CN212287651U - Multifunctional tree-climbing robot platform - Google Patents
Multifunctional tree-climbing robot platform Download PDFInfo
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- CN212287651U CN212287651U CN202021015129.7U CN202021015129U CN212287651U CN 212287651 U CN212287651 U CN 212287651U CN 202021015129 U CN202021015129 U CN 202021015129U CN 212287651 U CN212287651 U CN 212287651U
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Abstract
The utility model provides a multi-functional tree climbing robot platform, its characterized in that: comprises a frame, a telescopic frame, a transmission climbing wheel, a supporting frame, an auxiliary bracket, a positioning wheel, a positioning slide bar frame body and a connecting device; the rack is provided with a gear reduction motor; one end of the transmission climbing wheel is connected with a gear reduction motor, and a power wheel output gear is also arranged; the transmission climbing wheel is rotatably connected with the frame and is connected with a braking device; the telescopic frame is telescopically connected to one side of the frame; the support frame is connected with the telescopic frame; the auxiliary bracket is connected with the frame; the positioning wheel can be connected with the positioning slide bar frame body in a way of rotating around a vertical shaft; the output gear of the power wheel is meshed with a first gear linkage mechanism; the positioning slide bar frame body is provided with a gear linkage mechanism II; the positioning wheel is connected with a second gear linkage mechanism; the positioning slide rod frame body is connected with the frame in a sliding mode and is connected with a slide rod frame body pushing module. The platform can realize climbing and horizontal rotation, is stable in climbing, safe, reliable and simple and convenient to operate.
Description
Technical Field
The utility model relates to a technical field is picked to the robot, and more specifically says, relates to a multi-functional tree climbing robot platform.
Background
Coconut, areca nut and the like are tropical crops in Hainan island, the industry is continuously developed, the picking at the forefront end is mainly the original manual picking, the picking of coconut and garden plant protection are basically finished at the top end of coconut trees, the picking belongs to high-altitude operation, the efficiency difficulty is high, and the picking is very dangerous. At present, under the high-speed development of intelligent industrialization and the deepening of agricultural supporting policies of governments in China, the manufacturing industry is subversively changed, simple manual labor operation is gradually replaced by a robot, the tree climbing robot is applied to coconut picking, landscaping and plant protection, the labor intensity and the cost can be reduced to a great extent, and the automation and the intellectualization of picking and operating machinery are realized.
However, most of the existing robot picking methods cannot be adapted to work in complex environments. Chinese patent No. CN207932987U discloses a manned automatic coconut climbing and picking device, which does not fundamentally solve the difficulty and danger of manually picking coconuts and cannot adapt to overlarge or undersize tree trunks. The machine uses the motor braking, and not outer arresting gear, stability and security are relatively poor, and the unable pivoted position of machine can't be in the other end operation of trunk.
The reasons for these disadvantages are: the robot sends the robot to the top of the tree for operation, and extremely high safety and reliability are required; due to the frame design of the machine, the connecting rod needs to be detached when the machine is installed on a tree, the operation is complex and troublesome, and if the machine and the personnel are not installed in place repeatedly and the screw plug is loosened, the risk that the machine and the personnel fall from a high place can be caused. The machine uses a connecting rod with a fixed length, if the machine cannot be installed on a trunk when the trunk is too large, a person who sits on the machine can be too close to the trunk, the danger of personal abrasion can be caused in the ascending process, and the gravity can not be offset; when too small, the machine may tilt excessively, making the angle at which the person is seated too dangerous. The machine uses the motor to brake, does not have extra arresting gear, and stability and security are relatively poor. The machine is not provided with a left-right rotating device, and can not be completed when the rotating direction is needed on a tree, the machine is required to be descended, the required angle is rotated again, and the machine is climbed to complete the rotating angle, so that the operation is time-consuming and troublesome.
