CN106976489A - One kind automation stepping is climbed tree monitoring sniffing robot - Google Patents
One kind automation stepping is climbed tree monitoring sniffing robot Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 96
- 238000001514 detection method Methods 0.000 claims abstract description 74
- 230000009194 climbing Effects 0.000 claims abstract description 28
- 238000005096 rolling process Methods 0.000 claims description 9
- 210000000078 claw Anatomy 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 18
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- 239000011664 nicotinic acid Substances 0.000 description 3
- 238000013138 pruning Methods 0.000 description 3
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles 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
- B62D57/024—Vehicles 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
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Abstract
一种自动化步进爬树监控探测机器人，包括机械腿系统、传感器、监控探测系统和机架杆组件。机械腿驱动电机单独驱动时，便能实现复杂爬树抱树运动，驱动简单；机械腿与树干有倾斜角度，利用驱动力的反作用力便可实现锁死，爬树抱树工作安全可靠；机器人爬树过程中，转换自由度，可以改变抱紧角度，实现机器人灵活适应不同直径树木；模拟动物身体构造，使爬树监控探测机器人灵活适应不同形状树木；多自由度监控探测系统与爬树机器人结合，移动性能好、工作范围大，可以灵活方便完成野外监控探测工作；多个传感器反馈参数到控制器，通过编程控制，可以实现自动化爬树监控探测工作。
An automatic stepping tree-climbing monitoring and detection robot includes a mechanical leg system, a sensor, a monitoring and detection system and a rack bar assembly. When the driving motor of the mechanical leg is driven alone, it can realize the complex tree climbing and hugging movement, and the driving is simple; the mechanical leg and the trunk have an inclination angle, and the locking can be realized by using the reaction force of the driving force, and the tree climbing and hugging work is safe and reliable; the robot During the tree climbing process, the degree of freedom can be changed to change the angle of grip, so that the robot can flexibly adapt to trees of different diameters; the body structure of animals can be simulated, so that the tree-climbing monitoring and detection robot can flexibly adapt to trees of different shapes; the multi-degree-of-freedom monitoring and detection system and the tree-climbing robot Combined with good mobility and large working range, it can flexibly and conveniently complete field monitoring and detection work; multiple sensors feed back parameters to the controller, and through programming control, automatic tree climbing monitoring and detection work can be realized.
Description
技术领域technical field
本发明涉及机器人设计领域，特别是一种自动化步进爬树监控探测机器人。The invention relates to the field of robot design, in particular to an automatic stepping tree climbing monitoring and detecting robot.
背景技术Background technique
随着经济社会发展，监控探测设备在探测火灾、保护财产安全、维护社会治安稳定方面应用日益广泛，传统监控探测设备需要安装架设，存在布线、供电复杂等问题，而且多为固定安装，因此工作不便，监控探测范围有限，特别是在野外复杂环境下，问题更加突出。With the development of economy and society, monitoring and detection equipment is widely used in detecting fire, protecting property safety, and maintaining social security and stability. Traditional monitoring and detection equipment needs to be installed and erected. There are problems such as wiring and power supply, and most of them are fixed installations. Therefore, the work Inconvenient, the monitoring detection range is limited, especially in the complex environment in the wild, the problem is more prominent.
机器人技术水平的不断提高，仿生机器人的应用渐为广泛，其中仿生爬树机器人的应用在树木整枝、病害防治、虫害防治、果实采摘、野外探测监控等方面也日益增多，因此将仿生爬树机器人应用于监控探测，可以克服现有技术缺点。With the continuous improvement of robot technology, the application of bionic robots is becoming more and more extensive. Among them, the application of bionic tree climbing robots is also increasing in tree pruning, disease control, pest control, fruit picking, field detection and monitoring, etc. Therefore, bionic tree climbing robots Applied to monitoring and detection, the disadvantages of the prior art can be overcome.
中国专利ZL2012103468033公开了一种四足攀爬机器人，该机器人利用自重自锁，而且每个抱紧臂都安装三个电机，驱动较复杂，总体运动速度也较慢，不具适用性。Chinese patent ZL2012103468033 discloses a quadruped climbing robot. The robot utilizes self-weight and self-locking, and each clasping arm is equipped with three motors. The drive is relatively complicated, and the overall movement speed is also slow, which is not applicable.
自动化是工业现代化的重要条件和显著标志，通过测量及反馈各种参数的传感器，控制系统可以自动调节机器的运行状态，因此将传感器安装到爬树监控探测机器人中，可以自动完成爬树探测监控作业。Automation is an important condition and a significant symbol of industrial modernization. By measuring and feeding back sensors of various parameters, the control system can automatically adjust the operating state of the machine. Therefore, installing the sensor in the tree-climbing monitoring and detection robot can automatically complete the tree-climbing detection and monitoring Operation.
目前，未见有驱动简单，爬树可靠安全，能适应不同粗细、形状树木，移动性能好、工作范围大，能灵活方便进行监控探测的自动化步进爬树监控探测机器人。At present, there is no automatic step-by-step tree-climbing monitoring and detection robot that is simple to drive, reliable and safe to climb trees, can adapt to trees of different thicknesses and shapes, has good mobility, large working range, and can perform monitoring and detection flexibly and conveniently.
