CN217088703U

CN217088703U - Tree climbing robot

Info

Publication number: CN217088703U
Application number: CN202221072617.0U
Authority: CN
Inventors: 牛会永
Original assignee: Shandong Shanya Machinery Manufacturing Co ltd
Current assignee: Shandong Shanya Machinery Manufacturing Co ltd
Priority date: 2022-05-07
Filing date: 2022-05-07
Publication date: 2022-08-02
Anticipated expiration: 2032-05-07

Abstract

The utility model relates to a tree climbing machine technical field especially relates to a tree climbing robot, including the body, be equipped with the first action wheel and the second action wheel that rotate the setting on the body, first action wheel and second action wheel rotation opposite direction, and the rotational speed is the same. The body is sequentially provided with a first rotating shaft, a transition rotating shaft and a second rotating shaft which are rotatably arranged; the first rotating shaft and the transition rotating shaft are in meshing transmission through a gear; the first rotating shaft and the second rotating shaft are connected through a chain wheel and a chain transmission wheel; the first driving wheel is arranged on the first rotating shaft; the second driving wheel is arranged on the second rotating shaft. One end of the body is hinged with a mounting seat, and the other end of the body is hinged with an air spring; the other end of the mounting seat is provided with an auxiliary wheel which is rotatably arranged; the other end of the gas spring is hinged in the middle of the mounting seat. The body is provided with a cutter. The utility model relates to a tree climbing robot can carry the automatic tree that climbs of picking tool, and the operation is stable when climbing the tree, is difficult for the landing and falls, and the security is high, is suitable for the practicality.

Description

Tree climbing robot

Technical Field

The utility model relates to a tree climbing robot belongs to tree climbing machine technical field.

Background

In tropical areas, areca and coconut are the predominant tropical commercial crops. However, the picking of betel nuts and coconuts is a big problem. The existing picking modes are generally two types: the first mode is to pick and accept the upper tree, and then convey the areca nut or the coconut to the lower tree by using ropes and pulleys, and the mode of putting the upper tree is full of huge danger; of course, the picking mode can most effectively reduce the loss of the betel nuts or the coconuts caused by picking errors in the picking process. The second is picking with a picking rod held manually, which can cause two problems: firstly, the pickers are easily hit by falling objects when picking at the lower part, so that life danger is caused; secondly, due to the difference of picking modes, the fruit trees and the fruits are damaged by misjudgment of pickers,

the following disadvantages exist in manual picking: firstly, the production efficiency is low; secondly, personnel are easy to be tired, and long-time lifting of the rod is easy to cause the fatigue of picking personnel, so that the originally low picking efficiency becomes lower.

Therefore, due to the technical defects in the prior art, the technical problems to be solved by the technical staff in the field are urgent

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is not enough to above, provide a tree climbing robot, can climb the tree automatically, and the operation is stable when climbing the tree, is difficult for the landing and falls, and the security is high.

For solving the above problem, the utility model discloses a technical scheme as follows:

the utility model provides a tree climbing robot, includes the body, be equipped with the first action wheel and the second action wheel that rotate the setting on the body, first action wheel and second action wheel interval, set up side by side, first action wheel and second action wheel rotation direction are opposite, and the rotational speed is the same.

As an improvement, a first rotating shaft, a transition rotating shaft and a second rotating shaft which are rotatably arranged are sequentially arranged on the body; the first rotating shaft and the transition rotating shaft are in meshing transmission through a gear; the first rotating shaft and the second rotating shaft are in transmission connection through a chain wheel and a chain; the first driving wheel is arranged on the first rotating shaft; the second driving wheel is arranged on the second rotating shaft.

As an improvement, a driving gear is installed on the first rotating shaft, a driven gear is installed on the transition rotating shaft, and the driving gear and the driven gear are in meshing transmission.

As an improvement, a first chain wheel is arranged on the transition rotating shaft, and a second chain wheel is arranged on the second rotating shaft; the first chain wheel and the second chain wheel are in transmission connection through a chain.

As an improvement, the first rotating shaft is in transmission connection with the power device through a transmission mechanism or is directly connected with the power device.

As an improvement, the power device is a motor, the end part of the body is provided with a mounting seat with a box-shaped structure, the mounting seat is provided with a third rotating shaft which is rotatably arranged, and a third chain wheel is arranged on the third rotating shaft; the motor is fixedly installed on the installation seat, and an output shaft of the motor is directly connected with the third rotating shaft. And a fourth chain wheel is arranged on the first rotating shaft, and the third chain wheel is in transmission connection with the fourth chain wheel through a chain.

As an improvement, the first driving wheel and the second driving wheel are both concave rubber wheels, and the shape of the concave groove is V-shaped, or arc-shaped, or I-shaped.

As an improvement, one end of the body is hinged with a supporting seat, and the other end of the body is hinged with an air spring; the other end of the supporting seat is provided with an auxiliary wheel which is arranged in a rotating way; the other end of the gas spring is hinged at the middle part of the supporting seat.

