CN110606140A - Telescopic tree climbing robot - Google Patents
Telescopic tree climbing robot Download PDFInfo
- Publication number
- CN110606140A CN110606140A CN201810619168.9A CN201810619168A CN110606140A CN 110606140 A CN110606140 A CN 110606140A CN 201810619168 A CN201810619168 A CN 201810619168A CN 110606140 A CN110606140 A CN 110606140A
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- CN
- China
- Prior art keywords
- claw
- telescopic
- steering
- motor
- tree
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- 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.)
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Classifications
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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
Abstract
The invention discloses a telescopic tree climbing robot, which relates to the technical field of working robot equipment and comprises a working part (1), a first claw part (2a), a steering part (3), a telescopic part (4), a second claw part (2b) and a control box (5), wherein the working part, the first claw part, the steering part, the telescopic part and the second claw part are sequentially connected from top to bottom, and the control box (5) is respectively connected with the other parts through circuits. The tree climbing robot has the advantages that the tree climbing efficiency and stability of the tree climbing robot are improved.
Description
Technical Field
The invention relates to the technical field of working robot equipment, in particular to a telescopic tree climbing robot.
Background
With the development and progress of robotics, it is desirable to work with robots for complex and dangerous tasks. There is a certain risk and difficulty for the operator to work on the tree. Therefore, the task of working on the tree is also a task to be solved by the robot. The tree climbing robot in the prior art usually climbs trees by utilizing the matching of wheels and claws or the creeping mode, and the tree climbing mode has the disadvantages of complex structure, low efficiency and poor adaptability to trees.
Disclosure of Invention
The invention aims to: the invention provides a telescopic tree-climbing robot, aiming at solving the problems of complex structure, low efficiency and poor adaptability of the tree-climbing robot in the prior art.
The invention specifically adopts the following technical scheme for realizing the purpose:
the utility model provides a flexible type tree climbing robot, includes from last to the operation part, first claw part, steering part, flexible part, second claw part and the control box that connect gradually down, the control box pass through the circuit respectively with all the other the part is connected.
Preferably, the working member includes a base, a swivel, an actuator frame, and an actuator end, the swivel being connected to the first claw member through the base, the actuator frame being mounted on an upper end of the swivel, and the actuator end being mounted in front of the actuator frame.
Preferably, the execution end parts are assembled by adopting modular components.
Preferably, the first claw part and the second claw part each comprise a claw piece, a connecting rod, a claw motor, a motor frame, a claw support, a transmission gear and a rotating connecting shaft, the claw motor is fixed on the claw support through the motor frame, the transmission gear is meshed with the output end of the claw motor, and the claw piece is connected with the transmission gear through the connecting rod.
Preferably, the number of the claw pieces is two, the upper claw piece is obliquely arranged upwards, the lower claw piece is obliquely arranged downwards, and the inner side of each claw piece is arc-shaped.
Preferably, the end of the claw piece is connected with a claw tip.
Preferably, the steering component comprises a steering guide rail, a steering fluted disc, a steering gear, a guide wheel, a bogie and a steering motor, the steering motor is mounted on the bogie, the steering gear is connected with the output end of the steering motor, the guide wheel is mounted on the bogie, the steering guide rail is connected with the steering fluted disc, the guide wheel is engaged in a groove of the steering guide rail, the steering fluted disc is engaged with the steering gear, the first claw component is mounted on the bogie, and the telescopic component is connected below the steering fluted disc.
Preferably, the telescopic part comprises a telescopic guide rod, a transmission screw, a telescopic disc, a coupler, a telescopic motor frame and a telescopic motor, the telescopic motor is installed on the telescopic motor frame, the transmission screw is connected with the telescopic motor through the coupler, threads on the outer edge of the transmission screw are matched with threads on an inner hole of the telescopic disc, and the telescopic guide rod is inserted into inner holes of the telescopic motor frame and the telescopic disc.
