CN111345168A

CN111345168A - Mobile manipulator assembly and operation method thereof

Info

Publication number: CN111345168A
Application number: CN202010351040.6A
Authority: CN
Inventors: 彭朝蔚; 方楚棋; 王梦珂; 梁炯棠
Original assignee: Dongguan Power Supply Bureau of Guangdong Power Grid Co Ltd
Current assignee: Dongguan Power Supply Bureau of Guangdong Power Grid Co Ltd
Priority date: 2020-04-28
Filing date: 2020-04-28
Publication date: 2020-06-30

Abstract

The invention discloses a movable manipulator assembly which comprises a climbing seat, a manipulator and a controller, wherein the climbing seat can climb on a trunk to move to a specified position of the trunk, the manipulator is arranged on the climbing seat and can move along with the climbing seat, an electric saw is arranged on the manipulator, the manipulator can drive the electric saw to cut branches on the trunk, the controller is respectively and electrically connected with the climbing seat, the manipulator and the electric saw, the controller is in wireless communication connection with a ground wireless remote controller, and the wireless remote controller can remotely control the controller to control the climbing seat to climb on the trunk, control the manipulator to operate the electric saw to cut and control the electric saw to start and stop. The movable manipulator assembly can climb on the tree automatically and cut branches at the designated position of the tree automatically, and is low in operation strength and free of potential safety hazards.

Description

Mobile manipulator assembly and operation method thereof

Technical Field

The invention relates to the technical field of manipulators, in particular to a movable manipulator assembly and an operation method thereof.

Background

In the field of power grid maintenance, trees often need to be climbed, and branches on the trees are cut off to prevent the trees from blocking power grid cables. During a common operation mode, an operator climbs the tree by bare hands, then the electric saw is hung on the tree by using the rope, and the branches of the tree are cut off by holding the electric saw. The difficulty of the operation mode is high, the climbing difficulty of an operator is quite high when the operator encounters high trees, the potential safety hazard is high when the electric saw is operated at high altitude, and the labor intensity of operators is high.

Disclosure of Invention

The embodiment of the invention aims to: the movable manipulator assembly can climb on a tree automatically and cut branches at the designated position of the tree automatically, and is low in operation intensity and free of potential safety hazards.

To achieve the purpose, the embodiment of the invention adopts the following technical scheme:

in a first aspect, there is provided a mobile robot assembly comprising:

a climbing seat capable of climbing on a trunk to move to a designated position of the trunk;

the manipulator is arranged on the climbing seat and can move along with the climbing seat, an electric saw is arranged on the manipulator, and the manipulator can drive the electric saw to cut branches on the trunk;

the controller, the controller respectively with the climbing seat the manipulator with the electric saw electricity is connected, the controller is connected with the wireless remote controller wireless communication on ground, wireless remote controller can remote control the controller, in order to control climbing seat climbing, control on the trunk the manipulator operation the electric saw cutting and control the electric saw starts and stops.

As a preferred aspect of the mobile manipulator assembly, the climbing seat comprises:

the first movable seat comprises a first hoop sleeve and a movable seat body which are arranged at intervals, the first hoop sleeve is used for being sleeved on the trunk, the manipulator is arranged on the movable seat body, the first hoop sleeve is connected with the movable seat body through a first connecting frame, the first hoop sleeve has a locking state and an unlocking state, when the first connecting frame is arranged obliquely downwards and the included angle between the first connecting frame and the trunk is a first included angle, the first hoop sleeve is located in the locking state, when the included angle between the first connecting frame and the trunk is a second included angle, the first hoop sleeve is located in the unlocking state, the first hoop sleeve can slide on the trunk at the moment, and the second included angle is larger than the first included angle;

the second movable seat is arranged below the first movable seat at intervals and comprises a second hoop and a second connecting frame, the second hoop is arranged at one end of the second connecting frame and is used for being sleeved on the trunk, the second hoop has a locking state and an unlocking state, when the second hoop and the first hoop are both in the locking state, the inclination angle of the second connecting frame is the same as that of the first connecting frame, and when the second hoop and the first hoop are both in the unlocking state, the inclination angle of the second connecting frame is the same as that of the first connecting frame;

the driving piece is arranged between the first movable seat and the second movable seat, the driving piece is electrically connected with the controller, the first movable seat is alternately positioned in the unlocking state and the locking state under the driving of the driving piece to realize movability, the second movable seat is alternately positioned in the unlocking state and the locking state under the driving of the driving piece to realize movability, and the driving piece is used for driving the first movable seat and the second movable seat to alternately move along the trunk to enable the movable manipulator assembly to ascend or descend on the trunk.

