Tree climbing robot

Abstract

The utility model provides a tree climbing robot which comprises a telescopic structure and two embracing mechanical arms, one embracing mechanical arm is connected to the upper end of the telescopic structure, and the other embracing mechanical arm is connected to the lower end of the telescopic structure. And the holding manipulator connected to the lower end of the telescopic structure can ascend along with the telescopic structure. The utility model aims to provide the tree-climbing robot which is used for carrying monitoring equipment to climb to a tree to monitor a forest so as to solve the problem of manual tree climbing.

Description

TECHNICAL FIELD

[0001] The utility model relates to forest maintenance technical field especially relates to a tree climbing robot. BACKGROUND

[0002] Forest disease and pest monitoring and forecasting work is the basis of forest protection work, and is the scientific basis for making forest disease and pest control decisions, and without accurate monitoring and forecasting, the purpose of scientific control cannot be achieved. Through continuous observation and investigation of forest disease and pest conditions, and comprehensive analysis and judgment of the real-time data of the investigation and the biological and ecological characteristics of the forest disease and pest and the changes of related factors affecting the population change, the future occurrence trend of the forest disease and pest population is monitored.

[0003] Most of the forests are distributed in complex geographical conditions and sparsely populated areas, and the trees are tall and climbing trees has certain danger, which increases the difficulty of disease and pest monitoring. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a tree climbing robot for carrying monitoring equipment to climb trees for monitoring forests, to replace manual tree climbing.

[0005] In order to realize the above-mentioned purpose, the utility model adopts the following technology: a tree climbing robot, characterized by comprising a telescopic structure and two holding mechanical hands, one holding mechanical hand is connected to the upper end of the telescopic structure, and the other holding mechanical hand is connected to the lower end of the telescopic structure, and the holding mechanical hand connected to the lower end of the telescopic structure can ascend with the telescopic structure. When the telescopic structure is in the initial state of extension, the tree climbing process is as follows: the holding mechanical hand located above holds the trunk, the telescopic structure is contracted to lift the holding mechanical hand located below, the holding mechanical hand located below holds the trunk, then the holding mechanical hand located above is released, the telescopic structure is extended to lift the holding mechanical hand located above, and the above process is repeated; when the telescopic structure is in the initial state of contraction, the tree climbing process is as follows: the holding mechanical hand located below holds the trunk, the telescopic structure is extended to lift the holding mechanical hand located above, the holding mechanical hand located above holds the trunk, then the holding mechanical hand located below is released, the telescopic structure is contracted to lift the holding mechanical hand located below, and the above process is repeated. The tree can be conveniently climbed for relevant work.

[0006] As preferred, a rotating structure is further included, and at least one of the two holding manipulators is connected to the telescopic structure through the rotating structure. When both of the holding manipulators are connected to the telescopic structure through the rotating structure, the rotating process is as follows: one holding manipulator holds the trunk, the other holding manipulator is released and is driven to rotate by the rotating structure connected to the other holding manipulator to a position where the trunk interferes with the further rotation of the other holding manipulator, the other holding manipulator holds the trunk, the one holding manipulator is released and is driven to rotate by the rotating structure connected to the one holding manipulator to a position where the trunk interferes with the further rotation of the one holding manipulator, and the above process is repeated until the rotating angle reaches the requirement. When only one of the holding manipulators is connected to the telescopic structure through the rotating structure, the rotating process is as follows: one holding manipulator holds the trunk, the other holding manipulator is released and is driven to rotate by the rotating structure to a position where the trunk interferes with the further rotation of the other holding manipulator, the other holding manipulator holds the trunk, the one holding manipulator is released and is driven to rotate by the rotating structure to a position where the trunk interferes with the further rotation of the one holding manipulator, and the above process is repeated until the rotating angle reaches the requirement. The holding manipulator can be driven to rotate, the turning of the trunk is realized, and the climbing direction of the trunk is convenient.