The invention has the following beneficial effects:
1. the tree climbing robot in the prior art is complex in structure, low in tree climbing efficiency and poor in adaptability to trees, and aiming at the problem, the telescopic tree climbing robot designed by the invention can adapt to different types of trunks, greatly improves tree climbing efficiency and guarantees operation stability. This device during operation, at first with first claw part and second claw part centre gripping respectively on the trunk, make this device keep static, it is in the clamping condition to keep the second claw part, control first claw part and loosen, make the flexible part drive the first claw part of upper portion upwards displacement one end distance simultaneously, and the adjustment turns to the part, make the axial of first claw part orientation trunk, and control first claw part and press from both sides tight trunk once more, the first claw part of reciprocating control and the alternative upward movement of second claw part, thereby realize climbing the tree action, after arriving the operating position, the operation part begins the operation, whole tree climbing process is high-efficient swift, and is convenient and reliable more.
2. The claw part is provided with two groups of claw pieces, one group of claw pieces are distributed in an inclined upward direction, the other group of claw pieces are distributed in an inclined downward direction, the inner side of each claw piece is arc-shaped, when the tree trunk is grabbed, the whole structure is in three-point contact with the tree, a large shearing force is generated, the length of stress contact points of the upper claw piece and the lower claw piece is increased, and the tree clamping state is firmer and more reliable. When the tree is grabbed on the tree, the tree cannot slide down or fall down, and the forward leaning and backward leaning conditions are not easy to occur. The safety and the reliability of the robot in the operation process are ensured.
3. The robot is at the tree climbing in-process, because the trunk has the branch, then need change the direction of crawling, and the unable great change direction of crawling of great range of robot of ordinary crawling leads to its accommodation less, to this problem, this device has designed and has turned to the subassembly, when meetting the branch and need turn to, utilizes to turn to the subassembly and just can change the direction of crawling of this device, has improved the self-adaptation performance of robot greatly.
4. The flexible part of this device is at the motion in-process, and whole flexible dish is rocked about easily, leads to the equipment operation not steady, and to this problem, the inventor has designed flexible guide arm, and flexible guide arm is inserted in the hole of flexible motor frame and flexible dish, guarantees in the motion process, and the translation motion about the flexible dish is only done, can not take place to rotate, has improved the operating stability of this device.
5. The main drive of the robot adopts the transmission of a screw rod and a screw rod nut, and the transmission of a high-speed motor is adopted, so that the tree climbing process in unit time is fast. And the screw rod is adopted for transmission, so that the self-locking can be realized, and the stability of the operation process of the robot is ensured. The posture of the robot can not be changed relatively in the process of standing on a tree or working on the tree.
6. This device is along the trunk up-going in-process, because there is more little branch to block on some trunks, lead to whole action of crawling not smooth, efficiency is not high, for further improving the work efficiency of this device, this device modular subassembly saw bit is installed in the top of carrying out the tip, when it contacts the little branch that hinders this device to crawl, can amputate little branch through the saw bit, the unobstructed of the circuit of guaranteeing to crawl has improved the efficiency of crawling.
7. When the tree diameter is great, rely on the clamping-force of card alone, can't grasp whole trunk completely, the removal that whole device brought when adding the operation has the risk of machine landing, to this problem, this device has further designed the card point, and when the trunk diameter is great, the card point can calliper get into in the trunk to it is more firm to make the centre gripping, has improved the stability that this device climbed tree and work.
Drawings
FIG. 1 is an overall configuration diagram of the present apparatus;
FIG. 2 is a block diagram of a work cell;
FIG. 3 is a block diagram of a first jaw member and a second jaw member;
FIG. 4 is a block diagram of a steering component;
FIG. 5 is a block diagram of the telescoping member;
reference numerals: 1-operation part, 2 a-first claw part, 2 b-second claw part, 3-steering part, 4-telescopic part, 5-control box, 6-execution end part, 7-base, 8-rotary base, 9-execution mechanism frame, 10-claw tip, 11-claw piece, 12-connecting rod, 13-claw motor, 14-motor frame, 15-claw support, 16-transmission gear, 17-rotation connecting shaft, 18-steering guide rail, 19-steering gear disc, 20-steering gear, 21-guide wheel, 22-steering frame, 23-steering motor, 24-telescopic guide rod, 25-transmission screw rod, 26-telescopic disc, 27-coupler, 28-telescopic motor frame and 29-telescopic motor.
