CN107010134B - A kind of step-by-step movement change born of the same parents' tree-climbing machine robot mechanism - Google Patents
A kind of step-by-step movement change born of the same parents' tree-climbing machine robot mechanism Download PDFInfo
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- CN107010134B CN107010134B CN201710182467.6A CN201710182467A CN107010134B CN 107010134 B CN107010134 B CN 107010134B CN 201710182467 A CN201710182467 A CN 201710182467A CN 107010134 B CN107010134 B CN 107010134B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
A kind of step-by-step movement change born of the same parents' tree-climbing machine robot mechanism, including mechanical leg device and rack bar assembly, the machinery leg device includes the first mechanical leg device, the second mechanical leg device, third machinery leg device and the 4th mechanical leg device, and the described first mechanical leg device includes drive rocker, driven rocking bar, connecting rod, link, sliding sleeve, sliding sleeve driving hydraulic cylinder, pedipulator, pedipulator driving hydraulic cylinder, fixed jaw, arc-shaped limit sliding slot, rolling bearing and controllable limit hinge.When drive rocker is operated alone, it just can realize that complexity is climbed tree and embrace tree movement, therefore drive simple；Pedipulator and trunk have angle of inclination, can be realized using the reaction force of driving force locked, therefore it is safe and reliable to climb tree；During robot climbs tree, degree of freedom is converted, thus it is possible to vary hold angle tightly, realize the variation of robot flexible adaptation tree diameters；Animal bodies construction is simulated, robot capable of climbing trees mechanical flexibility is made to adapt to different shape trees.
Description
Technical field
The present invention relates to robot mechanism design field, especially a kind of step-by-step movement becomes born of the same parents' tree-climbing machine robot mechanism.
Background technology
With the continuous improvement of robot mechanism technical merit, the application of bionic machine robot mechanism is gradually extensive, wherein imitative
Raw tree-climbing machine robot mechanism is applied in sides such as trees training, disease control, pest control, picking fruit, field detection monitoring
Face is also increasing, and existing tree-climbing machine robot mechanism mainly has imitative snakelike winding robot, upper and lower telescopic robot, convertible
Robot etc., that there are driving elements is numerous for existing robot capable of climbing trees, and movement velocity is slow, and load capacity is small, and to different-diameter
The problems such as trees poor universality, cannot be realized and climb tree and task very well.
Chinese patent ZL2012103468033 discloses a kind of four-footed climbing robot, which utilizes self-weight self-locking,
And each holding arm installs three motors, and driving is more complex, and overall movement speed is also relatively slow, does not have applicability；It is Chinese special
Sharp CN105963931A discloses a kind of novel automatic and climbs tree equipment, which shrinks crawler belt realization using hydraulic cylinder and creeps,
It is realized and is held tightly using arc-shaped rod, in actual job, be only applicable to cross-section straight elevator trees, trees thickness cannot be complete when changing
At holding, using limiting to very much.Other disclosed patents in relation to tree-climbing machine robot mechanism are substantially similar with above-mentioned two classes patent.
Currently, there are no, driving is simple, climbs tree reliable and secure and adapts to different thicknesses, and trees of different shapes are climbed tree
Robot mechanism.
Invention content
The object of the present invention is to provide a kind of step-by-step movements to become born of the same parents' tree-climbing machine robot mechanism, it can overcome existing robot capable of climbing trees
The deficiency of mechanism when drive rocker is operated alone, just can realize that complexity is climbed tree and embrace tree movement, driving is simple；Pedipulator and trunk
There is angle of inclination, can be realized using the reaction force of driving force locked, climbs tree safe and reliable；Robot climbs tree process
In, convert degree of freedom, thus it is possible to vary hold angle tightly, realize the variation of robot flexible adaptation tree diameters, simulate animal bodies
Construction makes robot capable of climbing trees mechanical flexibility adapt to different shape trees.
