CN114261457B - Tree climbing robot - Google Patents
Tree climbing robot Download PDFInfo
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- CN114261457B CN114261457B CN202210024009.0A CN202210024009A CN114261457B CN 114261457 B CN114261457 B CN 114261457B CN 202210024009 A CN202210024009 A CN 202210024009A CN 114261457 B CN114261457 B CN 114261457B
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Abstract
The invention discloses a tree climbing robot, which comprises a clamping mechanism and a driving mechanism, wherein the clamping mechanism comprises a plurality of holding components which are sequentially arranged in the vertical direction, each holding component comprises a holding arm, a clamping area for a trunk to penetrate through is defined at the inner side of each holding arm, each holding arm is used for holding the periphery of the trunk in the clamping area, and the driving mechanism comprises a plurality of driving units for driving each holding arm to move.
Description
Technical Field
The invention relates to the field of climbing equipment, in particular to a tree climbing robot.
Background
The tree climbing robot is a special robot which can carry various working tools to realize specific functions on various tree surfaces, not only can improve the working efficiency, but also can replace manual operation, reduce the potential safety hazard of workers in dangerous environments, and the tree climbing robot of the current mainstream can be divided into three categories: rolling type tree climbing robot, clamping type tree climbing robot and bionic type tree climbing robot.
However, the rolling type tree climbing robot is only suitable for climbing of a main trunk which is very regular; in the clamping type tree climbing robot, because the clamping type climbing robot only climbs on one trunk, the gravity center of the clamping type tree climbing robot is not at the symmetrical center of the clamping type tree climbing robot, and therefore, the clamping type tree climbing robot does not have good stability in the climbing process; the bionic tree climbing robot has the bottlenecks of material, control and the like.
Disclosure of Invention
The invention mainly aims to provide a tree climbing robot, and aims to solve the problem of stability in the tree climbing process of the existing tree climbing robot.
In order to achieve the above object, the present invention provides a tree climbing robot, wherein the tree climbing robot includes:
the tree trunk clamping device comprises a clamping mechanism, a plurality of clamping assemblies and a plurality of clamping arms, wherein the clamping assemblies are sequentially arranged in the vertical direction, each clamping assembly comprises a clamping arm, a clamping area for a tree trunk to penetrate through is defined at the inner side of each clamping arm, each clamping arm is used for clamping the periphery of the tree trunk in the clamping area, and each clamping arm can move in the vertical direction, in the radial direction of the clamping area and in the circumferential direction of the clamping area; and the number of the first and second groups,
and the driving mechanism comprises a plurality of driving units, and each driving unit is in driving connection with the corresponding arm-embracing arm and is used for driving the corresponding arm-embracing arm to move.
Optionally, each of the driving units comprises:
the climbing assembly comprises a climbing installation base movably installed along the up-down direction;
the steering assembly comprises a steering installation seat body which is movably installed on the climbing installation seat body along the circumferential direction of the clamping area; and the number of the first and second groups,
the propelling assembly comprises a propelling installation base body which is movably arranged on the steering installation base body along the radial direction of the clamping area;
wherein, hold the arm and locate propulsion installation pedestal.
Optionally, the arm includes at least two clamping arms disposed oppositely, and the clamping area is defined between the two clamping arms;
the propulsion installation base body is provided with an installation part which extends along the radial direction of the clamping area;
each of the clasping assemblies comprises:
the driving gear is rotatably arranged on one side of the mounting part, and the axis of the driving gear extends along the thickness direction of the mounting part;
the driven gears are rotatably arranged on the same side of the mounting part, rotating shafts of the two driven gears extend along the thickness direction of the mounting part and are meshed with each other, and one driven gear of the two driven gears is meshed with the driving gear so that the rotating directions of the two driven gears are in reverse rotation;
one end of each connecting rod is in driving connection with the corresponding driven gear;
one end of each linkage rod is rotatably connected with the mounting part and arranged on the same side of the two driven gears; and the number of the first and second groups,
the driving ends of the driving rods are respectively hinged with the other ends of the corresponding connecting rods, the driving ends of the driving rods are respectively rotatably connected with the other ends of the corresponding linkage rods, the driving rods are correspondingly provided with one clamping arm, the two clamping arms are arranged on one side, opposite to the connecting ends of the two driving rods, and when the driven gears drive the corresponding connecting rods to move, the linkage rods drive the driving ends of the corresponding driving rods to rotate around the linkage ends of the driving rods, so that the two clamping arms are close to or far away from each other when the driving ends of the driving rods drive the corresponding clamping arms to move.