As a preferable scheme of the movable manipulator assembly, the driving member includes a first driving mechanism, a second driving mechanism and a supporting plate, the first driving mechanism and the second driving mechanism are respectively disposed at two sides of the supporting plate, an end of a first output shaft of the first driving mechanism is connected to the bottom of the movable base body or an end of the first connecting frame adjacent to the movable base body, an end of a second output shaft of the second driving mechanism is connected to a free end of the second connecting frame, and the first driving mechanism and the second driving mechanism are electrically connected to the controller.

As a preferable scheme of the movable manipulator assembly, the first connecting frame is hinged to the movable seat body, a seat plate for supporting the manipulator is arranged on the movable seat body, and the seat plate is always kept in a horizontal state.

As a preferred scheme of portable manipulator subassembly, the one end that first hoop cover was kept away from to first link is provided with solid fixed ring, gu fixed ring cover establishes the periphery of removing the seat body, gu fixed ring's inboard is followed gu fixed ring's week portion annular sets up a plurality of articulated seats, the week portion of removing the seat body corresponds the setting first articulated seat is fixed with the articulated seat of second, first articulated seat with the articulated seat of second is connected through the articulated axle.

As a preferred scheme of portable manipulator subassembly, first cuff with a side of trunk butt is the arcwall face, the second cuff with a side of trunk butt is the arcwall face.

As a preferred scheme of the movable manipulator assembly, the first connecting frame includes two first rods arranged in parallel, the first hoop includes a U-shaped first body, two ends of the first body are respectively connected to end portions of the two first rods, the first hoop further includes a first limiting rod, the first limiting rod blocks an opening of the U-shaped first body, two ends of the first limiting rod are respectively detachably connected to the first rods, when the first hoop is in the locked state, the first limiting rod and the first body are both abutted to the trunk, and one end of the first rod, away from the first hoop, is detachably connected to the movable base body; and/or the presence of a gas in the gas,

the second link includes two second poles of parallel arrangement, the second hoop includes the second body of U type, the both ends of second body respectively with two the end connection of second pole, the second hoop still includes the second gag lever post, the second gag lever post shutoff U type the opening of second body, the both ends of second gag lever post respectively with the connection can be dismantled to the second pole, works as the second hoop is located during the locking state, the second gag lever post with the second body all with the trunk butt, two the second pole is kept away from the one end of second hoop is passed through the third gag lever post and is connected.

As a preferred scheme of portable manipulator subassembly, first link with all be provided with deformation detection mechanism on the second link, deformation detection mechanism with the controller electricity is connected, the controller electricity is connected with the alarm, deformation detection mechanism detects first link with when the second link takes place to warp, the controller control the alarm is reported to the police and is controlled in order to indicate the operator portable manipulator subassembly gets back to ground rapidly.

As a preferred scheme of portable manipulator subassembly, still set up camera mechanism on the removal seat body, camera mechanism can follow the horizontal direction and rotate 360 degrees and can follow vertical direction swing 120 degrees, camera mechanism is used for shooting the operating condition and the environment of manipulator, camera mechanism with the controller electricity is connected, be provided with the display screen on the wireless remote controller, the display screen is used for showing video and/or the picture that camera mechanism shot.

In another aspect, a method for operating a mobile robot assembly is provided, where the method includes the following steps:

s100, assembling the manipulator and the electric saw and then installing the manipulator and the electric saw on a climbing seat;

s200, mounting the climbing seat at the lower end of a trunk;

s300, operating a wireless remote controller to enable the climbing seat to climb to a specified position of the trunk, and driving the climbing seat to stop climbing;

s400, operating the wireless remote controller, and starting the manipulator and the electric saw to cut the branches on the trunk;

step S500, after the branch cutting is finished, operating the wireless remote controller, and starting the climbing seat to descend to the ground along the trunk;

and S600, taking down the climbing seat from the trunk.

The embodiment of the invention has the beneficial effects that: through setting up manipulator and electric saw on the climbing seat that can scramble on the trunk, and set up wireless remote controller, can the automatic climbing of remote control climbing seat, and control manipulator and electric saw automatic start cut the branch on the trunk, it to the high altitude cutting branch to need not bare-handed climbing of operator, the operator only need stand control wireless remote controller on ground can, the work degree of difficulty and the intensity of operator have been reduced, avoid the operator to scramble the high altitude simultaneously and carry out manual operation, the potential safety hazard has been stopped.

Drawings

The invention is explained in more detail below with reference to the figures and examples.

Fig. 1 is a diagram illustrating a state of use of a mobile robot assembly according to an embodiment of the present invention.

Fig. 2 is a schematic top view of a first movable base according to an embodiment of the invention.

Fig. 3 is a schematic top view of a second movable base according to an embodiment of the invention.