[0007] As preferred, the rotating structure includes a sector gear, a rotating gear meshing with the sector gear, and a rotating motor driving the rotating gear to rotate, the holding manipulator is fixed to the sector gear, the rotating motor is fixed to the telescopic structure, and the telescopic structure is rotatably connected to the sector gear. In use, the rotating motor drives the rotating gear to rotate, the rotating gear drives the sector gear to rotate, and thus the holding manipulator is rotated. When both of the holding manipulators are connected to the telescopic structure through the rotating structure, the maximum turning angle is limited by the sector angle of the sector gear. When only one of the holding manipulators is connected to the telescopic structure through the rotating structure, infinite angle turning can be realized.

[0008] As preferred, the teeth of the sector gear are arranged on the end face of the sector gear, and the rotating motor is in a flat state. The structure is compact and the layout is convenient.

[0009] As preferred, the telescopic structure comprises an upper connecting base, a lower connecting base, a left upper connecting rod with upper end hinged to the upper connecting base, a right upper connecting rod with upper end hinged to the upper connecting base, a left middle connecting base hinged to the lower end of the left upper connecting rod, a right middle connecting base hinged to the lower end of the right upper connecting rod, a left lower connecting rod with upper end hinged to the left middle connecting base, a right lower connecting rod with upper end hinged to the right middle connecting base, a pull rod with one end penetrating the left middle connecting base, and a motor driving the pull rod to rotate, the lower end of the left lower connecting rod and the lower end of the right lower connecting rod are hinged to the lower connecting base, the left end of the pull rod is rotatably connected to the left middle connecting base, and the right end of the pull rod is threadedly connected to the right middle connecting base. In use, the pull rod is driven to rotate by the rotation of the lifting motor, so as to realize the opening and closing of the upper connecting base and the lower connecting base, and realize the telescopic function. This provides a specific technical solution of the telescopic structure.

[0010] As preferred, the left middle connecting base comprises two left middle connecting base halves distributed along the front and back directions, each of the two left middle connecting base halves is connected to the upper connecting base through the left upper connecting rod and connected to the lower connecting base through the left lower connecting rod, the right middle connecting base comprises two right middle connecting base halves distributed along the front and back directions, each of the two right middle connecting base halves is connected to the upper connecting base through the right upper connecting rod and connected to the lower connecting base through the right lower connecting rod, the lifting motor is located between the two left middle connecting base halves, the two left middle connecting base halves and the two right middle connecting base halves are connected together one by one through the two pull rods, a driven gear is arranged on the pull rod, a driving gear driving the driven gear is arranged on the lifting motor, and the driving gear and the driven gear are connected together. In use, the inclination of the holding and taking manipulator is realized by making the angles of rotation of the left and right pull rods different. This technical solution enables the tree climbing robot to move to the side where the projection of the tree trunk is curved when the tree trunk is curved, and enables the upper holding and taking manipulator to be inclined to the same angle as the bending angle of the vertical pole when the tree trunk is climbed over the curved part, so as to conveniently and smoothly pass over the curved part of the tree trunk. The adaptability to the tree trunk in use is improved.

[0011] As preferred, the rotating structure is further included, the telescopic structure includes an upper connecting base, a lower connecting base, a left upper connecting rod with upper end hinged to the upper connecting base, a right upper connecting rod with upper end hinged to the upper connecting base, a left middle connecting base hinged to lower end of the left upper connecting rod, a right middle connecting base hinged to lower end of the right upper connecting rod, a left lower connecting rod with upper end hinged to the left middle connecting base, a right lower connecting rod with upper end hinged to the right middle connecting base, a pull rod with one end penetrating through the left middle connecting base, and a motor driving the pull rod to rotate, lower end of the left lower connecting rod and lower end of the right lower connecting rod are hinged to the lower connecting base, left end of the pull rod is only rotatably connected with the left middle connecting base, right end of the pull rod is threadedly connected with the right middle connecting base, the rotating structure includes a sector gear, a rotating gear meshed with the sector gear, and a rotating motor driving the rotating gear to rotate; at least one of the holding mechanical hands is connected with the telescopic structure through the rotating structure, the holding mechanical hand connected with the telescopic structure through the rotating structure is connected to the sector gear, the sector gear is provided with an arc-shaped suspension slide rail coaxial with the sector gear, the telescopic structure is provided with an arc-shaped suspension slide groove, the arc-shaped suspension slide rail penetrates through and slides in the arc-shaped suspension slide groove, teeth of the sector gear are arranged on an end face of the sector gear, and the rotating motor is connected to the telescopic structure.