SUMMERY OF THE UTILITY MODEL
For overcoming the shortcoming and not enough among the prior art, the utility model aims to provide a can realize climbing and horizontal rotation, climbing stability, safe and reliable, easy operation convenient multi-functional tree climbing robot platform.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a multi-functional tree climbing robot platform which characterized in that: comprises a frame, a telescopic frame, a transmission climbing wheel, a supporting frame, an auxiliary bracket, a positioning wheel, a positioning slide bar frame body and a connecting device for connecting with a working arm;
the rack is provided with a gear reduction motor; one end of the transmission climbing wheel is a driving end and is connected with a gear speed reduction motor so as to realize that the transmission climbing wheel rotates around a horizontal shaft, and the driving end of the transmission climbing wheel is also provided with a power wheel output gear; the other end of the transmission climbing wheel is a driven end, is rotatably connected with the frame and is connected with a braking device;
the telescopic frame is telescopically connected to one side of the rack and forms a semi-surrounding frame together with the rack; the support frame is connected with the telescopic frame and is positioned on one side opposite to the position of the transmission climbing wheel; the auxiliary bracket is connected with the rack and is positioned above the transmission climbing wheel;
the positioning wheel is positioned above the transmission climbing wheel and below the auxiliary bracket; the positioning wheel can be connected with the positioning slide bar frame body in a way of rotating around a vertical shaft; the power wheel output gear is engaged with a first gear linkage mechanism; the positioning slide bar frame body is provided with a gear linkage mechanism II; the first gear linkage mechanism and the second gear linkage mechanism can be meshed in a separable manner; the positioning wheel is connected with a second gear linkage mechanism; the positioning slide rod frame body is connected with the rack in a sliding mode, and a slide rod frame body pushing module is connected between the positioning slide rod frame body and the rack to realize the sliding of the positioning slide rod frame body, so that the positioning wheel extends towards the trunk and enables the gear linkage mechanism II to be meshed with the gear linkage mechanism I, or the positioning wheel retracts back towards the trunk and enables the gear linkage mechanism II to be separated from the gear linkage mechanism I;
when climbing work is carried out, the positioning wheel is positioned on the outer side of a plane formed by the transmission climbing wheel and the auxiliary support, the transmission climbing wheel, the support frame and the auxiliary support are pressed on a trunk together, and the robot platform is climbed by the rotation of the transmission climbing wheel; when the level rotated, the locating wheel stretched out to the trunk and climbed the plane that wheel and auxiliary stand formed in the transmission to the protrusion to make the transmission climb the wheel and separate with the trunk, locating wheel, support frame and auxiliary stand three press jointly and locate on the trunk, gear reduction motor passes through power wheel output gear, gear linkage mechanism one and gear linkage mechanism two and drives the locating wheel and rotate, thereby realizes that the robot platform centers on the clockwise or anticlockwise rotation of trunk.
The utility model discloses the robot platform can realize climbing and the level rotates. The robot platform is carried to the trunk and installed, the transmission climbing wheel bears most of weight by utilizing the gravity biasing principle, and the support frame and the auxiliary support are in contact with the smooth trunk surface to play a role in stably climbing. The robot platform climbs through the transmission when climbing wheel, support frame and auxiliary stand three device are fixed in on the tree trunk, through remote control start gear reduction motor when climbing, drives the transmission and climbs the wheel motion, can provide stable power of climbing. When the working arm needs to rotate to different working positions, the robot platform stays still, the sliding rod frame body pushes the module to enable the positioning wheel to extend out towards the trunk to a plane protruding out of the transmission climbing wheel and formed by the auxiliary support, the positioning wheel is enabled to be in contact with the trunk, and the transmission climbing wheel is not in contact with the trunk; the positioning wheel, the supporting frame and the auxiliary bracket are pressed on the trunk together; meanwhile, the first gear linkage mechanism is meshed with the second gear linkage mechanism, the kinetic energy of the gear speed reducing motor is transmitted to the positioning wheel, and the positioning wheel rotates around the vertical shaft, so that the robot platform moves horizontally.
The utility model discloses robot platform adopts the principle of semi-surrounding frame and triangle-shaped gravity biasing, concentrates on most weight to transmit one side at climbing wheel and auxiliary stand place, can paste tight trunk, reliable and stable firmly with robot platform. The support frame passes through the expansion bracket to be connected with the frame, and the size of adjustable semi-enclosure frame can solve the problem that the trunk is not of uniform size, improves the stability when the level rotates. The gear reduction motor not only provides power for climbing and descending, but also provides power for horizontal rotation, and the design is ingenious. Arm, afforestation operation arm and plant protection operation arm can be picked to the coconut to connecting device can install, and connecting device can design into the connecting device that can realize angle modulation, can adjust the inclination of work arm and can firmly fix it on the robot platform again, replaces the manual work to carry out the operation of treeing, avoids personnel high altitude construction to have danger.
Preferably, the anti-dropping structure is further included; the anti-falling structure comprises an anti-falling rod and a rod body angle adjusting assembly; one end of the anti-falling rod is connected with one side, far away from the telescopic frame, of the frame through the rod body angle adjusting assembly so as to realize angle adjustment of the anti-falling rod.
The robot platform can encounter some potholes or bulges of the trunk in the moving process, and the unstable situation can occur at the moment, so that the robot platform can fall off from the tree; the utility model is provided with a dropping rod arranged on the open side of the semi-surrounding frame; the falling-off preventing structure can adjust the angle of the falling-off preventing rod according to the size of the trunk, so that the falling-off preventing rod and the trunk have a certain safe distance; when the robot platform moves to a convex position or is deviated and separated under other conditions, the anti-falling rod can prevent the robot platform from being completely separated from the trunk, and the robot platform can be restored to a stable state again under the action of gravity bias in the subsequent falling process, so that the operation safety of the robot platform is further improved.