Optionally, one side of each of the two clamping arms close to the clamping area is provided with a rough surface.
Optionally, the climbing assembly includes a connecting rod telescopic structure, a lower end of the connecting rod telescopic structure is used for being disposed on the propulsion mounting base of the lower driving unit of each two adjacent driving units, and an upper end of the connecting rod telescopic structure is connected to a lower side of the climbing mounting base of the upper driving unit of each two adjacent driving units;
the connecting rod telescopic structure comprises a driving connecting rod and a transmission connecting rod mechanism, the driving connecting rod is provided with a driving end and a connecting end, the connecting end of the driving connecting rod is in driving connection with the transmission connecting rod mechanism, and the driving end of the driving connecting rod is movably arranged along the horizontal direction so as to convert the movable stroke of the driving end of the driving connecting rod along the horizontal direction into the movable stroke of the connecting rod telescopic structure along the vertical direction.
Optionally, the propulsion installation pedestal has seted up the spout along the level to, the drive end of drive connecting rod is equipped with the slider, the slider is followed spout slidable ground sets up.
Optionally, the climbing installation base body extends along the radial direction of the clamping area, an arc-shaped groove is formed in the surface of the climbing installation base body, and the arc-shaped groove extends along the circumferential direction of the clamping area;
the steering assembly includes:
the driving gear is rotatably arranged on the climbing installation base body, and the axis of the driving gear extends along the vertical direction;
the arc-shaped rack extends along the circumferential direction of the clamping area, is meshed with the driving gear and is driven to rotate by the driving gear;
the follower supplies turn to the installation pedestal and connect, the follower is followed the guide part that the circumference of clamping zone extended the setting, guide part slidable ground locates the arc wall, the follower still has connecting portion, connecting portion certainly the guide part to the arc rack extends the setting, and with arc rack fixed connection, with drive gear drive when the arc rack rotates, drive the follower drive turn to the installation pedestal and follow the circumference activity of clamping zone.
Optionally, a tooth part is arranged on one side of the propulsion installation base body facing the steering installation base body, and the tooth part extends along the radial direction of the clamping area;
the propelling assembly comprises a propelling gear, the propelling gear is rotatably installed on one side, facing the propelling installation base, of the steering installation base, the axis of the propelling gear extends along the horizontal direction, and the propelling gear is meshed with the tooth part of the propelling installation base so as to drive the propelling installation base to move along the radial direction of the clamping area.
Optionally, the tree climbing robot further comprises at least one adjusting mechanism, and the adjusting mechanism is arranged between two adjacent driving units to adjust an included angle between two adjacent clasping assemblies.
Optionally, one of the two adjacent driving units is rotatably mounted to the other driving unit through a rotating shaft, and an axis of the rotating shaft extends along a radial direction of the clamping area;
the adjustment mechanism includes the rotating shaft.
In the technical scheme provided by the invention, the tree climbing robot comprises a clamping mechanism and a driving mechanism, the clamping mechanism comprises a plurality of clasping assemblies which are sequentially arranged in the vertical direction, each clasping assembly comprises an clasping arm, a clamping area for a trunk to penetrate is defined at the inner side of each clasping arm, each clasping arm is used for clasping the periphery of the trunk positioned in the clamping area, each clasping arm can move in the vertical direction, in the radial direction of the clamping area and in the circumferential direction of the clamping area, the driving mechanism comprises a plurality of driving units for driving each clasping arm to move, and each driving unit is in driving connection with the corresponding clasping arm and is used for driving the corresponding clasping arm to move. Through each drive unit drive is corresponding hold the arm along from top to bottom and towards the radial of grip area, and follow the circumference activity of grip area makes it a plurality of hold the arm can be along spiral line ascending extending direction, from the trunk from a plurality of angles of week side of trunk from the trunk of tightly holding from the top down, because of each drive unit corresponds each hold the arm setting, it is a plurality of hold the arm and a plurality of drive unit's focus also upward the week side of locating the trunk along the circumference of grip area from top to bottom, can not concentrate on one side of trunk to solve the stability problem that meets in the tree climbing process among the current tree climbing robot.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic perspective view of a tree-climbing robot according to an embodiment of the present invention;
