CN113232740B - Tree-climbing sampling robot capable of carrying test paper - Google Patents
Tree-climbing sampling robot capable of carrying test paper Download PDFInfo
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- CN113232740B CN113232740B CN202110499316.XA CN202110499316A CN113232740B CN 113232740 B CN113232740 B CN 113232740B CN 202110499316 A CN202110499316 A CN 202110499316A CN 113232740 B CN113232740 B CN 113232740B
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
Abstract
The invention discloses a tree-climbing sampling robot capable of carrying test paper, which comprises a clamping mechanism, a telescopic crawling mechanism and a test paper arrangement mechanism, wherein the clamping mechanism is arranged on the base; the clamping mechanism comprises two clamping jaws which are respectively arranged at two ends of the telescopic crawling mechanism through a multi-shaft composite steering mechanism; the multi-shaft composite steering mechanism comprises two universal steering joints and a right-angle steering rod, wherein one universal steering joint is connected with the clamping jaw, and the other universal steering joint is connected with the telescopic crawling mechanism; the right-angle steering rod is connected between the two universal steering joints; the test paper arranging mechanism comprises a test paper placing plate and an arranging telescopic mechanism, the test paper placing plate is connected to the telescopic end of the arranging telescopic mechanism through a universal steering joint, and the fixed end of the arranging telescopic mechanism is connected to the telescopic crawling mechanism through the universal steering joint. The tree climbing sampling robot can be used for climbing trees which are bent or have branches, and test paper is arranged on various trees, so that unmanned collection operation is widely realized.
Description
Technical Field
The invention relates to a tree-climbing robot, in particular to a tree-climbing sampling robot capable of carrying test paper.
Background
When carrying out unmanned aerial vehicle to tall and big arbor and spraying the application of pesticides, arrange and gather through artifical climbing trees to the traditional operation of arranging of the application of pesticides sampling test paper of tall and big plant, have certain danger. In order to guarantee the personal safety of staff, some tree climbing robots capable of climbing trees are designed in the prior art, and in the fog drop collection operation, test paper for sampling can be arranged on the tree climbing robots, so that the tree climbing robots are not required to climb manually.
Most of the existing tree climbing robots can only climb on vertical trees, but cannot be used for climbing curved trees or trees with branches, and unmanned collection operation cannot be widely realized.
Disclosure of Invention
The invention aims to overcome the existing problems and provides a tree-climbing sampling robot capable of carrying test paper, which can climb curved or branched trees and arrange the test paper on various trees, thereby widely realizing unmanned collection operation.
The purpose of the invention is realized by the following technical scheme:
a tree-climbing sampling robot capable of carrying test paper comprises a clamping mechanism, a telescopic crawling mechanism and a test paper arrangement mechanism for arranging the test paper;
the clamping mechanism comprises two clamping jaws and a clamping driving mechanism for driving the two clamping jaws to open and close, and the two clamping jaws are respectively arranged at two ends of the telescopic crawling mechanism through the multi-shaft composite steering mechanism; the multi-shaft composite steering mechanism comprises two universal steering joints and a right-angle steering rod, wherein one universal steering joint is connected with the clamping jaw, and the other universal steering joint is connected with the telescopic crawling mechanism; the right-angle steering rod is connected between the two universal steering joints;
the test paper arranging mechanism comprises a test paper placing plate and a telescopic arranging mechanism used for driving the test paper placing plate to stretch, the test paper placing plate is connected to the telescopic end of the telescopic arranging mechanism through a universal steering joint, and the fixed end of the telescopic arranging mechanism is connected to the telescopic crawling mechanism through the universal steering joint.
The working principle of the tree-climbing sampling robot capable of carrying the test paper is as follows:
during operation, before climbing trees, test paper is fixedly placed on the test paper placing plate, and the telescopic mechanism is arranged to be contracted to the shortest position, so that collision and rubbing between the test paper placing plate and branches during climbing trees are avoided. The staff will climb tree sampling robot and be close to at the trunk, and centre gripping actuating mechanism drive clamping jaw is opened, and the clamping jaw is to the trunk centre gripping for climb the vertical fixing of tree sampling robot on the trunk, begin the climbing work then: the clamping jaw that is located the top loosens the trunk, then flexible crawl the mechanism and extend, the drive is located the clamping jaw of top and up moves, reach the take the altitude after, the clamping jaw that the centre gripping actuating mechanism drive that is located the top corresponds is closed, make this clamping jaw centre gripping fix on the trunk, the clamping jaw that is located the below loosens the trunk after that, flexible crawl the mechanism and contract, the clamping jaw that the drive is located the below up moves, reach the take the altitude after, the clamping jaw that the centre gripping actuating mechanism drive that is located the below corresponds is closed, make this clamping jaw centre gripping fix on the trunk, thereby accomplish one step of climbing operations. According to the height of climbing of actual need, arrange telescopic machanism and climb up along the trunk according to above-mentioned operation.