Preferably, the rod angle adjusting assembly comprises a positioning ratchet wheel, a ratchet switch, a ratchet nail rod and an elastic element which are arranged on the rack; the anti-falling rod is connected with the positioning ratchet wheel; the ratchet switch and the ratchet nail rod are arranged on the anti-falling rod in a sliding manner; the elastic element is connected between the ratchet nail rod and the anti-falling rod.
Preferably, the brake device comprises a brake disc, a hydraulic brake assembly for braking the brake disc, a brake input gear arranged on the brake disc, and a brake output gear meshed with the brake input gear; the driven end of the transmission climbing wheel is provided with a one-way bearing; the one-way bearing is connected with the brake disc; the hydraulic brake clamp is connected with the hydraulic brake to clamp or open the hydraulic brake clamp.
The working principle of the braking device is as follows: the hydraulic brake assembly comprises a gear transmission case, a gear pump, a brake input oil pipe, a brake loop oil pipe, a hydraulic input brake bracket and a hydraulic brake clamp; the gear pump is input after the speed of the gear gearbox is changed, the gear pump and a hydraulic brake clamp which inputs hydraulic pressure into a brake bracket through a brake input oil pipe, finally the hydraulic brake clamp clamps a brake disc, and the rotation of the transmission climbing wheel is limited through the brake input gear, the brake output gear and the one-way bearing so as to realize braking.
Preferably, the rack is provided with two side positioning slide rails, and two sides of the positioning slide bar rack body are respectively slidably arranged in the two side positioning slide rails;
the first gear linkage mechanism comprises at least one positioning straight gear and a first bevel gear of the first bevel gear set; the second gear linkage mechanism comprises a second bevel gear of the first bevel gear set, a bevel gear shaft and a second bevel gear set; two ends of the bevel gear shaft are respectively connected with a bevel gear II of the bevel gear group I and a bevel gear I of the bevel gear group II; a second bevel gear of the second bevel gear set is connected with the positioning wheel; the first bevel gear of the first bevel gear set corresponds to the second bevel gear of the first bevel gear set in position, and the second bevel gear of the first bevel gear set is located on one side, away from the second bevel gear set, of the first bevel gear set, so that the first bevel gear of the first bevel gear set is meshed with the second bevel gear after the positioning slide rod frame moves towards the trunk.
The first gear linkage mechanism and the second gear linkage mechanism can convert the rotation of the power wheel output gear around a horizontal shaft into the rotation around a vertical shaft required by the positioning wheel, and can realize separation and combination meshing, so that the positioning wheel is connected with power when the robot platform rotates horizontally, and the power is disconnected when climbing, thereby saving energy consumption and improving safety performance.
Preferably, the positioning slide rod frame body is also provided with a driven positioning wheel which can rotate around a vertical shaft; the positioning wheel and the driven positioning wheel are symmetrically arranged.
Preferably, the support frame comprises a support frame body, a telescopic part and a support sliding sheet, wherein the telescopic part and the support sliding sheet are symmetrically connected with the support frame body; the telescopic part and the support frame body can be telescopically adjusted and positioned in a buckling mode; the telescopic part is connected with the supporting sliding sheet through a supporting angle adjusting mechanism;
the telescopic frame and the rack can be telescopically adjusted and positioned in a buckling mode.
Preferably, the auxiliary support comprises an auxiliary support body hinged with the frame and auxiliary sliding sheets symmetrically connected to the auxiliary support body; an auxiliary support pushing module is connected between the auxiliary support body and the rack; the auxiliary sliding sheet is connected with the auxiliary support body through the auxiliary angle adjusting mechanism.
The adoption supports gleitbretter and supplementary gleitbretter and trunk contact, and supports gleitbretter and supplementary gleitbretter and adopts symmetrical structure and angle regulation respectively, can improve and trunk contact stability and reliability. Telescopic adjustment between expansion bracket and the frame and between the pars contractilis of support frame and the support frame body to and the auxiliary stand promotes the promotion stroke of module to the auxiliary stand body, all can adjust according to the trunk size. The auxiliary support pushing module can adopt a pneumatic push rod, and the slide bar frame body pushing module can adopt an electric push rod. The supporting angle adjusting mechanism and the auxiliary angle adjusting mechanism both comprise a connecting ball cover and a connecting ball.