FIG. 2 is a perspective view of the clasping assembly of FIG. 1;
FIG. 3 is a schematic plan view of the climbing assembly of FIG. 1;
FIG. 4 is a perspective view of the steering assembly of FIG. 1;
fig. 5 is a perspective view of the driving unit of fig. 1;
FIG. 6 is a schematic plan view of the propulsion assembly of FIG. 1;
FIG. 7 is a perspective view of the adjustment mechanism of FIG. 1;
fig. 8 is a schematic perspective view of the tree-climbing robot in fig. 1 in a climbing state along a side branch;
FIG. 9 is a schematic plan view of the tree-climbing robot of FIG. 1;
FIG. 10 is a perspective view of the initial pose of the tree-climbing robot of FIG. 1;
fig. 11 is a perspective view illustrating an upward climbing posture of the tree-climbing robot in fig. 1.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
224 | Cotter pin |
| a | |
3 | |
| 1 | |
31 | |
| 11 | |
32 | |
| 111 | |
33 | Arc |
| 12 | |
34 | |
| 13 | |
341 | |
| 14 | Connecting |
342 | Connecting |
| 15 | |
4 | |
| 16 | |
41 | |
| 17 | |
411 | |
| 2 | |
412 | |
| 21 | |
413 | Toothed |
| 22 | Connecting rod |
42 | |
| 221 | |
5 | Adjusting |
| 222 | |
51 | |
| 223 | Sliding block |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
It should be noted that, if directional indications (such as up, down, left, right, front, back, 8230; etc.) are involved in the embodiment of the present invention, the directional indications are only used for explaining the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the figure), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B", including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The tree climbing robot is a special robot which can carry various working tools to realize specific functions on various tree surfaces, not only can improve the working efficiency, but also can replace manual operation, reduce the potential safety hazard of workers in dangerous environments, and the tree climbing robot of the current mainstream can be divided into three categories: rolling type tree climbing robot, clamping type tree climbing robot and bionic type tree climbing robot. However, the rolling type tree climbing robot is only suitable for climbing of a main trunk which is very regular; in the clamping type tree climbing robot, the clamping type climbing robot only climbs on one side of a trunk, and the gravity center of the clamping type tree climbing robot is not located at the symmetrical center of the clamping type tree climbing robot, so that the clamping type tree climbing robot does not have good stability in the climbing process; the bionic tree climbing robot has the bottlenecks of material, control and the like.
In order to solve the above problems, the present invention provides a tree-climbing robot 100, and fig. 1 to 11 are specific embodiments of the tree-climbing robot 100 provided in the present invention.
Referring to fig. 1 to 6, the tree climbing robot 100 includes a clamping mechanism and a driving mechanism, the clamping mechanism includes a plurality of clasping assemblies 1 sequentially arranged in an up-down direction, each clasping assembly 1 includes a clasping arm 11, a clamping area for a trunk to penetrate through is defined inside the clasping arm 11, the clasping arm 11 is used for clasping the periphery of the trunk in the clamping area, and each clasping arm 11 can move in the up-down direction, in the radial direction of the clamping area, and in the circumferential direction of the clamping area; the driving mechanism comprises a plurality of driving units a, and each driving unit a is in driving connection with the corresponding arm-holding 11 and is used for driving the corresponding arm-holding 11 to move.
In the technical scheme provided by the invention, the tree climbing robot 100 comprises a clamping mechanism and a driving mechanism, the clamping mechanism comprises a plurality of clasping assemblies 1 which are sequentially arranged in the vertical direction, each clasping assembly 1 comprises a clasping arm 11, a clamping area for a trunk to penetrate through is defined at the inner side of each clasping arm 11, each clasping arm 11 is used for clasping the periphery of the trunk positioned in the clamping area, each clasping arm 11 can move in the vertical direction, the radial direction of each clasping area and the circumferential direction of each clamping area, the driving mechanism comprises a plurality of driving units a for driving each clasping arm 11 to move, and each driving unit a is in driving connection with the corresponding clasping arm 11 and is used for driving the corresponding clasping arm 11 to move. Through the radial of each drive unit a drive corresponding armful arm 11 along upper and lower direction and towards the grip area, and follow the circumference activity of grip area, make a plurality of armful arm 11 can be along spiral line ascending extending direction, from the trunk from a plurality of angles of week side of trunk from the trunk of holding tightly from the top down, because each drive unit a corresponds each armful arm 11 setting, a plurality of armful arm 11 and a plurality of drive unit a's focus also encircles in the week side of trunk along the circumference of grip area upwards in upper and lower direction, can not concentrate on one side of trunk to solve the stability problem that meets in the climbing process in current tree climbing robot 100.