发明内容Contents of the invention
本发明的目的是提供一种自动化步进爬树监控探测机器人，它能克服现有监控探测设备的不足，驱动电机单独驱动时，便能实现复杂爬树抱树运动，驱动简单；机械腿与树干有倾斜角度，利用驱动力的反作用力便可实现锁死，爬树抱树工作安全可靠；机器人爬树过程中，转换自由度，可以改变抱紧角度，实现机器人灵活适应不同直径树木；模拟动物身体构造，使爬树监控探测机器人灵活适应不同形状树木；多自由度监控探测系统与与爬树机器人结合，移动性能好、工作范围大，可以灵活方便完成野外监控探测工作；多个传感器反馈参数到控制器，通过编程控制，可以实现自动化爬树监控探测工作。The purpose of the present invention is to provide an automatic stepping tree climbing monitoring and detection robot, which can overcome the deficiencies of existing monitoring and detection equipment. When the drive motor is driven separately, it can realize complex tree climbing and tree hugging motions, and the drive is simple; the mechanical legs and The tree trunk has an inclination angle, which can be locked by the reaction force of the driving force, and the tree-climbing and hugging work is safe and reliable; during the tree-climbing process, the robot can change the degree of freedom to change the clinging angle, so that the robot can flexibly adapt to trees with different diameters; simulation The animal body structure enables the tree-climbing monitoring and detection robot to flexibly adapt to trees of different shapes; the multi-degree-of-freedom monitoring and detection system is combined with the tree-climbing robot, which has good mobility and a large working range, and can flexibly and conveniently complete field monitoring and detection work; multiple sensor feedback Parameters to the controller, through programming control, can realize automatic tree climbing monitoring and detection work.
本发明通过以下技术方案达到上述目的：一种自动化步进爬树监控探测机器人，包括机械腿系统、传感器、监控探测系统和机架杆组件，具体结构和连接关系为：The present invention achieves the above object through the following technical solutions: an automatic stepping tree climbing monitoring and detection robot, including a mechanical leg system, a sensor, a monitoring and detection system and a frame rod assembly, the specific structure and connection relationship are:
所述机械腿系统包括第一机械腿系统、第二机械腿系统、第三机械腿系统和第四机械腿系统，所述第一机械腿系统包括驱动摇杆、从动摇杆、连杆、机械腿驱动电机、连接架、滑套、滑套驱动液压缸、机械腿驱动液压缸、机械腿、固定爪、弧形限位滑槽和滚动轴承，驱动摇杆一端与连杆铰接，另一端与机械腿驱动电机固定连接，机械腿驱动电机与第一杆相连，并驱动驱动摇杆相对第一杆转动，从动摇杆一端与连杆铰接，另一端与第一杆铰接，连接架既与连杆通过铰链连接，又与滑套通过圆柱副连接，还与机械腿驱动液压缸连接，所述滑套与滑套驱动液压缸连接，所述机械腿驱动液压缸与机械腿连接，所述滑套驱动液压缸与第一杆铰接，所述固定爪与连接架固定连接，所述从动摇杆下方安装了滚动轴承，滚动轴承在弧形限位滑槽内运动，弧形限位滑槽固定在第一杆下方，第二机械腿系统、第三机械腿系统、第四机械腿系统与第一机械腿系统结构及连接关系相同；The mechanical leg system includes a first mechanical leg system, a second mechanical leg system, a third mechanical leg system and a fourth mechanical leg system, and the first mechanical leg system includes a driving rocker, a driven rocker, a connecting rod, Mechanical leg driving motor, connecting frame, sliding sleeve, sliding sleeve driving hydraulic cylinder, mechanical leg driving hydraulic cylinder, mechanical leg, fixed claw, arc-shaped limit chute and rolling bearing, one end of the driving rocker is hinged with the connecting rod, and the other end is hinged with the connecting rod. The driving motor of the mechanical leg is fixedly connected, and the driving motor of the mechanical leg is connected with the first rod, and drives the driving rocker to rotate relative to the first rod. One end of the driven rocker is hinged with the connecting rod, and the other end is hinged with the first rod. The connecting rod is connected through a hinge, and is connected with the sliding sleeve through a cylindrical pair, and is also connected with the mechanical leg driving hydraulic cylinder, the sliding sleeve is connected with the sliding sleeve driving hydraulic cylinder, and the mechanical leg driving hydraulic cylinder is connected with the mechanical leg. The sliding sleeve drives the hydraulic cylinder to be hinged to the first rod, the fixed claw is fixedly connected to the connecting frame, the rolling bearing is installed under the driven rocker, and the rolling bearing moves in the arc-shaped limit chute, and the arc-shaped limit chute is fixed Below the first rod, the second mechanical leg system, the third mechanical leg system, and the fourth mechanical leg system have the same structure and connection relationship as the first mechanical leg system;
所述传感器包括压力传感器、PSD距离传感器和速度传感器，所述压力传感器固定连接在机械腿末端，所述PSD距离传感器固定连接在连接架上，所述速度传感器固定连接在机械腿上；The sensor includes a pressure sensor, a PSD distance sensor and a speed sensor, the pressure sensor is fixedly connected to the end of the mechanical leg, the PSD distance sensor is fixedly connected to the connecting frame, and the speed sensor is fixedly connected to the mechanical leg;