Fig. 4 is a schematic view illustrating a connection between a fixing ring and a moving seat body according to an embodiment of the invention.

Fig. 5 is a diagram illustrating a state of use of a mobile robot assembly according to another embodiment of the present invention.

In the figure:

1. a first movable base; 11. a first ferrule; 111. a first body; 112. a first limit rod; 12. a movable seat body; 121. a seat plate; 122. a fence; 13. a first connecting frame; 131. a first lever; 14. a fixing ring; 15. a first hinge mount; 16. a second hinge mount; 161. a first hinge plate; 162. a second hinge plate;

2. a second movable base; 21. a second ferrule; 211. a second body; 212. a second limiting rod; 22. a second link frame; 221. a second lever; 222. a third limiting rod;

3. a drive member; 31. a first drive mechanism; 311. a first output shaft; 32. a second drive mechanism; 321. a second output shaft; 33. a support plate; 34. a thigh section; 35. a lower leg portion;

4. a wireless remote controller; 5. a strain gauge; 6. a manipulator; 7. electric sawing; 8. a camera mechanism;

100. a tree trunk; 110. branches; 200. an operator; 300. and (4) the ground.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1-3, the mobile manipulator assembly of an embodiment of the present invention includes a climbing seat, which can climb over a tree trunk 100, to move to a given position of the trunk 100, the manipulator 6 is arranged on the climbing seat, can move along with the climbing seat, the manipulator 6 is provided with an electric saw 7, the manipulator 6 can drive the electric saw 7 to cut the branches 110 on the trunk 100, the controller is respectively and electrically connected with the climbing seat, the manipulator 6 and the electric saw 7, the controller is in wireless communication connection with the wireless remote controller 4 on the ground 300, the wireless remote controller 4 can remotely control the controller, to control the climbing seat to climb the trunk 100, to control the manipulator 6 to operate the electric saw 7 to cut, and to control the electric saw 7 to start and stop. Through setting up manipulator 6 and electric saw 7 on the climbing seat that can climb on the trunk, and set up wireless remote control 4, can the automatic climbing of remote control climbing seat, and control manipulator 6 and electric saw 7 automatic start cut branch 110 on trunk 100, it climbs to high altitude cutting branch 110 to need not bare-handed climbing of operator 200, operator 200 only need stand on ground 300 control wireless remote control 4 can, operator 200's the work degree of difficulty and intensity have been reduced, avoid operator 200 to climb to the high altitude simultaneously and carry out manual operation, the potential safety hazard has been stopped.

The operation method of the mobile manipulator assembly of the embodiment comprises the following steps:

s100, assembling the manipulator 6 and the electric saw 7 and then installing the manipulator on a climbing seat;

step S200, mounting the climbing seat at the lower end of the trunk 100;

step S300, operating a wireless remote controller 4 to enable the climbing seat to climb to an appointed position of the trunk 100, and driving the climbing seat to stop climbing;

step S400, operating the wireless remote controller 4, and starting the manipulator 6 and the electric saw 7 to cut the branches 110 on the trunk 100;

step S500, after the branch 110 is cut, operating the wireless remote controller 4, and starting the climbing seat to descend to the ground along the trunk 100;

and S600, taking down the climbing seat from the trunk 100.

In this embodiment, the climbing seat includes a first movable seat 1, a second movable seat 2 and a driving member 3, the first movable seat 1 includes a first hoop 11 and a movable seat body 12 arranged at an interval, the first hoop 11 is used to be sleeved on the trunk 100, the manipulator 6 is arranged on the movable seat body 12, the first hoop 11 is connected with the movable seat body 12 through a first connecting frame 13, the first hoop 11 has a locking state and an unlocking state, when the first connecting frame 13 is inclined downwards and the included angle between the first connecting frame 13 and the trunk 100 is a first included angle, the first hoop 11 is located in the locking state, when the included angle between the first connecting frame 13 and the trunk 100 is a second included angle, the first hoop 11 is located in the unlocking state, at this time, the first hoop 11 can slide on the trunk 100, the second included angle is larger than the first included angle; the second movable seat 2 is arranged below the first movable seat 1 at intervals, the second movable seat 2 includes a second hoop 21 and a second connecting frame 22, the second hoop 21 is arranged at one end of the second connecting frame 22, the second hoop 21 is used for being sleeved on the trunk 100, the second hoop 21 has a locking state and an unlocking state, when the second hoop 21 and the first hoop 11 are both in the locking state, the inclination angle of the second connecting frame 22 is the same as the inclination angle of the first connecting frame 13, and when the second hoop 21 and the first hoop 11 are both in the unlocking state, the inclination angle of the second connecting frame 22 is the same as the inclination angle of the first connecting frame 13; the driving member 3 is disposed between the first movable seat 1 and the second movable seat 2, the driving member 3 is electrically connected to the controller, the first movable seat 1 is alternately located in the unlocking state and the locking state under the driving of the driving member 3 to realize movability, the second movable seat 2 is alternately located in the unlocking state and the locking state under the driving of the driving member 3 to realize movability, the driving member 3 is used for driving the first movable seat 1 and the second movable seat 2 to alternately move along the trunk 100, so that the movable manipulator assembly ascends or descends on the trunk 100. By arranging the first movable seat 1, the manipulator 6 and the electric saw 7 can be supported, the second movable seat 2 can support the driving piece 3, and the controller and the wireless remote controller 4 can control the driving piece 3 to work, so that the driving piece 3 can drive the first movable seat 1 and the second movable seat 2 to move on the trunk 100, and further the manipulator is supported on the trunk 100 to ascend or descend; first removal seat 1 and second remove seat 2 and just can realize unblock and two kinds of states of locking under the adjustment inclination for the adjustment of state is simple, need not to set up complicated locking structure, makes the structure of whole portable manipulator subassembly simplify, the cost is reduced.