Specifically, referring to fig. 1, fig. 2 and fig. 5, in this embodiment, each driving unit a includes a climbing assembly 2, a steering assembly 3 and a propelling assembly 4, the climbing assembly 2 is configured to drive the arm 11 to move in the up-down direction, the climbing assembly 2 includes a climbing installation seat 21 movably installed in the up-down direction, the steering assembly 3 is configured to drive the arm 11 to move in the circumferential direction of the clamping area, the steering assembly 3 includes a steering installation seat 31 movably installed in the climbing installation seat 21 in the circumferential direction of the clamping area, the propelling assembly 4 is configured to drive the arm 11 to move in the radial direction of the clamping area, and the propelling assembly 4 includes a propelling installation seat 41 movably installed in the steering installation seat 31 in the radial direction of the clamping area; the boom 11 is disposed on the propulsion mounting base 41, and it should be noted that the arrangement order of the climbing module 2, the steering module 3 and the propulsion module 4 in the vertical direction is not limited, the climbing module 2 may be disposed at the lowermost end as shown in the figure, the steering module 3 may be disposed between the climbing module 2 and the propulsion module 4, or the propulsion module 4 may be disposed between the climbing module 2 and the steering module 3, and different modules may be disposed on a mounting base of another module, that is, in this embodiment, the steering module 3 may be disposed on the climbing mounting base 21, the propulsion module 4 may be disposed on the steering mounting base 31, and the climbing module 2 of another adjacent driving unit a may be mounted on the propulsion mounting base 41 of the driving unit a.
Specifically, in this embodiment, the clasping arm 11 includes at least two clamping arms 111 disposed oppositely, the clamping area is defined between the two clamping arms 111, the trunk is clamped when the two clamping arms 111 are close to each other, the clasping arm 11 loosens the trunk when the two clamping arms 111 are away from each other, in order to drive the two clamping arms 111 to be close to each other or be away from each other, each clasping assembly 1 includes a driving gear 12 and at least two driven gears 13, in order to facilitate the installation of the clasping assembly 1, the propulsion installation seat 41 has an installation portion 411 disposed along the radial extension of the clamping area, the driving gear 12 is rotatably disposed on one side of the installation portion 411, the axis of the driving gear 12 is extended along the thickness direction of the installation portion 411, and a motor for driving the driving gear 12 to rotate can also be disposed on the installation portion 411, the axis of the output pivot of motor with the coaxial setting of axis of driving gear 12, two driven gear 13 rotationally locates same one side of installation department 411, two driven gear 13's pivot is all followed the thickness direction extension setting of installation department 411, and intermeshing sets up, and in order to drive driven gear 13 is rotatory, one in two driven gear 13 with the meshing of driving gear 12, when one driven gear 13 is rotated by the drive, another driven gear 13 also takes place the rotation thereupon to two driven gear 13's direction of rotation is the reverse rotation setting, in order to convert two driven gear 13's incorgruous rotation stroke into two be close to each other or keep away from between the centre gripping arm 111, hold subassembly 1 still includes two connecting rods 14, the tree trunk clamping mechanism comprises two linkage rods 15 and two driving rods 16, one end of each connecting rod 14 is in driving connection with the corresponding driven gear 13, one end of each linkage rod 15 is in rotating connection with the mounting portion 411 and is arranged on the same side of the two driven gears 13, each driving rod 16 is provided with a connecting end and a driving end, the connecting end of each driving rod 16 is hinged to the other end of the corresponding connecting rod 14, the driving end of each driving rod 16 is in rotating connection with the other end of the corresponding linkage rod 15, each driving rod 16 is correspondingly provided with one clamping arm 111, the two clamping arms 111 are arranged on one side, opposite to the connecting ends of the two driving rods 16, when each driven gear 13 drives the corresponding connecting rod 14 to move, each linkage rod 15 drives the corresponding driving rod 16 to rotate around the linkage driving end of the driving rod 16, when the driving end of the driving rod 16 drives the corresponding clamping arm 111 to move, the two clamping arms 111 can approach or separate from each other, so that the tree trunk clamping arms are clamped or separated from each other, and the clamping arms 111 can also be driven by two cylinders to move to achieve the clamping mechanism in a specific application that the tree trunk clamping mechanism is not clamped by the clamping mechanism 1.
