The invention discloses a parallel leg-imitating type quick tree climbing robot which comprises a trunk rack, a clamping mechanism, an operation manipulator, two arm holding modules and two mechanical legs, the operation manipulator is mounted at the top of the trunk rack, and the clamping mechanism is mounted on the trunk rack; the two embracing arm modules and the two mechanical legs are symmetrically installed on the two sides of the trunk rack respectively, each mechanical leg comprises a hip joint module, a thigh module, a shank module, an ankle module, a foot plate and a climber module, the thigh module comprises a first connecting rod, a second connecting rod, a second motor and a third motor, the second motor is connected with the first connecting rod, and the third motor is connected with the second connecting rod; the shank module comprises a third connecting rod and a fourth connecting rod, the third connecting rod is connected with the first connecting rod, the fourth connecting rod is connected with the second connecting rod, and the fourth connecting rod is connected with the third connecting rod, so that the thigh module and the shank module are connected in parallel; through cooperation of the clamping mechanism and the operation mechanical arm, the function that the tree climbing robot works on tree trunk branches is achieved.
本发明公开了一种并联仿腿式快速爬树机器人,其包括:躯干机架、夹紧机构、作业机械手、两个抱臂模块和两个机械腿,作业机械手安装在躯干机架的顶部,夹紧机构安装在躯干机架上;两个抱臂模块和两个机械腿分别对称安装在躯干机架两侧,机械腿包括髋关节模块、大腿模块、小腿模块、脚踝模块、脚板和脚扣模块,其中,大腿模块包括连接杆一、连接杆二、电机二和电机三,电机二与连接杆一连接,电机三与连接杆二连接;小腿模块包括连接杆三和连接杆四,连接杆三与连接杆一连接,连接杆四与连接杆二连接,连接杆四与连接杆三连接,构成了大腿模块和小腿模块的并联;通过夹紧机构和作业机械手配合,实现了爬树机器人在树干分支作业的功能。
Parallel leg-imitating type quick tree-climbing robot
一种并联仿腿式快速爬树机器人
25.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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