Preferably, the machine frame comprises a base frame, a side frame body arranged on one side of the base frame and a connecting frame connected between the base frame and the side frame body; the transmission climbing wheel, the auxiliary bracket and the positioning wheel are all positioned on one side of the base frame; the outer side of the base frame is also provided with a control device and a power supply module; the gear reduction motor is arranged on the inner side of the base frame through the motor frame. The advantage of this design can make gravity more incline to the transmission and climb the wheel and the auxiliary stand place one side, can be more close to the trunk with the robot platform, further promotes robot platform and climbs and horizontal pivoted reliability.
Preferably, the transmission climbing wheel is provided with a concave cambered surface; the concave cambered surface is provided with a thorn body. The iron thorns on the surface of the climbing wheel are in contact with the trunk and cannot slip, so that the climbing stability can be further improved.
Compared with the prior art, the utility model has the advantages of as follows and beneficial effect:
1. the robot platform can realize climbing and horizontal rotation, and is stable in climbing, safe and reliable; the robot platform can horizontally rotate at the top or middle part of the trunk, and does not need to be manually rotated for an angle after being lowered to the ground; the semi-surrounding frame is arranged outside the trunk in a surrounding manner, and the size of the semi-surrounding frame can be conveniently adjusted to adapt to trunks with different sizes; the operation is simple and convenient, and the safety performance is high;
2. the anti-falling rod of the robot platform can prevent the robot platform from completely separating from the trunk, so that the operation safety of the robot platform is improved;
3. the utility model discloses a robot platform, arresting gear can provide extra guarantee when descending and breaking down;
4. the utility model discloses the connecting device and the work arm of robot platform are connected, do not need operating personnel to go up the tree, guarantee personnel's safety.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the front side perspective structure of the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is an enlarged view of portion B of FIG. 2;
fig. 5 is a schematic diagram of a rear side three-dimensional structure of the present invention;
FIG. 6 is an enlarged view of portion C of FIG. 5;
FIG. 7 is an enlarged view of portion D of FIG. 5;
fig. 8 is a schematic structural view of the driving end of the transmission climbing wheel of the present invention;
fig. 9 is a schematic structural view of a driven end of the transmission climbing wheel of the present invention;
FIG. 10 is a schematic view of the utility model in use during climbing;
wherein, 1-a frame, 2-a telescopic frame, 3-a gear reduction motor, 4-a transmission climbing wheel, 5-a slide bar frame body pushing module, 6-a double-acting buckle, 7-a support frame, 8-a connecting device, 9-an auxiliary support frame, 10-a power module, 11-a control device, 12-a power module frame, 14-an anti-falling rod, 31-a motor frame, 41-a transmission wheel shaft, 42-a bearing, 43-a power wheel input gear, 44-a power wheel output gear, 45-a belt pulley, 46-a thorn body, 47-a brake disc, 48-a brake output gear, 49-a one-way bearing, 50-a positioning wheel shaft, 51-a positioning straight gear, 52-a positioning gear shaft, 53-a bevel gear group I, 54-a positioning slide rail, 55-a positioning slide bar frame body, 56-a push rod frame, 57-a bevel gear shaft, 58-a bevel gear group II, 59-a positioning wheel, 71-a telescopic part and 72-a, 73-connecting ball cover, 74-supporting slide sheet, 75-buckle, 76-buckle frame, 91-auxiliary slide sheet, 92-auxiliary support pushing module, 130-gear pump, 131-gear box, 132-brake input gear, 133-brake support, 134 hydraulic brake clamp, 135-brake input oil pipe, 136-brake loop oil pipe, 140-positioning ratchet wheel, 141-ratchet wheel switch, 142-ratchet nail rod and 143-elastic element.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Examples
As shown in fig. 1 to 10, a multifunctional tree-climbing robot platform comprises a frame 1, a telescopic frame 2, a transmission climbing wheel 4, a support frame 7, an auxiliary support 9, a positioning wheel 59, a positioning slide rod frame body 55 and a connecting device 8 for connecting with a working arm.
