Obstacle-surmounting tree-climbing robot based on differential expansion mechanism

Abstract

This invention discloses an obstacle-crossing tree-climbing robot based on a differential telescopic mechanism, comprising: a telescopic mechanism; a gripper mechanism; and a torsional obstacle avoidance mechanism. Two telescopic mechanisms are connected in parallel to the connecting rod of the robot body, forming a parallelogram mechanism. A torsional motor is installed at the diagonal, enabling torsional obstacle avoidance. Combined with the telescopic mechanism, it can avoid obstacles on irregular quadrilaterals. The gripper mechanism is installed on the connecting rod of the robot body and is connected to the connecting rod via a motor. Torque is transmitted through helical gears to a gear below the drive shaft, which in turn drives the gripper to open and close. This invention, through the telescopic mechanism, gripper mechanism, and torsional obstacle avoidance mechanism, enables obstacle-avoiding climbing and gripping functions on irregular branches or tree trunks, overcoming various irregular obstacles and solving the problem of tree-climbing robots easily getting stuck on branches and tree trunks.

Description

Technical Field

[0001] This invention relates to the field of forestry climbing robot technology, specifically to an obstacle-crossing tree-climbing robot based on a differential telescopic mechanism. Background Technology

[0002] With the development of the forestry industry, high-altitude operations such as tree pesticide spraying, tree trunk pest and disease detection, forest resource surveying, and fruit harvesting still rely heavily on manual labor. These operations are not only labor-intensive and complex, but also involve high risks and difficulties at heights, making it difficult to effectively guarantee the personal safety of workers. Therefore, tree-climbing robots have emerged and are gradually becoming a research and development hotspot in the field of forestry equipment.

[0003] Currently, tree-climbing robots on the market are mainly divided into four categories: winding, hugging, rolling, and gripping. Among them, winding robots have high flexibility and strong obstacle-crossing ability, but the design complexity of the actuator and control system is high, resulting in high manufacturing costs and maintenance difficulties; hugging robots have uniform force distribution, strong load capacity, and high operational reliability, but they have high requirements for the regularity of the tree trunk and are difficult to deal with obstacles such as tree trunk protrusions and branches, resulting in weak obstacle-crossing ability; rolling robots are only suitable for climbing main tree trunks with regular surfaces and cannot avoid tree branch obstacles to achieve continuous upward climbing, which greatly limits their applicable scenarios; gripping robots mainly rely on the claw structure to achieve climbing, and the center of gravity of the whole machine is prone to deviating from the center of symmetry, resulting in poor stability during the climbing process, and they are very easy to get stuck by irregular tree trunks and branches, making it impossible to complete continuous operation in complex working conditions. In summary, existing tree-climbing robots generally suffer from problems such as difficulty adapting to irregular tree trunks, insufficient obstacle-crossing ability, and easy getting stuck by tree branches or protruding structures on the trunk, thus failing to meet the needs of high-altitude operations under complex forestry conditions. Summary of the Invention

[0004] The main objective of this invention is to overcome the aforementioned defects in the prior art and provide a tree-climbing robot based on a differential telescopic mechanism that can overcome obstacles. This robot can achieve stable obstacle avoidance and adaptive clamping on irregular branches or trunks, effectively overcome various irregular obstacles, and solve the core problem that existing tree-climbing robots are easily stuck on branches or trunks.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: The present invention provides an obstacle-crossing tree-climbing robot based on a differential telescopic mechanism, comprising a gripper mechanism, a telescopic mechanism, and a torsional obstacle avoidance mechanism. The gripper mechanism is divided into two parts, namely the upper gripper and the lower gripper, which are used to clamp and fix the whole machine to the tree trunk, providing a stable fixed foundation for the robot to climb and avoid obstacles. The telescopic mechanism is provided with two identical units. The two telescopic mechanisms are installed in parallel on two opposing parallel body connecting rods to form a parallelogram mechanism, which together constitute the robot's body assembly. The torsional obstacle avoidance mechanism is composed of two rods on the fuselage connecting rod and the telescopic mechanism, connected by the fuselage connecting shaft and the torsional motor. The synchronous rotation of the two diagonal torsional motors drives the fuselage to make a torsional motion. In conjunction with the differential telescopic extension and retraction of the telescopic mechanism, the irregular quadrilateral deformation of the fuselage is achieved, thus completing the torsional obstacle avoidance action.