The present invention reaches above-mentioned purpose by the following technical programs：A kind of step-by-step movement change born of the same parents' tree-climbing machine robot mechanism, including
Mechanical leg device and rack bar assembly, concrete structure and connection relation are：
The machinery leg device includes the first mechanical leg device, the second mechanical leg device, third machinery leg device and the 4th
Mechanical leg device, the described first mechanical leg device include drive rocker, driven rocking bar, connecting rod, link, sliding sleeve, sliding sleeve driving
Hydraulic cylinder, pedipulator driving hydraulic cylinder, pedipulator, fixed jaw, arc-shaped limit sliding slot, rolling bearing and controllable limit hinge drive
It is hinged with connecting rod to shake bar one end, the other end and the first bar are hinged, and driven rocking bar one end is hinged with connecting rod, the other end and the first bar
Hinged, link is not only hinged with connecting rod, but also is connect by cylindrical pair with sliding sleeve, is also connect with pedipulator driving hydraulic cylinder, described
Sliding sleeve is connected through a screw thread with sliding sleeve driving hydraulic cylinder, and the pedipulator driving hydraulic cylinder is connected through a screw thread with pedipulator, institute
It is hinged with the first bar to state sliding sleeve driving hydraulic cylinder, the fixed jaw is connected with link, is mounted with to roll below the driven rocking bar
Dynamic bearing, rolling bearing move in arc-shaped limit sliding slot, and arc-shaped limit sliding slot is fixed below the first bar, the controllable limit
Hinge, including controllably hold position limiting slide block, spring, axis pin tightly, the spring one end is connected with connecting rod, and the other end is limited with controllable hold tightly
Position sliding block is connected, and controllable sliding block of holding tightly slides below connecting rod, and the axis pin is connected with connecting rod, the second mechanical leg device, third
Mechanical leg device and the 4th mechanical leg device are identical as the first pedipulator apparatus structure and connection relation；
The rack bar assembly include the first bar, the second bar, third bar, the 4th bar, the 5th bar, the 6th bar, the 7th bar and
8th bar, the first bar are hinged with the second bar by the first Hooke, and the second bar is connected with third bar by first axle, third bar
It is hinged by the second Hooke with the 4th bar, the 4th bar is connect with the 5th bar by second hinge, and the 5th bar passes through with the 6th bar
Third Hooke is hinged, and the 6th bar is connect with the 7th bar by third hinge, and the 7th bar and the 8th bar are hinged by the 4th Hooke
It connects, the 8th bar and the first bar are by the 4th hinge connection, and the first bar is hinged with drive rocker, by driving first Hooke
Hinge, third Hooke's hinge, can realize left and right turn, the action bent over upwards, by driving the second Hooke's hinge, the 4th Hooke's hinge can
Change the actions such as center of gravity to realize, various operating modes when flexibly reply is climbed tree.
The arc-shaped limit sliding slot circular arc corresponding angle is 100-105 °.
The pedipulator is 45-50 ° with link setting angle.
The present invention's has the prominent advantages that：
1. step-by-step movement tree-climbing machine robot mechanism is during climbing tree, two-freedom and single-degree-of-freedom may be implemented in pedipulator
Transformation belongs to variable freedom and becomes born of the same parents' structure, has multi-functional phase change, multiple topology variation, multiple degrees of freedom variation characteristic,
Pedipulator is set to complete complicated action during climbing tree.During climbing tree, difference is required according to gait, when single-degree-of-freedom works
Opposite trunk may be implemented and the movements such as hold or loosen upwards tightly upwards, when two degree of freedom work, pedipulator can be made in machine
It keeps holding tightly when device robot mechanism moves upwards, and can change and hold angle tightly, adapt to different-diameter trees.