The frame 1 is provided with a gear reduction motor 3; one end of the transmission climbing wheel 4 is a driving end and is connected with the gear reduction motor 3 so as to realize that the transmission climbing wheel 4 rotates around a horizontal shaft, and the driving end of the transmission climbing wheel 4 is also provided with a power wheel output gear 44; the other end of the transmission climbing wheel 4 is a driven end, is rotatably connected with the frame 1 and is connected with a braking device;
the telescopic frame 2 is telescopically connected to one side of the frame 1 and forms a semi-surrounding frame together with the frame 1; the support frame 7 is connected with the telescopic frame 2, and the support frame 7 is positioned on one side opposite to the position of the transmission climbing wheel 4; the auxiliary bracket 9 is connected with the frame 1, and the auxiliary bracket 9 is positioned above the transmission climbing wheel 4;
the positioning wheel 59 is positioned above the transmission climbing wheel 4 and below the auxiliary bracket 9; the positioning wheel 59 is connected with the positioning slide rod frame body 55 in a manner of rotating around a vertical shaft; the power wheel output gear 44 is engaged with a first gear linkage mechanism; the positioning slide bar frame body 55 is provided with a gear linkage mechanism II; the first gear linkage mechanism and the second gear linkage mechanism can be meshed in a separable manner; the positioning wheel 59 is connected with the second gear linkage mechanism; the positioning slide rod frame body 55 is slidably connected with the frame 1, and a slide rod frame body pushing module 5 is connected between the positioning slide rod frame body 55 and the frame 1 to realize that the positioning slide rod frame body 55 slides, so that the positioning wheel 59 extends towards the trunk and enables the gear linkage mechanism II to be meshed with the gear linkage mechanism I, or the positioning wheel 59 retracts back towards the trunk and enables the gear linkage mechanism II to be separated from the gear linkage mechanism I.
When climbing, the positioning wheel 59 is positioned on the outer side of a plane formed by the transmission climbing wheel 4 and the auxiliary slip sheet 91, the transmission climbing wheel 4, the support frame 7 and the auxiliary support 9 are pressed on a trunk together, and the transmission climbing wheel 4 rotates to realize climbing of the robot platform; when the level rotated, positioning wheel 59 stretched out to the trunk and climbed the plane that wheel 4 and supplementary gleitbretter 91 formed in the transmission to the protrusion to make the transmission climb wheel 4 and trunk separately, positioning wheel 59, support frame 7 and auxiliary stand 9 three press jointly and locate on the trunk, gear reduction motor 3 drives positioning wheel 59 through power wheel output gear 44, gear link gear one and gear link gear two and rotates, thereby realizes that the robot platform centers on the trunk clockwise or anticlockwise rotation.
Specifically, the frame 1 is provided with two side positioning slide rails 54, and two sides of a positioning slide bar frame body 55 are respectively slidably arranged in the two side positioning slide rails 54;
the first gear linkage mechanism comprises at least one positioning straight gear 51 and a first bevel gear of a first bevel gear set 53; the second gear linkage mechanism comprises a second bevel gear of the first bevel gear set 53, a bevel gear shaft 57 and a second bevel gear set 58; two ends of the bevel gear shaft 57 are respectively connected with a bevel gear II of the bevel gear group I53 and a bevel gear I of the bevel gear group II 58; a second bevel gear of the second bevel gear set 58 is connected with a positioning wheel 59; the first bevel gear of the first bevel gear set 53 corresponds to the second bevel gear of the first bevel gear set 53 in position, and the second bevel gear of the first bevel gear set 53 is located on one side, away from the second bevel gear set 58, of the first bevel gear set 53, so that the first bevel gear of the first bevel gear set 53 is meshed with the second bevel gear after the positioning slide rod frame body 55 moves towards the trunk.
The first gear linkage mechanism and the second gear linkage mechanism can convert the rotation of the power wheel output gear 44 around a horizontal shaft into the rotation around a vertical shaft required by the positioning wheel 59, and can realize separation and combination meshing, so that the positioning wheel 59 is connected with power when the robot platform rotates horizontally, and the power is disconnected when climbing, thereby saving energy consumption and improving safety performance. The positioning slide rod frame body 55 is also provided with a driven positioning wheel which can rotate around a vertical shaft; the positioning wheel 59 is arranged symmetrically to the driven positioning wheel.
The support frame 7 comprises a support frame body, a telescopic part 71 and a support sliding sheet 74 which are symmetrically connected with the support frame body; the telescopic part 71 and the support frame body can be telescopically adjusted and positioned in a buckling mode; the telescopic part 71 is connected with a supporting slide sheet 74 through a supporting angle adjusting mechanism; the telescopic frame 2 and the frame 1 can be telescopically adjusted and positioned in a buckling mode.
The auxiliary support 9 comprises an auxiliary support body hinged with the frame 1 and auxiliary sliding sheets 91 symmetrically connected to the auxiliary support body; an auxiliary support pushing module 92 is connected between the auxiliary support body and the frame 1; the auxiliary sliding sheet 91 is connected with the auxiliary bracket body through an auxiliary angle adjusting mechanism.