[0006] Furthermore, the upper and lower grippers of the gripper mechanism have identical structures, each including a lower gripper fixing plate, an upper gripper fixing plate, a helical gear, a gripper motor, a gripper drive shaft, a small drive gear, a large drive gear, a gripper drive plate, a gripper connecting plate, a gripper, and a gripper support shaft. The lower fixing plate of the gripper is used for positioning and assembling the overall structure of the gripper, and the upper fixing plate of the gripper is used for positioning and installing the internal transmission mechanism of the gripper. Two helical gears for changing the transmission direction are coaxially mounted on the output shaft of the gripper motor and the gripper transmission shaft, respectively. The upper and lower ends of the gripper transmission shaft pass through the offset holes of the upper and lower fixing plates of the gripper, respectively. The small transmission gear is coaxially fixedly installed with the gripper transmission shaft. Two large transmission gears mesh with each other and are coaxially connected to the two gripper support shafts, respectively, and are installed in the left and right symmetrical holes of the upper and lower fixing plates of the gripper. One of the large transmission gears meshes with the offset small transmission gear. The upper and lower fixing plates of the gripper are positioned and fixedly installed through bolt holes. One end of the gripper transmission plate with a notch is installed with the gripper support shaft, and the other end is connected to the outer hole of the gripper. One end of the gripper connecting plate is installed with the lower fixing plate of the gripper, and the other end is connected to the inner hole of the gripper. When the gripper mechanism is working, the gripper motor starts, and changes the transmission direction through a pair of meshing helical gears, driving the gripper transmission shaft to rotate, which in turn transmits torque to the coaxial transmission pinion. The transmission pinion drives a meshing transmission gear to rotate, and the two meshing transmission gears rotate synchronously in opposite directions, transmitting torque to the corresponding gripper support shaft. The rotation of the gripper support shaft drives the gripper transmission plate to perform opening and closing movements, which, in conjunction with the limiting guide of the gripper connecting plate, ultimately drives the gripper to achieve tensioning and loosening actions, completing the clamping and releasing of the tree trunk.

[0007] Furthermore, the telescopic mechanism includes an inner telescopic rod, an outer telescopic rod, a lead screw motor, a motor housing, and a motor mounting plate. The inner and outer rods of the telescopic rod are nested together. The inner convex slide rail of the outer rod and the outer concave slide groove of the inner rod are fitted together to achieve axial sliding limit. The screw of the lead screw motor passes through the built-in threaded hole of the inner rod. When the lead screw motor rotates, it drives the inner rod of the telescopic rod to move back and forth axially through the lead screw nut pair. The motor housing is fixedly connected to the end of the outer rod and the front end of the lead screw motor by bolts. The motor fixing plate is fixedly installed to the other end of the motor housing by bolts.

[0008] Furthermore, the torsional obstacle avoidance mechanism includes two parallel telescopic mechanisms, two opposing parallel fuselage connecting rods, a fuselage connecting shaft, and a torsional motor. Two parallel telescopic mechanisms have upper telescopic rods, one of which is assembled with the body connecting shaft, and the other with a torsion motor at the joint. The other end of the body connecting shaft is fixedly connected to the body connecting rod. The torsion motor at the joint passes through a through hole at the threaded end of the body connecting rod and is fixedly connected to the inner rod of the other telescopic mechanism. The lower end of the telescopic mechanism is parallel to the body connecting rod assembled above, that is, the motor fixing plate at the lower end of the telescopic mechanism connected to the body connecting shaft mates with another set of torsion motors at the joint; the motor fixing plate at the lower end of the telescopic mechanism connected to the torsion motor mates with another set of body connecting shafts, ultimately forming a torsionally deformable parallelogram body structure. The assembled torsion obstacle avoidance mechanism is a whole body assembly. The gripper motor of the gripper mechanism passes through the threaded hole of the body connecting rod and is bolted to it. The two symmetrical threaded holes of the body connecting rod are fixedly connected to the lower fixing plate of the gripper by bolts, so as to realize the overall assembly of the gripper mechanism and the body assembly.

