CN206407012U - A kind of robot capable of climbing trees - Google Patents
A kind of robot capable of climbing trees Download PDFInfo
- Publication number
- CN206407012U CN206407012U CN201621460802.1U CN201621460802U CN206407012U CN 206407012 U CN206407012 U CN 206407012U CN 201621460802 U CN201621460802 U CN 201621460802U CN 206407012 U CN206407012 U CN 206407012U
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- paw
- trunk
- arm
- tree
- driving part
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Abstract
A kind of robot capable of climbing trees of the utility model, tree arm is grabbed with trunk support part, first and second grabs tree arm, wherein first, which grabs tree arm and second, grabs tree arm and is connected respectively with the top of trunk support part and lower mechanical, and first grabs tree arm and second to grab tree arm structure mutually symmetrical；There is telescopic drive part, its output end is engaged by gear with the rack of two trunk moving parts on trunk support part on trunk support part.Cooperation and rack-and-pinion transmission of the whole mechanical system of the utility model by mechanical structured member complete the whole process climbed tree, and simple in construction, control is easy.Arm alternating action of creeping up and down completes the process climbed tree, and rotatable arm can effectively get around the crotch on trunk.
Description
Technical field
The utility model is related to a kind of robot, specifically a kind of robot capable of climbing trees.
Background technology
With the development of science and technology, many fields perform special work, such as unmanned plane with robot, dangerous material are searched
Rope robot etc., manual work is all led at many aspects.With continuing to develop for automatic technology, in every field machine
It is very big convenient that the appearance of people has been brought, and work high above the ground robot has very big demand space.Robot capable of climbing trees can
The risk of equipment to substitute existing work high above the ground, reduction operating cost and manual operation.There is knot in existing robot capable of climbing trees
Structure is complicated, volume is larger, freedom of motion is more, and linkage performance is poor, and the shortcomings of creep speed is slow, grasping mechanism is unstable,
Can not quickly be detoured in crawling process the obstacles such as trunk the problem of.
Utility model content
For robot capable of climbing trees in the prior art is complicated, volume is larger, freedom of motion is more, creep speed is slow etc.
Deficiency, problem to be solved in the utility model is to provide a kind of tree-climbing machine that simple in construction, linkage performance is good, creep speed is fast
People.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of robot capable of climbing trees of the utility model, grabs tree arm with trunk support part, first and second grabs tree hand
Arm, wherein first grabs tree arm and second and grabs tree arm and be connected respectively with the top of trunk support part and lower mechanical,
First grab tree arm and second grab tree arm structure it is mutually symmetrical；There is telescopic drive part, it is exported on trunk support part
Engaged by gear with the rack of two trunk moving parts on trunk support part at end.
The trunk support part have supporting plate, the first trunk moving parts, the second trunk moving parts and
Telescopic drive part, wherein telescopic drive part is fixedly installed in supporting plate, the first trunk moving parts, the movement of the second trunk
Modular construction is identical, is symmetrically movably installed in supporting plate upper and lower ends, the first trunk moving parts, the second trunk moving parts phase
Corresponding side is equipped with rack.
Also there are two arm rotary drive motors, be symmetricly set on trunk support part, two arm rotation drivings
Motor is engaged by gear with two racks for grabbing tree arm edge respectively.
First grab tree arm and second grab tree arm structure it is identical, be symmetrically arranged on the top and the bottom of trunk support part,
A paw motor, the first clamping paw, the second clamping paw, the first paw driving part, the second paw is respectively provided with to drive
Dynamic component and shoulder, wherein the first paw driving part, the second paw driving part are symmetrically movably installed on shoulder, first
Paw driving part, the second paw driving part end are respectively equipped with the first clamping paw and second and clamp paw, the first paw
Driving part and the corresponding side of the second paw driving part are equipped with rack, and paw motor is installed on shoulder, and its is defeated
Shaft is engaged by gear with the rack of the first paw driving part and the second paw driving part.