Detailed Description
For a better understanding of the present invention by those skilled in the art, the present invention will be described in further detail below with reference to the accompanying drawings and the following examples.
Example 1
As shown in the figure, this embodiment provides a flexible type tree climbing robot, includes from last to the operation part 1 that connects gradually down, first claw part 2a, turns to part 3, flexible part 4, second claw part 2b and control box 5, control box 5 pass through the circuit respectively with all the other the part is connected.
Further, the working component 1 comprises a base 7, a rotating seat 8, an executing mechanism frame 9 and an executing end portion 6, wherein the rotating seat 8 is connected with the first claw component 2a through the base 7, the executing mechanism frame 9 is installed at the upper end of the rotating seat 8, and the executing end portion 6 is installed in front of the executing mechanism frame 9.
In detail, the actuating end portion 6 is mounted on an actuating mechanism frame 9, the actuating mechanism frame 9 is mounted on a rotary base 8, a motor is contained in the rotary base 8, the rotary base 8 can be rotated when the motor is started, and the operation posture of the end actuating end portion 6 is controlled.
The first claw part 2a and the second claw part 2b respectively comprise a claw piece 11, a connecting rod 12, a claw motor 13, a motor frame 14, a claw support 15, a transmission gear 16 and a rotating connecting shaft 17, the claw motor 13 is fixed on the claw support 15 through the motor frame 14, the transmission gear 16 is meshed with the output end of the claw motor 13, and the claw piece 11 is connected with the transmission gear 16 through the connecting rod 12.
The number of the claw pieces 11 is two, the claw pieces 11 at the upper end are obliquely arranged upwards, the claw pieces 11 at the lower end are obliquely arranged downwards, and the inner side of each claw piece 11 is arc-shaped.
The steering component 3 comprises a steering guide rail 18, a steering fluted disc 19, a steering gear 20, a guide wheel 21, a bogie 22 and a steering motor 23, the steering motor 23 is installed on the bogie 22, the steering gear 20 is connected with the output end of the steering motor 23, the guide wheel 21 is installed on the bogie 22, the steering guide rail 18 is connected with the steering fluted disc 19, the guide wheel 21 is meshed in a groove of the steering guide rail 18, the steering fluted disc 19 is meshed with the steering gear 20, the first claw component 2a is installed on the bogie 22, and the telescopic component 4 is connected below the steering fluted disc 19.
The telescopic component 4 comprises a telescopic guide rod 24, a transmission screw rod 25, a telescopic disc 26, a coupler 27, a telescopic motor frame 28 and a telescopic motor 29, wherein the telescopic motor 29 is installed on the telescopic motor frame 28, the transmission screw rod 25 is connected with the telescopic motor 29 through the coupler 27, threads on the outer edge of the transmission screw rod 25 are matched with threads in an inner hole of the telescopic disc 26, and the telescopic guide rod 24 is inserted in inner holes of the telescopic motor frame 28 and the telescopic disc 26.
The working principle of the embodiment is as follows: the tree climbing robot in the prior art is complex in structure, low in tree climbing efficiency and poor in adaptability to trees, and aiming at the problem, the telescopic tree climbing robot designed by the invention can adapt to different types of trunks, greatly improves tree climbing efficiency and guarantees operation stability. When the device works, the first claw component 2a and the second claw component 2b are clamped on a trunk respectively, the device is kept static, the second claw component 2b is kept in a clamping state, the first claw component 2a is controlled to be loosened, meanwhile, the telescopic component 4 drives the first claw component 2a on the upper portion to move upwards by one end distance, the steering component 3 is adjusted, the first claw component 2a faces the axial direction of the trunk and is controlled to clamp the trunk again, the first claw component 2a and the second claw component 2b are controlled to move upwards in an alternating mode in a reciprocating mode, tree climbing action is achieved, after the working position is reached, the working component 1 starts to work, the whole tree climbing process is efficient and rapid, and the device is more convenient and reliable.
When the tree is pulled down, the claw part on the upper part is opened first, the claw part on the lower part catches the tree, and the telescopic screw rod is extended. The upper claw part is closed, the lower claw part is opened, the telescopic motor is rotated, and the telescopic screw rod is retracted. Engaging the lower jaw member. And finishing the tree-loading process. The actions are circulated, so that the robot can be connected to the tree. The flow of actions in the upper tree and the lower tree are opposite actions.