In one embodiment, as shown in fig. 1 to 3, the driving member 3 includes a first driving mechanism 31, a second driving mechanism 32 and a supporting plate 33, the first driving mechanism 31 and the second driving mechanism 32 are respectively disposed on two sides of the supporting plate 33, an end of a first output shaft 311 of the first driving mechanism 31 is connected to the bottom of the moving seat body 12 or an end of the first connecting frame 13 adjacent to the moving seat body 12, an end of a second output shaft 321 of the second driving mechanism 32 is connected to a free end of the second connecting frame 22, and both the first driving mechanism 31 and the second driving mechanism 32 are electrically connected to the controller. Through setting up two actuating mechanism and driving first removal seat 1 and second respectively and remove seat 2, can realize the first alternative removal that removes seat 1 and second and remove seat 2, guarantee that the removal of whole portable manipulator subassembly is smooth and easy, and two actuating mechanism's setting can increase the first distance that removes seat 1 and second and remove seat 2 and remove at every turn.

Further, as shown in fig. 2 and 4, the first connecting frame 13 is hinged to the moving seat body 12, a seat plate 121 supporting the robot arm 6 is disposed on the moving seat body 12, and the seat plate 121 is always kept in a horizontal state. Through will removing seat body 12 and first link 13 articulated for support the bedplate 121 of manipulator 6 all can be located the horizontality all the time, and then makes the operation of manipulator 6 and electric saw 7 more smooth and easy, guarantees that the cutting of branch 110 can accomplish smoothly.

Specifically, the one end that first link 13 kept away from first cuff 11 is provided with solid fixed ring 14, solid fixed ring 14 cover is established the periphery of removing seat body 12, gu fixed ring 14's inboard is followed solid fixed ring 14's week portion annular sets up a plurality of articulated seats 15, the corresponding setting of week portion of removing seat body 12 first articulated seat 15 is fixed with articulated seat 16 of second, first articulated seat 15 with articulated seat 16 of second is connected through the hinge shaft. Through setting up solid fixed ring 14, this solid fixed ring 14 can overlap and establish the periphery at removal seat body 12, guarantees to remove seat body 12 and can adjust along with the angular variation of first link 13 to annular solid fixed ring 14 can also provide more steady support to removing seat body 12, prevents to remove seat body 12 and excessively rocks, promotes the security.

Further, the second hinge seat 16 includes a first hinge plate 161 and a second hinge plate 162 that are vertically disposed, the first hinge plate 161 and the second hinge plate 162 form an L-shaped second hinge seat 16, a through hole for passing the hinge shaft is opened at one end of the first hinge plate 161, and a side of the second hinge plate 162 away from the first hinge plate 161 is welded to the moving seat body 12. By providing the second hinge base 16 having an L-shape, the second hinge plate 162 of the second hinge base 16 can be used to increase the connection area with the moving base body 12, thereby increasing the supporting strength and stability.

In addition, the first cuff 11 and a side of the trunk 100 butt are arc surfaces, and the second cuff 21 and a side of the trunk 100 butt are arc surfaces. Through setting up the cuff and trunk 100 butt end position into the arc structure, can reduce the friction of cuff and trunk 100 to it is smooth and easy to guarantee that the cuff moves on trunk 100, also can not destroy trunk 100 simultaneously.