所述监控探测系统包括第一监控探测系统和第二监控探测系统，所述第一监控探测系统包括转动座、伸缩杆、二级伸缩杆、监控探测器、监控探测系统第一液压缸、监控探测系统第二液压缸和监控探测系统第三液压缸，所述伸缩杆与转动座铰接，二级伸缩杆一端在伸缩杆内滑动，另一端与监控探测器铰接，所述监控探测系统第一液压缸一端与转动座铰接，另一端与伸缩杆铰接，所述监控探测系统第二液压缸一端与伸缩杆铰接，另一端与二级伸缩杆铰接，所述监控探测系统第三液压缸一端与二级伸缩杆铰接，另一端与监控探测器铰接，第二监控探测系统与第一监控探测系统结构相同；The monitoring detection system includes a first monitoring detection system and a second monitoring detection system, and the first monitoring detection system includes a rotating seat, a telescopic rod, a secondary telescopic rod, a monitoring detector, a first hydraulic cylinder of the monitoring detection system, a monitoring The second hydraulic cylinder of the detection system and the third hydraulic cylinder of the monitoring and detection system. The telescopic rod is hinged to the rotating seat. One end of the secondary telescopic rod slides inside the telescopic rod, and the other end is hinged to the monitoring detector. The first One end of the hydraulic cylinder is hinged to the rotating seat, and the other end is hinged to the telescopic rod. One end of the second hydraulic cylinder of the monitoring and detection system is hinged to the telescopic rod, and the other end is hinged to the secondary telescopic rod. One end of the third hydraulic cylinder of the monitoring and detection system is connected to the The secondary telescopic rod is hinged, the other end is hinged with the monitoring detector, and the second monitoring detection system has the same structure as the first monitoring detection system;
所述机架杆组件包括第一杆、第二杆、第三杆、第四杆、第五杆、第六杆、第七杆和第八杆，第一杆与第二杆通过第一虎克铰连接，第二杆与第三杆通过第二铰链连接，第三杆与第四杆通过连架杆第一驱动电机相连，第四杆与第五杆通过第三铰链连接，第五杆与第六杆通过第二虎克铰连接，第六杆与第七杆通过第四铰链连接，第七杆与第八杆通过连架杆第二驱动电机连接，第八杆与第一杆通过第一铰链连接，连架杆第一驱动液压缸一端与第一杆铰接，另一端与第二杆通过第三虎克铰连接，连架杆第二驱动液压缸一端与第六杆相连，另一端与第五杆通过第四虎克铰相连，连架杆第三驱动液压缸一端与第一杆铰接，另一端与第八杆铰接，连架杆第四驱动液压缸一端与第六杆铰接，另一端与第七杆铰接，连架杆第五驱动液压缸一端与第五杆铰接，另一端与第四杆铰接，连架杆第六驱动液压缸一端与第二杆铰接，另一端与第三杆铰接。The rack rod assembly includes a first rod, a second rod, a third rod, a fourth rod, a fifth rod, a sixth rod, a seventh rod and an eighth rod, and the first rod and the second rod pass through the first rod The second rod is connected with the third rod through the second hinge, the third rod is connected with the fourth rod through the first drive motor of the link rod, the fourth rod is connected with the fifth rod through the third hinge, and the fifth rod It is connected with the sixth rod through the second Hooke hinge, the sixth rod is connected with the seventh rod through the fourth hinge, the seventh rod is connected with the eighth rod through the second drive motor of the link rod, and the eighth rod is connected with the first rod through The first hinge connection, one end of the first driving hydraulic cylinder of the connecting rod is hinged with the first rod, the other end is connected with the second rod through the third Hooke hinge, one end of the second driving hydraulic cylinder of the connecting rod is connected with the sixth rod, and the other end is connected with the second rod through the third Hooke hinge. One end is connected with the fifth rod through the fourth Hooke hinge, one end of the third driving hydraulic cylinder of the connecting rod is hinged with the first rod, the other end is hinged with the eighth rod, one end of the fourth driving hydraulic cylinder of the connecting rod is hinged with the sixth rod , the other end is hinged to the seventh rod, one end of the fifth driving hydraulic cylinder of the connecting rod is hinged to the fifth rod, and the other end is hinged to the fourth rod, one end of the sixth driving hydraulic cylinder of the connecting rod is hinged to the second rod, and the other end is connected to the second rod. The third bar is hinged.
所述弧形限位滑槽圆弧对应角度为105-110°，所述机械腿与连接架安装角度为50-55°。The angle corresponding to the arc of the arc-shaped limit chute is 105-110°, and the installation angle between the mechanical leg and the connecting frame is 50-55°.
本发明的突出优点在于：The outstanding advantages of the present invention are:
1.自动化步进爬树监控探测机器人在爬树过程中，机械腿可以实现两自由度和单自由度的转变，属于变自由度变胞结构，具有多功能阶段变化、多拓扑结构变化、多自由度变化特征，使机械腿在爬树过程中完成复杂的动作。爬树过程中，根据步态要求不同，单自由度工作时可以实现相对树干向上抱紧或者向上放松等运动，两个自由度工作时，可以使机械腿在机器人向上运动时保持抱紧，又能改变抱紧角度，适应不同直径树木。1. During the tree-climbing process of the automatic stepping tree-climbing monitoring and detection robot, the mechanical legs can realize the transition between two degrees of freedom and one degree of freedom. The degree of freedom change feature enables the mechanical legs to complete complex actions during tree climbing. During the tree climbing process, according to different gait requirements, when working with a single degree of freedom, you can achieve movements such as hugging or relaxing upwards relative to the trunk. The holding angle can be changed to adapt to trees with different diameters.