Further, in order to enable the two clamping arms 111 to generate a friction force large enough to hold the trunk tightly, and prevent the tree climbing robot 100 from sliding down due to the heavy weight, in this embodiment, a friction plate 17 may be disposed on one side of the two clamping arms 111 close to the clamping area, the friction plate 17 has a rough surface, and the friction plate 17 may enable the clamping arms 111 to generate a large friction force with the trunk.
Specifically, referring to fig. 1 and fig. 3, in the present embodiment, the climbing assembly 2 includes a connecting rod telescopic structure 22, a lower end of the connecting rod telescopic structure 22 is configured to be disposed on the propulsion installation base 41 of the lower driving unit a of each two adjacent driving units a, an upper end of the connecting rod telescopic structure 22 is connected to a lower side of the climbing installation base 21 of the upper driving unit a of each two adjacent driving units a, the connecting rod telescopic structure 22 includes a driving connecting rod 221 and a transmission connecting rod mechanism 222, and the connecting rods in the transmission connecting rod mechanism 222 are connected by a split pin 224. The driving connecting rod 221 is provided with a driving end and a connecting end, the connecting end of the driving connecting rod 221 is in driving connection with the transmission connecting rod mechanism 222, the driving end of the driving connecting rod 221 is movably arranged along the horizontal direction, so that the movable stroke of the driving end of the driving connecting rod 221 along the horizontal direction is converted into the movable stroke of the connecting rod telescopic structure 22 along the up-down direction, and the climbing component 2 is arranged to prepare for the clasping component 1 to be far away from a trunk and for climbing in the next step.
Specifically, in order to enable the movement of the driving link rod 221 to be more stable, in this embodiment, the propulsion installation base 41 is provided with a sliding slot 412 along a horizontal direction, the driving end of the driving link rod 221 is provided with a sliding block 223, the sliding block 223 is slidably disposed along the sliding slot 412, and a driving device for driving the sliding block 223 to slide may be a linear driving device, and the linear driving device may be directly mounted on the propulsion installation base 41.
Specifically, referring to fig. 1 and 4, in this embodiment, the climbing mounting base 21 is disposed to extend along a radial direction of the clamping area, the steering assembly 3 includes a driving gear 32 and an arc rack 33, the driving gear 32 is driven by a driving device to rotate, so that the driving gear 32 is rotatably disposed on the climbing mounting base 21, an axis of the driving gear 32 extends along a vertical direction, the arc rack 33 extends along a circumferential direction of the clamping area, the arc rack 33 is engaged with the driving gear 32, when the driving gear 32 rotates, the arc rack 33 is driven by the driving gear 32 to rotate, in order to transmit a moving stroke of the arc rack 33 to the steering mounting base 31, the steering assembly 3 further includes a follower 34, the steering mounting base 31 is disposed on the follower 34, the follower 34 has a guiding portion 341 extending along the circumferential direction of the clamping area, the guiding portion 341 is disposed, for convenience, an arc groove is disposed on a surface of the climbing mounting base 21, the arc groove extends along the circumferential direction of the clamping area, the guiding portion 341 is slidably disposed in the arc groove, the guiding portion 34 has a connecting portion 341, the connecting portion 342, the rack 33 is connected to the driving gear 33, and the driving rack 33 is connected to the driving base 33, and the driving follower 34, when the movable rack 33 is rotated, the driving base 33 is rotated, by providing the follower 34, the steering mounting base 31 can be kept in a stable state, and by providing the arc-shaped groove, the guide portion 341 can stably slide along the arc-shaped groove, and the guide portion 341 can bear the weight of each component arranged above the steering mounting base 31, so as not to be borne on the arc-shaped rack 33, and it can be understood that the rotation angle of the steering component 3 on the trunk is determined by the size of the rotation angle of the steering component 3.
Specifically, referring to fig. 1 and fig. 6, in this embodiment, a tooth 413 is disposed on a side of the propulsion installation base body 41 facing the steering installation base body 31, the tooth 413 is disposed along a radial extension of the clamping area, in order to drive the propulsion installation base body 41 to move along the radial direction of the clamping area, so that the arm 11 can move away from or close to the trunk, so as to conveniently adjust and match the matching between the driving components, the propulsion component 4 includes a propulsion gear 42, the propulsion gear 42 is rotatably installed on a side of the steering installation base body 31 facing the propulsion installation base body 41, an axis of the propulsion gear 42 extends along a horizontal direction, the propulsion gear 42 is engaged with the tooth 413 of the propulsion installation base body 41 to drive the propulsion installation base body 41 to move along the radial direction of the clamping area, and the propulsion gear 42 is drivingly connected to an output rotating shaft of a driving device, so as to be rotationally driven by the driving device.
