanism (101), a rotating drive mechanism (102), and a mounting base (103). The clamping mechanism (101) consists of three identical arm-mounted motion units. Each unit includes a first arm (12), a second arm (11), a third arm (10), a connecting rod (20), a first connecting rod (19), a second connecting rod (17), a short connecting rod (16), a connecting plate (18), and a swivel ball (13). The arm-mounted motion units achieve adaptive clamping of tree trunks of different diameters through a multi-layered linkage mechanism and a spring system. The rotating drive mechanism (102) includes a wheel assembly, a gear (24), a wheel mounting base (23), and a motor (22). The wheel assembly is responsible for the device's vertical movement and obstacle-crossing capability. The mounting base (103) is used to fix the clamping mechanism and the rotating drive mechanism and maintain the relative positions of the components. Designed as a quadrilateral frame structure, the central cavity is used to fix the rotary drive mechanism, and each arm motion unit is installed on the edge of the base body through pins and bearing seats.

[0019] Furthermore, the first arm movement of the clamping mechanism (101) includes a first arm (12), connecting rods (20), a first connecting rod (19), and a connecting plate (18). One end of the first arm (12) is connected to one end of the two connecting rods (20) via a pin, forming a revolute joint. The other end of the first arm (12) is connected to the other ends of the two connecting plates (18) and the two connecting rods (20) via a pin, forming another revolute joint. The two first connecting rods (19) are respectively connected to the other ends of the two connecting rods (20) and the lower and upper ends of the connecting plate (18), forming two revolute joints. The function of the first connecting rod (19) is to transmit motion and force, ensuring that the movement of the arm can be smoothly transmitted to the entire clamping mechanism.

[0020] Furthermore, the clamping mechanism (101) includes a second clamping arm (11), two connecting plates (18) of the first clamping arm, a connecting rod (20), a short connecting rod (16), and a second connecting rod (17). One end of the second clamping arm (11) is connected to the connecting plate (18) of the first clamping arm via a pin, forming a rotating pair. This connection method allows the second clamping arm to follow the movement of the first clamping arm, achieving synchronous clamping. The other end of the second clamping arm (11) is connected to the connecting rod (20) and the short connecting rod (16) via a pin, forming a rotating pair. The two second connecting rods (17) are respectively connected to the lower and upper ends of the connecting plate (18) of the first clamping arm, as well as the connecting rod (20) and the short connecting rod (16), forming two more rotating pairs.

[0021] Furthermore, the clamping mechanism (101) includes a third clamping arm (10), a connecting rod (20) for the second clamping arm movement, and a short connecting rod (16). The third clamping arm (10) is connected to the connecting rod (20) and the short connecting rod (16) for the second clamping arm movement via a pin, forming a rotating pair. This connection method allows the third clamping arm to follow the movement of the second clamping arm and achieve synchronous adjustment. Each clamping arm is equipped with a universal ball (13), which forms a rolling contact between the clamping arm and the tree trunk, significantly reducing friction between the device and the tree and improving the device's mobility. At the same time, two compression springs (15) are respectively tensioned between the first connecting rod (19) and the second connecting rod (17) and between the second connecting rod (17) and the third clamping arm (10), providing a continuous radial clamping force.

[0022] Furthermore, the rotary drive mechanism (102) is responsible for driving the entire device to rotate along the tree trunk, and includes a wheel assembly, a gear (24), a wheel mounting base (23), and a motor (22). The wheel assembly includes a wheel (26), a wheel bracket (21), a gear (24), and a shock-absorbing spring (25). The wheel (26) is mounted on the wheel bracket (21) and connected to the motor (22) through the gear (24) to achieve rotation, thereby driving the device to move up and down along the tree trunk. The shock-absorbing spring (25) is installed between the wheel bracket (21) and the wheel axle to absorb the impact from the unevenness of the tree trunk, improving the stability and durability of the device. The wheel bracket (21) seals the outer end of the wheel (26) to prevent foreign objects from entering and protect the internal structure.

[0023] Furthermore, the mounting base (103) is the supporting structure of the entire device, and its design should ensure the stable installation and precise alignment of each component. The mounting base is provided with mounting holes or fixing grooves for fixing the clamping mechanism (101) and the rotary drive mechanism (102) to ensure the stability of the device during operation. It is designed as a quadrilateral frame structure, with a central cavity for fixing the rotary drive mechanism (102). Each arm movement unit is installed on the edge of the base through pins and bearing seats to form a complete rotation.