[0009] Furthermore, the beneficial effects of the present invention are as follows: 1. The gripper mechanism of the present invention adopts a gear meshing transmission and linkage structure, which has high transmission accuracy and stable clamping force. It can be adapted to tree trunks of different diameters by adjusting the speed and torque of the motor to achieve adaptive clamping. The symmetrical design of the upper and lower double grippers can ensure the stability of the center of gravity of the whole machine during climbing and obstacle avoidance, and avoid problems such as tipping over and slipping. 2. The telescopic mechanism of the present invention adopts a nested telescopic rod structure driven by a lead screw motor, which has controllable telescopic stroke, high transmission accuracy, and strong load capacity; the differential telescopic extension of the dual telescopic mechanism can be combined with the torsional obstacle avoidance mechanism to realize flexible deformation of the body, adapt to the shape changes of irregular tree trunks, and at the same time provide stable power stroke for the robot to climb up and down. 3. The torsional obstacle avoidance mechanism of the present invention adopts a parallelogram body structure. Through the synchronous drive of the diagonal torsional motor, the body can achieve torsional deformation in the plane. With the differential extension and retraction of the telescopic mechanism, the body can flexibly deform from a parallelogram to an irregular quadrilateral. It can effectively avoid irregular obstacles such as protrusions and branches on tree trunks, fundamentally solving the problem that tree climbing robots are easily stuck by tree trunks and branches, and greatly improving the robot's obstacle-crossing ability and environmental adaptability. 4. The invention adopts a modular design. The gripper mechanism, telescopic mechanism, and torsional obstacle avoidance mechanism can all be assembled and maintained independently. It has a simple structure, low manufacturing cost, and simple control logic. It can be widely adapted to various high-altitude operation scenarios such as forestry pesticide spraying, pest and disease detection, forest surveying, and fruit picking, effectively reducing the safety risks and labor intensity of manual forestry operations. Attached Figure Description

[0010] Figure 1 The image shows a three-view diagram of the overall structure of an obstacle-crossing and tree-climbing robot based on a differential telescopic mechanism according to the present invention. The left image is the main view, the middle image is the left axonometric view, and the right image is the right axonometric view.

[0011] Figure 2 This is a schematic diagram of the overall structure of the gripper mechanism of the present invention;

[0012] Figure 3 This is a schematic diagram of the overall structure of the telescopic mechanism of the present invention;

[0013] Figure 4 This is a schematic diagram of the fuselage assembly structure of the torsion obstacle avoidance mechanism and the telescopic mechanism of the present invention.

[0014] Figure 5 This is a schematic diagram of the obstacle avoidance process of the present invention, wherein the left figure is an isometric schematic diagram of the obstacle avoidance action execution state, and the right figure is a front view schematic diagram of the body deformation state during obstacle avoidance.

[0015] Explanation of reference numerals in the attached drawings: 1-Gripper mechanism; 1-1-Upper gripper; 1-2-Lower gripper; 2-Telescopic mechanism; 3-Torsion obstacle avoidance mechanism; 4-Lower clamping plate; 5-Helical gear; 6-Clamping motor; 7-Clamping drive shaft; 8-Small drive gear; 9-Upper clamping plate; 10-Large drive gear; 11-Clamping drive plate; 12-Clamping connecting plate; 13-Clamping jaw; 14-Clamping support shaft; 15-Inner rod of telescopic pole; 16-Outer rod of telescopic pole; 17-Screw motor; 18-Motor housing; 19-Motor mounting plate; 20-Body connecting shaft; 21-Body connecting rod; 22-Torsion motor; 23-Tree trunk to be climbed (obstacle carrier). Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing the invention and for 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 the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0017] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0018] Please refer to Figures 1 to 4 A preferred embodiment of the present invention provides an obstacle-crossing tree-climbing robot based on a differential telescopic mechanism, comprising a gripper mechanism 1, a telescopic mechanism 2, and a torsional obstacle avoidance mechanism 3. The gripper mechanism 1 consists of an upper gripper 1-1 and a lower gripper 1-2, which are respectively fixedly mounted on the upper and lower sets of body connecting rods 21 of the torsional obstacle avoidance mechanism 3. Two sets of telescopic mechanisms 2 with identical structures are arranged in parallel, forming a parallelogram-shaped body body with the two opposing parallel body connecting rods 21. The torsional obstacle avoidance mechanism 3, through a body connecting shaft 20 and a torsional motor 22, assembles the telescopic mechanism 2 and the body connecting rods 21 into a torsional and deformable body assembly.