Further, please refer to fig. 1, fig. 7, fig. 8 and fig. 9, when the tree climbing robot 100 needs to climb to the branches beside the trunk for operation, in this embodiment, the tree climbing robot 100 further includes at least one adjusting mechanism, the adjusting mechanism 5 is disposed between two adjacent driving units a to adjust an included angle between two adjacent enclasping assemblies 1, so that the adjusting mechanism 5 can adjust an angle between two driving units a along with an angle between the trunk and the bifurcated branches, so that the tree climbing robot 100 can climb along the bifurcation branches beside the trunk.
Specifically, the structure for specifically realizing the angle adjustment between the two driving units a may be adjusted by extending and contracting a cylinder rod, or may be adjusted by providing a spring, and in this embodiment, one driving unit a of the two adjacent driving units a is rotatably mounted to the other driving unit a through a rotating shaft 51, an axis of the rotating shaft extends along a radial direction of the clamping area, the adjusting mechanism includes the rotating shaft 51, and specifically in this embodiment, the rotating shaft 51 is disposed between the climbing assembly 2 and the clasping assembly 1, and is used for connecting the climbing mounting seat 21 and the propulsion mounting seat 41. The adjustment is directly carried out through the rotating shaft 51, so that the structure is simple, and the manufacturing cost is low.
The working process of the tree climbing robot 100 for tree climbing is as follows:
in an initial state, the clasping component 1 of each driving unit a clamps the main trunk. When the driving unit a at the top of the upper half part starts to move and the driving gear 12 of the clasping assembly 1 moves clockwise, the two clamping arms 111 are far away from the surface of the tree, so that the clasping assembly 1 no longer clamps the main trunk; the pushing gear 42 in the pushing assembly 4 moves anticlockwise, and the pushing mounting base body 41 moves horizontally leftwards, so that the clasping assembly 1 is far away from the tree center; the driving gear 32 of the steering assembly 3 moves to make the arc-shaped rack 33 and the driven member 34 perform circumferential rotary motion, so that the propelling assembly 4 and the clasping assembly 1 also perform circumferential rotary motion synchronously, thereby achieving the purpose of surrounding clamping; the slide block 223 arranged on the lower side of the climbing assembly 2 moves horizontally to the right, so that the climbing installation base body 21 is lifted, and the steering assembly 3, the propelling assembly 4 and the clasping assembly 1 are also lifted synchronously; the propulsion gear 42 in the propulsion assembly 4 moves clockwise, and the propulsion mounting base body 41 moves horizontally to the right, so that the clasping assembly 1 is close to the tree center; when the driving gear 12 of the clasping assembly 1 moves anticlockwise, the two clamping arms 111 are close to the tree surface, so that the clasping assembly 1 clamps the main trunk. Therefore, a complete tree climbing action of one driving unit a is completed, the other driving units a also adopt the same motion, and when the whole tree climbing mechanism completes the tree climbing action in sequence by four driving units a from top to bottom, a working cycle of climbing the main trunk by the tree climbing mechanism is completed.
Referring to fig. 10, fig. 10 shows an initial position of climbing on a tree surface around the tree-climbing walking mechanism, the pushing gear 42 of the pushing assembly 4 moves counterclockwise, so that the two clamping arms 111 of the clasping assembly 1 tightly fit the tree surface, thereby clamping the trunk of the tree to achieve the position shown in fig. 10.
Referring to fig. 11, in the schematic perspective view of the climbing-up gesture of the tree-climbing robot 100 in fig. 11, the driving unit a at the uppermost side starts to move: when the driving gear 12 of the clasping assembly 1 moves clockwise, the two clamping arms 111 are far away from the surface of the tree, so that the clasping assembly 1 does not clamp the main trunk any more; the propulsion gear 42 in the propulsion assembly 4 moves anticlockwise, and the sliding block 223 moves horizontally to the left, so that the clasping assembly 1 is far away from the tree center; the propulsion mounting base body 41 arranged on the lower side of the climbing assembly 2 moves horizontally to the right, so that the climbing mounting base body 21 rises, the steering assembly 3, the propulsion assembly 4 and the clasping assembly 1 also rise synchronously, and the posture shown in fig. 11 is achieved.