First trunk moving parts of shoulder and trunk support part is slidably connected, and the edge of shoulder is provided with rack.
First, which clamps paw, the second clamping paw, uses four-bar linkage structure, and the first paw driving part, the second paw drive
Dynamic component is connected by the transmission lever in four-bar linkage structure with paw.
The utility model has the advantages that and advantage：
1. cooperation and rack-and-pinion transmission of the whole mechanical system of the utility model by mechanical structured member complete what is climbed tree
Whole process, simple in construction, control is easy.Arm alternating action of creeping up and down completes the process climbed tree, and rotatable arm can be with
The effective crotch got around on trunk.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model when in use；
Fig. 2 grabs tree arm structure schematic diagram for first in the utility model；
Fig. 3 is the trunk support modular construction schematic diagram in the utility model；
Fig. 4 is the structure for firmly grasping finger in the utility model.
Wherein, 1 is trunk, and 2 be branch, and 3 be trunk support part, and 301 be the first trunk moving parts, and 302 be flexible
Driving part, 303 be the second trunk moving parts, and 304 be supporting plate, and 305 be arm rotary drive motor, and 4 grab tree for first
Arm, 401 be the first clamping paw, and 402 be the second clamping paw, and 403 be the first paw driving part, and 404 be the second paw
Driving part, 405 be paw motor, and 406 be that arm rotates rack, and 407 be quadric chain, and 408 be shoulder, and 5 be the
Two grab tree arm,
Embodiment
The utility model is further elaborated with reference to Figure of description.
As shown in figure 1, a kind of robot capable of climbing trees of the utility model, with trunk support part 3, first grab tree arm 4 with
And second grab tree arm 5, wherein first grab tree arm 4 and second grab tree arm 5 respectively with the top of trunk support part 3 and under
The connection of portion mechanical engagement, first grabs tree arm 4 and second to grab the tree structure of arm 5 mutually symmetrical；Have on trunk support part 3 and stretch
Contracting driving part 302, its output end is engaged by gear with the rack of two trunk moving parts on trunk support part 3.
As shown in figure 3, the trunk support part 3 has supporting plate 304, a first trunk moving parts 301, second
Trunk moving parts 303 and telescopic drive part 302, wherein telescopic drive part 302 are fixedly installed in supporting plate 304,
First trunk moving parts 301, the structure of the second trunk moving parts 303 are identical, are symmetrically movably installed in supporting plate two about 304
End, the corresponding side of the first trunk moving parts 301, the second trunk moving parts 303 is equipped with rack.Trunk support part
3 also have two arm rotary drive motors, are symmetricly set on trunk support part 3, two arm rotary drive motors point
Do not engaged by gear with two racks for grabbing tree arm edge.
As shown in Fig. 2 first grab tree arm 4 and second grab tree the structure of arm 5 it is identical, be symmetrically arranged on trunk support part
3 top and the bottom, are respectively provided with a paw motor 405 (compression servomotor), the first clamping paw 401, second and clamp
Paw 402, the first paw driving part 403, the second paw driving part 404 and shoulder 408, wherein the first paw drive division
Part 403, the second paw driving part 404 are symmetrically movably installed on shoulder 408, the first paw driving part 403, the second paw
The end of driving part 404 is respectively equipped with the first clamping paw 401 and second and clamps paw 402, the He of the first paw driving part 403
The corresponding side of second paw driving part 404 is equipped with rack, and paw motor 405 is installed on shoulder 408, and it is exported
Axle is engaged by gear with the rack of the first paw driving part 403 and the second paw driving part 404.Shoulder 408 and trunk
First trunk moving parts 301 of support member 3 is slidably connected, and the edge of shoulder 408 is provided with rack.