2. step-by-step movement tree-climbing machine robot mechanism, driving is simple, when drive rocker is operated alone, just can flexibly imitate animal and climb
Action, pedipulator can realize opposite trunk by holding tightly to loosening upwards, then to the compound action of upward holding trunk, rely on simultaneously
The reaction force of driving force realizes that pedipulator is locked on trunk, climbs tree safe and reliable.
3. four Hooke's hinges in rack bar assembly and four common hinges, more preferable to simulate animal body when actually climbing tree
Body structure realizes multi-faceted steering, avoidance, adapts to trees of different shapes.
4. tree-climbing machine robot mechanism, by control can limit hinge holding it is locked, it is man-machine to realize tree-climbing machine
Structure climbs tree and embraces tree movement and moved on road surface, the automatic switchover of two kinds of operating modes.
Description of the drawings
Fig. 1 is the structural schematic diagram of step-by-step movement tree-climbing machine robot mechanism of the present invention.
Fig. 2 is status diagram when drive rocker of the present invention is vertical with the first bar.
Fig. 3 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar moves upwards.
Fig. 4 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar moves downward.
Fig. 5 is the schematic diagram of end movement track when pedipulator of the present invention is climbed tree upwards.
Fig. 6 is that step-by-step movement of the present invention becomes the first step of born of the same parents' tree-climbing machine robot mechanism and climbs tree gait schematic diagram.
Fig. 7 is that step-by-step movement of the present invention becomes the second step of born of the same parents' tree-climbing machine robot mechanism and climbs tree gait schematic diagram.
Fig. 8 is link schematic diagram of the present invention.
Fig. 9 is arc-shaped limit sliding slot schematic diagram of the present invention.
Figure 10 is controllable limit hinge explosive view of the present invention.
Representative meaning is respectively marked in attached drawing:
1：4th hinge；2：8th bar；3：4th Hooke's hinge；4：7th bar；5：Third hinge；6：6th bar；7：Third
Hooke's hinge；8：5th bar；9：Second hinge；10：4th bar；11：Second Hooke's hinge；12：Third bar；13：First axle；14：
Second bar；15：First Hooke's hinge；16：First bar；17：Pedipulator；18：Pedipulator driving hydraulic cylinder；19：Sliding sleeve；20：It is fixed
Pawl；21：Arc-shaped limit sliding slot；22：Rolling bearing；23：Drive rocker；24：Connecting rod；25：Driven rocking bar；26：Link；27：
Sliding sleeve driving hydraulic cylinder；28：Controllable limit hinge；281：Axis pin；282：Spring；283：It is controllable to hold position limiting slide block tightly；29：Tree
Wood.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described with reference to the accompanying drawings and embodiments, it is clear that embodiment
Only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiment of the present invention, those skilled in the art
The every other embodiment obtained without making creative work, belongs to the scope of protection of the invention.
Compares figure 1, Fig. 2, Fig. 8, Fig. 9 and Figure 10, step-by-step movement of the present invention become born of the same parents' tree-climbing machine robot mechanism, including machine
Tool leg device and rack bar assembly, concrete structure and connection relation are：
The machinery leg device includes the first mechanical leg device, the second mechanical leg device, third machinery leg device and the 4th
Mechanical leg device, the described first mechanical leg device includes drive rocker 23, driven rocking bar 25, connecting rod 24, link 26, sliding sleeve
19, sliding sleeve driving hydraulic cylinder 27, pedipulator driving hydraulic cylinder 18, pedipulator 17, fixed jaw 20, arc-shaped limit sliding slot 21, rolling
Bearing 22 and controllable limit hinge 28,23 one end of drive rocker and connecting rod 24 are hinged, and the other end is hinged with the first bar 16, from shaking
25 one end of bar is hinged with connecting rod 24, and the other end and the first bar 16 are hinged, and link 26 was not only hinged with connecting rod 24, but also logical with sliding sleeve 19
Cylindrical pair connection is crossed, is also connect with pedipulator driving hydraulic cylinder 18, the sliding sleeve 19 passes through screw thread with sliding sleeve driving hydraulic cylinder 27