2.自动化步进爬树监控探测机器人，驱动简单，机械腿驱动电机单独驱动时，便能灵活模仿动物爬树动作，机械腿能实现相对树干由抱紧到向上放松，再到向上抱紧树干的复杂动作，同时依靠驱动力的反作用力实现机械腿在树干上的锁死，爬树监控探测工作安全可靠。2. The automatic step-by-step tree-climbing monitoring and detection robot is easy to drive. When the mechanical legs drive the motor alone, it can flexibly imitate the tree-climbing action of animals. The mechanical legs can realize relative tree trunks from hugging to relaxing upwards, and then to hugging the trunks upwards. At the same time, relying on the reaction force of the driving force to realize the locking of the mechanical legs on the tree trunk, the tree climbing monitoring and detection work is safe and reliable.
3.将多自由度的监控探测设备与爬树机器人结合，可以实现多方位转向、避障、改变重心，工作范围大，能适应不同形状的树木，多个传感器反馈参数到控制器，通过编程控制，可以灵活方便的实现自动化爬树监控探测工作。3. Combining multi-degree-of-freedom monitoring and detection equipment with tree-climbing robots can realize multi-directional steering, obstacle avoidance, and changing the center of gravity. The working range is large, and it can adapt to trees of different shapes. Multiple sensors feed back parameters to the controller, through programming Control, it can flexibly and conveniently realize automatic tree climbing monitoring and detection work.
附图说明Description of drawings
图1为本发明所述的自动化步进爬树监控探测机器人的结构示意图。Fig. 1 is a structural schematic diagram of an automatic stepping tree climbing monitoring and detecting robot according to the present invention.
图2为本发明所述的驱动摇杆与第一杆垂直时状态示意图。Fig. 2 is a schematic diagram of the state when the driving rocker according to the present invention is perpendicular to the first rod.
图3为本发明所述的机械腿相对第一杆向上运动的极限状态示意图。Fig. 3 is a schematic diagram of the limit state of the upward movement of the mechanical leg relative to the first rod according to the present invention.
图4为本发明所述的机械腿相对第一杆向下运动的极限状态示意图。Fig. 4 is a schematic diagram of the limit state of the downward movement of the mechanical leg relative to the first rod according to the present invention.
图5为本发明所述的机械腿向上爬树时末端运动轨迹的示意图。Fig. 5 is a schematic diagram of the trajectory of the end of the mechanical leg climbing up the tree according to the present invention.
图6为本发明所述的自动化步进爬树监控探测机器人的第一步爬树步态示意图。Fig. 6 is a schematic diagram of the tree-climbing gait of the first step of the automatic stepping tree-climbing monitoring and detection robot according to the present invention.
图7为本发明所述的自动化步进爬树监控探测机器人的第二步爬树步态示意图。Fig. 7 is a schematic diagram of the second-step tree-climbing gait of the automatic step-by-step tree-climbing monitoring and detection robot according to the present invention.
图8为本发明所述的连接架示意图。Fig. 8 is a schematic diagram of the connecting frame according to the present invention.
图9为本发明所述的弧形限位滑槽示意图。Fig. 9 is a schematic diagram of the arc-shaped limiting chute according to the present invention.
附图中各标记所代表的含义：The meanings of the symbols in the drawings:
1：第一铰链；2：第八杆；3：连架杆第二驱动电机；4：第七杆；5：第四铰链；6：第六杆；7：第二虎克铰；8：第五杆；9：第三铰链；10：第四杆；11：连架杆第一驱动电机；12：第三杆；13：第二铰链；14：第二杆；15：第一虎克铰；16：第一杆；17：机械腿；18：监控探测系统第一液压缸；19：监控探测系统第二液压缸；20：监控探测系统第三液压缸；21：连架杆第一驱动液压缸；22：第三虎克铰；23：连架杆第二驱动液压缸；24：第四虎克铰；25：连架杆第三驱动液压缸；26：连架杆第四驱动液压缸；27：连架杆第五驱动液压缸；28：连架杆第六驱动液压缸；29：机械腿驱动液压缸；30：机械腿驱动电机；31：驱动摇杆；32：连杆；33：连接架；34：滑套；35：从动摇杆；36：滑套驱动液压缸；37：弧形限位滑槽；38：滚动轴承；39：固定爪；40：PSD距离传感器；41：速度传感器；42：压力传感器；43：转动座；44：伸缩杆；45：二级伸缩杆；46：监控探测器；47：树木。1: the first hinge; 2: the eighth lever; 3: the second driving motor of the connecting rod; 4: the seventh lever; 5: the fourth hinge; 6: the sixth lever; 7: the second Hooke hinge; 8: The fifth rod; 9: the third hinge; 10: the fourth rod; 11: the first driving motor of the link rod; 12: the third rod; 13: the second hinge; 14: the second rod; 15: the first hook hinge; 16: the first rod; 17: mechanical leg; 18: the first hydraulic cylinder of the monitoring and detection system; 19: the second hydraulic cylinder of the monitoring and detection system; 20: the third hydraulic cylinder of the monitoring and detection system; 21: the first connecting rod Drive hydraulic cylinder; 22: the third Hooke hinge; 23: the second drive hydraulic cylinder of the link rod; 24: the fourth Hooke hinge; 25: the third drive hydraulic cylinder of the link link; 26: the fourth drive of the link link Hydraulic cylinder; 27: fifth driving hydraulic cylinder of connecting rod; 28: sixth driving hydraulic cylinder of connecting rod; 29: mechanical leg driving hydraulic cylinder; 30: mechanical leg driving motor; 31: driving rocker; 32: connecting rod ;33: connecting frame; 34: sliding sleeve; 35: driven rocker; 36: sliding sleeve drives hydraulic cylinder; 37: arc-shaped limit chute; 38: rolling bearing; 39: fixed claw; 40: PSD distance sensor; 41: speed sensor; 42: pressure sensor; 43: rotating seat; 44: telescopic rod; 45: secondary telescopic rod; 46: monitoring detector; 47: tree.