As shown in Fig. 2 first clamps the clamping of paw 401, second paw 402 using four-bar linkage structure, the first paw drives
Dynamic component 403, the second paw driving part 404 are connected by the transmission lever in four-bar linkage structure with paw.First clamps paw
401 is identical with the second clamping structure of paw 402, and enlarged drawing is as shown in Figure 4.
In the present embodiment, first grab tree arm 4 and second grab tree arm 5 be movably installed in the first of trunk support part 3
On the trunk moving parts 303 of trunk moving parts 301 and second, each grabbing tree arm has a shoulder and is installed on shoulder two
The clamping paw at end, has four clamping paws, by coordinating control, coordinating realization to climb tree process, is specially：
Clamping paw, which is fixed on, grabs on tree arm, is realized by quadric chain and opens or compress motion.It is fixed on and grabs
Paw motor 405 on tree arm realizes the stretching motion of paw driving part by gear ＆ rack structure, and driving is clamped
The compression of paw is opened.Whole tree arm of grabbing is fixed on the trunk moving parts of robot by mechanical engagement, trunk
Arm rotary drive motor 305 on moving parts realizes that grab tree arm transports around the Concentric rotation of trunk by gear ＆ rack structure
It is dynamic, get around the barrier (such as branch 2) during climbing tree on trunk 1.Trunk moving parts is fixed on trunk by mechanical engagement
In support member 3, the telescopic drive part 302 (the present embodiment uses servomotor) being fixed on trunk support part 3 passes through
Gear ＆ rack structure moves up and down trunk moving parts, realizes and grabs moving up and down for tree arm.
The process of climbing tree of the utility model robot is as follows：
Be firstly fixed on first grab tree arm 4 on paw motor 405 driven by gear ＆ rack structure it is first-hand
The paw driving part 404 of pawl driving part 403 and second is moved, and the first clamping paw 401 and second is clamped paw 402 simultaneously
Trunk is compressed, grasp is formed, is fixed on trunk.Telescopic drive part drive gear in robot capable of climbing trees support member 3
Rack structure, shrinks the first trunk moving parts 301 and the second trunk moving parts 303, and second, which grabs tree arm 5, rises.The
Two, which grab the motors set on arm 5, drives the second paw driving part, makes two to clamp paws and compresses trunks, fixed is setting
On dry.First, which grabs the driving of paw motor 405 drive disk assembly on tree arm 4, shrinks, and makes the first clamping paw 401 and the second folder
Tight paw 402 opens simultaneously, leaves trunk.Telescopic drive part on trunk support part 3 drives the first trunk moving parts
301 and the second trunk moving parts 303, make first to grab tree arm 4 and rise, then first grab tree arm 4 and firmly grasp again, realization is climbed
Elevator is moved.
When meeting obstacle in crawling process, rotated by the first arm on the first trunk moving parts 301
First arm rotary drive motor passes through gear ＆ rack structure, driving on the trunk moving parts 303 of motor 305 and the 2nd 1
First, which grabs tree arm 4 and second, grabs tree arm 5 and completes rotary motion around trunk.
The motion for completing to creep upwards along trunk by similar reciprocating motion.
Claims (6)
1. a kind of robot capable of climbing trees, it is characterised in that：Tree arm is grabbed with trunk support part, first and second grabs tree hand
Arm, wherein first grabs tree arm and second and grabs tree arm and be connected respectively with the top of trunk support part and lower mechanical,
First grab tree arm and second grab tree arm structure it is mutually symmetrical；There is telescopic drive part, it is exported on trunk support part
Engaged by gear with the rack of two trunk moving parts on trunk support part at end.
2. the robot capable of climbing trees as described in claim 1, it is characterised in that：The trunk support part have supporting plate,
First trunk moving parts, the second trunk moving parts and telescopic drive part, wherein telescopic drive part are fixedly installed in
In supporting plate, the first trunk moving parts, the second trunk moving parts structure are identical, are symmetrically movably installed in two above and below supporting plate
End, the corresponding side of the first trunk moving parts, the second trunk moving parts is equipped with rack.