In the climbing process, when a curved trunk or a branch is encountered, the posture of the clamping jaw is adjusted through the universal steering joint, so that the clamping jaw is attached to the curved trunk, or the clamping jaw transversely swings to bypass the branch, and the branch-climbing clamp is suitable for occasions with branches. Further, based on universal joint and the right angle steering column that turns to, this tree-climbing sampling robot can climb forward alternately: the clamping jaw that is located the below loosens the trunk, and the universal joint that turns to that is located the top rotates in the switching-over to this clamping jaw is the fixed point, drives whole flexible climbing mechanism and the clamping jaw that is located the below up to rotate (the clamping jaw of below converts to the top), and the clamping jaw that the centre gripping actuating mechanism drive that rotates to the top corresponds is closed, makes this clamping jaw centre gripping fix on the trunk, thereby accomplishes one step of climbing operation. At above-mentioned in-process, flexible crawl mechanism can stretch out and draw back the operation simultaneously, not only can increase the distance that each step gos forward, but also can cooperate the centre gripping on the branch according to actual distance.
After climbing to a set height, starting to arrange the test paper, and arranging a telescopic mechanism to drive a test paper placing plate to extend according to a preset placing position so that the test paper moves to the set placing position; according to the preset orientation, the universal steering joint rotates, the orientation of the test paper placing plate is adjusted, the orientation of the test paper is the same as the preset orientation, the test paper is arranged, and then the fog drops are waited to be deposited to perform sampling.
In a preferred embodiment of the present invention, the clamping driving mechanism includes a clamping driving motor and a clamping transmission assembly, and the clamping transmission assembly includes a clamping driving gear and a clamping driven gear; the clamping driving gear is coaxially and fixedly connected with a driving shaft of the clamping driving motor;
the clamping jaw comprises two oppositely arranged claw fingers, the claw fingers are rotatably connected to the clamping rack through a four-bar structure, and the clamping driven gear is fixedly connected with a rotating shaft of a rack rod of the four-bar structure. Through the structure, the claw can be driven to swing, and the opening and closing actions can be realized.
Preferably, the grip driven gear is provided in two, one of which is engaged with the grip driving gear, so that one grip driving motor can be commonly used.
According to a preferable scheme of the invention, the universal steering joint comprises a universal ball, steering components and connecting rods, wherein the steering components are provided with three groups which are respectively an X-axis steering component, a Y-axis steering component and a Z-axis steering component;
the X-axis steering assembly comprises an X-axis steering transmission ring and an X-axis steering motor, the X-axis steering motor is fixed on the steering rack, one end of the X-axis steering transmission ring is fixedly connected with a driving shaft of the X-axis steering motor, and the other end of the X-axis steering transmission ring bypasses the universal sphere and then is connected to the steering rack in a rotating mode;
the Y-axis steering assembly comprises a Y-axis steering transmission ring and a Y-axis steering motor, the Y-axis steering motor is fixed on the steering rack, one end of the Y-axis steering transmission ring is fixedly connected with a driving shaft of the Y-axis steering motor, and the other end of the Y-axis steering transmission ring bypasses the universal sphere and then is connected to the steering rack in a rotating mode;
the Z-axis steering assembly comprises a Z-axis steering motor, the Z-axis steering motor is fixed on the steering rack, and a driving shaft of the Z-axis steering motor is connected with the universal ball body through a Z-axis transmission clamping block;
the universal ball body is provided with two mutually perpendicular and communicated annular grooves, the Z-axis transmission clamping block is arranged in one annular groove, and the connecting rod is connected in the other annular groove of the universal ball body through the connection transmission clamping block; the length of the Z-axis transmission clamping block is greater than the width of an annular groove provided with a connection transmission clamping block, and the length of the connection transmission clamping block is greater than the width of the annular groove provided with the Z-axis transmission clamping block;
the X-axis steering transmission ring and the Y-axis steering transmission ring are provided with strip-shaped avoidance grooves, and the connecting rod respectively penetrates through the avoidance grooves of the X-axis steering transmission ring and the Y-axis steering transmission ring to be connected with the universal ball body; the two annular grooves are respectively positioned on the same plane with the avoiding grooves of the X-axis steering transmission ring and the Y-axis steering transmission ring. With the above structure, X, Y, Z rotation with three degrees of freedom can be realized, and the clamping jaw can be driven to be switched to a desired posture or orientation. When the Z-axis steering motor is driven to rotate, the universal ball is directly driven to rotate through the Z-axis transmission clamping block, and the universal ball drives the connecting rod to perform alignment, so that the steering adjustment of the Z axis is realized; when the X-axis steering motor drives to drive, the X-axis steering transmission ring rotates around the X-axis, and then the connecting rod is pushed to rotate, so that the steering adjustment of the X-axis is realized; the steering adjustment of the Y axis is the same.