[0019] Please refer to Figure 2In this preferred embodiment, the upper gripper 1-1 and lower gripper 1-2 of the gripper mechanism 1 have identical structures, both including a lower gripper fixing plate 4, a helical gear 5, a gripper motor 6, a gripper drive shaft 7, a drive pinion 8, an upper gripper fixing plate 9, a drive gear 10, a gripper drive plate 11, a gripper connecting plate 12, a gripper 13, and a gripper support shaft 14. The lower gripper fixing plate 4 and the upper gripper fixing plate 9 are fixed in place by bolt holes, forming the mounting base of the gripper mechanism; two meshing helical gears 5 are coaxially fixed to the output shaft of the gripper motor 6 and the end of the gripper drive shaft 7, respectively, to change the transmission direction and convert the horizontal output torque of the gripper motor 6 into a vertical rotational torque; the upper and lower ends of the gripper drive shaft 7 pass through the offset holes of the upper gripper fixing plate 9 and the lower gripper fixing plate 4, respectively, and the drive pinion 8 is coaxially fixed to the gripper drive shaft 7. Two large transmission gears 10 mesh with each other and are coaxially fixed to two gripper support shafts 14 respectively. They are installed in the left and right symmetrical holes of the upper gripper fixing plate 9 and the lower gripper fixing plate 4. One of the large transmission gears 10 meshes with the small transmission gear 8. One end of the gripper transmission plate 11 is fixedly engaged with the gripper support shaft 14, and the other end is hinged to the outer hole of the gripper 13. One end of the gripper connecting plate 12 is hinged to the lower gripper fixing plate 4, and the other end is hinged to the inner hole of the gripper 13, forming a linkage-type opening and closing structure. When the gripper mechanism 1 is working, the gripper motor 6 starts, which drives the gripper transmission shaft 7 to rotate through a pair of meshing helical gears 5, which in turn drives the transmission pinion 8 to rotate synchronously; the transmission pinion 8 drives the transmission gear 10 meshing with it to rotate, and the two meshing transmission gears 10 rotate synchronously in opposite directions, driving the two gripper support shafts 14 to rotate in opposite directions; the gripper support shafts 14 drive the gripper transmission plate 11 to swing open and close, which, in conjunction with the limiting and guiding of the gripper connecting plate 12, ultimately drives the left and right grippers 13 to tighten inward or open outward synchronously, thereby achieving the clamping and fixing and releasing of the tree trunk.

[0020] Please refer to Figure 3 In this preferred embodiment, the telescopic mechanism 2 includes an inner telescopic rod 15, an outer telescopic rod 16, a lead screw motor 17, a motor housing 18, and a motor fixing plate 19. The inner telescopic rod 15 is nested inside the outer telescopic rod 16. The inner convex slide rail on the inner wall of the outer telescopic rod 16 engages with the outer concave slide groove on the outer wall of the inner telescopic rod 15 to limit and guide axial sliding, preventing circumferential rotation of the telescopic rod. The screw of the lead screw motor 17 passes through the threaded hole built into the inner telescopic rod 15, forming a lead screw and nut transmission pair. The motor housing 18 is fixedly connected to the lower end of the outer telescopic rod 16 and the front end housing of the lead screw motor 17 by bolts. The motor fixing plate 19 is fixed to the lower end of the motor housing 18 by bolts for assembly and connection of the telescopic mechanism with other components of the machine body. When the telescopic mechanism 2 is working, the lead screw motor 17 starts, and its output screw rotates. The rotational motion is converted into linear motion through the lead screw and nut pair, which drives the inner rod 15 of the telescopic rod to extend or retract axially along the slide rail of the outer rod 16 of the telescopic rod. The two sets of telescopic mechanisms 2 can achieve synchronous telescopic or differential telescopic by independently controlling the speed and direction of the lead screw motor 17, providing stroke for the robot to climb, and at the same time, they cooperate with the torsion obstacle avoidance mechanism 3 to achieve body deformation to avoid obstacles.

