The invention discloses a wheel type obstacle-avoiding tree-climbing robot. The wheel type obstacle-avoiding tree-climbing robot comprises a clamping mechanism, a translation mechanism and a rotating mechanism, the three clamping mechanisms are arranged in parallel up and down and are the same in structure, each clamping mechanism is formed by connecting four different long plates through a steering engine, a telescopic rod is arranged on a telescopic long plate and used for being matched with rotation of the steering engine to enable a hook spring to hook the long plate with a hook groove, the telescopic rod shrinks to form surrounding type clamping, and a U-shaped long plate is provided with a motor driving wheel and a driving motor to achieve lifting; the translation mechanisms are used for translating left and right as well as front and back, are mounted on the obstacle avoidance long rod of the clamping mechanism and are used for translating to avoid obstacles when the clamping mechanism is unfolded; the rotating mechanism is installed on the translation mechanism and used for being matched with the translation mechanism to achieve rotating obstacle avoidance. Through the clamping mechanism, the translation mechanism, the rotating mechanism and the like, obstacle-avoiding climbing on a trunk with a certain crotch can be achieved, and the problem that an existing tree climbing robot is difficult to climb on the trunk with the crotch is solved.
本发明公开了一种轮式避障爬树机器人,包括有:夹持机构、平移机构、旋转机构;夹持机构,三个呈上下平行设置且结构相同,其由四块不同的长板通过舵机相连,伸缩长板上有伸缩杆,用于配合舵机的转动将挂钩弹簧勾住带有勾槽的长板,伸缩杆进行收缩,形成环抱式夹紧,U型长板设置有电机驱动轮,驱动电机实现升降;平移机构,共有两类平移机构,用于左右和前后平移,安装在夹持机构的避障长杆上,用于夹持机构展开时平移避障;旋转机构,安装在平移机构上,其用于配合平移机构实现旋转避障。本发明通过夹持机构、平移机构、旋转机构等,能够实现在具有一定树杈的树干上进行避障爬行,解决了现有爬树机器人难以在有树杈的树干上爬行的问题。
Wheel type obstacle-avoiding tree-climbing robot
一种轮式避障爬树机器人
2024-08-20
Patent
Electronic Resource
Chinese
Diameter-variable intelligent obstacle-avoiding tree-climbing robot
European Patent Office | 2025
|