具体实施方式detailed description
下面结合附图及实施方式对本发明的技术方案进行清楚、完整地描述，显然，此仅仅是本发明一部分实施方式，而不是全部的实施方式。基于本发明的实施方式，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，均属于本发明保护的范围。The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and embodiments. Obviously, this is only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts fall within the protection scope of the present invention.
对照图1、图2、图8和图9，本发明所述的自动化步进爬树监控探测机器人，包括机械腿系统、监控探测系统、传感器和机架杆组件，具体结构和连接关系为：Referring to Fig. 1, Fig. 2, Fig. 8 and Fig. 9, the automatic stepping tree-climbing monitoring and detection robot according to the present invention includes a mechanical leg system, a monitoring and detection system, a sensor and a frame rod assembly, and the specific structure and connection relationship are as follows:
所述机械腿系统包括第一机械腿系统、第二机械腿系统、第三机械腿系统和第四机械腿系统，所述第一机械腿系统包括驱动摇杆31、从动摇杆35、连杆32、机械腿驱动电机30、连接架33、滑套34、滑套驱动液压缸36、机械腿驱动液压缸29、机械腿17、固定爪39、滚动轴承38和弧形限位滑槽37，驱动摇杆31一端与连杆32铰接，另一端与机械腿驱动电机30固定连接，机械腿驱动电机30与第一杆16相连，并驱动驱动摇杆31相对第一杆16转动，从动摇杆35一端与连杆32铰接，另一端与第一杆16铰接，连接架33既与连杆32通过铰链连接，又与滑套34通过圆柱副连接，还与机械腿驱动液压缸29连接，所述滑套34与滑套驱动液压缸36连接，所述机械腿驱动液压缸29与机械腿17连接，所述滑套驱动液压缸36与第一杆16铰接，所述固定爪39与连接架33固定连接，所述从动摇杆35下方安装了滚动轴承38，滚动轴承38在弧形限位滑槽37内运动，弧形限位滑槽37固定在第一杆16下方，第二机械腿系统、第三机械腿系统和第四机械腿系统，与第一机械腿系统结构及连接关系相同；The mechanical leg system includes a first mechanical leg system, a second mechanical leg system, a third mechanical leg system and a fourth mechanical leg system, and the first mechanical leg system includes a driving rocker 31, a driven rocker 35, a connecting rod Rod 32, mechanical leg driving motor 30, connecting frame 33, sliding sleeve 34, sliding sleeve driving hydraulic cylinder 36, mechanical leg driving hydraulic cylinder 29, mechanical leg 17, fixed claw 39, rolling bearing 38 and arc-shaped limit chute 37, One end of the driving rocker 31 is hinged with the connecting rod 32, and the other end is fixedly connected with the mechanical leg drive motor 30. The mechanical leg drive motor 30 is connected with the first rod 16, and drives the driving rocker 31 to rotate relative to the first rod 16, and the driven rocker 31 is driven to rotate relative to the first rod 16. One end of the rod 35 is hinged with the connecting rod 32, and the other end is hinged with the first rod 16. The connecting frame 33 is not only connected with the connecting rod 32 through a hinge, but also connected with the sliding sleeve 34 through a cylinder pair, and also connected with the mechanical leg driving hydraulic cylinder 29. The sliding sleeve 34 is connected to the sliding sleeve driving hydraulic cylinder 36, the mechanical leg driving hydraulic cylinder 29 is connected to the mechanical leg 17, the sliding sleeve driving hydraulic cylinder 36 is hinged to the first rod 16, and the fixed claw 39 is connected to The frame 33 is fixedly connected, and a rolling bearing 38 is installed under the driven rocker 35, and the rolling bearing 38 moves in the arc-shaped limit chute 37, and the arc-shaped limit chute 37 is fixed below the first rod 16, and the second mechanical leg The system, the third mechanical leg system and the fourth mechanical leg system have the same structure and connection relationship as the first mechanical leg system;
所述传感器包括压力传感器42、PSD距离传感器40、速度传感器41，所述压力传感器42固定连接在各个机械腿末端，所述PSD距离传感器40固定连接在各个连接架上，所述速度传感器41固定连接在各个机械腿上，通过转动座43、监控探测系统第一液压缸18、监控探测系统第二液压缸19和监控探测系统第三液压缸20的驱动，可以实现第一锯式整枝系统多自由度灵活的监控探测活动；The sensors include a pressure sensor 42, a PSD distance sensor 40, and a speed sensor 41. The pressure sensor 42 is fixedly connected to the end of each mechanical leg, the PSD distance sensor 40 is fixedly connected to each connecting frame, and the speed sensor 41 is fixed. Connected on each mechanical leg, through the drive of the rotating seat 43, the first hydraulic cylinder 18 of the monitoring and detection system, the second hydraulic cylinder 19 of the monitoring and detection system and the third hydraulic cylinder 20 of the monitoring and detection system, the first saw type pruning system can be realized Freedom and flexible monitoring and detection activities;