[0021] Please refer to Figure 4 In this preferred embodiment, the torsional obstacle avoidance mechanism 3 includes two sets of parallel telescopic mechanisms 2, two anti-parallel fuselage connecting rods 21, a fuselage connecting shaft 20, and a torsional motor 22. The two sets of telescopic mechanisms 2 are arranged horizontally in parallel, and the two fuselage connecting rods 21 are arranged vertically in parallel, forming a parallelogram fuselage frame. The left end of the upper fuselage connecting rod 21 is hinged to the upper end of the inner rod 15 of the telescopic rod of the left telescopic mechanism 2 via the fuselage connecting shaft 20, and the right end of the upper fuselage connecting rod 21 is fixedly connected to the upper end of the inner rod 15 of the telescopic rod of the right telescopic mechanism 2 via the torsional motor 22. The lower fuselage connecting rod 21 is assembled diagonally opposite to the upper one, that is, the left end of the lower fuselage connecting rod 21 is hinged to the motor fixing plate 19 of the left telescopic mechanism 2 via the torsional motor 22, and the right end of the lower fuselage connecting rod 21 is hinged to the motor fixing plate 19 of the right telescopic mechanism 2 via the fuselage connecting shaft 20, forming a diagonally driven torsional structure. The upper gripper 1-1 is fixedly installed on the upper body connecting rod 21, and the lower gripper 1-2 is fixedly installed on the lower body connecting rod 21, thus completing the overall assembly of the machine. When the torsional obstacle avoidance mechanism 3 is working, the two diagonally positioned torsional motors 22 start synchronously and output the same angle of rotational torque, which drives the body connecting rod 21 to rotate relative to the telescopic mechanism 2, causing the original parallelogram body frame to torsion and deform. With the differential telescopic extension and retraction of the two sets of telescopic mechanisms 2, the body frame can be flexibly deformed into an irregular quadrilateral, thereby driving the gripper mechanism 1 to avoid obstacles such as tree branches and protrusions on the tree trunk and complete the obstacle avoidance action.

[0022] The following is the tree-climbing process of a preferred embodiment of the present invention: When the robot climbs on a regular tree trunk without obvious obstacles, firstly, the gripper motor 6 of the lower gripper 1-2 is started, driving the gripper 13 to tighten and clamp the lower end of the robot to the tree trunk; then, the gripper motor 6 of the upper gripper 1-1 is started in reverse, driving the gripper 13 to open and releasing the connection between the upper gripper 1-1 and the tree trunk; next, the lead screw motors 17 of the two sets of telescopic mechanisms 2 are started synchronously, driving the inner rod 15 of the telescopic rod to extend upward synchronously, pushing the upper gripper 1-1 to move upward along the tree trunk to the specified stroke; after reaching the specified position, the robot is controlled to... The gripper motor 6 of the upper gripper 1-1 starts forward, driving the gripper 13 to tighten and fix the upper gripper 1-1 to the tree trunk; then the gripper motor 6 of the lower gripper 1-2 starts in reverse, driving the gripper 13 to open and release the connection between the lower gripper 1-2 and the tree trunk; then the lead screw motors 17 of the two sets of telescopic mechanisms 2 start in reverse synchronously, driving the inner rod 15 of the telescopic rod to retract synchronously, pulling the lower gripper 1-2 to move upward along the tree trunk, completing one climbing cycle; repeating the above actions, the robot can continuously climb upward along the tree trunk, and reversing the above actions, the robot can move downward along the tree trunk.