Adopt and support gleitbretter 74 and supplementary gleitbretter 91 and trunk contact, and support gleitbretter 74 and supplementary gleitbretter 91 and adopt symmetrical structure and angle regulation respectively, can improve and trunk contact stability and reliability. Telescopic adjustment between the telescopic frame 2 and the frame 1 and between the telescopic part 71 of the support frame 7 and the support frame body, and the pushing stroke of the auxiliary support frame pushing module 92 to the auxiliary support frame body can be adjusted according to the size of the trunk. The auxiliary support pushing module 92 may be a pneumatic push rod, and the slide bar frame pushing module 5 may be an electric push rod. The supporting angle adjusting mechanism and the auxiliary angle adjusting mechanism both comprise a connecting ball cover and a connecting ball.
The preferred scheme is as follows: the frame 1 comprises a base frame, a side frame body arranged on one side of the base frame and a connecting frame connected between the base frame and the side frame body; the transmission climbing wheel 4, the auxiliary bracket 9 and the positioning wheel 59 are all positioned on one side of the base frame; the outer side of the pedestal is also provided with a control device 11 and a power module 10; the gear reduction motor 3 is disposed inside the base frame through a motor frame 31. The advantage of this design can make gravity more to the transmission wheel 4 that climbs and the one side that auxiliary stand is located, can be more close to the trunk with the robot platform, further promotes the robot platform and climbs and the reliability that the level rotated.
The transmission climbing wheel 4 is provided with a concave cambered surface; the concave cambered surface is provided with a thorn body 46. The iron thorns on the surface of the climbing wheel are in contact with the trunk and cannot slip, so that the climbing stability can be further improved.
The utility model discloses the robot platform can realize climbing and the level rotates. The robot platform is carried to the trunk and installed, the transmission climbing wheel 4 bears most of weight by utilizing the gravity biasing principle, and the support frame 7 and the auxiliary support 9 are contacted with the smooth trunk surface to play a role in stably climbing. The robot platform climbs through the transmission when climbing and takes turns 4, support frame 7 and auxiliary stand 9 three device to be fixed in the tree trunk, starts gear reduction motor 3 through the remote control when climbing, drives the transmission and climbs 4 movements of taking turns, can provide stable power of climbing. When the working arm needs to rotate to different working positions, the robot platform stays still, the sliding rod frame body pushes the module 5 to enable the positioning wheel 59 to extend towards the trunk to a plane protruding out of the transmission climbing wheel 4 and formed by the auxiliary support 9, the positioning wheel 59 is enabled to be in contact with the trunk, and the transmission climbing wheel 4 is not in contact with the trunk; the positioning wheel 59, the supporting frame 7 and the auxiliary bracket 9 are pressed on the trunk together; meanwhile, the first gear linkage mechanism is meshed with the second gear linkage mechanism, the kinetic energy of the gear speed reducing motor 3 is transmitted to the positioning wheel 59, and the positioning wheel 59 rotates around a vertical shaft, so that the robot platform moves horizontally.
The utility model discloses robot platform adopts the principle of semi-surrounding frame and triangle-shaped gravity biasing, concentrates on most weight to transmit one side at climbing wheel 4 and auxiliary stand place, can paste tight trunk firmly with robot platform, and is reliable and stable. Support frame 7 is connected with frame 1 through expansion bracket 2, and the size of adjustable half enclosure frame can solve the problem that the trunk is not of uniform size, improves the stability when the level rotates. The gear reduction motor 3 not only provides power for climbing and descending, but also provides power for horizontal rotation, and the design is ingenious. Arm, afforestation operation arm and plant protection operation arm can be picked to connecting device 8 installation coconut, and connecting device 8 can design into the connecting device 8 that can realize angle modulation, can adjust the inclination of work arm and can firmly fix it on the robot platform again, replaces the manual work to carry out the operation of treeing, avoids personnel high altitude construction to have danger.
The brake device comprises a brake disc 47, a hydraulic brake assembly for braking the brake disc 47, a brake input gear arranged on the brake disc 47, and a brake output gear 48 meshed with the brake input gear; the driven end of the transmission climbing wheel 4 is provided with a one-way bearing 49; the one-way bearing 49 is connected with the brake disc 47; the hydraulic brake clamp is connected with the hydraulic brake to clamp or open the hydraulic brake clamp.
The working principle of the braking device is as follows: the hydraulic brake assembly comprises a gear transmission case, a gear pump, a brake input oil pipe, a brake loop oil pipe, a hydraulic input brake bracket and a hydraulic brake clamp; after the speed is changed through the gear box, the gear pump is input, the gear pump and a hydraulic brake clamp which inputs hydraulic pressure into a brake bracket through a brake input oil pipe, finally the hydraulic brake clamp clamps a brake disc 47, and the rotation of the transmission climbing wheel 4 is limited through a brake input gear, a brake output gear 48 and a one-way bearing 49 so as to realize braking. By using the braking device, additional guarantee can be provided when descending and faults occur.
