CN214267804U - Forestry sampling robot with climbing function - Google Patents

Abstract

The utility model discloses a forestry sampling robot with climbing function belongs to forestry sampling robot technical field. The utility model provides a forestry sampling robot with climbing function, including two fixed plates that are symmetry setting from top to bottom, fixed plate four corners department all is equipped with the mounting panel, all be equipped with steering wheel A between two upper and lower mounting panels, the steering wheel A outside is equipped with short U support A, short U support A rotates with the mounting panel to be connected, short U support A outside is rotated and is connected with short U support B, short U support B outside is rotated and is connected with long U support, long U support outside end rotates and is connected with sheet metal component under the forearm, the sheet metal component lower part is equipped with the hand claw subassembly under the forearm, the utility model discloses during the use, the user directly places it on the target trunk, makes it need not walk subaerial, has reduced unnecessary structure, through carrying out modular design with the robot, reduces the complexity of its design use, improves the adaptability to forest farm complex environment simultaneously.

Description

Forestry sampling robot with climbing function

Technical Field

The utility model relates to a forestry sampling robot technical field, more specifically say, relate to a forestry sampling robot with climbing function.

Background

The forest is the lung of the earth, is an important carbon reservoir on the land of the earth, is also an important ring in the energy flow and the material circulation of an ecological system, regulates the water balance and the carbon-oxygen balance in the ecological system, and has rich biodiversity precious resources. In 2015, the evaluation report of the grain and agriculture organization of the united nations on the global forest resources indicates that the area of the world forest continuously slides down along with the massive growth of the population and the increasing demand on grains and land.

Forest trees are closely related to natural ecological environment and human production life. In the world, the original natural forest accounts for about 36%, the artificial forest accounts for about 4%, and due to the conflict between the pursuit of good ecological environment and the satisfaction of abundant material conditions, the ecological function of the natural forest and the economic function of the artificial forest are both widely researched and paid attention to by people. Therefore, the corresponding harvesting means, operation modes and harvesting tools are also endless. However, there is still a gap in a convenient, non-destructive forest harvesting apparatus.

Whether natural forest or artificial forest, the high and large growing forest becomes a great obstacle to research sampling and seed harvesting aiming at different canopies of the forest, and the climbing harvesting method, the high pruning method or the standard wood cutting method which is widely applied at present are still used as the original. These methods are not only time consuming and labor intensive, but also may cause high strength mechanical damage to the tree species and are not suitable for sampling of precious wild trees or test-field sample trees.

Therefore, in view of the demand, the invention provides a robot capable of remotely controlling and realizing automatic tree-feeding and accurate canopy sampling, which is beneficial to layered acquisition of forest samples, pruning of special canopy rotten wood in forest management or mechanical seed collection in forest management in current scientific research.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved

An object of the utility model is to provide a forestry sampling robot with climbing function to solve the problem that proposes in the above-mentioned background art:

the current widespread use is still the climbing harvest, the pruning or the standard felling of the user. These methods are not only time consuming and labor intensive, but also may cause high strength mechanical damage to the tree species and are not suitable for sampling of precious wild trees or test-field sample trees.

2. Technical scheme

The utility model provides a forestry sampling robot with climbing function, is including being two fixed plates that symmetry set up from top to bottom, fixed plate four corners department all is equipped with the mounting panel, two from top to bottom all be equipped with steering wheel A between the mounting panel, the steering wheel A outside is equipped with short U support A, short U support A rotates with the mounting panel to be connected, short U support A outside is rotated and is connected with short U support B, short U support B outside is rotated and is connected with long U support, long U support outside end rotates and is connected with sheet metal component under the forearm, the sheet metal component lower part is equipped with the hand claw subassembly under the forearm.

Preferably, two steering engines B are symmetrically arranged in the long U support in the left-right direction.