As an improvement, the auxiliary wheel is a concave rubber wheel, and the shape of the inner groove is V-shaped, or arc-shaped, or I-shaped.

As an improvement, the body is provided with a cutter.

The utility model adopts the above technical scheme, compare with prior art, have following advantage:

1. can carry the automatic tree that climbs of picking tool, and the operation is stable when climbing the tree, and difficult landing is with falling, and the security is high, is suitable for the practicality.

2. The first driving wheel, the second driving wheel and the auxiliary wheel are all concave rubber wheels, the concave rubber wheels can increase friction, are easy to adapt to the change of the diameter of a trunk, are convenient to embrace a tree from the side part and are not easy to slide and fall; and has good guiding function.

3. First action wheel, second action wheel are the action wheel, easily this tree climbing robot crawls on the trunk, and the power of crawling is more stable.

The present invention will be described in detail with reference to the accompanying drawings and examples.

Drawings

Fig. 1 is a schematic structural diagram of a tree climbing robot according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a tree-climbing robot according to an embodiment of the present invention;

fig. 3 is a reference diagram of a usage status of a tree climbing robot according to an embodiment of the present invention;

in the figure, 1-a body, 2-a first driving wheel, 3-a second driving wheel, 4-a first rotating shaft, 5-a transition rotating shaft, 6-a second rotating shaft, 7-a driving gear, 8-a driven gear, 9-a first chain wheel, 10-a second chain wheel, 11-a motor, 12-a mounting seat, 13-a third rotating shaft, 14-a third chain wheel, 15-a fourth chain wheel, 16-an air spring, 17-an auxiliary wheel, 18-a supporting seat, 19-a cutter, 20-a handle part and 21-a telescopic rod.

Detailed Description

Examples

As shown in fig. 1, 2 and 3, the tree-climbing robot comprises a body 1 which is of a box-packed structure. Body 1 one side is equipped with first action wheel 2 and the second action wheel 3 that the rotation set up, and first action wheel 2 and the interval of second action wheel 3, parallel arrangement, first action wheel 2 and the opposite, just rotational speed of the 3 same of second action wheel rotation direction. One end of the body 1 provided with the first driving wheel 2 is hinged with a supporting seat 18, and the other end is hinged with a gas spring 16. The other end of the supporting seat 18 is provided with an auxiliary wheel 17 which is arranged in a rotating way; the other end of the gas spring 16 is hinged to the middle of the support seat 18. The first driving wheel 2, the second driving wheel 3 and the auxiliary wheel 17 are positioned on the same side of the body 1 and are arranged in parallel. Preferably, the first driving wheel 2 and the second driving wheel 3 are both concave rubber wheels, and the shape of the inner groove is V-shaped, or arc-shaped, or I-shaped. The auxiliary wheel 17 is a concave rubber wheel, and the shape of the concave groove is V-shaped, or arc-shaped, or I-shaped, and the first driving wheel 2, the second driving wheel 3 and the auxiliary wheel 17 are arranged in parallel.

As shown in fig. 1 and 2, a first rotating shaft 4, a transition rotating shaft 5 and a second rotating shaft 6 are rotatably arranged in the body 1. The first rotating shaft 4 and the transition rotating shaft 5 are in meshing transmission through gears. The first rotating shaft 4 and the second rotating shaft 6 are in transmission connection through a chain wheel and a chain. The ends of the first rotating shaft 4 and the second rotating shaft 6 extend out of the body 1. The first driving wheel 2 is arranged on the first rotating shaft 4; the second driving wheel 3 is arranged on the second rotating shaft 6. A driving gear 7 is mounted on the first rotating shaft 4, a driven gear 8 is mounted on the transition rotating shaft 5, and the driving gear 7 and the driven gear 8 are in meshing transmission. The drive gear 7 and the driven gear 8 have the same module and the same number of teeth. A first chain wheel 9 is arranged on the transition rotating shaft 5, and a second chain wheel 10 is arranged on the second rotating shaft 6; the first sprocket 9 and the second sprocket 10 are connected by a chain drive. The parameters of the first sprocket 9 and the second sprocket 10 are the same. The first rotating shaft 4 is in transmission connection with a power device through a transmission mechanism or the first rotating shaft 4 is directly connected with the power device. The power plant may be an electric motor 11, a gasoline engine or a diesel engine.

In this embodiment, the power device is preferably a motor 11, the end of the body 1 is provided with a mounting seat 12 having a box-shaped structure, and the mounting seat 12 is communicated with the inner side of the body 1. The mounting base 12 is provided with a third rotating shaft 13 which is rotatably arranged, and the third rotating shaft 13 is provided with a third chain wheel 14. The motor 11 is fixedly installed on the installation base 12, and an output shaft of the motor 11 is directly connected with the third rotating shaft 13. And a fourth chain wheel 15 is arranged on the first rotating shaft 4, and the third chain wheel 14 is in transmission connection with the fourth chain wheel 15 through a chain.