所述监控探测系统包括第一监控探测系统和第二监控探测系统，所述第一监控探测系统包括转动座43、伸缩杆44、二级伸缩杆45、监控探测器46、监控探测系统第一液压缸18、监控探测系统第二液压缸19、监控探测系统第三液压缸20，所述伸缩杆44与转动座43铰接，二级伸缩杆45一端在伸缩杆44内滑动，另一端与监控探测器46铰接，所述监控探测系统第一液压缸18一端与转动座43铰接，另一端与伸缩杆44铰接，所述监控探测系统第二液压缸19一端与伸缩杆44铰接，另一端与二级伸缩杆45铰接，所述监控探测系统第三液压缸20一端与二级伸缩杆45铰接，另一端与监控探测器46铰接，第二监控探测系统与第一监控探测系统结构相同；The monitoring and detecting system includes a first monitoring and detecting system and a second monitoring and detecting system, and the first monitoring and detecting system includes a rotating seat 43, a telescopic rod 44, a secondary telescopic rod 45, a monitoring detector 46, and the first monitoring and detecting system of the monitoring and detecting system. Hydraulic cylinder 18, the second hydraulic cylinder 19 of the monitoring and detection system, the third hydraulic cylinder 20 of the monitoring and detection system, the telescopic rod 44 is hinged with the rotating seat 43, one end of the secondary telescopic rod 45 slides in the telescopic rod 44, and the other end is connected to the monitoring and control system. The detector 46 is hinged, one end of the first hydraulic cylinder 18 of the monitoring and detection system is hinged with the rotating seat 43, and the other end is hinged with the telescopic rod 44, one end of the second hydraulic cylinder 19 of the monitoring and detection system is hinged with the telescopic rod 44, and the other end is connected with the telescopic rod 44. The secondary telescopic rod 45 is hinged, one end of the third hydraulic cylinder 20 of the monitoring and detection system is hinged to the secondary telescopic rod 45, and the other end is hinged to the monitoring detector 46, and the second monitoring and detecting system has the same structure as the first monitoring and detecting system;
所述机架杆组件包括第一杆16、第二杆14、第三杆12、第四杆10、第五杆8、第六杆6、第七杆4和第八杆2，第一杆16与第二杆14通过第一虎克铰15连接，第二杆14与第三杆12通过第二铰链13连接，第三杆12与第四杆10通过连架杆第一驱动电机11相连，第四杆10与第五杆8通过第三铰链9连接，第五杆8与第六杆6通过第二虎克铰7连接，第六杆6与第七杆4通过第四铰链5连接，第七杆4与第八杆2通过连架杆第二驱动电机3连接，第八杆2与第一杆16通过第一铰链1连接，连架杆第一驱动液压缸21一端与第一杆16铰接，另一端与第二杆14通过第三虎克铰22连接，连架杆第二驱动液压缸23一端与第六杆6相连，另一端与第五杆8通过第四虎克铰24相连，连架杆第三驱动液压缸25一端与第一杆16铰接，另一端与第八杆2铰接，连架杆第四驱动液压缸26一端与第六杆6铰接，另一端与第七杆4铰接，连架杆第五驱动液压缸27一端与第五杆8铰接，另一端与第四杆10铰接，连架杆第六驱动液压缸28一端与第二杆14铰接，另一端与第三杆12铰接。The rack bar assembly includes a first bar 16, a second bar 14, a third bar 12, a fourth bar 10, a fifth bar 8, a sixth bar 6, a seventh bar 4 and an eighth bar 2, the first bar 16 is connected with the second rod 14 through the first Hooke hinge 15, the second rod 14 is connected with the third rod 12 through the second hinge 13, and the third rod 12 is connected with the fourth rod 10 through the first driving motor 11 of the link rod , the fourth rod 10 is connected with the fifth rod 8 through the third hinge 9, the fifth rod 8 is connected with the sixth rod 6 through the second Hooke hinge 7, and the sixth rod 6 and the seventh rod 4 are connected through the fourth hinge 5 , the seventh rod 4 is connected with the eighth rod 2 through the second driving motor 3 of the connecting rod, the eighth rod 2 is connected with the first rod 16 through the first hinge 1, and one end of the first driving hydraulic cylinder 21 of the connecting rod is connected with the first The rod 16 is hinged, and the other end is connected with the second rod 14 through the third Hooke hinge 22, and one end of the second driving hydraulic cylinder 23 of the link rod is connected with the sixth rod 6, and the other end is connected with the fifth rod 8 through the fourth Hooke hinge 24 connected, one end of the third driving hydraulic cylinder 25 of the connecting rod is hinged with the first rod 16, and the other end is hinged with the eighth rod 2, one end of the fourth driving hydraulic cylinder 26 of the connecting rod is hinged with the sixth rod 6, and the other end is hinged with the sixth rod 6. Seven rods 4 are hinged, one end of the connecting rod fifth drive hydraulic cylinder 27 is hinged with the fifth rod 8, the other end is hinged with the fourth rod 10, one end of the connecting rod sixth driving hydraulic cylinder 28 is hinged with the second rod 14, and the other end is hinged with the second rod 14. Hinged with the third bar 12.