Preferably, the gripper assembly includes the forearm bottom plate of being connected with forearm lower sheet metal component rotation, forearm bottom plate bottom surface bilateral symmetry is equipped with two and goes up the pivot board, and two are gone up the pivot board and are passed through bolted connection fixedly.

Preferably, two go up the pivot board bottom surface and rotate and be connected with the top cap punch holder, top cap punch holder lower part is equipped with the lamina tecti, lamina tecti lower part top cap lower plate, the lamina tecti punch holder passes through bolted connection with the top cap lower plate fixedly.

Preferably, the top apron lower part is that the annular is equidistant to be equipped with three L shaped plate, L shaped plate bilateral symmetry is equipped with two connecting plates, L shaped plate lower part is equipped with the claw hook, connecting plate upper portion is connected fixedly through bolt and top apron, the connecting plate lower part is connected fixedly through bolt and claw hook.

3. Advantageous effects

Compared with the prior art, the utility model has the advantages of:

(1) the utility model discloses a change foot shape, add quick detachable battery module, make it more adapt to the forest climbing, during the use, the user directly places it on the target trunk, makes it need not walk subaerial, has reduced the unnecessary structure, through carrying out the modularized design with the robot, reduces the complexity of its design use, improves the adaptability to forest farm complex environment simultaneously.

(2) The utility model discloses a change the shape of robot claw, through the bionic claw hook of class hawk claw, speed when having improved the climbing has reduced control algorithm's complexity, has reduced the quantity of sensor, furthest's avoiding the loss to trees in sampling process to be different from other forestry work related robots, the device is that a degree of freedom is higher, and adaptability is stronger, can deal with the forestry scientific research usage robot of complicated tree structure.

Drawings

Fig. 1 is a schematic top view of the overall structure of the present invention;

FIG. 2 is a schematic view of a part of the structure of the present invention;

FIG. 3 is a schematic view of a gripper assembly according to the present invention;

fig. 4 is a schematic view of the top cover upper clamping plate of the present invention;

FIG. 5 is a schematic view of the top cover plate of the present invention;

fig. 6 is a schematic view of the top cover lower clamping plate of the present invention;

the reference numbers in the figures illustrate: 1. a fixing plate; 101. mounting a plate; 2. a steering engine A; 3. a short U-shaped bracket A; 4. a short U-shaped bracket B; 5. a long U-shaped bracket; 501. a steering engine B; 6. a lower forearm sheet metal component; 7. a gripper assembly; 701. a forearm base plate; 702. an upper rotating shaft plate; 703. a top cover upper clamping plate; 704. a top cover lower clamping plate; 705. a top cover plate; 706. an L-shaped plate; 707. a connecting plate; 708. a claw hook.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-2, a forestry sampling robot with climbing function, including two fixed plates 1 that are symmetrical about presenting, fixed plate 1 four corners department all is equipped with mounting panel 101, all is equipped with steering wheel A2 between two upper and lower mounting panels 101, steering wheel A2 outside is equipped with short U support A3, short U support A3 rotates with mounting panel 101 to be connected, short U support A3 outside rotates and is connected with short U support B4, short U support B4 outside rotates and is connected with long U support 5, long U support 5 outside end rotates and is connected with sheet metal part 6 under the forearm, sheet metal part 6 lower part is equipped with hand claw subassembly 7 under the forearm.

Two steering engines B501 are symmetrically arranged in the long U-shaped bracket 5 from left to right.

The utility model discloses a remote control mode control robot, picture pass real time monitoring, sampling work is accomplished to the arm, through changing foot shape, adds quick detachable battery module, makes its more adapt to the forest climbing, during the use, the user directly places it on the target trunk, makes it need not walk subaerial, has reduced the unnecessary structure, through carrying out the modularized design with the robot, reduces the complexity of its design and use, improves the adaptability to forest farm complex environment simultaneously.