As shown in figure 3, a cutting knife 19 is arranged on the body 1, and the cutting knife 19 is used for picking fruits on a tree. In particular, the body 1 is hinged with a handle 20 and a telescopic rod 21. The cutter 19 is arranged at the end part of the handle part 20; the extending end of the telescopic rod 21 is hinged at the middle part of the handle part 20. When the telescopic rod 21 is stretched, the handle part 20 and the cutter 19 can be driven to rotate, and fruits on the tree can be picked. The telescopic rod 21 can adopt an air cylinder or an electric cylinder.

In use, as shown in figure 3, in a first step, the tree climbing robot is mounted on the trunk 22. The first 2 and second 3 driving wheels are mounted on both sides of the trunk respectively, and the auxiliary wheel 17 and the second driving wheel 3 are located on the same side of the trunk. Slowly, loosen tree climbing robot and under the action of gravity for body 1 slopes, and second action wheel 3 is located the top of first action wheel 2, and first action wheel 2 and second action wheel 3 embrace the trunk from both sides respectively, and make auxiliary wheel 17 also embrace the trunk from the lateral part. The second step, starter motor 11, motor 11 rotate and drive first action wheel 2 and second action wheel 3 and rotate together, and the robot that climbs the tree will upwards crawl along the trunk. And after the tree climbing robot reaches the target position, the motor 11 stops rotating. And thirdly, controlling the telescopic rod 21 to stretch and retract and driving the cutter 19 to pick fruits. In the fourth step, the motor 11 is controlled to rotate reversely, and the tree climbing robot descends along the trunk 22 and resets. And taking down the tree climbing robot from the tree trunk.

To sum up, the utility model relates to a tree climbing robot can carry the automatic tree that climbs of picking tool, and the operation is stable when climbing the tree, is difficult for the landing and falls, and the security is high, is suitable for the practicality.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a tree climbing robot, includes body (1), its characterized in that: the body (1) is provided with a first driving wheel (2) and a second driving wheel (3) which are rotatably arranged, the first driving wheel (2) and the second driving wheel (3) are arranged at intervals and in parallel, and the first driving wheel (2) and the second driving wheel (3) are opposite in rotating direction and same in rotating speed.

2. The tree-climbing robot of claim 1, wherein: the body (1) is sequentially provided with a first rotating shaft (4), a transition rotating shaft (5) and a second rotating shaft (6) which are rotatably arranged; the first rotating shaft (4) and the transition rotating shaft (5) are in meshing transmission through gears; the first rotating shaft (4) is in transmission connection with the second rotating shaft (6) through a chain wheel and a chain; the first driving wheel (2) is arranged on the first rotating shaft (4); the second driving wheel (3) is arranged on the second rotating shaft (6).

3. The tree-climbing robot of claim 2, wherein: install driving gear (7) on first pivot (4), install driven gear (8) on transition pivot (5), driving gear (7) and driven gear (8) meshing transmission.

4. The tree-climbing robot of claim 2, wherein: a first chain wheel (9) is installed on the transition rotating shaft (5), and a second chain wheel (10) is installed on the second rotating shaft (6); the first chain wheel (9) and the second chain wheel (10) are in transmission connection through a chain.

5. The tree-climbing robot of claim 2, wherein: the first rotating shaft (4) is in transmission connection with the power device through a transmission mechanism or the first rotating shaft (4) is directly connected with the power device.

6. The tree-climbing robot of claim 5, wherein: the power device is a motor (11), the end part of the body (1) is provided with a mounting seat (12) with a box-shaped structure, the mounting seat (12) is provided with a third rotating shaft (13) which is rotatably arranged, and the third rotating shaft (13) is provided with a third chain wheel (14); the motor (11) is fixedly arranged on the mounting seat (12), and an output shaft of the motor (11) is directly connected with the third rotating shaft (13); a fourth chain wheel (15) is installed on the first rotating shaft (4), and the third chain wheel (14) is in transmission connection with the fourth chain wheel (15) through a chain.

7. The tree-climbing robot of claim 1, wherein: the first driving wheel (2) and the second driving wheel (3) are both concave rubber wheels, and the shape of the inner groove is V-shaped, arc-shaped or I-shaped.

8. The tree-climbing robot of any one of claims 1 to 7, wherein: one end of the body (1) is hinged with a supporting seat (18), and the other end of the body is hinged with an air spring (16); the other end of the supporting seat (18) is provided with an auxiliary wheel (17) which is arranged in a rotating way; the other end of the gas spring (16) is hinged at the middle part of the supporting seat (18).

9. The tree-climbing robot of claim 8, wherein: the auxiliary wheel (17) is a concave rubber wheel, and the shape of the inner groove is V-shaped, arc-shaped or I-shaped.

10. The tree-climbing robot of claim 8, wherein: the body (1) is provided with a cutter (19).