The first connecting frame 13 includes two first rods 131 of parallel arrangement, the first hoop 11 includes the first body 111 of U type, the both ends of first body 111 respectively with two end connection of first rod 131, first hoop 11 still includes first gag lever post 112, first gag lever post 112 shutoff U type the opening of first body 111, the both ends of first gag lever post 112 respectively with first rod 131 can dismantle the connection, work as first hoop 11 is located during the locking state, first gag lever post 112 with first body 111 all with trunk 100 butt, first rod 131 keeps away from the one end of first hoop 11 with removal seat body 12 can dismantle the connection. With first pole 131, first body 111, first gag lever post 112 and remove a body 12 and all adopt the detachable mode to connect, be convenient for first removal seat 1 cover establish on trunk 100, reduce the installation degree of difficulty, the rigidity of trunk 100, it is high, so when fixed first removal seat 1, all be in the bottom of trunk 100, also be adjacent to the position on ground 300 and install, the detachable mode is installed and is dismantled more easily, can not damage trunk 100, be convenient for first removal seat 1 used repeatedly.

The first limiting rod 112 may be a straight rod, or a rod with a U-shaped structure or a rod with an arc-shaped structure, and when the first limiting rod 112 is U-shaped or arc-shaped, the opening of the first limiting rod faces the first body 111.

Specifically, first body 111 is through the round steel bending system shaping, and the one end that first body 111 is connected to first pole 131 has the grafting recess, is provided with the internal thread in the grafting recess, and the both ends of first body 111 are provided with the external screw thread, and the tip of first body 111 connects with first pole 131 screw thread soon, and in addition, there are a plurality of reinforcing plates in the outer peripheral annular welding of first pole 131, the position of reinforcing plate corresponds with the position of grafting recess, and the length of reinforcing plate extends and with first gag lever post 112 butt along the length direction of first pole 131. Generally, the position where the first body 111 is connected to the first rod 131 needs to bear a large force, so that the end of the first rod 131 can be effectively deformed by the reinforcing plate.

Correspond first gag lever post 112 on the first pole 131 and seted up threaded hole, the both ends of first gag lever post 112 all are provided with the external screw thread, and the both ends of first gag lever post 112 are twisted soon in the threaded hole of first pole 131 to realize that first gag lever post 112 can dismantle with first pole 131 and be connected.

Two threaded holes are formed in the fixing ring 14 at intervals, and one end, far away from the first body 111, of the first rod 131 is screwed in the threaded hole of the fixing ring 14 and partially protrudes out of the inner wall of the fixing ring 14 to be screwed with the limiting nut. Through setting up stop nut, can effectively prevent that solid fixed ring 14 from breaking away from with first pole 131, increase solid fixed ring 14 and first pole 131's joint strength.

Certainly, when the fixed movable seat body 12 is not provided with the fixed ring 14, an upward-opening hook may be further disposed at one end of the first rod 131 far away from the first body 111, a hanging hole matched with the hook is disposed on the movable seat body 12, and the movable seat body 12 is directly hung at the end of the first rod 131, so that the detachable connection between the first rod 131 and the movable seat body 12 can be realized, the hinge connection between the movable seat body 12 and the first connecting frame 13 can also be realized, it is ensured that the movable seat body 12 can be kept at the same angle with the trunk 100 when the first movable seat 1 is in any state, the operation of the manipulator 6 is facilitated, and the dismounting manner is simpler.

In other embodiments, only the first body 111 may be detachably connected to the two first rods 131, and the first rods 131, the first limiting rod 112, and the movable seat body 12 are assembled into a whole and then connected to the first body 111 at the bottom of the trunk 100. At this time, an insertion groove may be formed at an end of the first rod 131, and both ends of the first body 111 are inserted into the corresponding insertion grooves of the first rod 131 and then fixed by bolts.

One end of the first body 111 may be connected to one of the first rods 131 in a hinged manner, so that the first body 111 can rotate around the hinged position to achieve the installation with the trunk 100, and the other end of the first body 111 is inserted into the insertion groove of the other first rod 131 and then fixed by a bolt.

The second connecting frame 22 includes two second rods 221 arranged in parallel, the second collar 21 includes a U-shaped second body 211, two ends of the second body 211 are respectively connected with two ends of the second rods 221, the second collar 21 further includes a second limiting rod 212, the second limiting rod 212 blocks the U-shaped opening of the second body 211, two ends of the second limiting rod 212 are respectively detachably connected with the second rods 221, when the second collar 21 is located in the locking state, the second limiting rod 212 and the second body 211 are both abutted to the trunk 100, and two ends of the second rods 221, which are far away from the second collar 21, are connected through a third limiting rod 222. All adopt detachably mode to connect second pole 221, second body 211, second gag lever post 212 and third gag lever post 222, the second of being convenient for removes 2 covers and establishes on trunk 100, reduces the installation degree of difficulty, also is convenient for the second to remove 2 used repeatedly of seat.