[0012] As preferred, the said gripping manipulator comprises a connecting frame, two opposite gripping arms and an arm opening and closing structure for driving the opening and closing of the two gripping arms, the said gripping arm comprises a first section, a last section and a plurality of intermediate sections connected in sequence, the said first section comprises a first section part clamping rod hinged in the middle of the frame, a swing arm part straight rail arranged at one end of the first section part clamping rod, a driving sliding block slidingly connected to the swing arm part straight rail, a push-pull connecting rod hinged at one end of the driving sliding block and a push-pull cylinder connected to the first section part clamping rod, the said push-pull cylinder is connected together with the said driving sliding block, the said intermediate section comprises an intermediate section part clamping rod, a first connecting rod and a second connecting rod, one end of the intermediate section part clamping rod and one end of the first connecting rod are hinged together, the other end of the first connecting rod and one end of the second connecting rod are hinged together, the said last section comprises a last section clamping rod, the first hinge shaft of the first intermediate section of the first section is rotationally connected to one end of the said first section part clamping rod, the other end of the push-pull connecting rod is hinged together with the middle part of the said first connecting rod of the first intermediate section; between adjacent intermediate sections, the said first hinge shaft of the intermediate section away from the first section is rotationally connected to the other end of the said first section part clamping rod of the other first section, the middle part of the said first connecting rod of the other first section is hinged to the other end of the said second connecting rod of the intermediate section away from the first section; the other end of the said first connecting rod and the other end of the second connecting rod of the last intermediate section are both hinged to the said last section clamping rod; the said arm opening and closing structure comprises a frame part straight rail connected to the frame along a horizontal direction perpendicular to the distribution direction of the two gripping arms, a threaded sleeve slidingly connected to the frame part straight rail, a lead screw threadedly connected to the threaded sleeve, an opening and closing motor for driving the rotation of the lead screw and two opening and closing structure part connecting rods hinged at one end one by one on both sides of the threaded sleeve, the other end of the two said opening and closing structure part connecting rods is hinged one by one to the other end of the two said first section part clamping rods. In use, the stretching and bending of the gripping arm is realized by the pushing and pulling of the push-pull cylinder, and the opening and closing of the two gripping arms is realized by the rotation of the opening and closing motor. It can conveniently and firmly hold and loosen the tree trunk.

[0013] As preferred, the three hinge points on the first connecting rod are in triangular distribution, the hinge point located in the middle of the first connecting rod is located on one side of the first section of the straight line determined by the two hinge points located at both ends of the first connecting rod. It can be more convenient to assemble.

[0014] As preferred, the projection of the said last section clamping rod along the direction perpendicular to the plane determined by the two gripping arms is an obtuse triangle, and the hinge point of the last section clamping rod and the intermediate section part clamping rod is located at the obtuse angle of the said obtuse triangle. It can adapt to the gripping of smaller tree trunks.

[0015] Beneficial effect: it can climb onto the tree to replace the artificial climbing and transferring equipment. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1The utility model discloses a three -dimensional structure schematic drawing of the utility model;

[0017] Fig. 2 The utility model discloses a telescopic structure and the schematic drawing of rotating structure of the utility model;

[0018] Fig. 3 It is the schematic drawing of the mechanical arm of holding.