The uppermost driving unit a of the tree climbing robot 100 in fig. 1 drives the clasping assembly 1 to clamp a trunk around, and the driving gear 32 of the steering assembly 3 in the uppermost driving unit a moves to make the arc-shaped rack 33 and the follower 34 perform circumferential rotation, so that the pushing assembly 4 and the clasping assembly 1 perform circumferential rotation synchronously, thereby achieving the purpose of clamping around; the propulsion gear 42 of the propulsion assembly 4 moves clockwise to make the clasping assembly 1 close to the trunk; the driving gear 12 of the clasping assembly 1 moves anticlockwise, so that the clasping assembly 1 clamps the trunk, and the posture shown in fig. 1 is achieved.
When the whole tree climbing robot 100 sequentially completes the tree climbing actions from top to bottom, the tree climbing robot 100 climbs a main trunk through a working cycle.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. A tree climbing robot, comprising:
the tree trunk clamping device comprises a clamping mechanism, a plurality of clamping assemblies and a plurality of clamping arms, wherein the clamping assemblies are sequentially arranged in the vertical direction, each clamping assembly comprises a clamping arm, a clamping area for a tree trunk to penetrate through is defined on the inner side of each clamping arm, each clamping arm is used for clamping the periphery of the tree trunk in the clamping area, and each clamping arm can move in the vertical direction, in the radial direction of the clamping area and in the circumferential direction of the clamping area; and the number of the first and second groups,
the driving mechanism comprises a plurality of driving units, and each driving unit is in driving connection with the corresponding arm-holding arm and is used for driving the corresponding arm-holding arm to move;
the tree climbing robot further comprises at least one adjusting mechanism, and the adjusting mechanism is arranged between two adjacent driving units so as to adjust an included angle between two adjacent enclasping assemblies;
each of the drive units includes:
the climbing assembly comprises a climbing installation base body movably installed along the up-down direction;
the steering assembly comprises a steering installation base body which is movably installed on the climbing installation base body along the circumferential direction of the clamping area; and the number of the first and second groups,
the propelling assembly comprises a propelling installation base body which is movably arranged on the steering installation base body along the radial direction of the clamping area;
the climbing assembly comprises a climbing installation seat body, a climbing arm and a climbing assembly, wherein the climbing arm is arranged on the propulsion installation seat body, the lower end of the climbing assembly comprises a connecting rod telescopic structure, the lower end of the connecting rod telescopic structure is used for being arranged on the propulsion installation seat body of the driving unit below each two adjacent driving units, and the upper end of the connecting rod telescopic structure is connected with the lower side of the climbing installation seat body of the driving unit above each two adjacent driving units;
the connecting rod telescopic structure comprises a driving connecting rod and a transmission connecting rod mechanism, the driving connecting rod is provided with a driving end and a connecting end, the connecting end of the driving connecting rod is in driving connection with the transmission connecting rod mechanism, and the driving end of the driving connecting rod is movably arranged along the horizontal direction so as to convert the movable stroke of the driving end of the driving connecting rod along the horizontal direction into the movable stroke of the connecting rod telescopic structure along the vertical direction.
2. The tree climbing robot as claimed in claim 1, wherein the holding arm includes at least two oppositely arranged holding arms, and the holding area is defined between the two holding arms;
the propulsion installation base body is provided with an installation part which extends along the radial direction of the clamping area;
each of the clasping assemblies comprises:
the driving gear is rotatably arranged on one side of the mounting part, and the axis of the driving gear extends along the thickness direction of the mounting part;
the driven gears are rotatably arranged on the same side of the mounting part, rotating shafts of the two driven gears extend along the thickness direction of the mounting part and are meshed with each other, and one driven gear of the two driven gears is meshed with the driving gear so that the rotating directions of the two driven gears are in reverse rotation;
one end of each connecting rod is in driving connection with the corresponding driven gear;
one end of each linkage rod is rotatably connected with the mounting part and arranged on the same side of the two driven gears; and (c) a second step of,
the driving ends of the driving rods are respectively hinged with the other ends of the corresponding connecting rods, the driving ends of the driving rods are respectively rotatably connected with the other ends of the corresponding linkage rods, one clamping arm is correspondingly arranged on each driving rod, the two clamping arms are arranged on one side, opposite to the connecting ends of the two driving rods, and when each driven gear drives the corresponding connecting rod to move, the driving ends of the driving rods, corresponding to the driving rods, driven by the linkage rods rotate around the linkage ends of the driving rods, so that the two clamping arms are close to or far away from each other when the driving ends of the driving rods drive the corresponding clamping arms to move.