Example 2:

referring to fig. 2-6, the basic difference between the embodiments 1 is: the gripper assembly 7 comprises a small arm bottom plate 701 rotatably connected with the small arm lower sheet metal part 6, two upper rotating shaft plates 702 are symmetrically arranged on the left and right of the bottom surface of the small arm bottom plate 701, and the two upper rotating shaft plates 702 are fixedly connected through bolts.

The bottom surfaces of the two upper rotating shaft plates 702 are rotatably connected with a top cover upper clamping plate 703, the lower part of the top cover upper clamping plate 703 is provided with a top cover plate 705, the lower part of the top cover plate 705 is provided with a top cover lower clamping plate 704, and the top cover upper clamping plate 703 and the top cover lower clamping plate 704 are fixedly connected through bolts.

The lower portion of the top cover plate 705 is provided with three L-shaped plates 706 at equal intervals in an annular shape, two connecting plates 707 are symmetrically arranged on two sides of each L-shaped plate 706, the lower portions of the L-shaped plates 706 are provided with claw hooks 708, the upper portions of the connecting plates 707 are fixedly connected with the top cover plate 705 through bolts, and the lower portions of the connecting plates 707 are fixedly connected with the claw hooks 708 through bolts.

The utility model discloses a change the shape of robot claw, through the bionic claw hook 708 of class hawk claw, speed when having improved the climbing has reduced control algorithm's complexity, has reduced the quantity of sensor, furthest's the loss to trees in sampling process to be different from other forestry work related robots, the device is that a degree of freedom is higher, and adaptability is stronger, can deal with the forestry scientific research usage robot of complicated tree structure.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the description in the above embodiments and the description is only preferred examples of the present invention, and is not intended to limit the present invention, and that the present invention can have various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications all fall into the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (5)

1. The utility model provides a forestry sampling robot with climbing function, is including being two fixed plates (1) that symmetry set up from top to bottom, its characterized in that: fixed plate (1) four corners department all is equipped with mounting panel (101), two from top to bottom all be equipped with steering wheel A (2) between mounting panel (101), steering wheel A (2) outside is equipped with short U support A (3), short U support A (3) rotate with mounting panel (101) and are connected, short U support A (3) outside is rotated and is connected with short U support B (4), short U support B (4) outside is rotated and is connected with long U support (5), sheet metal component (6) under long U support (5) outside end is rotated and is connected with the forearm, sheet metal component (6) lower part is equipped with hand claw subassembly (7) under the forearm.

2. A forestry sampling robot having a climbing function according to claim 1, wherein: two steering engines B (501) are symmetrically arranged in the long U support (5) in the left-right direction.

3. A forestry sampling robot having a climbing function according to claim 1, wherein: the gripper assembly (7) comprises a small arm bottom plate (701) rotatably connected with a small arm lower sheet metal part (6), two upper rotating shaft plates (702) are symmetrically arranged on the left and right of the bottom surface of the small arm bottom plate (701) in a left-right mode, and the two upper rotating shaft plates (702) are fixedly connected through bolts.

4. A forestry sampling robot having a climbing function according to claim 3, wherein: the bottom surfaces of the two upper rotating shaft plates (702) are rotatably connected with a top cover upper clamping plate (703), a top cover plate (705) is arranged on the lower portion of the top cover upper clamping plate (703), a top cover lower clamping plate (704) is arranged on the lower portion of the top cover plate (705), and the top cover upper clamping plate (703) is fixedly connected with the top cover lower clamping plate (704) through bolts.

5. A forestry sampling robot having a climbing function according to claim 4, wherein: the lower portion of the top cover plate (705) is provided with three L-shaped plates (706) at equal intervals in an annular mode, two connecting plates (707) are symmetrically arranged on two sides of each L-shaped plate (706), claw hooks (708) are arranged on the lower portion of each L-shaped plate (706), the upper portions of the connecting plates (707) are fixedly connected with the top cover plate (705) through bolts, and the lower portions of the connecting plates (707) are fixedly connected with the claw hooks (708) through bolts.

Images