The robot platform preferably further comprises an anti-falling structure; the anti-falling structure comprises an anti-falling rod 14 and a rod body angle adjusting assembly; one end of the anti-falling rod 14 is connected with one side of the frame 1 far away from the telescopic frame 2 through the rod body angle adjusting assembly so as to realize the angle adjustment of the anti-falling rod 14.
The robot platform can encounter some potholes or bulges of the trunk in the moving process, and the unstable situation can occur at the moment, so that the robot platform can fall off from the tree; the utility model is provided with a dropping rod arranged on the open side of the semi-surrounding frame; the falling-off structure can adjust the angle of the falling-off preventing rod 14 according to the size of the trunk, so that the falling-off preventing rod 14 has a certain safe distance with the trunk; when the robot platform moves to a convex position or is deviated and separated due to other conditions, the anti-falling rod 14 can prevent the robot platform from being completely separated from the trunk, and the robot platform can be restored to a stable state again under the action of gravity bias in the subsequent falling process, so that the operation safety of the robot platform is further improved.
The rod body angle adjusting component comprises a positioning ratchet wheel, a ratchet wheel switch, a ratchet nail rod and an elastic element which are arranged on the rack 1; the anti-falling rod 14 is connected with the positioning ratchet wheel; the ratchet switch and the ratchet rod are arranged on the anti-falling rod 14 in a sliding manner; the resilient element is connected between the spike rod and the anti-drop rod 14.
The utility model discloses succinct high-efficient, degree of automation is high, can accomplish to turn to, and adjustable frame has better adaptability, and simple slide design can effectively solve the needs of up-and-down motion and side-to-side motion. The semi-surrounded frame type rack structure combined with the anti-falling rod can be quickly installed and detached.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are 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 equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. The utility model provides a multi-functional tree climbing robot platform which characterized in that: comprises a frame, a telescopic frame, a transmission climbing wheel, a supporting frame, an auxiliary bracket, a positioning wheel, a positioning slide bar frame body and a connecting device for connecting with a working arm;
the rack is provided with a gear reduction motor; one end of the transmission climbing wheel is a driving end and is connected with a gear speed reduction motor so as to realize that the transmission climbing wheel rotates around a horizontal shaft, and the driving end of the transmission climbing wheel is also provided with a power wheel output gear; the other end of the transmission climbing wheel is a driven end, is rotatably connected with the frame and is connected with a braking device;
the telescopic frame is telescopically connected to one side of the rack and forms a semi-surrounding frame together with the rack; the support frame is connected with the telescopic frame and is positioned on one side opposite to the position of the transmission climbing wheel; the auxiliary bracket is connected with the rack and is positioned above the transmission climbing wheel;
the positioning wheel is positioned above the transmission climbing wheel and below the auxiliary bracket; the positioning wheel can be connected with the positioning slide bar frame body in a way of rotating around a vertical shaft; the power wheel output gear is engaged with a first gear linkage mechanism; the positioning slide bar frame body is provided with a gear linkage mechanism II; the first gear linkage mechanism and the second gear linkage mechanism can be meshed in a separable manner; the positioning wheel is connected with a second gear linkage mechanism; the positioning slide rod frame body is connected with the rack in a sliding mode, and a slide rod frame body pushing module is connected between the positioning slide rod frame body and the rack to realize the sliding of the positioning slide rod frame body, so that the positioning wheel extends towards the trunk and enables the gear linkage mechanism II to be meshed with the gear linkage mechanism I, or the positioning wheel retracts back towards the trunk and enables the gear linkage mechanism II to be separated from the gear linkage mechanism I;
when climbing work is carried out, the positioning wheel is positioned on the outer side of a plane formed by the transmission climbing wheel and the auxiliary support, the transmission climbing wheel, the support frame and the auxiliary support are pressed on a trunk together, and the robot platform is climbed by the rotation of the transmission climbing wheel; when the level rotated, the locating wheel stretched out to the trunk and climbed the plane that wheel and auxiliary stand formed in the transmission to the protrusion to make the transmission climb the wheel and separate with the trunk, locating wheel, support frame and auxiliary stand three press jointly and locate on the trunk, gear reduction motor passes through power wheel output gear, gear linkage mechanism one and gear linkage mechanism two and drives the locating wheel and rotate, thereby realizes that the robot platform centers on the clockwise or anticlockwise rotation of trunk.
2. The multi-functional tree-climbing robot platform of claim 1, characterized in that: the anti-falling structure is also included; the anti-falling structure comprises an anti-falling rod and a rod body angle adjusting assembly; one end of the anti-falling rod is connected with one side, far away from the telescopic frame, of the frame through the rod body angle adjusting assembly so as to realize angle adjustment of the anti-falling rod.
