CN106741272A - A kind of robot capable of climbing trees - Google Patents

A kind of robot capable of climbing trees Download PDF

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Publication number
CN106741272A
CN106741272A CN201611241373.3A CN201611241373A CN106741272A CN 106741272 A CN106741272 A CN 106741272A CN 201611241373 A CN201611241373 A CN 201611241373A CN 106741272 A CN106741272 A CN 106741272A
Authority
CN
China
Prior art keywords
paw
trunk
arm
tree
driver
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201611241373.3A
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Chinese (zh)
Inventor
姜春英
于苏洋
马英石
张诚然
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Fly Automation Technology Co Ltd
Original Assignee
Shenyang Fly Automation Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Fly Automation Technology Co Ltd filed Critical Shenyang Fly Automation Technology Co Ltd
Priority to CN201611241373.3A priority Critical patent/CN106741272A/en
Publication of CN106741272A publication Critical patent/CN106741272A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

Abstract

A kind of robot capable of climbing trees of the present invention, tree arm is grabbed with trunk support part, first and second grab tree arm, wherein first grabs tree arm and second grabs tree arm and is connected with the top of trunk support part and lower mechanical respectively, and first grabs tree arm and second to grab tree arm structure mutually symmetrical;There is telescopic drive part, its output end is engaged by gear with the tooth bar of two trunk moving parts on trunk support part on trunk support part.Whole mechanical system of the invention transmits the whole process for completing to climb tree by the cooperation of mechanical structured member and rack-and-pinion, and simple structure, control is easy.Arm alternating action of creeping up and down completes the process climbed tree, and rotatable arm can effectively get around the crotch on trunk.