Preferably, the inner side surfaces of the Z-axis transmission clamping block and the connection transmission clamping block are provided with arc surfaces attached to the bottom surface of the annular groove. Therefore, the Z-axis transmission clamping block and the connection transmission clamping block can be better matched with the universal ball.
According to a preferable scheme of the invention, the telescopic crawling mechanism comprises a telescopic rod and a telescopic driving mechanism, wherein the telescopic rod is arranged inside the fixed rod; the telescopic rod is connected with the driving end of the telescopic driving mechanism, and the fixed rod is fixedly connected to the fixed end of the telescopic driving mechanism. Through the structure, under the driving of the telescopic driving mechanism, the telescopic rod stretches in the fixed rod, so that the distance between the two clamping jaws is changed, and the purpose of movement is achieved.
Preferably, the telescopic driving mechanism comprises a telescopic driving motor and a telescopic transmission assembly, the telescopic transmission assembly comprises a telescopic lead screw and a telescopic lead screw nut, the telescopic lead screw nut is fixedly connected with the telescopic rod, and the end part of the fixed rod is fixedly connected with the shell of the telescopic driving motor;
one clamping jaw is connected with the end part of the telescopic rod through the multi-shaft composite steering mechanism, and the other clamping jaw is connected with a shell of the telescopic driving motor through the multi-shaft composite steering mechanism.
Preferably, the telescopic feed screw nut is provided with a guide hole, and a guide rod is arranged in the guide hole. Through setting up at the guide bar, can lead for the flexible removal of telescopic link.
Preferably, a rotating mechanism is arranged on the fixed rod, and the arrangement telescopic mechanism is arranged on the rotating mechanism through a universal steering joint; under the working condition of non-collection, the test paper arranging mechanism rotates to one side provided with the two clamping jaws. Through the structure, in the non-collection process, such as climbing, the rotating mechanism drives the test paper arrangement mechanism to rotate and be accommodated between the two clamping jaws, so that the advantages that firstly, the size of the robot can be reduced, the robot is more compact, and interference with branches and leaves of trees is avoided; the second, with the gravity of robot toward the direction shift of being close to the trunk, not only can make the robot more stable at the removal in-process, avoid too much beat or rock, improve the speed of climbing, can also reduce the clamp force of clamping jaw.
Further, the rotating mechanism comprises a rotating driving motor and a rotating transmission assembly, the rotating driving motor is fixed on the fixed rod, the rotating transmission assembly comprises a rotating driving gear and a rotating driven gear, the rotating driving gear and a driving shaft of the rotating driving motor are coaxially and fixedly arranged, and the rotating driven gear is coaxially and rotatably connected to the fixed rod; the arrangement telescopic mechanism is fixedly arranged on the rotary driven gear.
Compared with the prior art, the invention has the following beneficial effects:
1. the tree-climbing sampling robot adjusts the postures of the clamping jaws through the universal steering joints and the right-angle steering rods, so that the clamping jaws can be attached to a bent trunk or transversely swing to bypass branches, and the tree-climbing sampling robot is suitable for occasions with branches.