3. The tree climbing robot of claim 2, wherein both sides of the gripping arms near the gripping area have a rough surface.
4. The tree climbing robot as claimed in claim 1, wherein the pushing and installing seat has a horizontal sliding slot, and the driving end of the driving link has a sliding block slidably disposed along the sliding slot.
5. The tree climbing robot as claimed in claim 1, wherein the climbing installation seat body extends along a radial direction of the clamping area, an arc-shaped groove is formed in the surface of the climbing installation seat body, and the arc-shaped groove extends along a circumferential direction of the clamping area;
the steering assembly includes:
the driving gear is rotatably arranged on the climbing installation base body, and the axis of the driving gear extends along the vertical direction;
the arc-shaped rack extends along the circumferential direction of the clamping area, is meshed with the driving gear and is driven to rotate by the driving gear;
the follower supplies turn to the installation pedestal and connect, the follower has the edge the guide part that the circumference of clamping area extended the setting, guide part slidable ground is located the arc wall, the follower still has connecting portion, connecting portion certainly the guide part to the arc rack extends the setting, and with arc rack fixed connection, with the drive gear drive when the arc rack rotates, drive the follower is followed the circumference activity of clamping area.
6. The tree-climbing robot as claimed in claim 1, wherein the propulsion mount body has a toothed portion on a side thereof facing the steering mount body, the toothed portion extending in a radial direction of the grip region;
the propelling assembly comprises a propelling gear, the propelling gear is rotatably installed on one side, facing the propelling installation base, of the steering installation base, the axis of the propelling gear extends along the horizontal direction, and the propelling gear is meshed with the tooth part of the propelling installation base so as to drive the propelling installation base to move along the radial direction of the clamping area.
7. The tree-climbing robot as claimed in claim 1, wherein one of the two adjacent driving units is rotatably mounted to the other driving unit by a rotating shaft, an axis of the rotating shaft extending in a radial direction of the clamping area;
the adjustment mechanism includes the rotating shaft.
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| CN202210024009.0A CN114261457B (en) | 2022-01-10 | 2022-01-10 | Tree climbing robot |
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| CN202210024009.0A CN114261457B (en) | 2022-01-10 | 2022-01-10 | Tree climbing robot |
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| CN114261457B true CN114261457B (en) | 2023-04-18 |
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| CN114709642B (en) * | 2022-06-06 | 2022-08-19 | 广东电网有限责任公司佛山供电局 | Holding pole device |
| CN115285246B (en) * | 2022-08-05 | 2024-01-09 | 浙江水利水电学院 | Continuously-driven rope climbing robot |
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| CN101664927B (en) * | 2009-09-15 | 2011-04-27 | 华南理工大学 | Modularized biomimetic climbing robot |
| US8991273B2 (en) * | 2011-08-21 | 2015-03-31 | Electric Power Research Institute, Inc. | Apparatus and method for inspecting high voltage insulators |
| CN104129447B (en) * | 2014-07-08 | 2016-06-01 | 南京工程学院 | A kind of electric transmission pole tower climbing robot and to electric transmission pole tower routine inspection mode |
| CN106112993B (en) * | 2016-08-22 | 2018-02-06 | 常州信息职业技术学院 | A kind of alternative expression climbing level robot |
| CN108555940B (en) * | 2018-07-04 | 2020-07-07 | 南京原觉信息科技有限公司 | Crawling robot and pole-climbing structure thereof |
| CN108927813B (en) * | 2018-07-25 | 2023-08-29 | 沈阳航空航天大学 | Multifunctional climbing platform |
| CN109353422A (en) * | 2018-11-01 | 2019-02-19 | 广州供电局有限公司 | Climbing robot and its avoiding structure |
| CN109878590B (en) * | 2019-04-15 | 2020-04-07 | 南京原觉信息科技有限公司 | Pole-climbing robot |
| CN212706787U (en) * | 2020-06-24 | 2021-03-16 | 三明学院 | Pole-climbing robot |
| CN111750279B (en) * | 2020-07-01 | 2022-02-18 | 中国石油大学(华东) | Encircling pipe climbing vehicle |
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| CN112339878A (en) * | 2020-10-13 | 2021-02-09 | 国网安徽省电力有限公司 | Clamping assembly with angle and height adjusting functions |
| CN112571445A (en) * | 2020-12-07 | 2021-03-30 | 马鞍山学院 | Articulated outer pipeline climbing robot |
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