Tree climbing robot with multiple wire-controlled flexible arms

Abstract

The application discloses a tree climbing robot capable of avoiding obstacles and provided with a plurality of wire-controlled flexible arms, comprising a main body frame, a flexible arm driving platform and wire-controlled flexible arms. The wire-controlled flexible arms are driven by motors on the driving platform to realize flexible deformation in multiple degrees of freedom; when the flexible arms contact a tree trunk, the flexible arms can be self-adaptively bent, attached and embraced around the tree trunk, and are lifted by controlling the frame to overturn through the motor, so that continuous climbing is realized through repeated actions; when obstacles such as branches are encountered, the wire-controlled flexible arms can be bent in multiple degrees of freedom to realize obstacle avoidance. The application has the advantages of compact structure, precise control and strong adaptability, and is suitable for scenes such as fruit picking, tree inspection and special operation.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an obstacle-avoiding tree-climbing robot with multiple wire-controlled flexible arms. Background Technology

[0002] Currently, tasks such as tree inspection and fruit harvesting typically require manual climbing, which is inefficient and unsafe. Most existing tree-climbing robots have complex structures, poor adaptability to tree surfaces, and difficulty in achieving stable contact with the trunk's contours. Furthermore, they are ineffective at avoiding obstacles such as branches, and their mobility and environmental adaptability are limited, failing to meet the demands of continuous operation in complex tree environments. Therefore, there is an urgent need for a tree-climbing robot with a simple structure, good contact performance, and flexible obstacle avoidance capabilities. Summary of the Invention

[0003] To address the aforementioned problems in existing technologies, this invention provides an obstacle-avoiding tree-climbing robot with multiple wire-controlled flexible arms. It features a compact structure, precise control, and high trunk-to-tree fit, enabling continuous climbing and flexible obstacle avoidance. It is suitable for scenarios such as fruit picking, tree inspection, and special operations.

[0004] The technical solution adopted in this invention is as follows:

[0005] An obstacle-avoiding tree-climbing robot with multiple wire-controlled flexible arms includes a main frame, a flexible arm drive platform, and multiple wire-controlled flexible arms.

[0006] The main frame is equipped with two flexible arm drive platforms. Each flexible arm drive platform is equipped with a drive motor for winding and unwinding the pull wire and a drive motor for controlling the flipping.

[0007] Each wire-controlled flexible arm is driven by a corresponding drive motor, enabling flexible deformation with multiple degrees of freedom.

[0008] When the wire-controlled flexible arm comes into contact with the tree trunk, it can adaptively bend, fit and hug the tree trunk, and lift the main frame by controlling the drive motor to flip the main frame. Repeat the above actions to complete continuous climbing.

[0009] When encountering obstacles, the wire-controlled flexible arm can achieve multi-degree-of-freedom bending through wire-controlled drive to avoid obstacles;

[0010] Furthermore, each of the flexible arm drive platforms is equipped with six drive motors for retracting and extending the pull wire and one drive motor for controlling the flipping. Each of the wire-controlled flexible arms corresponds to three drive motors for retracting and extending the pull wire. Through the coordinated pull wire drive of the three motors, multi-degree-of-freedom flexible deformation can be achieved.

[0011] Furthermore, each of the wire-controlled flexible arms is composed of multiple small blocks with hexagonal cross-sections and conical end faces connected sequentially. The small blocks and the connecting parts between the small blocks are all flexible structures that can be bent. The size of the small blocks decreases proportionally from the bottom to the top of the flexible arm. Each small block is provided with a through hole for threading a pull wire. Each wire-controlled flexible arm corresponds to three pull wires. The pull wires pass through the through holes on each small block in sequence and are tied together at the top of the flexible arm.

[0012] Furthermore, the wire-controlled flexible arm has two through holes on the side facing the tree trunk, corresponding to two pull wires, for controlling the flexible arm to bend towards the tree trunk; the wire-controlled flexible arm has one through hole on the side away from the tree trunk, corresponding to one pull wire, for controlling the flexible arm to bend outward, achieve relaxation and pre-bending. By adjusting the different contraction amounts of the two pull wires on the side facing the tree trunk, the flexible arm can be shifted to one side and tightened to adaptively fit the tree trunk.

[0013] The beneficial effects of this invention are:

[0014] 1. It adopts a multi-wire-controlled flexible arm for wrapping climbing, which can adapt to the contour of the tree trunk, fit closely, and ensure stable and reliable climbing;

[0015] 2. Through asymmetrical drive of multiple pull wires, the flexible arm can achieve precise bending, offset tightening, and reverse pre-bending, providing flexible operation;

[0016] 3. The flexible arm can avoid obstacles such as tree branches by bending with multiple degrees of freedom, and has strong environmental adaptability;

[0017] 4. The overall structure is simple and the movement is continuous and reliable, making it widely applicable to fruit picking, tree inspection, forestry monitoring and related special operations. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the wire-controlled flexible arm structure of the present invention;

[0020] Figure 3 This is a schematic diagram of the flexible arm drive platform structure of the present invention;

[0021] Figure 4 This is a schematic diagram of the main frame structure of the present invention;

[0022] Figure 5 This is a schematic diagram of the tree-hugging state of the present invention;

[0023] Figure 6 This is a schematic diagram of the fruit-picking state of the present invention.