[0023] The following is the obstacle-crossing process of a preferred embodiment of the present invention: When the robot is climbing, if there are obstacles such as branches or radial protrusions on the tree trunk 23 to be climbed, or if the cross-section of the tree trunk is irregular or the axis is offset, firstly, the upper gripper 1-1 and the lower gripper 1-2 are simultaneously clamped to the tree trunk 23 to ensure the stability of the whole machine and provide a support basis for obstacle avoidance. Then, the gripper motor 6 of the upper gripper 1-1 is reversed and started, driving the gripper 13 to open outward, completely releasing the connection between the upper gripper 1-1 and the tree trunk 23 to be climbed, providing room for the robot to deform and avoid obstacles. This state corresponds to Figure 5 The left figure shows the initial state of the upper gripper opening, ready to perform obstacle avoidance. Then, two diagonally positioned torsion motors 22 are simultaneously activated, controlling their output of the same rotational torque angle. This causes a relative deflection between the connecting rod 21 and the telescopic mechanism 2, resulting in a planar torsion of the original parallelogram frame. Simultaneously, the lead screw motors 17 of the two telescopic mechanisms 2 are independently controlled to perform differential telescopic movements, creating a difference in the extension length of the inner rods 15 of the two telescopic rods. This causes the frame to deform from a regular parallelogram to an irregular quadrilateral, causing a misalignment between the mounting plane of the upper gripper 1-1 and the mounting plane of the lower gripper 1-2. This causes the opened upper gripper 1-1 to bypass the obstacle structure on the tree trunk 23 to be climbed. This deformation state corresponds to... Figure 5The right figure shows the obstacle avoidance state of the machine body in a misaligned position. After the obstacle avoidance action is completed, the control twist motor 22 and the telescopic mechanism 2 are synchronously reset, driving the upper gripper 1-1 back to the clamping position coaxial with the tree trunk 23 to be climbed. The control of the gripper motor 6 of the upper gripper 1-1 is started in the forward direction, driving the gripper 13 to tighten inward, and re-clamping and fixing the upper gripper 1-1 to the tree trunk 23 to be climbed. Then, the control of the gripper motor 6 of the lower gripper 1-2 is started in the reverse direction, driving the gripper 13 to open and release, repeating the above action of twist motor drive + telescopic mechanism differential extension and retraction, driving the lower gripper 1-2 to bypass the same obstacle structure. After the action is completed, the control of the lower gripper 1-2 is reset and re-clamped to the tree trunk, thus completing a complete obstacle crossing action. By repeating the above climbing cycle and obstacle-crossing actions, the robot can achieve continuous and stable climbing on tree trunks with irregular obstacles, varying diameters, and irregular cross sections, fundamentally solving the problem that tree-climbing robots are easily stuck by tree branches and protrusions on the trunk.

[0024] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A tree-climbing robot capable of overcoming obstacles based on a differential telescopic mechanism, characterized in that, Including: The gripper mechanism (1) is divided into two parts, namely the upper gripper (1-1) and the lower gripper (1-2), which are used to clamp and fix the whole machine on the tree trunk, providing a stable installation base for the robot; The telescopic mechanism (2) has two identical units. The two telescopic mechanisms (2) are installed in parallel on two opposite parallel fuselage connecting rods (21) to form a parallelogram mechanism, which together constitute the fuselage assembly. The torsional obstacle avoidance mechanism (3) is connected to the telescopic mechanism (2) via the two rods of the body connecting rod (21), and is formed by the body connecting shaft (20) and the torsional motor (22). The two diagonal torsional motors rotate synchronously, driving the entire body to make torsional movements, and cooperate with the telescopic mechanism to achieve irregular quadrilateral deformation to complete the torsional obstacle avoidance.