2. Based on the universal steering joint and the right-angle steering rod, the tree-climbing sampling robot can climb forwards alternately: the clamping jaw that is located the below loosens the trunk, and the universal joint that turns to that is located the top rotates in the switching-over to this clamping jaw is the fixed point, drives whole flexible climbing mechanism and the clamping jaw that is located the below up to rotate (the clamping jaw of below converts to the top), and the clamping jaw that the centre gripping actuating mechanism drive that rotates to the top corresponds is closed, makes this clamping jaw centre gripping fix on the trunk, thereby accomplishes one step of climbing operation.
3. In the alternate climbing process, the telescopic crawling mechanism can simultaneously perform telescopic operation, not only can increase the advancing distance of each step, but also can cooperate with clamping on the branches according to actual distance.
4. The right-angle steering rod is arranged between the two universal steering joints to form a multi-shaft composite steering mechanism, and except the multi-shaft freedom degree, the more important thing is that the right-angle steering rod is used as a steering bridge of the two universal steering joints, so that the 'reverse' steering adjustment can be realized, namely, one universal steering joint is reversed relative to the other universal steering joint, and the all-round reversing adjustment is realized to adapt to the multilateral climbing environment.
Drawings
Fig. 1 is a schematic perspective view of a tree-climbing sampling robot capable of carrying test paper according to the present invention.
Fig. 2 is a side view of a tree-climbing sampling robot capable of carrying test paper according to the present invention.
Fig. 3 is a schematic perspective view of the clamping mechanism in fig. 1.
Fig. 4 is an exploded perspective view of the clamping mechanism of fig. 1.
Fig. 5 is a side view of the multi-axle compound steering mechanism in the present invention.
Fig. 6 is a perspective exploded view of the multi-axis compound steering mechanism of the present invention.
Fig. 7 is a schematic perspective view of the multi-axis compound steering mechanism according to the present invention.
Fig. 8 is an exploded side view of the telescopic crawling mechanism of fig. 1.
Fig. 9 is a schematic view of the structure of the rotating mechanism of the present invention mounted on the telescopic crawling mechanism.
Detailed Description
In order to make those skilled in the art understand the technical solutions of the present invention well, the following description of the present invention is provided with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1-2, the tree-climbing sampling robot capable of carrying test paper in the present embodiment includes a clamping mechanism, a telescopic crawling mechanism, and a test paper arranging mechanism for arranging test paper; the clamping mechanism comprises two clamping jaws 1 and a clamping driving mechanism for driving the two clamping jaws 1 to open and close, and the two clamping jaws 1 are respectively arranged at two ends of the telescopic crawling mechanism through a multi-shaft composite steering mechanism; the multi-shaft composite steering mechanism comprises universal steering joints 2 and right-angle steering rods 3, wherein two universal steering joints 2 are arranged, one universal steering joint is connected with the clamping jaw 1, and the other universal steering joint is connected with the telescopic crawling mechanism; the right-angle steering rod 3 is connected between the two universal steering joints 2; the test paper arranging mechanism comprises a test paper placing plate 4 (the water-sensitive paper is provided with a pasting part and does not need a specific clamping device to clamp the water-sensitive paper) and an arranging telescopic mechanism 5 for driving the test paper placing plate 4 to stretch, the test paper placing plate 4 is connected to the stretching end of the arranging telescopic mechanism 5 through a universal steering joint 2, and the fixed end of the arranging telescopic mechanism 5 is connected to the stretching and crawling mechanism through the universal steering joint 2. Specifically, the arrangement retracting mechanism 5 in the present embodiment employs an existing scissor lifting mechanism.
Referring to fig. 3-4, the clamping driving mechanism comprises a clamping driving motor 6 and a clamping transmission assembly, and the clamping transmission assembly comprises a clamping driving gear 7 and a clamping driven gear 8; the clamping driving gear 7 is coaxially and fixedly connected with a driving shaft of the clamping driving motor 6; the clamping jaw 1 comprises two oppositely arranged claw fingers 1-1, the claw fingers 1-1 are rotatably connected to a clamping rack 9 through a four-bar structure, and the clamping driven gear 8 is fixedly connected with a rotating shaft of a rack rod of the four-bar structure. Through the structure, the claw finger 1-1 can be driven to swing, so that the opening and closing actions are realized. Specifically, the pressure sensor patch is arranged in the clamping rack 9, when a certain limit pressure is applied to the tree trunk, a matched single chip can make a response, and the switch of the clamping driving motor 6 is automatically closed, so that the clamping action is automatically stopped.