3. the robot capable of climbing trees as described in claim 2, it is characterised in that：Also there are two arm rotary drive motors, symmetrically
It is arranged on trunk support part, two arm rotary drive motors grab the rack of tree arm edge by gear and two respectively
Engagement.
4. the robot capable of climbing trees as described in claim 1, it is characterised in that：First grab tree arm and second grab tree arm structure phase
Together, the top and the bottom of trunk support part are symmetrically arranged on, a paw motor, the first clamping paw, second is respectively provided with
Paw, the first paw driving part, the second paw driving part and shoulder are clamped, wherein the first paw driving part, second
Paw driving part is symmetrically movably installed on shoulder, and the first paw driving part, the second paw driving part end are set respectively
There is the first clamping paw and second to clamp paw, the first paw driving part and the corresponding side of the second paw driving part are equal
Provided with rack, paw motor is installed on shoulder, and its output shaft passes through gear and the first paw driving part and the second paw
The rack engagement of driving part.
5. the robot capable of climbing trees as described in claim 2 or 4, it is characterised in that：First trunk of shoulder and trunk support part
Moving parts is slidably connected, and the edge of shoulder is provided with rack.
6. the robot capable of climbing trees as described in claim 4, it is characterised in that：First clamping paw, the second clamping paw are used
Four-bar linkage structure, the first paw driving part, the second paw driving part are connected by the transmission lever in four-bar linkage structure and paw
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621460802.1U CN206407012U (en) | 2016-12-29 | 2016-12-29 | A kind of robot capable of climbing trees |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621460802.1U CN206407012U (en) | 2016-12-29 | 2016-12-29 | A kind of robot capable of climbing trees |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206407012U true CN206407012U (en) | 2017-08-15 |
Family
ID=59551763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621460802.1U Active CN206407012U (en) | 2016-12-29 | 2016-12-29 | A kind of robot capable of climbing trees |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206407012U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741272A (en) * | 2016-12-29 | 2017-05-31 | 沈阳航博自动化科技有限公司 | A kind of robot capable of climbing trees |
| CN109819798A (en) * | 2019-03-15 | 2019-05-31 | 广西大学 | It is a kind of to be climbed the eucalyptus pruner of power using self gravity increase |
| WO2019205419A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Robot |
| 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 |
| CN111408116A (en) * | 2020-04-21 | 2020-07-14 | 杭州锐石电子科技有限公司 | Electrician is with electronic pole-climbing device of turning to function in area |
| AT523939B1 (en) * | 2020-12-28 | 2022-01-15 | Climbing robot for movement on a surface |
-
2016
- 2016-12-29 CN CN201621460802.1U patent/CN206407012U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741272A (en) * | 2016-12-29 | 2017-05-31 | 沈阳航博自动化科技有限公司 | A kind of robot capable of climbing trees |
| WO2019205419A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Robot |
| 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 |
| CN109819798A (en) * | 2019-03-15 | 2019-05-31 | 广西大学 | It is a kind of to be climbed the eucalyptus pruner of power using self gravity increase |
| CN109819798B (en) * | 2019-03-15 | 2021-03-30 | 广西大学 | Eucalyptus pruning machine for increasing climbing force by utilizing self gravity |
| CN111408116A (en) * | 2020-04-21 | 2020-07-14 | 杭州锐石电子科技有限公司 | Electrician is with electronic pole-climbing device of turning to function in area |
| CN111408116B (en) * | 2020-04-21 | 2021-06-01 | 南通市濠洲船舶工程有限公司 | Electrician is with electronic pole-climbing device of turning to function in area |
| AT523939B1 (en) * | 2020-12-28 | 2022-01-15 | Climbing robot for movement on a surface | |
| AT523939A4 (en) * | 2020-12-28 | 2022-01-15 | Climbing robot for movement on a surface |
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