CN104058019B - Climbing tree robot - Google Patents
Climbing tree robot Download PDFInfo
- Publication number
- CN104058019B CN104058019B CN201410242830.5A CN201410242830A CN104058019B CN 104058019 B CN104058019 B CN 104058019B CN 201410242830 A CN201410242830 A CN 201410242830A CN 104058019 B CN104058019 B CN 104058019B
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- robot
- acupuncture
- cohesion device
- climbing
- array
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Abstract
The invention relates to a climbing tree robot. The climbing tree robot comprises a tracked robot and is characterized in that at least one enclasping device is arranged on the tracked robot, and a needle array is arranged on the tracked robot. According to the invention, the technical scheme is adopted, so that the tracked robot can provide the climbing tree robot with power and remote control for climbing; the needle array can penetrate through the surfaces of trees to provide the robot with an adhesive force, so that the robot can be guaranteed not to slide downwards due to gravity; the enclasping device enables the robot to cling to the surfaces of the trees and not to turn outwards.
Description
Technical field
The present invention relates to a kind of technology of climbing robot, especially a kind of technology of robot capable of climbing trees.
Background technology
For the mankind, climb on tree that to work be with larger danger.But in agricultural production, garden management etc.
In occasion, still there are some must the climb tree work that just can be completed, such as pollard, pluck fruit etc..By taking Zhejiang Province as an example,
The agricultural product such as hickory nut, Chinese torreya are grown in mountain area, and harvesting personnel must climb to tree and could above pluck fruit, and pluck personnel from tree
On the accident fallen have generation every year, and replace the mankind to complete work using robot capable of climbing trees, it is possible to avoid because climbing tree
The dead and wounded accident of generation.
Some equipment climbed tree are there is also in prior art, but these equipment are bionic design, and general principle is all
By the design for being similar to insect pawl, although catching and being fixed on trunk for a safety, its climbing mechanism are done in this design
Design causes it slowly to creep, and every time the distance creeped of action is fixed so that well cannot adjust whole equipment
It is whole to preferable height, to provide position basis as follow-up work.
The content of the invention
The invention aims to solve the not enough of above-mentioned technology and provide one kind the mankind can be helped to climb to and work on tree
, so as to avoid the dead and wounded accident because of generation of climbing tree, and can climb tree rapidly altogether, the robot capable of climbing trees of the electrodeless adjustment of position height.
In order to achieve the above object, the robot capable of climbing trees designed by the present invention, it includes caterpillar type robot, it is characterized in that
Described caterpillar type robot is provided with more than one cohesion device, and caterpillar type robot is provided with acupuncture array, so sets
Power and remote control capability that meter caterpillar type robot can provide climbing for robot capable of climbing trees, acupuncture array can be pierced into surface of trees and be
Robot provides adhesive force, it is ensured that robot will not glide because of Action of Gravity Field, and cohesion device makes robot be close to trees
Surface, is unlikely to outwards upset.
In order to be able to making robot be close to surface of trees and and the motion of robot, cohesion device will not being hindered to be arc
Flexibility machine arm, the middle part of cohesion device is provided with pulley one, and the end of cohesion device is provided with pulley two, and holds dress tightly
Be set to two to be symmetrical arranged, the elasticity so having in itself due to cohesion device so that mechanical arm is close to surface of trees, and
Because there is pulley contact surface of trees, frictional force very little will not hinder the motion of robot.
In order to be able to robot will not be glided because of Action of Gravity Field, caterpillar type robot is included outside crawler belt, wheel and robot
Shell, acupuncture array is located on crawler belt, and acupuncture array is metal acupuncture, and acupuncture array presses the uniform cloth of spacing of 10mm*10mm
Put in track surface, so arrange that some project the acupuncture of metal to be pierced into surface of trees in track surface, provide for robot
Adhesive force, and durable using the acupuncture of metal, and effect also more projects.
In order to be able to make the piercing bark effect of acupuncture array optimal, the acupuncture of acupuncture array is the metal needle of 0.3mm diameters,
And acupuncture projects track surface 3mm；In order to be able to allow the best results of cohesion device, the flexibility machine arm of cohesion device is diameter
The stainless steel wire of 4mm.
Robot capable of climbing trees obtained by the present invention, the alternative mankind go the work for completing to need to climb tree to complete, and drop significantly
The life security worked on low tree, while also bringing great convenience and pacifying for staff such as agricultural production, garden managements
Entirely, it is suitable for promoting on a large scale and uses.And this robot capable of climbing trees, provide power of climbing tree, process of climbing tree by crawler belt
Continuously, it is to avoid robot capable of climbing trees completes an action in inner prior art can only creep the defect of a fixed distance, climb tree
Highly control is more flexible, is that follow-up work lays the foundation.Still further aspect, is grabbed due to being improved using flexibility machine arm
Clamp force, in whole process, grasp is remained, be it also avoid in prior art when creeping, and multiple pawl mechanisms mutually replace
Grasp rapid drawdown when changing, causes the factors such as equipment downslide shakiness.In sum, this robot capable of climbing trees has speed of climbing tree fast,
Height electrodeless is adjusted, and easy to operate, the characteristics of safe.
Description of the drawings
Fig. 1 is example structure schematic diagram.
Fig. 2 is embodiment schematic top plan view.