[0024] Explanation of reference numerals in the attached drawings: 10 - wire-controlled flexible arm, 11 - through hole, 12 - hexagonal block, 13 - block with sliding boss;

[0025] 20-Flexible arm drive platform, 21-Wire take-up and pay-off motor, 22-Base, 23-Tilting drive motor;

[0026] 30-Main frame, 31-Connecting beam, 32-Control board, 33-Battery box. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to specific embodiments.

[0028] This embodiment discloses an obstacle-avoiding tree-climbing robot with multiple wire-controlled flexible arms, such as... Figure 1-4 As shown, the system includes a main frame, a flexible arm drive platform, and multiple wire-controlled flexible arms. Two flexible arm drive platforms are mounted on the main frame. Each platform is equipped with a drive motor for extending and retracting the pull cable, as well as a drive motor for controlling the overall rotation. The bottom end of each wire-controlled flexible arm is fixedly connected to the drive platform. One end of the pull cable is connected to the output end of the drive motor, and the other end passes through small through holes and is tied to the top of the flexible arm, thus enabling the motor to drive the flexible arm by pulling the cable.

[0029] Each wire-controlled flexible arm is composed of multiple small blocks with hexagonal cross-sections and conical end faces connected sequentially. The blocks and their connecting parts are all flexible, bendable structures. The size of the blocks decreases proportionally from the bottom to the top of the flexible arm, and each block has a through-hole for threading the guy wires. Each flexible arm corresponds to three guy wires, which pass through the through-holes of each block and are then tied together at the top of the flexible arm.

[0030] The wire-controlled flexible arm has two through holes on the side facing the tree trunk, corresponding to two pull wires, used to control the flexible arm's bending towards the tree trunk; on the side away from the tree trunk, there is one through hole, corresponding to one pull wire, used to control the flexible arm's outward bending, relaxation, and pre-bending before wrapping around the tree trunk. By adjusting the difference in the amount of contraction between the two pull wires on the side facing the tree trunk, the flexible arm can be shifted to one side and tightened, better conforming to the tree trunk surface.

[0031] During operation, the wire-controlled flexible arm bends and wraps around the tree trunk under the drive of the motor (e.g., Figure 5 As shown), the main frame is lifted by the tilting motor, repeating the wrap-around-tilt-lifting motion to complete continuous upward climbing. When encountering obstacles such as tree branches, the flexible arm is bent in multiple degrees of freedom by controlling the pull wires, adjusting its posture to bypass the obstacle and continue working; when picking fruit, the bending angle and position of the flexible arm are precisely controlled to complete the picking action (e.g., ...). Figure 6 (As shown).

[0032] The above content describes preferred embodiments of the present invention. The present invention is not limited to the above embodiments. 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 with multiple wire-controlled flexible arms capable of obstacle avoidance, characterized in that, Includes the main frame, flexible arm drive platform, and multiple wire-controlled flexible arms; The main frame is equipped with two flexible arm drive platforms. Each flexible arm drive platform is equipped with a drive motor for winding and unwinding the pull wire and a drive motor for controlling the flipping. Each wire-controlled flexible arm is driven by a corresponding drive motor, enabling flexible deformation with multiple degrees of freedom. When the wire-controlled flexible arm comes into contact with the tree trunk, it can adaptively bend, fit and hug the tree trunk, and lift the main frame by controlling the drive motor to flip the main frame. Repeat the above actions to complete continuous climbing. When encountering obstacles, the wire-controlled flexible arm can achieve multi-degree-of-freedom bending through wire-controlled drive to avoid obstacles.

2. The robot according to claim 1, characterized in that, Each of the flexible arm drive platforms is equipped with six drive motors for taking in and releasing the pull wire and one drive motor for controlling the flipping. Each of the wire-controlled flexible arms corresponds to three drive motors for retracting and extending the wire. Through the coordinated wire pulling drive of the three motors, flexible deformation with multiple degrees of freedom can be achieved.

3. The robot according to claim 1, characterized in that, Each wire-controlled flexible arm is composed of multiple small blocks with hexagonal cross-sections and conical end faces connected sequentially. The small blocks and the connecting parts between the small blocks are all flexible structures that can be bent. The size of the small blocks decreases proportionally from the bottom to the top of the flexible arm, and each small block is provided with a through hole for threading a pull wire. Each wire-controlled flexible arm corresponds to three pull wires, which pass through the through holes on each small block in sequence and are tied together at the top of the flexible arm.

4. The robot according to claim 3, characterized in that, The wire-controlled flexible arm has two through holes on the side facing the tree trunk, corresponding to two pull wires, which are used to control the flexible arm to bend towards the tree trunk. The wired flexible arm has a through hole on the side away from the tree trunk, corresponding to a pull wire, which is used to control the flexible arm to bend outward, relax and pre-bend; By adjusting the different amounts of contraction of the two tension lines facing one side of the tree trunk, the flexible arm is shifted to one side and tightened to adapt to the tree trunk.

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