Further, the holding driven gear 8 is provided with two, one of which is engaged with the holding driving gear 7, so that one holding driving motor 6 can be commonly used.
Referring to fig. 5-7, the universal steering joint 2 comprises a universal sphere 2-1, a steering assembly and a connecting rod 2-2, wherein the steering assembly comprises three groups, namely an X-axis steering assembly, a Y-axis steering assembly and a Z-axis steering assembly; the X-axis steering assembly comprises an X-axis steering transmission ring 2-3 and an X-axis steering motor 2-4, the X-axis steering motor 2-4 is fixed on a steering rack 10, one end of the X-axis steering transmission ring 2-3 is fixedly connected with a driving shaft of the X-axis steering motor 2-4, and the other end of the X-axis steering transmission ring is connected to the steering rack 10 in a rotating mode after bypassing the universal sphere 2-1. The Y-axis steering assembly comprises a Y-axis steering transmission ring 2-5 and a Y-axis steering motor 2-6, the Y-axis steering motor 2-6 is fixed on the steering rack 10, one end of the Y-axis steering transmission ring 2-5 is fixedly connected with a driving shaft of the Y-axis steering motor 2-6, and the other end of the Y-axis steering transmission ring is connected to the steering rack 10 in a rotating mode after bypassing the universal sphere 2-1. The Z-axis steering component comprises a Z-axis steering motor 2-7, the Z-axis steering motor 2-7 is fixed on a steering rack 10, and a driving shaft of the Z-axis steering motor 2-7 is connected with the universal ball 2-1 through a Z-axis transmission clamping block 2-8.
The universal ball body 2-1 is provided with two mutually perpendicular and communicated annular grooves 2-1-1, the Z-axis transmission clamping block 2-8 is arranged in one annular groove 2-1-1, and the connecting rod 2-2 is connected in the other annular groove 2-1-1 of the universal ball body 2-1 through the connection transmission clamping block 2-9; the length of the Z-axis transmission clamping block 2-8 is greater than the width of an annular groove 2-1-1 provided with a connection transmission clamping block 2-9, and the length of the connection transmission clamping block 2-9 is greater than the width of the annular groove 2-1-1 provided with the Z-axis transmission clamping block 2-8; the X-axis turning transmission ring 2-3 and the Y-axis turning transmission ring 2-5 are provided with strip-shaped avoidance grooves 2-10, and the connecting rod 2-2 penetrates through the avoidance grooves 2-10 of the X-axis turning transmission ring 2-3 and the Y-axis turning transmission ring 2-5 respectively to be connected with the universal sphere 2-1; the two annular grooves 2-1-1 are respectively positioned on the same plane with the avoiding grooves 2-10 of the X-axis steering transmission ring 2-3 and the Y-axis steering transmission ring 2-5. With the above configuration, X, Y, Z rotation with three degrees of freedom is possible, and the jaw 1 can be driven to shift to a desired posture or orientation. When the Z-axis steering motor 2-7 is driven to drive, the universal ball 2-1 is directly driven to rotate through the Z-axis transmission clamping block 2-8, and the universal ball 2-1 drives the connecting rod 2-2 to perform alignment, so that the steering adjustment of the Z axis is realized; when the X-axis steering motor 2-4 is driven to drive, the X-axis steering transmission ring 2-3 rotates around the X-axis, and then the connecting rod 2-2 is pushed to rotate, so that the steering adjustment of the X-axis is realized; the steering adjustment of the Y axis is the same.
Furthermore, the inner side surfaces of the Z-axis transmission clamping block 2-8 and the connection transmission clamping block 2-9 are arc surfaces which are attached to the bottom surface of the annular groove 2-1-1. Therefore, the Z-axis transmission clamping block 2-8 and the connection transmission clamping block 2-9 can be better matched with the universal ball 2-1.
Referring to fig. 8, the telescopic crawling mechanism comprises a telescopic rod 11 and a telescopic driving mechanism, wherein the telescopic rod 11 is arranged inside a fixed rod 12; the telescopic rod 11 is connected with the driving end of the telescopic driving mechanism, and the fixed rod 12 is fixedly connected to the fixed end of the telescopic driving mechanism. Through the structure, under the driving of the telescopic driving mechanism, the telescopic rod 11 is telescopic in the fixed rod 12, so that the distance between the two clamping jaws 1 is changed, and the purpose of movement is achieved.