The second limiting rod 212 may be a straight rod, or a rod with a U-shaped structure or a rod with an arc-shaped structure, and when the second limiting rod 212 is U-shaped or arc-shaped, the opening of the second limiting rod faces the second body 211.

In other embodiments, only the second body 211 can be detachably connected to the two second rods 221, and the second rods 221, the second limiting rods 212, and the third limiting rods 222 can be connected to the second body 211 at the bottom of the trunk 100 after being assembled into a whole. At this time, an insertion groove may be formed at an end of the second rod 221, and both ends of the second body 211 are inserted into the insertion grooves of the corresponding second rods 221 and then fixed by bolts.

One end of the second body 211 can be connected to one of the second rods 221 in a hinged manner, so that the second body 211 can rotate around the hinged position to achieve the installation with the trunk 100, and the other end of the second body 211 is inserted into the insertion groove of the other second rod 221 and then fixed by a bolt.

The operation process of the mobile manipulator assembly of the embodiment is as follows, and comprises the following steps:

step S100, respectively sleeving a first hoop 11 of a first movable seat 1 and a second hoop 21 of a second movable seat 2 on a trunk 100, wherein the first hoop 11 is positioned above the second hoop 21;

step S200, adjusting angles of the first connecting frame 13 of the first moving seat 1 and the second connecting frame 22 of the second moving seat 2, so that the first ferrule 11 and the second ferrule 21 are fixed on the trunk 100, and at this time, the first ferrule 11 and the second ferrule 21 are both in a locked state;

step S300, installing the mechanical arm 6 and the electric saw 7 in the moving seat body 12 of the first moving seat 1, standing the wireless remote controller 4 on the ground 300 by an operator 200, operating the wireless remote controller 4 to enable the moving manipulator assembly to start to ascend and move, controlling the driving piece 3 to start by a controller in the moving manipulator assembly, driving the driving piece 3 to drive the first moving seat 1 to change from the locking state to the unlocking state firstly, then enabling the first moving seat 1 to move upwards for a specified distance, finally enabling the first moving seat 1 to change from the unlocking state to the locking state again, taking the first moving seat 1 as a supporting point, driving the driving piece 3 to drive the second moving seat 2 to change from the locking state to the unlocking state firstly, then enabling the second moving seat 2 to move upwards for the specified distance, and finally enabling the second moving seat 2 to change from the unlocking state to the locking state again, at the moment, the mobile manipulator assembly finishes a moving stage, a plurality of moving stages are continuously carried out until the mobile manipulator assembly rises to a specified position, and the operator 200 controls the climbing seat to stop climbing through the wireless remote controller 4;

step S400, an operator 200 operates the wireless remote controller 4 to start the manipulator 6, the manipulator 6 drives the electric saw 7 to move to the position corresponding to the tree branch 110, the electric saw 7 is started to cut the tree branch 110 until all the tree branches 110 needing to be cut are cut, and the electric saw 7 is stopped;

step S500, after the operator 200, the controller is controlled by the wireless remote controller 4 to make the mobile manipulator assembly start to descend, the controller controls the driving element 3 to start, the driving element 3 drives the second moving seat 2 to change from the locking state to the unlocking state, then the second moving seat 2 moves downwards for the designated distance, finally the second moving seat 2 changes from the unlocking state to the locking state, then the second moving seat 2 is used as a supporting point, the driving element 3 drives the first moving seat 1 to change from the locking state to the unlocking state, then the first moving seat 1 moves downwards for the designated distance, and finally the first moving seat 1 changes from the unlocking state to the locking state, at this moment, the mobile manipulator assembly completes a moving stage, the plurality of movement stages continues until the mobile manipulator assembly moves down to the ground 300, allowing the operator 200 to disassemble the climbing shoe from the ground 300.

Specifically, the wireless remote controller 4 is provided with a plurality of functional buttons and/or rockers, so that the climbing seat can ascend and move, the climbing seat can descend, the manipulator 6 extends out and adjusts the position, the manipulator 6 retracts to the initial position, and the electric saw 7 starts and stops.

In addition, in this embodiment, the first driving mechanism 31 and the second driving mechanism 32 are both air cylinders, when the moving manipulator assembly is located at the initial position, the entire moving manipulator assembly is located at the bottom of the trunk 100, the initial state of the first driving mechanism 31 is that the first output shaft 311 is completely retracted, the initial state of the second driving mechanism 32 is that the second output shaft 321 is completely extended, each time when the second moving seat 2 is changed from the locked state to the unlocked state, the second moving seat 2 can move, the first driving mechanism 31 first returns to the initial position to prepare a next moving stage, and pulls the entire second moving seat 2 to move upward for a certain distance, and then the second driving mechanism 32 sequentially retracts and extends again, so that the second driving mechanism 32 is changed from the unlocked state to the locked state, and the second driving mechanism 32 returns to the initial state, thereby completing a moving stage. Repeating the above actions can realize that the whole mobile manipulator assembly can ascend and descend sequentially.