Connection, the pedipulator driving hydraulic cylinder 18 are connected through a screw thread with pedipulator 17, the sliding sleeve driving hydraulic cylinder 27 and first
Bar 16 is hinged, and the fixed jaw 20 is connected with link 26, and 25 lower section of the driven rocking bar is mounted with rolling bearing 22, the axis of rolling
22 movements in arc-shaped limit sliding slot 21 are held, arc-shaped limit sliding slot 21 is fixed on 16 lower section of the first bar, the controllable limit hinge
28, including controllably hold position limiting slide block 283, spring 282, axis pin 281 tightly, 282 one end of the spring is connected with connecting rod 24, the other end
It is connected with controllable position limiting slide block 283 of holding tightly, controllable sliding block 283 of holding tightly slides below connecting rod 24, and the axis pin is solid with connecting rod 24
Even, the second mechanical leg device, third machinery leg device and the 4th mechanical leg device and the first pedipulator apparatus structure and it connect pass
It is identical；
The rack bar assembly includes the first bar 16, the second bar 14, third bar 12, the 4th bar 10, the 5th bar 8, the 6th bar
6, the 7th bar 4 and the 8th bar 2, the first bar 16 are connect with the second bar 14 by the first Hooke's hinge 15, and 14 third bar 12 of the second bar is logical
The connection of first axle 13 is crossed, third bar 12 is connect with the 4th bar 10 by the second Hooke's hinge 11, and the 4th bar 10 passes through with the 5th bar 8
Second hinge 9 connects, and the 5th bar 8 is connect with the 6th bar 6 by third Hooke's hinge 7, and the 6th bar 6 is cut with scissors with the 7th bar 4 by third
Chain 5 connects, and the 7th bar 4 is connect with the 8th bar 2 by the 4th Hooke's hinge 3, and the 8th bar 2 and the first bar 16 are connected by the 4th hinge 1
It connects.
21 circular arc corresponding angle of the arc-shaped limit sliding slot is 100-105 °, the pedipulator 17 and 26 established angle of link
Degree is 45-50 °.
Operation principle and process：
Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, drive rocker 23 is vertical with connecting rod 24, and sliding sleeve 19 slides into link 26
Between；When 23 independent role of drive rocker, if state is changed into state shown in Fig. 3 to function and effect as shown in Figure 2, machinery may be implemented
Opposite first bar, the 16 upward movement for holding trunk tightly simultaneously of leg 17, as state is changed into shape shown in Fig. 2 to function and effect as shown in Figure 4
State may be implemented first bar 16 relatively of pedipulator 17 upwards while loosen the movement of trunk, i.e. function and effect are changed into figure by Fig. 4
2 when being changed into state shown in Fig. 3 again, and pedipulator 17, which relative to the first bar 16, by holding does upward relaxing exercise, to be done embrace upwards again
Tight movement, otherwise function and effect are changed into Fig. 2 as shown in Figure 3 is changed into state shown in Fig. 4 again, realize pedipulator 17 relative to
First bar 16 drives tree-climbing machine robot mechanism to loosening downwards to the movement and pedipulator 17 held tightly downwards again by holding state
The process moved upwards, and sliding sleeve driving hydraulic cylinder 27 participates in being changed into Fig. 2 as shown in Figure 3 and is changed into process shown in Fig. 4 again,
When ensureing that robot mechanism moves upwards, pedipulator 17 is always maintained at the holding to trunk, the driving of sliding sleeve driving hydraulic cylinder 27
Process is, when state is changed into state shown in Fig. 2 as shown in Figure 3, sliding sleeve driving hydraulic cylinder 27 is gradually stretched out, and shown in Fig. 2
State is up to range, and when state is changed into state shown in Fig. 4 as shown in Figure 2, sliding sleeve driving hydraulic cylinder 27 gradually bounces back, and
Reset condition is reduced to when state shown in Fig. 4, drive rocker 23 cooperates with sliding sleeve driving hydraulic cylinder 27 during this, real
The automatic conversion of existing one degree of freedom and two degree of freedom realizes robot mechanism during moving upwards, pedipulator 17
It is always maintained at holding.