Further, the telescopic driving mechanism comprises a telescopic driving motor 13 and a telescopic transmission assembly, the telescopic transmission assembly comprises a telescopic screw rod 14 and a telescopic screw rod nut 15, the telescopic screw rod nut 15 is fixedly connected with the telescopic rod 11, and the end part of the fixed rod 12 is fixedly connected with a shell of the telescopic driving motor 13; one clamping jaw 1 is connected with the end part of a telescopic rod 11 through the multi-shaft composite steering mechanism, and the other clamping jaw 1 is connected with a shell of a telescopic driving motor 13 through the multi-shaft composite steering mechanism; specifically, limit sensors are mounted on the fixed rod 12 and the telescopic rod 11 to limit the moving distance of the screw nut pair. In the structure, the telescopic transmission assembly is protected by the fixed rod 12, and the interference influence of foreign matters outside on the mechanism is prevented.
Further, a guide hole is formed in the telescopic feed screw nut 15, and a guide rod 16 is arranged in the guide hole. The guide bar 16 can guide the telescopic rod 11 to move in a telescopic manner.
Referring to fig. 9, a rotating mechanism is arranged on the fixing rod 12, and the arrangement telescopic mechanism 5 is arranged on the rotating mechanism through a universal steering joint 2; under the working condition of non-collection, the test paper arranging mechanism rotates to one side provided with the two clamping jaws 1. Through the structure, in the non-collection process, for example, when climbing, the test paper arrangement mechanism is driven by the rotating mechanism to rotate and be accommodated between the two clamping jaws 1, so that the robot has the advantages that firstly, the size of the robot can be reduced, the robot is more compact, and the interference with branches and leaves of trees is avoided; the second, with the gravity of robot toward the direction shift of being close to the trunk, not only can make the robot more stable at the removal in-process, avoid too much beat or rock, improve the speed of climbing, can also reduce the clamp force of clamping jaw 1.
Further, the rotating mechanism comprises a rotating driving motor 17 and a rotating transmission assembly, the rotating driving motor 17 is fixed on the fixing rod 12, the rotating transmission assembly comprises a rotating driving gear 18 and a rotating driven gear 19, the rotating driving gear 18 and a driving shaft of the rotating driving motor 17 are coaxially and fixedly arranged, and the rotating driven gear 19 is coaxially and rotatably connected to the fixing rod 12; the arrangement retracting mechanism 5 is fixedly provided on the rotary driven gear 19.
In this embodiment, all the motor circuits are controlled by the remote control ic, but the priority of the pressure sensor and the limit sensor is higher than that of the remote control ic, and when the pressure sensor or the limit sensor 0 responds, the same-direction control of the remote control ic is not effective. Because the memory integrated circuit is also added, when the remote control is started, the memory integrated circuit can completely record all operations of the remote control. When the tree climbing robot needs to return to the ground, the memory function of the tree climbing robot can be started, and the tree climbing robot can automatically return to the ground in the original way under the control of the memory integrated circuit.
Referring to fig. 1 to 7, the working principle of the tree-climbing sampling robot capable of carrying test paper in the embodiment is as follows:
during work, before climbing a tree, test paper is fixedly placed on the test paper placing plate 4, and the telescopic mechanism 5 is arranged to be contracted to the shortest position, so that collision and scratch between the test paper placing plate 4 and branches during climbing the tree are avoided. The staff will climb tree sampling robot and be close to at the trunk, and centre gripping actuating mechanism drive clamping jaw 1 is opened, and clamping jaw 1 is to the trunk centre gripping for climb the vertical fixing of tree sampling robot on the trunk, begin the climbing work then: the clamping jaw 1 that is located the top loosens the trunk, then flexible crawl the mechanism and extend, the drive is located the clamping jaw 1 up-moving of top, reach the take the altitude after, the clamping jaw 1 closure that the centre gripping actuating mechanism drive that is located the top corresponds, make 1 centre gripping of this clamping jaw fix on the trunk, the clamping jaw 1 that is located the below after that loosens the trunk, flexible crawl the mechanism and contract, the clamping jaw 1 that the drive is located the below up-moves, reach the take the altitude after, the clamping jaw 1 that the centre gripping actuating mechanism drive that is located the below corresponds is closed, make 1 centre gripping of this clamping jaw fix on the trunk, thereby accomplish one step of climbing operations. According to the height that the actual need climbed, arrange telescopic machanism 5 and climb up along the trunk according to above-mentioned operation.