The structure of two cylinder cooperations can accomplish first removal seat 1 and the second and remove seat 2 and remove in proper order to and first removal seat 1 and second remove seat 2 and be located locking state and unblock state respectively in turn, guarantee that portable manipulator subassembly can realize smoothly that rise removes and descend to remove.

Further, still set up camera mechanism 8 on the removal seat body 12, camera mechanism 8 can follow the horizontal direction and rotate 360 degrees and can follow vertical direction swing 120 degrees, camera mechanism 8 is used for shooting the operating condition and the environment of manipulator 6, camera mechanism 8 with the controller electricity is connected, be provided with the display screen on the wireless remote control 4, the display screen is used for showing video and/or the picture that camera mechanism 8 was shot.

In order to increase the operation range of the manipulator 6, a lifting cylinder is arranged on the moving seat body 12 of the first moving seat 1, the end part of an output shaft of the lifting cylinder is connected with a base, and the manipulator 6 is detachably arranged on the base. Through setting up the lift cylinder, can make manipulator 6's operation altitude range increase, reduce the removal number of times of climbing seat, reduce the energy consumption.

In addition, set up the roating seat on the removal seat body 12, the roating seat can rotate around fixed axis under the drive of rotating electrical machines, and the manipulator 6 is kept away from the one end of electric saw 7 and is connected with the roating seat for manipulator 6 can rotate appointed angle along with the roating seat, and then makes the adjustable angle of cutting of electric saw 7.

In another embodiment, the present embodiment is similar to the above-mentioned embodiment, except that the driving member 3 has a different structure, as shown in fig. 5, the driving member 3 of the present embodiment is a leg structure of a legged robot, the driving member 3 includes a lower leg portion 35 and a thigh portion 34 hinged to the lower leg portion 35, the lower leg portion 35 and the thigh portion 34 are driven by a power mechanism to extend and retract, an end of the thigh portion 34 away from the lower leg portion 35 is connected to the moving seat body 12, and an end of the lower leg portion 35 away from the thigh portion 34 is connected to an end of the second connecting frame 22 of the second moving seat 2 away from the second cuff 21.

When the driving member 3 extends, the included angle between the lower leg portion 35 and the thigh portion 34 is an extension included angle, the extension included angle can reach 180 degrees at most, when the driving member 3 retracts, the included angle between the lower leg portion 35 and the thigh portion 34 is a retraction included angle, the retraction included angle is far smaller than the extension included angle, and in this embodiment, the retraction included angle can reach 15 degrees at least.

In this embodiment, the moving method of the mobile robot assembly includes: the controller controls the thigh part 34 and the calf part 35 to extend, the first movable seat 1 is changed from the locked state to the unlocked state, and the first movable seat 1 is moved upwards, when the thigh part 34 and the calf part 35 are fully extended, the first movable seat 1 is moved to the limit position, then the thigh part 34 and the calf part 35 are retracted again, at this time, the first movable seat 1 is inclined downwards due to the gravity of the movable seat body 12 (including the manipulator 6 and the electric saw 7) to be in the locked state, at this time, the second movable seat 2 is changed from the locked state to the unlocked state due to the pulling of the calf part 35, and the second movable seat 2 is moved upwards until the thigh part 34 and the calf part 35 are in the retracted state, and a moving stage is completed.

This drive 3 simulates the leg extension and leg retraction of the operator 200 to ensure that the first mobile seat 1 and the second mobile seat 2 move alternately to achieve the movement of the entire mobile robot assembly on the tree trunk 100.

In other embodiments, the legged robot may be directly designed on the climbing seat, the lower body (i.e., two legs, each leg including a thigh portion 34 and a shank portion 35) of the legged robot is disposed between the moving seat body 12 and the second connecting frame 22 to perform leg extension and leg retraction, the upper body and the head of the legged robot are disposed above the moving seat body 12 and detachably connected to the moving seat body 12, one of the two arms of the legged robot is used as the manipulator 6 to be connected to the electric saw 7, the hand grip portion at the end of the other arm grips the hand grip portion 122 of the moving seat body 12 to increase stability, the head of the legged robot is used as the camera mechanism 8 to take a picture, and the controller is disposed in the head or the body portion of the upper body of the legged robot.