When pedipulator 17 moves upwards, holding of climbing tree may be implemented under the independent role of drive rocker 23 in compares figure 5
Range of motion imitates animal and climbs tree process leg action, i.e. pedipulator 17 is by holding trunk, to gradually loosening upwards, then arrives
The process gradually held tightly upwards, such as θ in Fig. 51、θ2Numerical value reflects pedipulator and 29 holding degree of trees.
Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, pedipulator 17 constitutes a foot with fixed jaw 20 and climbs tool, and inclines with trunk
Oblique certain angle, therefore drive rocker 23 can not only realize that the movement of trunk is climbed tree while being held tightly upwards to pedipulator 17, moreover it is possible to it is real
Existing pedipulator 17 locks trunk, meets reliable and stable requirement of climbing tree, while pedipulator 17 and pedipulator driving hydraulic cylinder
18 connections can adjust the collapsing length of pedipulator driving hydraulic cylinder 18 automatically according to trunk diameter, realize and generally be applicable in function.
Compares figure 6, Fig. 7 and Fig. 8, pedipulator 17 is identical as the pedipulator action in third machinery leg device, and with
Pedipulator in two mechanical leg devices is on the contrary, the pedipulator in the second mechanical leg device and the pedipulator in the 4th machinery leg device
Act it is identical, therefore during climbing tree, the first step, as shown in fig. 6, the pedipulator in pedipulator 17 and third machinery leg device
Opposite body moves upwards, and the pedipulator in the pedipulator and the 4th mechanical leg device in the second mechanical leg device is with respect to body
It moves downward, i.e., the pedipulator in pedipulator and the 4th mechanical leg device in the second mechanical leg device drives robot mechanism
Main body moves upwards, and second step is identical as the first step, in the pedipulator and the 4th mechanical leg device in the second mechanical leg device
Pedipulator is moved upwards with respect to body, and the pedipulator in pedipulator 17 and third machinery leg device is moved downward with respect to body, i.e.,
Pedipulator in pedipulator 17 and third machinery leg device drives robot mechanism main body to move upwards, the two steps successively into
Row just realizes tree-climbing machine robot mechanism and quickly climbs tree.
When tree-climbing machine robot mechanism needs remains stationary on trunk, to complete such as to prune, monitor, insect pest preventing and controlling work
When, 23 connected rolling bearing 22 of driven rocking bar moves to upper limit position in arc-shaped limit sliding slot 21 and is locked, only by sliding sleeve
Driving hydraulic cylinder 27 drives, and realizes the complete holding to trunk, the second mechanical leg device, third machinery leg device and the 4th machinery
Pedipulator in leg device is identical with 17 state of pedipulator, and tree-climbing machine robot mechanism is just firmly held tightly on trunk at this time.
By driving the first Hooke's hinge 15, third Hooke's hinge 7, left and right turn can be realized, the actions such as bend over upwards pass through
The second Hooke's hinge 11, the 4th Hooke's hinge 3 is driven to may be implemented to change the actions such as center of gravity, various operating modes when flexibly reply is climbed tree.
Controllable position limiting slide block 283 of holding tightly can overcome 282 pulling force of spring, the locking to link 26 be realized, to realize
Pedipulator 17 can only be moved forward and backward with respect to rack bar assembly, can be climbed tree by controlling to realize tree-climbing machine robot mechanism both
Tree movement is embraced, and can be moved on road surface.