Example 2
This example was optimized on the basis of example 1 as follows: the actuating end portion 6 of the present embodiment is assembled using modular components. The modular assembly includes a camera, a saw blade, scissors, a holder, and the like. The executor that the end carried on modularization, the convenience is changed at any time. The robot can carry detection and operation tool heads by itself to replace manpower to detect trees or pick, trim and the like
The working principle of the embodiment is as follows: this device is along the trunk up-going in-process, because there is more little branch to block on some trunks, lead to whole action of crawling not smooth, efficiency is not high, for further improving the work efficiency of this device, this device modular subassembly saw bit is installed in the top of carrying out tip 6, when it contacts the little branch that hinders this device to crawl, can amputate little branch through the saw bit, the unobstructed of the circuit of guarantee crawling has improved the efficiency of crawling.
Example 3
This example was optimized on the basis of example 1 as follows: the distal end of the claw piece 11 of this embodiment is also connected with a claw tip 10.
The working principle of the embodiment is as follows: when the tree diameter is great, rely on the clamping-force of card alone, can't grasp whole trunk completely, the removal that whole device brought when adding the operation has the risk of machine landing, to this problem, this device has further designed the card point, and when the trunk diameter is great, the card point can calliper get into in the trunk to it is more firm to make the centre gripping, has improved the stability that this device climbed tree and work.
Furthermore, the main drive of the embodiment is not limited to the use of a screw rod and a screw nut, and the extension and retraction of the robot can be realized by the screw rod, the screw nut, an electric push rod, a pneumatic push rod, a hydraulic push rod and the like. The tree climbing robot is not limited to climbing trees, and may climb up a telegraph pole or other rod-shaped object to perform work. The tree climbing robot can adapt to trees with different diameters and different shapes by changing the opening and closing sizes of the claws.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, and the scope of the present invention is defined by the appended claims, and all changes that come within the meaning and range of equivalency of the specification are therefore intended to be embraced therein.
Claims (8)
1. The utility model provides a concertina type tree climbing robot which characterized in that: including from last to the operation part (1) that connects gradually down, first claw part (2a), turn to part (3), flexible part (4), second claw part (2b) and control box (5), control box (5) pass through the circuit respectively with all the other the part is connected.
2. A telescopic tree-climbing robot as claimed in claim 1, wherein: the operation part (1) comprises a base (7), a rotating seat (8), an executing machine framework (9) and an executing end part (6), wherein the rotating seat (8) is connected with a first claw part (2a) through the base (7), the executing machine framework (9) is installed at the upper end of the rotating seat (8), and the executing end part (6) is installed in front of the executing machine framework (9).
3. A telescopic tree-climbing robot as claimed in claim 2, wherein: the execution end part (6) is assembled by adopting modular components.
4. A telescopic tree-climbing robot as claimed in claim 1, wherein: first claw part (2a) and second claw part (2b) all include claw piece (11), connecting rod (12), claw motor (13), motor frame (14), claw support (15), drive gear (16), rotation connecting axle (17), claw motor (13) are fixed on claw support (15) through motor frame (14), drive gear (16) and the output meshing of claw motor (13), claw piece (11) are connected with drive gear (16) through connecting rod (12).
5. The telescopic tree-climbing robot of claim 4, wherein: the number of the claw pieces (11) is two, the claw pieces (11) at the upper end are obliquely arranged upwards, the claw pieces (11) at the lower end are obliquely arranged downwards, and the inner side of each claw piece (11) is arc-shaped.
6. The telescopic tree-climbing robot of claim 5, wherein: the tail end of the claw sheet (11) is also connected with a claw tip (10).
7. A telescopic tree-climbing robot as claimed in claim 1, wherein: steering component (3) are including steering guide rail (18), steering fluted disc (19), steering gear (20), leading wheel (21), bogie (22), steering motor (23), install on bogie (22) steering motor (23), steering gear (20) are connected with the output of steering motor (23), leading wheel (21) are installed on bogie (22), steering guide rail (18) are connected with steering fluted disc (19), leading wheel (21) meshing is in the groove of steering guide rail (18), steering fluted disc (19) and steering gear (20) mesh mutually, install on bogie (22) first claw part (2a), telescopic part (4) are connected in the below of steering fluted disc (19).