[0019] In the drawing: telescopic structure 1, holding mechanical arm 2, rotating structure 3, upper connecting seat 4, lower connecting seat 5, left upper connecting rod 6, right upper connecting rod 7, left middle connecting seat 8, right middle connecting seat 9, left lower connecting rod 10, right lower connecting rod 11, pull rod 12, lifting motor 13, sector gear 14, rotating gear 15, rotating motor 16, arc suspension slide rail 17, arc suspension slide groove 18, left middle connecting seat half 19, right middle connecting seat half 20, driven gear 21, driving gear 22, connecting frame 24, holding arm 25, first section clamping rod 26, swing arm straight track 27, driving slide block 28, push-pull connecting rod 29, push-pull cylinder 30, middle section clamping rod 31, first connecting rod 32, second connecting rod 33, first hinge shaft 34, last section clamping rod 35, first section middle section 36, last section middle section 37, obtuse angle 38 of obtuse triangle, threaded sleeve 40, lead screw 41, opening and closing motor 42, opening and closing structure part connecting rod 43, first section 44, last section 45, middle section 46, holding arm opening and closing structure 47, gear 48 of sector gear. DETAILED DESCRIPTION

[0020] The technical scheme in the embodiments of the utility model will be described clearly and completely in conjunction with the drawings of the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor fall within the protection scope of the utility model.

[0021] Referring to Figs. 1 to 3 A tree climbing robot, comprising telescopic structure 1 and two holding mechanical arms 2. One holding mechanical arm is connected to the upper end of the telescopic structure through a rotating structure 3, and the other holding mechanical arm is connected to the lower end of the telescopic structure through another rotating structure. The holding mechanical arm connected to the lower end of the telescopic structure can ascend with the telescopic structure.

[0022] The telescopic structure comprises an upper connecting base 4, a lower connecting base 5, a left upper connecting rod 6 with the upper end hinged to the upper connecting base, a right upper connecting rod 7 with the upper end hinged to the upper connecting base, a left middle connecting base 8 hinged to the lower end of the left upper connecting rod, a right middle connecting base 9 hinged to the lower end of the right upper connecting rod, a left lower connecting rod 10 with the upper end hinged to the left middle connecting base, a right lower connecting rod 11 with the upper end hinged to the right middle connecting base, a pull rod 12 with one end penetrating through the left middle connecting base, and a lifting motor 13 for driving the pull rod to rotate, the lower end of the left lower connecting rod and the lower end of the right lower connecting rod are hinged to the lower connecting base, the left end of the pull rod is rotatably connected to the left middle connecting base, and the right end of the pull rod is threadedly connected to the right middle connecting base. The rotating structure comprises a sector gear 14, a rotating gear 5 meshed with the sector gear 14, and a rotating motor 16 for driving the rotating gear to rotate. The teeth 48 of the sector gear are arranged on the end face of the sector gear, and the rotating motor is in a horizontal state. The rotating motor of the rotating structure located at the upper position is connected to the upper connecting base, and the rotating motor of the rotating structure located at the lower position is connected to the lower connecting base. The holding mechanical arm is connected to the sector gear. The sector gear is provided with an arc-shaped suspension sliding rail 17 coaxial with the sector gear, the upper and lower connecting bases of the telescopic structure are both provided with arc-shaped suspension sliding grooves 18, and the arc-shaped suspension sliding rail is slidingly penetrated through the arc-shaped suspension sliding groove. The left middle connecting base comprises two left middle connecting base halves 19 distributed along the front and back directions, the two left middle connecting base halves are each connected to the upper connecting base through the left upper connecting rod and connected to the lower connecting base through the left lower connecting rod, the right middle connecting base comprises two right middle connecting base halves 20 distributed along the front and back directions, the two right middle connecting base halves are each connected to the upper connecting base through the right upper connecting rod and connected to the lower connecting base through the right lower connecting rod, the lifting motor is located between the two left middle connecting base halves, the two left middle connecting base halves and the two right middle connecting base halves are connected together in a one-to-one correspondence through the two pull rods, the pull rod is provided with a driven gear 21, the lifting motor is provided with a driving gear 22 for driving the driven gear, and the driving gear and the driven gear are connected together in a detachable manner. An intermediate gear is arranged between the driving gear and the driven gear. The intermediate gear is not shown in the figure.