Description

A kind of robot capable of climbing trees
Technical field
The present invention relates to a kind of robot, specifically a kind of robot capable of climbing trees.
Background technology
With the development of science and technology, many fields perform special work, such as unmanned plane with robot, dangerous material are searched Rope robot etc., manual work is all led at many aspects.With continuing to develop for automatic technology, in every field machine It is very big convenient that the appearance of people has brought, and work high above the ground robot has very big demand space.Robot capable of climbing trees can Equipment to substitute existing work high above the ground, reduces the risk of operating cost and manual operation.There is knot in existing robot capable of climbing trees Structure is complicated, volume is larger, freedom of motion is more, and linkage performance is poor, and the shortcomings of creep speed is slow, grasping mechanism is unstable, Can not quickly detour the problem of the obstacles such as trunk in crawling process.
The content of the invention
For robot capable of climbing trees complex structure, volume in the prior art it is larger, freedom of motion is more, creep speed is slow etc. Deficiency, the problem to be solved in the present invention is to provide the robot capable of climbing trees that a kind of simple structure, linkage performance are good, creep speed is fast.
In order to solve the above technical problems, the technical solution adopted by the present invention is:
A kind of robot capable of climbing trees of the present invention, grabs tree arm and second grabs tree arm with trunk support part, first, its In first grab tree arm and second and grab tree arm and be connected with the top of trunk support part and lower mechanical respectively, first grabs Tree arm and second grab tree arm structure it is mutually symmetrical;There is telescopic drive part, its output end passes through on trunk support part Gear is engaged with the tooth bar of two trunk moving parts on trunk support part.
The trunk support part have supporting plate, the first trunk moving parts, the second trunk moving parts and Telescopic drive part, wherein telescopic drive part is fixedly installed in supporting plate, the first trunk moving parts, the movement of the second trunk Modular construction is identical, is symmetrically movably installed in supporting plate upper and lower ends, the first trunk moving parts, the second trunk moving parts phase Corresponding side is equipped with tooth bar.
Also there are two arm rotary drive motors, be symmetricly set on trunk support part, two arm rotation drivings Motor is engaged by gear with two tooth bars for grabbing tree arm edge respectively.
First grab tree arm and second grab tree arm structure it is identical, be symmetrically arranged on the top and the bottom of trunk support part, A paw motor, the first clamping paw, the second clamping paw, the first paw driver part, the second paw is respectively provided with to drive Dynamic component and shoulder, wherein the first paw driver part, the second paw driver part are symmetrically movably installed on shoulder, first Paw driver part, the second paw driver part end are respectively equipped with the first clamping paw and second and clamp paw, the first paw Driver part and the corresponding side of the second paw driver part are equipped with tooth bar, and paw motor is installed on shoulder, and its is defeated Shaft is engaged by gear with the tooth bar of the first paw driver part and the second paw driver part.
Shoulder is slidably connected with the first trunk moving parts of trunk support part, and the edge of shoulder is provided with tooth bar.
First clamps paw, the second clamping paw uses four-bar linkage structure, the first paw driver part, the second paw to drive Dynamic component is connected by the transmission lever in four-bar linkage structure with paw.
The invention has the advantages that and advantage:
1. the whole mechanical system of the present invention transmits complete to climb tree whole by the cooperation of mechanical structured member and rack-and-pinion Process, simple structure, control is easy.Arm alternating action of creeping up and down completes the process climbed tree, and rotatable arm can be effective The crotch got around on trunk.
Brief description of the drawings
Fig. 1 is present invention structural representation when in use;
Fig. 2 is first to grab tree arm structure schematic diagram in the present invention;
Fig. 3 is the trunk support modular construction schematic diagram in the present invention;
Fig. 4 is the structure of the promptly finger in the present invention.
Wherein, 1 is trunk, and 2 is branch, and 3 is trunk support part, and 301 is the first trunk moving parts, and 302 is flexible Driver part, 303 is the second trunk moving parts, and 304 is supporting plate, and 305 is arm rotary drive motor, and 4 grab tree for first Arm, 401 is the first clamping paw, and 402 is the second clamping paw, and 403 is the first paw driver part, and 404 is the second paw Driver part, 405 is paw motor, and 406 is that arm rotates tooth bar, and 407 is quadric chain, and 408 is shoulder, and 5 is the Two grab tree arm,
Specific embodiment
With reference to Figure of description, the present invention is further elaborated.