8. A telescopic tree-climbing robot as claimed in claim 1, wherein: the telescopic component (4) comprises a telescopic guide rod (24), a transmission screw rod (25), a telescopic disc (26), a coupler (27), a telescopic motor frame (28) and a telescopic motor (29), the telescopic motor (29) is installed on the telescopic motor frame (28), the transmission screw rod (25) is connected with the telescopic motor (29) through the coupler (27), threads of the outer edge of the transmission screw rod (25) are matched with threads of the inner hole of the telescopic disc (26), and the telescopic guide rod (24) is inserted into the inner holes of the telescopic motor frame (28) and the telescopic disc (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810619168.9A CN110606140A (en) | 2018-06-15 | 2018-06-15 | Telescopic tree climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810619168.9A CN110606140A (en) | 2018-06-15 | 2018-06-15 | Telescopic tree climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110606140A true CN110606140A (en) | 2019-12-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810619168.9A Pending CN110606140A (en) | 2018-06-15 | 2018-06-15 | Telescopic tree climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN110606140A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152191A (en) * | 2020-01-02 | 2020-05-15 | 金陵科技学院 | Robot bionic climbing mechanism and structure thereof |
| CN113232740A (en) * | 2021-05-08 | 2021-08-10 | 海南大学 | Tree-climbing sampling robot capable of carrying test paper |
| CN114313045A (en) * | 2021-12-23 | 2022-04-12 | 中国科学院宁波材料技术与工程研究所 | Pole-climbing robot |
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| EP2483139A1 (en) * | 2009-10-01 | 2012-08-08 | Niederberger Patent AG | Climbing robot for travelling over adhesive surfaces |
| CN204472948U (en) * | 2015-03-20 | 2015-07-15 | 湖北工业大学 | A kind of screw mandrel moveable type climbing level robot |
| CN206374856U (en) * | 2016-12-30 | 2017-08-04 | 河南理工大学 | A kind of compound humanoid robot of utilization auxiliary rod pole-climbing |
| CN206407012U (en) * | 2016-12-29 | 2017-08-15 | 沈阳航博自动化科技有限公司 | A kind of robot capable of climbing trees |
| CN108016523A (en) * | 2017-11-02 | 2018-05-11 | 国网浙江省电力公司嘉兴供电公司 | A kind of multifunctional pole-climbing robot and its control method |
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2018
- 2018-06-15 CN CN201810619168.9A patent/CN110606140A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2483139A1 (en) * | 2009-10-01 | 2012-08-08 | Niederberger Patent AG | Climbing robot for travelling over adhesive surfaces |
| CN204472948U (en) * | 2015-03-20 | 2015-07-15 | 湖北工业大学 | A kind of screw mandrel moveable type climbing level robot |
| CN206407012U (en) * | 2016-12-29 | 2017-08-15 | 沈阳航博自动化科技有限公司 | A kind of robot capable of climbing trees |
| CN206374856U (en) * | 2016-12-30 | 2017-08-04 | 河南理工大学 | A kind of compound humanoid robot of utilization auxiliary rod pole-climbing |
| CN108016523A (en) * | 2017-11-02 | 2018-05-11 | 国网浙江省电力公司嘉兴供电公司 | A kind of multifunctional pole-climbing robot and its control method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152191A (en) * | 2020-01-02 | 2020-05-15 | 金陵科技学院 | Robot bionic climbing mechanism and structure thereof |
| CN113232740A (en) * | 2021-05-08 | 2021-08-10 | 海南大学 | Tree-climbing sampling robot capable of carrying test paper |
| CN114313045A (en) * | 2021-12-23 | 2022-04-12 | 中国科学院宁波材料技术与工程研究所 | Pole-climbing robot |
| CN114313045B (en) * | 2021-12-23 | 2023-12-26 | 中国科学院宁波材料技术与工程研究所 | Pole climbing robot |
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Application publication date: 20191224 |