In the climbing process, when a curved trunk or a branch is encountered, the posture of the clamping jaw 1 is adjusted through the universal steering joint 2, so that the clamping jaw 1 is attached to the curved trunk, or the clamping jaw 1 transversely swings to bypass the branch, and the occasion with the branch is met. Further, based on universal steering joint 2 and right angle steering rod 3, this tree-climbing sampling robot can climb forward alternately: the clamping jaw 1 that is located the below loosens the trunk, and the universal joint 2 that turns to that is located the top is commuted and is rotated to this clamping jaw 1 is the fixed point, drives whole flexible crawl mechanism and the clamping jaw 1 that is located the below up rotate (clamping jaw 1 conversion to the top of below), rotates the clamping jaw 1 closure that the centre gripping actuating mechanism drive that is to the top corresponds, makes the 1 centre gripping of this clamping jaw fix on the trunk, thereby accomplishes one step of climbing operation. At above-mentioned in-process, flexible crawl mechanism can stretch out and draw back the operation simultaneously, not only can increase the distance that each step is advanced, but also can cooperate the centre gripping on the branch according to actual distance.
After climbing to a set height, starting to arrange the test paper, and arranging a telescopic mechanism 5 to drive a test paper placing plate 4 to stretch according to a preset placing position so that the test paper moves to the set placing position; according to the preset orientation, the universal steering joint 2 rotates, the orientation of the test paper placing plate 4 is adjusted, the orientation of the test paper is enabled to be the same as the preset orientation, the test paper is arranged, then the fog drops are waited to be deposited, and sampling work is conducted.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. A tree-climbing sampling robot capable of carrying test paper is characterized by comprising a clamping mechanism, a telescopic crawling mechanism and a test paper arrangement mechanism for arranging the test paper;
the clamping mechanism comprises two clamping jaws and a clamping driving mechanism for driving the two clamping jaws to open and close, and the two clamping jaws are respectively arranged at two ends of the telescopic crawling mechanism through the multi-shaft composite steering mechanism; the multi-shaft composite steering mechanism comprises two universal steering joints and a right-angle steering rod, wherein one universal steering joint is connected with the clamping jaw, and the other universal steering joint is connected with the telescopic crawling mechanism; the right-angle steering rod is connected between the two universal steering joints;
the test paper arranging mechanism comprises a test paper placing plate and a telescopic arranging mechanism used for driving the test paper placing plate to stretch, the test paper placing plate is connected to the telescopic end of the telescopic arranging mechanism through a universal steering joint, and the fixed end of the telescopic arranging mechanism is connected to the telescopic crawling mechanism through the universal steering joint.
2. A tree-climbing sampling robot carrying test paper according to claim 1, wherein the clamping drive mechanism comprises a clamping drive motor and a clamping transmission assembly, the clamping transmission assembly comprising a clamping drive gear and a clamping driven gear; the clamping driving gear is coaxially and fixedly connected with a driving shaft of the clamping driving motor;
the clamping jaw comprises two oppositely arranged claw fingers, the claw fingers are rotatably connected to the clamping rack through a four-bar structure, and the clamping driven gear is fixedly connected with a rotating shaft of a rack rod of the four-bar structure.
3. A tree-climbing sampling robot carrying test paper as claimed in claim 2, wherein there are two holding driven gears, one of which is engaged with the holding driving gear.