In an embodiment, deformation detection mechanisms are arranged on the first connecting frame 13 and the second connecting frame 22, the deformation detection mechanisms are electrically connected with the controller, the controller is electrically connected with an alarm, and when the deformation detection mechanisms detect that the first connecting frame 13 and the second connecting frame 22 deform, the controller controls the alarm to prompt the operator 200 to control the climbing seat to rapidly return to the ground.

In this embodiment, the deformation detection mechanism is the strain gauge 5, the strain gauge 5 is attached to the middle portions of the first connecting frame 13 and the second connecting frame 22 and used for detecting whether the two connecting frames deform in a downward bending mode or not, a deformation threshold is preset in a controller of the controller, when a deformation value detected on the strain gauge 5 is larger than or equal to the deformation threshold, it is determined that the first connecting frame 13 and/or the second connecting frame 22 deform seriously, and the alarm can remind the operator 200 to control the climbing seat to return to the ground quickly, so that safety accidents are avoided.

In one embodiment, the moving seat body 12 includes a seat plate 121 and a rail 122 surrounding an upper surface of the seat plate 121, and the rail 122 is provided with a lightening hole. The structure of the fence 122 can reduce the weight of the entire mobile seat body 12, and thus the weight of the entire mobile manipulator assembly, so that the energy consumption of the driving member 3 is reduced.

In the description herein, it is to be understood that the terms "upper" and the like are based on the orientation or positional relationship shown in the drawings, which are for convenience of description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention.

In the description herein, references to the term "an embodiment" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.

The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims

1. A mobile robot assembly, comprising:

2. The mobile manipulator assembly of claim 1, wherein the climbing seat comprises:

3. The mobile manipulator assembly according to claim 2, wherein the driving member includes a first driving mechanism, a second driving mechanism and a supporting plate, the first driving mechanism and the second driving mechanism are respectively disposed at two sides of the supporting plate, an end of a first output shaft of the first driving mechanism is connected to the bottom of the moving seat body or an end of the first connecting frame adjacent to the moving seat body, an end of a second output shaft of the second driving mechanism is connected to a free end of the second connecting frame, and the first driving mechanism and the second driving mechanism are electrically connected to the controller.

4. The mobile robot assembly of claim 2, wherein the first link is hinged to the moving seat body, and a seat plate for supporting the robot is provided on the moving seat body, and the seat plate is always kept in a horizontal state.

5. The mobile manipulator assembly according to claim 4, wherein a fixing ring is disposed at an end of the first connecting frame, which is away from the first ferrule, the fixing ring is disposed on an outer periphery of the moving seat body, a plurality of first hinge seats are annularly disposed on an inner side of the fixing ring along a peripheral portion of the fixing ring, a second hinge seat is fixed on the first hinge seat correspondingly disposed on the peripheral portion of the moving seat body, and the first hinge seat and the second hinge seat are connected through a hinge shaft.

6. The mobile manipulator assembly of claim 2, wherein the first collar is arcuate in a side abutting the trunk and the second collar is arcuate in a side abutting the trunk.

7. The mobile manipulator assembly according to claim 2, wherein the first connecting frame comprises two first rods arranged in parallel, the first ferrule comprises a U-shaped first body, two ends of the first body are respectively connected with the ends of the two first rods, the first ferrule further comprises a first limiting rod, the first limiting rod seals an opening of the U-shaped first body, two ends of the first limiting rod are respectively detachably connected with the first rods, when the first ferrule is in the locked state, the first limiting rod and the first body are both abutted against the trunk, and one end of the first rod, which is far away from the first ferrule, is detachably connected with the moving seat body; and/or the presence of a gas in the gas,

8. The mobile manipulator assembly of any one of claims 2 to 7, wherein the first connecting frame and the second connecting frame are each provided with a deformation detection mechanism, the deformation detection mechanism is electrically connected to the controller, the controller is electrically connected to an alarm, and when the deformation detection mechanism detects that the first connecting frame and the second connecting frame are deformed, the controller controls the alarm to prompt an operator to operate the mobile manipulator assembly to quickly return to the ground.

9. The mobile manipulator assembly according to any one of claims 1 to 7, wherein a camera mechanism is further disposed on the mobile seat body, the camera mechanism can rotate 360 degrees in a horizontal direction and can swing 120 degrees in a vertical direction, the camera mechanism is used for shooting the working state and environment of the manipulator, the camera mechanism is electrically connected to the controller, and a display screen is disposed on the wireless remote controller and used for displaying videos and/or pictures shot by the camera mechanism.

10. A method of operating a mobile robot assembly, using a mobile robot assembly according to any of claims 1 to 9, comprising the steps of:

s200, mounting the climbing seat at the lower end of a trunk;

and S600, taking down the climbing seat from the trunk.