Claims (3)
1. a kind of step-by-step movement becomes born of the same parents' tree-climbing machine robot mechanism, including mechanical leg device and rack bar assembly, which is characterized in that described
Mechanical leg device includes the first mechanical leg device, the second mechanical leg device, third machinery leg device and the 4th mechanical leg device, institute
State the first mechanical leg device include drive rocker, driven rocking bar, connecting rod, link, sliding sleeve, sliding sleeve driving hydraulic cylinder, pedipulator,
Pedipulator driving hydraulic cylinder, fixed jaw, arc-shaped limit sliding slot, rolling bearing and controllable limit hinge, drive rocker are cut with scissors with connecting rod
It connects, driven rocking bar is hinged with connecting rod, and link was not only connect with connecting rod by controllable limit hinge device, but also passed through cylinder with sliding sleeve
Pair connection, also connect with pedipulator driving hydraulic cylinder, the sliding sleeve is connected through a screw thread with sliding sleeve driving hydraulic cylinder, the machinery
Leg driving hydraulic cylinder is connected through a screw thread with pedipulator, and the fixed jaw and link are connected, the rolling bearing be mounted on from
Shake below bar, rolling bearing moves in arc-shaped limit sliding slot, the controllable limit hinge include it is controllable hold tightly position limiting slide block,
Spring and axis pin, the spring one end are connected with connecting rod, and the other end is connected with controllable position limiting slide block of holding tightly, and controllable sliding block of holding tightly exists
Sliding below connecting rod, the axis pin are connected with connecting rod, the second mechanical leg device, third machinery leg device and the 4th mechanical leg device
It is identical as the first pedipulator apparatus structure and connection relation.
2. step-by-step movement according to claim 1 becomes born of the same parents' tree-climbing machine robot mechanism, which is characterized in that the arc-shaped limit sliding slot
Circular arc corresponding angle is 100-105 °.
3. step-by-step movement according to claim 1 becomes born of the same parents' tree-climbing machine robot mechanism, which is characterized in that the pedipulator with connect
Frame setting angle is 45-50 °.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182467.6A CN107010134B (en) | 2017-03-24 | 2017-03-24 | A kind of step-by-step movement change born of the same parents' tree-climbing machine robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182467.6A CN107010134B (en) | 2017-03-24 | 2017-03-24 | A kind of step-by-step movement change born of the same parents' tree-climbing machine robot mechanism |
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| Publication Number | Publication Date |
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| CN107010134A CN107010134A (en) | 2017-08-04 |
| CN107010134B true CN107010134B (en) | 2018-10-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710182467.6A Active CN107010134B (en) | 2017-03-24 | 2017-03-24 | A kind of step-by-step movement change born of the same parents' tree-climbing machine robot mechanism |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113060221B (en) * | 2021-03-06 | 2022-03-25 | 佛山科学技术学院 | Machine climbing method and device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| WO2009118409A1 (en) * | 2008-03-28 | 2009-10-01 | Thales | Robot for climbing posts |
| CN202847865U (en) * | 2012-09-18 | 2013-04-03 | 西北工业大学 | Four-footed climbing robot |
| CN105109571A (en) * | 2015-09-18 | 2015-12-02 | 北京理工大学 | Folding type retractable tree climbing robot |
| CN105947008A (en) * | 2016-05-13 | 2016-09-21 | 福建省泉州市第七中学 | Tree climbing robot |
-
2017
- 2017-03-24 CN CN201710182467.6A patent/CN107010134B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| WO2009118409A1 (en) * | 2008-03-28 | 2009-10-01 | Thales | Robot for climbing posts |
| CN202847865U (en) * | 2012-09-18 | 2013-04-03 | 西北工业大学 | Four-footed climbing robot |
| CN105109571A (en) * | 2015-09-18 | 2015-12-02 | 北京理工大学 | Folding type retractable tree climbing robot |
| CN105947008A (en) * | 2016-05-13 | 2016-09-21 | 福建省泉州市第七中学 | Tree climbing robot |
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| CN107010134A (en) | 2017-08-04 |
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