[0023] In use, the inclination of the holding mechanical arm is realized by making the angles of rotation of the left and right pull rods different. When the tree trunk is curved, the tree climbing robot is moved to the side where the projection of the tree trunk is curved to climb the tree, and when the curved part of the tree trunk is climbed, the upper holding mechanical arm is inclined to make the included angle with the lower holding mechanical arm consistent with the bending angle of the vertical pole, so that the curved part of the tree trunk can be conveniently and smoothly crossed. The adaptability to the tree trunk in use is improved.

[0024] The tree climbing process when the initial state of the telescopic structure is in the extended state is as follows: the upper holding manipulator holds the trunk, the telescopic structure is contracted to lift the lower holding manipulator, the lower holding manipulator holds the trunk and then the upper holding manipulator is released, the telescopic structure is extended to lift the upper holding manipulator, and the above process is repeated; the tree climbing process when the initial state of the telescopic structure is in the contracted state is as follows: the lower holding manipulator holds the trunk, the telescopic structure is extended to lift the upper holding manipulator, the upper holding manipulator holds the trunk and then the lower holding manipulator is released, the telescopic structure is contracted to lift the lower holding manipulator, and the above process is repeated. The tree can be conveniently climbed for relevant work. When both holding manipulators are connected with the telescopic structure through the rotating structure, the rotating process is as follows: one holding manipulator holds the trunk, the other holding manipulator is released and is driven to rotate to a position where the trunk interferes with the further rotation of the other holding manipulator by the rotating structure connected with the other holding manipulator, the other holding manipulator holds the trunk, and one holding manipulator is released and is driven to rotate to a position where the trunk interferes with the further rotation of one holding manipulator by the rotating structure connected with one holding manipulator, and the above process is repeated until the rotation angle reaches the requirement. When one holding manipulator is connected with the telescopic structure through the rotating structure, the rotating process is as follows: one holding manipulator holds the trunk, the other holding manipulator is released and is driven to rotate to a position where the trunk interferes with the further rotation of the other holding manipulator by the rotating structure, the other holding manipulator holds the trunk, and one holding manipulator is released and is driven to rotate to a position where the trunk interferes with the further rotation of one holding manipulator by the rotating structure, and the above process is repeated until the rotation angle reaches the requirement. The holding manipulator can be driven to rotate, the turning of the utility model on the trunk is realized, and the utility model is climbed in the direction convenient for climbing on the trunk.

[0025] In use, the rotating motor drives the rotating gear to rotate, and the rotating gear drives the sector gear to rotate, so that the holding manipulator rotates.

[0026] In use, the rotating of the lifting motor drives the pull rod to rotate, so that the upper connecting seat and the lower connecting seat are opened and closed, and the telescopic structure is realized.

[0027] The gripping robot includes a frame 24, two opposite gripping arms 25, and an arm opening and closing structure 47 for driving the two gripping arms to open and close. The gripping arm includes a first section 44, a last section 45, and a plurality of intermediate sections 46 (two intermediate sections in this embodiment) connected in sequence. The first section includes a first section clamping rod 26 hingedly connected to the frame, a swing arm straight rail 27 arranged at one end of the first section clamping rod, a driving sliding block 28 slidingly connected to the swing arm straight rail, a push-pull connecting rod 29 hingedly connected at one end to the driving sliding block, and a push-pull cylinder 30 connected to the first section clamping rod. The push-pull cylinder is connected to the driving sliding block. The intermediate section includes an intermediate section clamping rod 31, a first connecting rod 32, and a second connecting rod 33, one end of the intermediate section clamping rod and one end of the first connecting rod are hingedly connected together through a first hinge shaft 34, and the other end of the first connecting rod and one end of the second connecting rod are hingedly connected together. The last section includes a last section clamping rod 35. The first hinge shaft of the first intermediate section 36 is rotationally connected to one end of the first section clamping rod, and the other end of the push-pull connecting rod is hingedly connected to the middle of the first connecting rod of the first intermediate section; between adjacent intermediate sections, the first hinge shaft of the intermediate section away from the first section is rotationally connected to the other end of the first section clamping rod of the other first section, and the middle of the first connecting rod of the other first section is hingedly connected to the other end of the second connecting rod of the intermediate section away from the first section; the other end of the first connecting rod and the other end of the second connecting rod of the last intermediate section 37 are both hingedly connected to the last section clamping rod; the projection of the last section clamping rod in the direction perpendicular to the plane determined by the two gripping arms is an obtuse triangle, and the hinge point of the last section clamping rod and the intermediate section clamping rod is located at the obtuse angle 38. The arm opening and closing structure includes a threaded sleeve 40, a lead screw 41 threadedly connected to the threaded sleeve, an opening and closing motor 42 for driving the lead screw to rotate, and two opening and closing structure connecting rods 43 hingedly connected at one end to the two sides of the threaded sleeve, and the other ends of the two opening and closing structure connecting rods are hingedly connected to the other ends of the two first section clamping rods. The three hinge points on the first connecting rod are triangularly distributed, and the hinge point located in the middle of the first connecting rod is located on the side of the first section relative to the straight line determined by the two hinge points located at the two ends of the first connecting rod. In use, the extension and bending of the gripping arm are achieved by the pushing and pulling of the push-pull cylinder, and the opening and closing of the two gripping arms are achieved by the rotation of the opening and closing motor.