[0024] The working principle of this invention is as follows: During operation, the first clamping arm (12) forms a rotating joint through its connection with the connecting rod (20) and the connecting plate (18), achieving initial clamping. Subsequently, the second clamping arm (11) and the third clamping arm (10) are connected in sequence through the connecting plate (18) and the connecting rod (20) that move with the first clamping arm, forming more rotating joints, thereby achieving more stable clamping. This design allows the clamping arms to fit tightly against the tree trunk, maintaining a stable clamping force even when the trunk diameter changes. To improve the mobility of the device, each clamping arm is equipped with a universal ball (13), which forms a rolling contact between the clamping arm and the tree trunk, significantly reducing friction between the device and the tree. At the same time, two compression springs (15) are respectively tensioned between the first connecting rod (19) and the second connecting rod (17) and between the second connecting rod (17) and the third clamping arm (10), providing a continuous radial clamping force to ensure that the device does not slip during operation. In terms of obstacle avoidance, the wheel assembly in the rotary drive mechanism (102) includes a wheel (26), a wheel bracket (21), a gear (24), and a shock-absorbing spring (25). The wheel (26) is connected to the motor (22) via the gear (24) to achieve rotation, thereby propelling the device up and down along the tree trunk. The shock-absorbing spring (25) is installed between the wheel bracket (21) and the wheel axle, which can absorb the impact from the unevenness of the tree trunk, improving the stability and durability of the device. This design enables the device to overcome obstacles on the tree trunk through the compression and release of the shock-absorbing spring and the rotation of the wheel, ensuring that the device can move smoothly along the tree trunk.

[0025] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A wheel-clipping, rotating tree-climbing device, characterized in that, The device includes a clamping mechanism (101), a rotary drive mechanism (102), and a mounting base (103). The clamping mechanism consists of several clamping arms, which are movably mounted on the mounting base (103) for clamping trees. The mounting base (103) is used to maintain the relative positions of the components. The rotary drive mechanism (102) is mounted on the mounting base (103) for driving the clamping mechanism (101) to rotate along the tree. At least one wheel (26) is mounted on a wheel bracket (21), which can move along the surface of the tree.

2. The wheel-clipping rotary tree-climbing device according to claim 1, characterized in that, The aforementioned clamping arms have the same structure, each including a first clamping arm movement, a second clamping arm movement, and a third clamping arm movement; wherein the first clamping arm movement includes a connecting rod (20), a first connecting rod (19), and a first clamping arm (12). One end of the first clamping arm (12) is connected to one end of two connecting rods (20) through a pin to form a rotating pair. The other end of the first clamping arm (12) is connected to the other end of two connecting rods (20) of two connecting plates (18) through a pin to form a rotating pair. One end of two first connecting rods (19) is connected to the other end of two connecting rods (20) to form a rotating pair. The other end of two first connecting rods (19) is connected to the lower end of the connecting plate (18) and the upper end of another connecting plate (18) to form a rotating pair.

3. The wheel-clipping rotary tree-climbing device according to claim 2, characterized in that, The second arm movement includes a second arm (11), two connecting plates (18) of the first arm movement, a connecting rod (20), a short connecting rod (16), and a second connecting rod (17). One end of the second arm (11) is connected to the first arm movement hinge connecting plate (18) by a pin to form a rotating pair. The other end of the second arm (11) is connected to the connecting rod (20) and the short connecting rod (16) by a pin to form a rotating pair. One end of the two second connecting rods (17) is connected to the lower end and the upper end of the first arm movement connecting plate (18) to form a rotating pair, and the other end is connected to the connecting rod (20) and the short connecting rod (16) to form a rotating pair.

4. The wheel-clipping rotary tree-climbing device according to claim 2, characterized in that, The third arm movement includes a third arm (10), a connecting rod (20) for the second arm movement, and a short connecting rod (16). The third arm (10) is connected to the connecting rod (20) and the short connecting rod (16) by a pivot to form a rotating pair.

5. The wheel-clipping rotary tree-climbing device according to claim 1, characterized in that, The clamping mechanism (101) further includes two springs (15), which are compression springs. One spring (15) has its two ends fixed to the first connecting rod (19) and the second connecting rod (17) respectively, and the other spring has its two ends fixed to the second connecting rod (17) and the third arm (10) respectively. It is used to provide clamping force and generate elastic force through compression to enhance the clamping force and ensure that the arm is in close contact with the tree surface.

6. A wheel-type rotating tree-climbing device according to claim 2, characterized in that, The first arm (12), the second arm (11), and the third arm (10) are equipped with omnidirectional balls (13) to reduce friction between the device and the tree and improve the device's mobility.

7. The clamping wheel-type rotating tree-climbing device according to claim 1, characterized in that, The rotary drive mechanism (102) includes: a drive gear (29) and a driven gear (30) meshing with each other to transmit power; and a motor (22) connected to the drive gear (29) to provide power. The motor (22) is a DC brushless motor with high efficiency and long life. The drive gear (29) and the driven gear (30) are made of high-strength alloy material to improve wear resistance and fatigue resistance.

8. The wheel-clipping rotary tree-climbing device according to claim 1, characterized in that, The wheel (26) includes: a shock-absorbing spring (25) mounted on the wheel bracket (21) for absorbing vibration; and a gear (24) driven by a motor to rotate the wheel bracket (21) to achieve rotation. The shock-absorbing spring (25) is mounted on the wheel bracket (21) and the wheel axle and absorbs the vibration generated by the device during movement by compression and stretching, thereby improving the stability and durability of the device.

9. A wheel-type rotating tree-climbing device according to claim 1, characterized in that, The wheel bracket (21) is used to protect the wheel (26) and internal structure and to prevent damage to the wheel (26) from external objects.

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