In figure：Caterpillar type robot 1, cohesion device 2, acupuncture array 3, middle-end 4, pulley 1, end 6, pulley 27, shoe
Band 8, wheel 9, robot shells 10.
Specific embodiment
The invention will be further described to combine accompanying drawing below by embodiment.
Embodiment 1.
As depicted in figs. 1 and 2, the robot capable of climbing trees of the present embodiment description, it includes caterpillar type robot 1, described shoe
Belt robot 1 is provided with more than one cohesion device 2, and caterpillar type robot 1 is provided with acupuncture array 3, and cohesion device 2 is
The flexibility machine arm of arc, the middle-end 4 of cohesion device 2 is provided with pulley 1, and the end 6 of cohesion device 2 is provided with pulley 27,
And cohesion device 2 has two, caterpillar type robot 1 includes crawler belt 8, wheel 9 and robot shells 10, and acupuncture array 3 is to be located at
On crawler belt 8, acupuncture array 3 is metal acupuncture, and acupuncture array 3 is evenly arranged in the surface of crawler belt 8 by the spacing of 10mm*10mm,
The acupuncture of acupuncture array 3 is the metal needle of 0.3mm diameters, and acupuncture projects the surface 3mm of crawler belt 8, the elastic mechanical of cohesion device 2
Arm is the stainless steel wire of diameter 4mm.
Claims (2)
1. robot capable of climbing trees, it includes caterpillar type robot（1）, it is characterized in that described caterpillar type robot（1）It is provided with one
Cohesion device more than individual（2）, caterpillar type robot（1）It is provided with acupuncture array（3）；Described cohesion device（2）For arc
Flexibility machine arm, cohesion device（2）Middle part（4）It is provided with pulley one（5）, cohesion device（2）End（6）On set
There is pulley two（7）, and cohesion device（2）It is symmetrical arranged for two；Described caterpillar type robot（1）Including crawler belt（8）, wheel
（9）And robot shells（10）, acupuncture array（3）It is to be located at crawler belt（8）On, acupuncture array（3）For metal acupuncture, and acupuncture battle array
Row（3）Crawler belt is evenly arranged in by the spacing of 10mm*10mm（8）Surface.
2. robot capable of climbing trees according to claim 1, is characterized in that described acupuncture array（3）Acupuncture be 0.3mm it is straight
The metal needle in footpath, and acupuncture projects crawler belt（8）Surface 3mm, cohesion device（2）Flexibility machine arm for diameter 4mm stainless steel
Silk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410242830.5A CN104058019B (en) | 2014-06-04 | 2014-06-04 | Climbing tree robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410242830.5A CN104058019B (en) | 2014-06-04 | 2014-06-04 | Climbing tree robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104058019A CN104058019A (en) | 2014-09-24 |
| CN104058019B true CN104058019B (en) | 2017-05-10 |
Family
ID=51546023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410242830.5A Expired - Fee Related CN104058019B (en) | 2014-06-04 | 2014-06-04 | Climbing tree robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104058019B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105963930B (en) * | 2016-07-08 | 2018-04-06 | 江苏铂英特电子科技有限公司 | One kind is adjustable to automate equipment of climbing tree |
| CN105963931A (en) * | 2016-07-08 | 2016-09-28 | 江苏铂英特电子科技有限公司 | Novel automatic tree climbing device |
| CN106069230A (en) * | 2016-07-08 | 2016-11-09 | 江苏铂英特电子科技有限公司 | A kind of novel automatic pollard equipment |
| CN105963932A (en) * | 2016-07-08 | 2016-09-28 | 江苏铂英特电子科技有限公司 | Automatic tree climbing equipment |
| US11952062B1 (en) | 2023-04-07 | 2024-04-09 | King Faisal University | Tree climbing robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2356355B (en) * | 1999-11-22 | 2003-07-09 | Nicholas Woodmansey | A portable mast climbing device |
| US7654348B2 (en) * | 2006-10-06 | 2010-02-02 | Irobot Corporation | Maneuvering robotic vehicles having a positionable sensor head |
| CN201333289Y (en) * | 2008-12-31 | 2009-10-28 | 湖北省电力公司咸宁供电公司 | Climbing irons for climbing |
| CN102653289A (en) * | 2011-03-01 | 2012-09-05 | 中国科学院合肥物质科学研究院 | Wall climbing robot with biomimetic vibration absorbing and biomimetic adhesion structure |
| CN102396324B (en) * | 2011-11-03 | 2013-07-31 | 浙江工业大学 | Robot capable of climbing trees |
| CN102405729B (en) * | 2011-11-23 | 2013-06-05 | 浙江工业大学 | Tree climbing type carya cathayensis picking robot |
| CN103518555B (en) * | 2013-10-15 | 2015-05-27 | 湖南大学 | Remote control high-altitude branch pruning device |
| CN203946187U (en) * | 2014-06-04 | 2014-11-19 | 浙江机电职业技术学院 | Robot capable of climbing trees |
-
2014
- 2014-06-04 CN CN201410242830.5A patent/CN104058019B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN104058019A (en) | 2014-09-24 |
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| C10 | Entry into substantive examination | ||
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170510 Termination date: 20180604 |
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| CF01 | Termination of patent right due to non-payment of annual fee |