[0028] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and implementations, it is to be understood that the terminology used is for the purpose of descriptive clarity and that it is intended to be limited only by the words recited in the appended claims. The scope of the present application shall be limited only by the claims.

[0029] While the embodiments of the present application have been shown and described with respect to particular embodiments thereof, it will be understood by those skilled in the art that various changes in form and details can be made therein without departing from the spirit and scope of the application. Therefore, the scope of the application should not be limited by the embodiments, but should be defined only in accordance with the following claims and their equivalents.

Claims

1. A tree climbing robot, characterized by, The tree climbing robot comprises a telescopic structure and two holding manipulators, one of which is connected to the upper end of the telescopic structure and the other of which is connected to the lower end of the telescopic structure, and the holding manipulator connected to the lower end of the telescopic structure can ascend with the telescopic structure; the telescopic structure comprises an upper connecting seat, a lower connecting seat, a left upper connecting rod with the upper end hinged to the upper connecting seat, a right upper connecting rod with the upper end hinged to the upper connecting seat, a left middle connecting seat hinged to the lower end of the left upper connecting rod, a right middle connecting seat hinged to the lower end of the right upper connecting rod, a left lower connecting rod with the upper end hinged to the left middle connecting seat, a right lower connecting rod with the upper end hinged to the right middle connecting seat, a pull rod with one end penetrating the left middle connecting seat and a motor for driving the pull rod to rotate, the lower end of the left lower connecting rod and the lower end of the right lower connecting rod are hinged to the lower connecting seat, the left end of the pull rod is rotatably connected to the left middle connecting seat, and the right end of the pull rod is threadedly connected to the right middle connecting seat; the left middle connecting seat comprises two left middle connecting seat halves distributed along the front-rear direction, the two left middle connecting seat halves are connected to the upper connecting seat through the left upper connecting rod respectively and connected to the lower connecting seat through the left lower connecting rod respectively, the right middle connecting seat comprises two right middle connecting seat halves distributed along the front-rear direction, the two right middle connecting seat halves are connected to the upper connecting seat through the right upper connecting rod respectively and connected to the lower connecting seat through the right lower connecting rod respectively, the two left middle connecting seat halves and the two right middle connecting seat halves are connected together through the two pull rods one by one, a driven gear is arranged on the pull rod, a driving gear for driving the driven gear is arranged on the lifting motor, and the driving gear and the driven gear are connected together in a clutching manner; the tree climbing robot further comprises a rotating structure, the telescopic structure comprises an upper connecting seat, a lower connecting seat, a left upper connecting rod with the upper end hinged to the upper connecting seat, a right upper connecting rod with the upper end hinged to the upper connecting seat, a left middle connecting seat hinged to the lower end of the left upper connecting rod, a right middle connecting seat hinged to the lower end of the right upper connecting rod, a left lower connecting rod with the upper end hinged to the left middle connecting seat, a right lower connecting rod with the upper end hinged to the right middle connecting seat, a pull rod with one end penetrating the left middle connecting seat and a motor for driving the pull rod to rotate, the lower end of the left lower connecting rod and the lower end of the right lower connecting rod are hinged to the lower connecting seat, the left end of the pull rod is rotatably connected to the left middle connecting seat, and the right end of the pull rod is threadedly connected to the right middle connecting seat, the rotating structure comprises a sector gear, a rotating gear meshed with the sector gear and a rotating motor for driving the rotating gear to rotate; at least one of the holding manipulators is connected to the telescopic structure through the rotating structure, the holding manipulator connected to the telescopic structure through the rotating structure is connected to the sector gear, an arc-shaped suspension sliding rail coaxial with the sector gear is arranged on the sector gear, an arc-shaped suspension sliding groove is arranged on the telescopic structure, the arc-shaped suspension sliding rail is slidingly penetrated in the arc-shaped suspension sliding groove, the teeth of the sector gear are arranged on the end face of the sector gear, and the rotating motor is connected to the telescopic structure.