As shown in figure 1, a kind of robot capable of climbing trees of the invention, tree arm 4 and the are grabbed with trunk support part 3, first Two grab tree arm 5, wherein first grabs tree arm 4 and second and grab tree arm 5 top respectively with trunk support part 3 and bottom machine Tool be connected, first grab tree arm 4 and second grab tree the structure of arm 5 it is mutually symmetrical;There is flexible drive on trunk support part 3 Dynamic component 302, its output end is engaged by gear with the tooth bar of two trunk moving parts on trunk support part 3.
As shown in figure 3, the trunk support part 3 has supporting plate 304, a first trunk moving parts 301, second Trunk moving parts 303 and telescopic drive part 302, wherein telescopic drive part 302 are fixedly installed in supporting plate 304, First trunk moving parts 301, the structure of the second trunk moving parts 303 are identical, are symmetrically movably installed in supporting plate two about 304 End, the corresponding side of the first trunk moving parts 301, the second trunk moving parts 303 is equipped with tooth bar.Trunk support part 3 also have two arm rotary drive motors, are symmetricly set on trunk support part 3, two arm rotary drive motors point Not Tong Guo gear with two grab tree arm edge tooth bars engage.
As shown in Fig. 2 first grab tree arm 4 and second grab tree the structure of arm 5 it is identical, be symmetrically arranged on trunk support part 3 top and the bottom, are respectively provided with a paw motor 405 (compression servomotor), the first clamping paw 401, second and clamp Paw 402, the first paw driver part 403, the second paw driver part 404 and shoulder 408, wherein the first paw drive division Part 403, the second paw driver part 404 are symmetrically movably installed on shoulder 408, the first paw driver part 403, the second paw The end of driver part 404 is respectively equipped with the first clamping paw 401 and second and clamps paw 402, the He of the first paw driver part 403 The corresponding side of second paw driver part 404 is equipped with tooth bar, and paw motor 405 is installed on shoulder 408, its output Axle is engaged by gear with the tooth bar of the first paw driver part 403 and the second paw driver part 404.Shoulder 408 and trunk First trunk moving parts 301 of support member 3 is slidably connected, and the edge of shoulder 408 is provided with tooth bar.
As shown in Fig. 2 first clamps the clamping of paw 401, second paw 402 using four-bar linkage structure, the first paw drives Dynamic component 403, the second paw driver part 404 are connected by the transmission lever in four-bar linkage structure with paw.First clamps paw 401 is identical with the second clamping structure of paw 402, and enlarged drawing is as shown in Figure 4.
In the present embodiment, first grab tree arm 4 and second grab tree arm 5 be movably installed in the first of trunk support part 3 On the trunk moving parts 303 of trunk moving parts 301 and second, each grabs tree arm has a shoulder and is installed on shoulder two The clamping paw at end, has four clamping paws, by coordinating control, coordinating realization to climb tree process, specially:
Clamping paw is fixed on grabs on tree arm, realizes opening by quadric chain or compresses motion.It is fixed on and grabs Paw motor 405 on tree arm realizes the stretching motion of paw driver part by gear & rack structure, drives and clamps The compression of paw is opened.Whole tree arm of grabbing is fixed on the trunk moving parts of robot by mechanical engagement, trunk Arm rotary drive motor 305 on moving parts realizes that grab tree arm transports around the Concentric rotation of trunk by gear & rack structure It is dynamic, get around the barrier (such as branch 2) during climbing tree on trunk 1.Trunk moving parts is fixed on trunk by mechanical engagement In support member 3, the telescopic drive part 302 (the present embodiment uses servomotor) being fixed on trunk support part 3 passes through Gear & rack structure moves up and down trunk moving parts, and moving up and down for tree arm is grabbed in realization.
The process of climbing tree of robot of the present invention is as follows:
Be firstly fixed on first grab tree arm 4 on paw motor 405 driven by gear & rack structure it is first-hand The paw driver part 404 of pawl driver part 403 and second is moved, and the first clamping paw 401 and second is clamped paw 402 simultaneously Trunk is compressed, grasp is formed, is fixed on trunk.Telescopic drive part drive gear in robot capable of climbing trees support member 3 Rack structure, shrinks the first trunk moving parts 301 and the second trunk moving parts 303, and second grabs tree arm 5 rises.The Two grab the motors set on arm 5 drives the second paw driver part, makes two to clamp paws and compresses trunks, and fixed is setting On dry.First grabs paw motor 405 on tree arm 4 drives drive disk assembly to shrink, and makes the first clamping paw 401 and the second folder Tight paw 402 opens simultaneously, leaves trunk.Telescopic drive part on trunk support part 3 drives the first trunk moving parts 301 and the second trunk moving parts 303, make first to grab tree arm 4 and rise, then first grab tree arm 4 and firmly grasp again, realize climbing Rise motion.
When meeting obstacle in crawling process, rotated by the first arm on the first trunk moving parts 301 First arm rotary drive motor is driven by gear & rack structure on the trunk moving parts 303 of motor 305 and the 2nd 1 First grabs tree arm 4 and second grabs the rotary motion that tree arm 5 completes around trunk.
The motion for completing to be creeped upwards along trunk by the reciprocating motion being similar to.