2. The obstacle-crossing and tree-climbing robot based on a differential telescopic mechanism according to claim 1, characterized in that: The upper and lower grippers of the gripper mechanism (1) have the same structure, including: The lower fixing plate (4) of the gripper is used for positioning and installation of the gripper assembly, and the upper fixing plate (9) of the gripper is used for positioning and installation of the internal transmission mechanism of the gripper. The transmission pinion (8) is coaxially fixed with the gripper transmission shaft (7). Two helical gears (5) for changing the transmission direction are respectively installed on the gripper motor (6) and the gripper transmission shaft (7). The upper and lower ends of the gripper transmission shaft (7) pass through the offset holes of the upper fixing plate (9) and the lower fixing plate (4) of the gripper, respectively. The two transmission gears (10) mesh with each other and are connected to the two gripper support shafts (14) respectively. They are installed in the left and right symmetrical holes of the upper fixing plate (9) and the lower fixing plate (4) of the gripper. One of the transmission gears (10) meshes with the offset transmission pinion (8) through gear meshing. Plate (9) and gripper lower fixing plate (4) are positioned and installed together through bolt holes. One end of gripper transmission plate (11) with notch is engaged with gripper support shaft (14), and the other end is engaged with the outer hole of gripper (13). One end of gripper connecting plate (12) is engaged with gripper lower fixing plate (4), and the other end is engaged with the inner hole of gripper (13). When gripper motor (6) works, it drives gripper transmission shaft (7) to rotate, and transmits torque to transmission pinion (8). Transmission pinion (8) drives two meshing transmission gears (10) to rotate synchronously in opposite directions, and then transmits torque to gripper support shaft (14). The rotation of gripper support shaft drives gripper transmission plate (11) to open and close, and finally drives gripper to achieve tensioning and loosening. The assembled gripper mechanism (1) is a gripper assembly.

3. The obstacle-crossing and tree-climbing robot based on a differential telescopic mechanism according to claim 1, characterized in that: The telescopic mechanism (2) includes: The inner rod (15) of the telescopic rod and the outer rod (16) of the telescopic rod are nested together. The inner convex slide rail of the outer rod (16) of the telescopic rod is installed in conjunction with the outer concave slide groove of the inner rod (15). The screw of the screw motor (17) passes through the built-in threaded hole of the inner rod (15) of the telescopic rod. The screw motor (17) rotates and drives the inner rod (15) of the telescopic rod to move back and forth along the axial direction. The motor housing (18) is connected to the front end of the outer rod (16) of the telescopic rod and the screw motor (17) respectively by bolts. The motor fixing plate (19) is bolted to the other end of the motor housing (18). The telescopic mechanism (2) after installation is a telescopic rod assembly.

4. The obstacle-crossing and tree-climbing robot based on a differential telescopic mechanism according to claim 1, characterized in that: The torsion obstacle avoidance mechanism (3) includes: Two parallel telescopic mechanisms (2) and two opposing parallel fuselage connecting rods (21); the inner rods (15) of the upper ends of the two parallel telescopic mechanisms (2) are assembled with the fuselage connecting shaft (20) and the other with the joint torsion motor (22); the other end of the fuselage connecting shaft (20) is connected to the fuselage connecting rod (21), and the joint torsion motor (22) passes through the through hole at the threaded end of the fuselage connecting rod (21) and is connected to the inner rod (15) of the telescopic mechanism (2); the lower end of the telescopic mechanism (2) is engaged in opposing parallel cooperation with the fuselage connecting rod (21) assembled above. The telescopic mechanism (2) connected to the fuselage connecting shaft (20) has a motor fixing plate (19) at its lower end that cooperates with the joint torsion motor (22). The telescopic mechanism (2) connected to the joint torsion motor (22) has a motor fixing plate (19) at its lower end that cooperates with the fuselage connecting shaft (20). The installed torsion obstacle avoidance mechanism (3) is a fuselage assembly. The gripper motor (6) of the gripper mechanism (1) passes through the threaded hole of the fuselage connecting rod (21) and is bolted to it. The two symmetrical threaded holes of the fuselage connecting rod (21) are fixedly connected to the gripper lower fixing plate (4) by bolts.

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