所述弧形限位滑槽37圆弧对应角度为105-110°，所述机械腿17与连接架33安装角度为50-55°。The angle corresponding to the arc of the arc-shaped limit chute 37 is 105-110°, and the installation angle between the mechanical leg 17 and the connecting frame 33 is 50-55°.
工作原理及过程：Working principle and process:
对照图2、图3、图4和图5，驱动摇杆31与连杆32垂直时，滑套34滑动到连接架33的中间；机械腿驱动电机30单独作用效果，如由图2所示状态转变为图3所示状态，可以实现机械腿17相对第一杆16向上同时抱紧树干的运动，如作用效果由图4所示状态转变为图2所示状态，可以实现机械腿17相对第一杆16向上同时放松树干的运动，即作用效果由图4转变为图2再转变为图3所示状态时，机械腿17相对于第一杆16，由抱紧做向上放松运动再做向上抱紧运动，反之作用效果由图3所示转变为图2再转变为图4所示状态，实现了机械腿17相对于第一杆16由抱紧状态到向下放松再到向下抱紧的运动，也是机械腿17带动爬树监控探测机器人向上运动的过程，而滑套驱动液压缸36参与如图3所示转变为图2再转变为图4所示的过程，保证机器人向上运动时，机械腿17一直保持对树干的抱紧，滑套驱动液压缸36的驱动过程为，由图3所示状态转变为图2所示状态时，滑套驱动液压缸36逐渐伸出，并在图2所示状态时至最大行程，由图2所示状态转变为图4所示状态时，滑套驱动液压缸36逐渐回缩，并在图4所示状态时缩至原始状态，这一过程中机械腿驱动电机30与滑套驱动液压缸36相互配合，实现一个自由度与两个自由度的自动转换，实现机器人在向上运动的过程中，机械腿17一直保持抱紧。Referring to Fig. 2, Fig. 3, Fig. 4 and Fig. 5, when the driving rocker 31 is perpendicular to the connecting rod 32, the sliding sleeve 34 slides to the middle of the connecting frame 33; the mechanical leg driving motor 30 works alone, as shown in Fig. 2 The state changes to the state shown in Figure 3, and the movement of the mechanical leg 17 relative to the first bar 16 and simultaneously embracing the trunk can be realized. If the effect is changed from the state shown in Figure 4 to the state shown in Figure 2, the relative The first bar 16 moves upward while relaxing the trunk, that is, when the effect is changed from Fig. 4 to Fig. 2 and then to the state shown in Fig. 3, the mechanical leg 17 is relative to the first bar 16, and then performs an upward relaxation movement by holding tightly. Clinging upward movement, otherwise the effect changes from the state shown in Figure 3 to Figure 2 and then to the state shown in Figure 4, realizing the mechanical leg 17 relative to the first rod 16 from the state of holding tightly to the downward relaxation and then to the downward embrace The tight movement is also the process in which the mechanical leg 17 drives the tree-climbing monitoring and detection robot to move upward, and the sliding sleeve drives the hydraulic cylinder 36 to participate in the process shown in Figure 3, which is transformed into Figure 2 and then transformed into Figure 4, to ensure the upward movement of the robot At this time, the mechanical legs 17 always keep the tree trunk tightly, and the driving process of the sliding sleeve driving hydraulic cylinder 36 is, when the state shown in Figure 3 changes to the state shown in Figure 2, the sliding sleeve driving hydraulic cylinder 36 gradually stretches out, and When the state shown in Figure 2 reaches the maximum stroke, when the state shown in Figure 2 is changed to the state shown in Figure 4, the sliding sleeve drives the hydraulic cylinder 36 to retract gradually, and shrinks to the original state in the state shown in Figure 4, which In a process, the mechanical leg driving motor 30 and the sliding sleeve driving hydraulic cylinder 36 cooperate with each other to realize the automatic conversion between one degree of freedom and two degrees of freedom, and realize that the mechanical leg 17 is always kept tight during the upward movement of the robot.
对照图5，机械腿17向上运动时，在机械腿驱动电机30的单独作用下可以实现爬树抱紧的一系列运动，模仿动物爬树过程腿部动作，即机械腿17由抱紧树干，到向上逐渐放松，再到向上逐渐抱紧的过程，图5中θ1、θ2值的大小反映了机械腿17与树木47的抱紧程度。Referring to Fig. 5, when the mechanical leg 17 moves upwards, a series of motions of tree climbing and hugging can be realized under the sole action of the mechanical leg drive motor 30, which imitates the leg movements of an animal climbing a tree, that is, the mechanical leg 17 hugs the trunk tightly, In the process of gradually relaxing upward and then gradually tightening upward, the values of θ 1 and θ 2 in FIG. 5 reflect the degree of tightness of the mechanical leg 17 and the tree 47 .
对照图2、图3、图4和图5，机械腿17与固定爪39构成了一个脚爬工具，且与树干倾斜一定角度，因此机械腿驱动电机30的驱动力不仅能实现机械腿17向上爬树同时抱紧树干的运动，还能实现机械腿17对树干的锁死，满足可靠稳定的爬树要求，同时机械腿17与机械腿驱动液压缸29连接，可以自动根据树干直径调节机械腿驱动液压缸29的伸缩长度，实现普遍适用功能。With reference to Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the mechanical leg 17 and the fixed claw 39 constitute a foot climbing tool, and are inclined at a certain angle with the tree trunk, so the driving force of the mechanical leg driving motor 30 can not only realize the upward movement of the mechanical leg 17 The movement of climbing trees while holding the trunk tightly can also realize the locking of the mechanical legs 17 on the trunk, meeting the requirements of reliable and stable tree climbing. At the same time, the mechanical legs 17 are connected with the mechanical leg driving hydraulic cylinder 29, and the mechanical legs can be automatically adjusted according to the diameter of the trunk. Drive the telescopic length of the hydraulic cylinder 29 to realize universally applicable functions.