Claims (6)

1. a kind of robot capable of climbing trees, it is characterised in that:Tree arm is grabbed with trunk support part, first and second grab tree hand Arm, wherein first grabs tree arm and second and grabs tree arm and be connected with the top of trunk support part and lower mechanical respectively, First grab tree arm and second grab tree arm structure it is mutually symmetrical;There is telescopic drive part, its output on trunk support part Engaged with the tooth bar of two trunk moving parts on trunk support part by gear at end.
2. the robot capable of climbing trees as described in claim 1, it is characterised in that:The trunk support part have supporting plate, First trunk moving parts, the second trunk moving parts and telescopic drive part, wherein telescopic drive part are fixedly installed in In supporting plate, the first trunk moving parts, the second trunk moving parts structure are identical, are symmetrically movably installed in supporting plate upper and lower two End, the corresponding side of the first trunk moving parts, the second trunk moving parts is equipped with tooth bar.
3. the robot capable of climbing trees as described in claim 2, it is characterised in that:Also there are two arm rotary drive motors, symmetrically It is arranged on trunk support part, two arm rotary drive motors grab the tooth bar of tree arm edge by gear and two respectively Engagement.
4. the robot capable of climbing trees as described in claim 1, it is characterised in that:First grab tree arm and second grab tree arm structure phase Together, the top and the bottom of trunk support part are symmetrically arranged on, a paw motor, the first clamping paw, second is respectively provided with Paw, the first paw driver part, the second paw driver part and shoulder are clamped, wherein the first paw driver part, second Paw driver part is symmetrically movably installed on shoulder, and the first paw driver part, the second paw driver part end set respectively There is the first clamping paw and second to clamp paw, the first paw driver part and the corresponding side of the second paw driver part are equal Tooth bar is provided with, paw motor is installed on shoulder, its output shaft passes through gear and the first paw driver part and the second paw The tooth bar engagement of driver part.
5. the robot capable of climbing trees as described in claim 2 or 4, it is characterised in that:First trunk of shoulder and trunk support part Moving parts is slidably connected, and the edge of shoulder is provided with tooth bar.
6. the robot capable of climbing trees as described in claim 4, it is characterised in that:First clamping paw, the second clamping paw are used Four-bar linkage structure, the first paw driver part, the second paw driver part are connected by the transmission lever and paw in four-bar linkage structure Connect.
CN201611241373.3A 2016-12-29 2016-12-29 A kind of robot capable of climbing trees Pending CN106741272A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611241373.3A CN106741272A (en) 2016-12-29 2016-12-29 A kind of robot capable of climbing trees

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611241373.3A CN106741272A (en) 2016-12-29 2016-12-29 A kind of robot capable of climbing trees

Publications (1)

Publication Number Publication Date
CN106741272A true CN106741272A (en) 2017-05-31

Family

ID=58923369

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611241373.3A Pending CN106741272A (en) 2016-12-29 2016-12-29 A kind of robot capable of climbing trees

Country Status (1)

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CN (1) CN106741272A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107416059A (en) * 2017-03-24 2017-12-01 广西大学 One kind become cell type hydraulic-driven stepping climb tree scissors training robot
CN107985437A (en) * 2017-12-01 2018-05-04 云南电网有限责任公司普洱供电局 One kind transmission of electricity corridor screen of trees cleaning wriggling robot capable of climbing trees
CN108556945A (en) * 2018-01-03 2018-09-21 山东大学 A kind of tube climber structure of tandem offshore oilfield wellhead platform jacket
CN108748188A (en) * 2018-06-15 2018-11-06 嘉兴学院 A kind of complicated rod-shaped multi-freedom robot system of climbing
WO2019205419A1 (en) * 2018-04-25 2019-10-31 深圳市大疆创新科技有限公司 Robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107416059A (en) * 2017-03-24 2017-12-01 广西大学 One kind become cell type hydraulic-driven stepping climb tree scissors training robot
CN107985437A (en) * 2017-12-01 2018-05-04 云南电网有限责任公司普洱供电局 One kind transmission of electricity corridor screen of trees cleaning wriggling robot capable of climbing trees
CN108556945A (en) * 2018-01-03 2018-09-21 山东大学 A kind of tube climber structure of tandem offshore oilfield wellhead platform jacket
CN108556945B (en) * 2018-01-03 2019-12-03 山东大学 A kind of tube climber structure of tandem offshore oilfield wellhead platform jacket
WO2019205419A1 (en) * 2018-04-25 2019-10-31 深圳市大疆创新科技有限公司 Robot
CN108748188A (en) * 2018-06-15 2018-11-06 嘉兴学院 A kind of complicated rod-shaped multi-freedom robot system of climbing

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