2. The tree climbing robot of claim 1, wherein, The rotating structure is further included, and at least one of the two holding manipulators is connected with the telescopic structure through the rotating structure.

3. The tree climbing robot of claim 2, wherein, The rotating structure includes a sector gear, a rotating gear engaged with the sector gear, and a rotating motor for driving the rotating gear to rotate, the holding manipulator is fixed to the sector gear, the rotating motor is fixed to the telescopic structure, and the telescopic structure is rotationally connected to the sector gear.

4. The tree climbing robot of claim 3, wherein, The teeth of the sector gear are arranged on the end face of the sector gear, and the rotating motor is in a horizontal state.

5. The tree climbing robot according to claim 1 or 2 or 3 or 4, wherein, The holding manipulator includes a connecting frame, two oppositely arranged holding arms, and a holding arm opening and closing structure for driving the two holding arms to open and close, the holding arm includes a first section, a last section, and a plurality of intermediate sections connected in sequence, the first section includes a first section clamping rod hingedly connected to the frame, an arm swinging straight rail arranged at one end of the first section clamping rod, a driving sliding block slidingly connected to the arm swinging straight rail, a push-pull connecting rod hingedly connected at one end to the driving sliding block, and a push-pull cylinder connected to the first section clamping rod, the push-pull cylinder is connected with the driving sliding block, the intermediate section includes an intermediate section clamping rod, a first connecting rod, and a second connecting rod, one end of the intermediate section clamping rod and one end of the first connecting rod are hingedly connected together through a first hinge shaft, the other end of the first connecting rod and one end of the second connecting rod are hingedly connected together, the last section includes a last section clamping rod, the first hinge shaft of the first section intermediate section is rotationally connected to one end of the first section clamping rod, the other end of the push-pull connecting rod is hingedly connected to the middle part of the first connecting rod of the first section intermediate section; between adjacent intermediate sections, the first hinge shaft of the intermediate section away from the first section is rotationally connected to the other end of the first section clamping rod of another first section, the middle part of the first connecting rod of another first section is hingedly connected to the other end of the second connecting rod of the intermediate section away from the first section; the other end of the first connecting rod and the other end of the second connecting rod of the last section intermediate section are both hingedly connected to the last section clamping rod; the holding arm opening and closing structure includes a frame straight rail extending horizontally and perpendicularly to the distribution direction of the two holding arms, a threaded sleeve slidingly connected to the frame straight rail, a lead screw threadedly connected to the threaded sleeve, an opening and closing motor for driving the lead screw to rotate, and two opening and closing structure connecting rods hingedly connected at one end to both sides of the threaded sleeve, one by one, the other end of the two opening and closing structure connecting rods is hingedly connected to the other end of the two first section clamping rods, one by one.

6. The tree climbing robot of claim 5, wherein, The projection of the last section clamping rod along the direction perpendicular to the plane determined by the two holding arms is an obtuse triangle, and the hinge point of the last section clamping rod and the intermediate section clamping rod is located at the obtuse angle of the obtuse triangle.

Images