对照图6、图7、和图8，机械腿17与第三机械腿系统中的机械腿动作相同，并且与第二机械腿系统中的机械腿相反，第二机械腿系统中的机械腿与第四机械腿系统中的机械腿动作相同，因此在爬树过程中，第一步，如图6所示，机械腿17和第三机械腿系统中的机械腿相对机体向上运动，而第二机械腿系统中的机械腿和第四机械腿系统中的机械腿相对机体向下运动，即第二机械腿系统中的机械腿和第四机械腿系统中的机械腿，带动机器人主体向上运动，第二步与第一步相同，第二机械腿系统中的机械腿和第四机械腿系统中的机械腿相对机体向上运动，机械腿17和第三机械腿系统中的机械腿相对机体向下运动，即机械腿17和第三机械腿系统中的机械腿带动机器人主体向上运动，这两个步骤依次进行便实现了爬树监控探测机器人快速爬树。Contrasting Fig. 6, Fig. 7 and Fig. 8, mechanical leg 17 and the mechanical leg action in the 3rd mechanical leg system are identical, and with the mechanical leg in the second mechanical leg system opposite, the mechanical leg in the second mechanical leg system and The mechanical legs in the fourth mechanical leg system have the same actions, so in the tree climbing process, in the first step, as shown in Figure 6, the mechanical legs 17 and the mechanical legs in the third mechanical leg system move upward relative to the body, while the second mechanical leg 17 moves upward relative to the body. The mechanical legs in the mechanical leg system and the mechanical legs in the fourth mechanical leg system move downward relative to the body, that is, the mechanical legs in the second mechanical leg system and the mechanical legs in the fourth mechanical leg system drive the main body of the robot to move upward, The second step is the same as the first step, the mechanical legs in the second mechanical leg system and the mechanical legs in the fourth mechanical leg system move upward relative to the body, and the mechanical legs 17 and the mechanical legs in the third mechanical leg system move downward relative to the body Movement, that is, the mechanical legs in the mechanical leg 17 and the third mechanical leg system drive the robot body to move upwards. These two steps are carried out in sequence to realize the rapid tree climbing of the tree climbing monitoring and detection robot.
当爬树监控探测机器人需要在树干上保持静止，以完成如整枝、监控、病虫防治等工作时，从动摇杆35所连滚动轴承38在弧形限位滑槽37内运动到上极限位置被锁死，只由滑套驱动液压缸36驱动，第二机械腿系统、第三机械腿系统和第四机械腿系统中的机械腿与机械腿17状态完全相同，此时爬树监控探测机器人便牢牢抱紧在树干上。When the tree-climbing monitoring and detection robot needs to remain still on the trunk to complete tasks such as pruning, monitoring, and pest control, the rolling bearing 38 connected to the rocker 35 moves to the upper limit position in the arc-shaped limit chute 37 Locked, only driven by the sliding sleeve drive hydraulic cylinder 36, the mechanical legs in the second mechanical leg system, the third mechanical leg system and the fourth mechanical leg system are in exactly the same state as the mechanical leg 17, at this time the tree climbing monitoring detection robot He clings tightly to the tree trunk.
同时驱动连架杆第三驱动液压缸25和连架杆第四驱动液压缸26，或者同时驱动连架杆第五驱动液压缸27和连架杆第六驱动液压缸28，可以实现左右转向，同时驱动连架杆第一驱动液压缸21和连架杆第二驱动液压缸23可以实现向上弯腰，同时驱动连架杆第一驱动电机11和连架杆第二驱动电机3可以实现左右对折即实现重心的改变，灵活适应各种工况。Simultaneously drive the third driving hydraulic cylinder 25 of the connecting frame rod and the fourth driving hydraulic cylinder 26 of the connecting frame rod, or simultaneously drive the fifth driving hydraulic cylinder 27 of the connecting frame rod and the sixth driving hydraulic cylinder 28 of the connecting frame rod, so that left and right steering can be realized. Simultaneously drive the first driving hydraulic cylinder 21 of the connecting frame rod and the second driving hydraulic cylinder 23 of the connecting frame rod to realize upward bending, and simultaneously drive the first driving motor 11 of the connecting frame rod and the second driving motor 3 of the connecting frame rod to realize left and right folding That is to realize the change of the center of gravity and flexibly adapt to various working conditions.
对照图1-8，压力传感器42可以检测机械腿17对树干的压力数值，PSD距离传感器40检测机械腿17与树干的距离，速度传感器41用来检测机械腿17运动速度，各传感器将信号反馈到控制系统，实现精确自动化控制。1-8, the pressure sensor 42 can detect the pressure value of the mechanical leg 17 on the trunk, the PSD distance sensor 40 detects the distance between the mechanical leg 17 and the trunk, the speed sensor 41 is used to detect the movement speed of the mechanical leg 17, and each sensor feeds back the signal to the control system to realize precise automatic control.
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