4. A tree-climbing sampling robot carrying test paper as claimed in claim 1, wherein the universal steering joint comprises a universal ball, a steering assembly and a connecting rod, the steering assembly has three groups, namely an X-axis steering assembly, a Y-axis steering assembly and a Z-axis steering assembly;
the X-axis steering assembly comprises an X-axis steering transmission ring and an X-axis steering motor, the X-axis steering motor is fixed on the steering rack, one end of the X-axis steering transmission ring is fixedly connected with a driving shaft of the X-axis steering motor, and the other end of the X-axis steering transmission ring bypasses the universal sphere and then is connected to the steering rack in a rotating mode;
the Y-axis steering assembly comprises a Y-axis steering transmission ring and a Y-axis steering motor, the Y-axis steering motor is fixed on the steering rack, one end of the Y-axis steering transmission ring is fixedly connected with a driving shaft of the Y-axis steering motor, and the other end of the Y-axis steering transmission ring bypasses the universal sphere and then is connected to the steering rack in a rotating mode;
the Z-axis steering assembly comprises a Z-axis steering motor, the Z-axis steering motor is fixed on the steering rack, and a driving shaft of the Z-axis steering motor is connected with the universal ball body through a Z-axis transmission clamping block;
the universal ball body is provided with two mutually perpendicular and communicated annular grooves, the Z-axis transmission clamping block is arranged in one annular groove, and the connecting rod is connected in the other annular groove of the universal ball body through the connection transmission clamping block; the length of the Z-axis transmission clamping block is greater than the width of an annular groove provided with a connection transmission clamping block, and the length of the connection transmission clamping block is greater than the width of the annular groove provided with the Z-axis transmission clamping block;
the X-axis steering transmission ring and the Y-axis steering transmission ring are provided with strip-shaped avoidance grooves, and the connecting rod respectively penetrates through the avoidance grooves of the X-axis steering transmission ring and the Y-axis steering transmission ring to be connected with the universal ball body; the two annular grooves are respectively positioned on the same plane with the avoiding grooves of the X-axis steering transmission ring and the Y-axis steering transmission ring.
5. The tree-climbing sampling robot capable of carrying test paper as claimed in claim 4, wherein the inner side surfaces of the Z-axis transmission fixture block and the connection transmission fixture block are provided as circular arc surfaces attached to the bottom surface of the annular groove.
6. The tree-climbing sampling robot capable of carrying test paper as claimed in claim 1, wherein the telescopic crawling mechanism comprises a telescopic rod and a telescopic driving mechanism, and the telescopic rod is arranged inside the fixed rod; the telescopic rod is connected with the driving end of the telescopic driving mechanism, and the fixed rod is fixedly connected to the fixed end of the telescopic driving mechanism.
7. The tree-climbing sampling robot capable of carrying test paper as claimed in claim 6, wherein the telescopic driving mechanism comprises a telescopic driving motor and a telescopic transmission assembly, the telescopic transmission assembly comprises a telescopic screw rod and a telescopic screw rod nut, the telescopic screw rod nut is fixedly connected with a telescopic rod, and the end of the fixed rod is fixedly connected with a shell of the telescopic driving motor;
one clamping jaw is connected with the end part of the telescopic rod through the multi-shaft composite steering mechanism, and the other clamping jaw is connected with a shell of the telescopic driving motor through the multi-shaft composite steering mechanism.
8. The tree-climbing sampling robot capable of carrying test paper as claimed in claim 7, wherein the telescopic lead screw nut is provided with a guide hole, and a guide rod is arranged in the guide hole.
9. The tree-climbing sampling robot capable of carrying test paper as claimed in claim 6, wherein the fixing rod is provided with a rotating mechanism, and the arrangement telescopic mechanism is arranged on the rotating mechanism through a universal steering joint; under the working condition of non-collection, the test paper arranging mechanism rotates to one side provided with the two clamping jaws.
10. The tree-climbing sampling robot capable of carrying test paper as claimed in claim 9, wherein the rotation mechanism comprises a rotation driving motor and a rotation transmission assembly, the rotation driving motor is fixed on the fixing rod, the rotation transmission assembly comprises a rotation driving gear and a rotation driven gear, the rotation driving gear is coaxially and fixedly arranged with a driving shaft of the rotation driving motor, and the rotation driven gear is coaxially and rotatably connected to the fixing rod; the arrangement telescopic mechanism is fixedly arranged on the rotary driven gear.
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| CN113232740B true CN113232740B (en) | 2022-06-14 |
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| CN104972460B (en) * | 2015-07-17 | 2017-03-29 | 北京理工大学 | A kind of multi-joint omnidirectional type Pipe-out Robot |
| CN105730540B (en) * | 2016-02-05 | 2018-09-07 | 国家电网公司 | A kind of Intelligent Mobile Robot and its driving method with pole-climbing function |
| CN110606140A (en) * | 2018-06-15 | 2019-12-24 | 深圳市朗驰欣创科技股份有限公司 | Telescopic tree climbing robot |
| CN211417443U (en) * | 2019-11-20 | 2020-09-04 | 广西壮族自治区林业科学研究院 | Tree climbing device |
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