3. The multi-functional tree-climbing robot platform of claim 2, characterized in that: the rod body angle adjusting assembly comprises a positioning ratchet wheel, a ratchet wheel switch, a ratchet nail rod and an elastic element which are arranged on the rack; the anti-falling rod is connected with the positioning ratchet wheel; the ratchet switch and the ratchet nail rod are arranged on the anti-falling rod in a sliding manner; the elastic element is connected between the ratchet nail rod and the anti-falling rod.
4. The multi-functional tree-climbing robot platform of claim 1, characterized in that: the brake device comprises a brake disc, a hydraulic brake component for braking the brake disc, a brake input gear arranged on the brake disc, and a brake output gear meshed with the brake input gear; the driven end of the transmission climbing wheel is provided with a one-way bearing; the one-way bearing is connected with the brake disc; the hydraulic brake clamp is connected with the hydraulic brake to clamp or open the hydraulic brake clamp.
5. The multi-functional tree-climbing robot platform of claim 1, characterized in that: the rack is provided with two side positioning slide rails, and two sides of the positioning slide bar rack body are respectively arranged in the two side positioning slide rails in a sliding manner;
the first gear linkage mechanism comprises at least one positioning straight gear and a first bevel gear of the first bevel gear set; the second gear linkage mechanism comprises a second bevel gear of the first bevel gear set, a bevel gear shaft and a second bevel gear set; two ends of the bevel gear shaft are respectively connected with a bevel gear II of the bevel gear group I and a bevel gear I of the bevel gear group II; a second bevel gear of the second bevel gear set is connected with the positioning wheel; the first bevel gear of the first bevel gear set corresponds to the second bevel gear of the first bevel gear set in position, and the second bevel gear of the first bevel gear set is located on one side, away from the second bevel gear set, of the first bevel gear set, so that the first bevel gear of the first bevel gear set is meshed with the second bevel gear after the positioning slide rod frame moves towards the trunk.
6. The multi-functional tree-climbing robot platform of claim 5, characterized in that: the positioning slide bar frame body is also provided with a driven positioning wheel which can rotate around a vertical shaft; the positioning wheel and the driven positioning wheel are symmetrically arranged.
7. The multi-functional tree-climbing robot platform of claim 1, characterized in that: the support frame comprises a support frame body, a telescopic part and a support sliding sheet, wherein the telescopic part and the support sliding sheet are symmetrically connected with the support frame body; the telescopic part and the support frame body can be telescopically adjusted and positioned in a buckling mode; the telescopic part is connected with the supporting sliding sheet through a supporting angle adjusting mechanism;
the telescopic frame and the rack can be telescopically adjusted and positioned in a buckling mode.
8. The multi-functional tree-climbing robot platform of claim 1, characterized in that: the auxiliary support comprises an auxiliary support body hinged with the rack and auxiliary sliding sheets symmetrically connected to the auxiliary support body; an auxiliary support pushing module is connected between the auxiliary support body and the rack; the auxiliary sliding sheet is connected with the auxiliary support body through the auxiliary angle adjusting mechanism.
9. The multi-functional tree-climbing robot platform of claim 1, characterized in that: the rack comprises a base frame, a side frame body arranged on one side of the base frame and a connecting frame connected between the base frame and the side frame body; the transmission climbing wheel, the auxiliary bracket and the positioning wheel are all positioned on one side of the base frame; the outer side of the base frame is also provided with a control device and a power supply module; the gear reduction motor is arranged on the inner side of the base frame through the motor frame.
10. The multi-functional tree-climbing robot platform of claim 1, characterized in that: the transmission climbing wheel is provided with a concave cambered surface; the concave cambered surface is provided with a thorn body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021015129.7U CN212287651U (en) | 2020-06-05 | 2020-06-05 | Multifunctional tree-climbing robot platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021015129.7U CN212287651U (en) | 2020-06-05 | 2020-06-05 | Multifunctional tree-climbing robot platform |
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| CN212287651U true CN212287651U (en) | 2021-01-05 |
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| CN202021015129.7U Expired - Fee Related CN212287651U (en) | 2020-06-05 | 2020-06-05 | Multifunctional tree-climbing robot platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111730612A (en) * | 2020-06-05 | 2020-10-02 | 佛山科学技术学院 | Multifunctional tree-climbing robot platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111730612A (en) * | 2020-06-05 | 2020-10-02 | 佛山科学技术学院 | Multifunctional tree-climbing robot platform |
| CN111730612B (en) * | 2020-06-05 | 2024-06-25 | 佛山科学技术学院 | Multifunctional tree climbing robot platform |
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Granted publication date: 20210105 |