The invention discloses a variable-diameter intelligent obstacle-avoiding tree-climbing robot. The robot comprises a main trunk mechanism, an upper climbing mechanism and a lower steering mechanism which are in bilateral symmetry. The main trunk mechanism is arranged in the middle of the robot, driving steering engines are placed on the four limb parts respectively to control rotation of joints, the upper climbing mechanism is arranged on the upper half portion of the main trunk and is composed of two structures which are identical in structure and provided with driving motors at the tail ends, and tires are driven by the driving motors to achieve vertical climbing of the robot. The lower steering mechanism is arranged on the lower half portion of the main trunk and is also composed of two structures which are identical in structure and provided with driving motors at the tail ends, and lower tires are driven by the driving motors to achieve circumferential movement of the robot to the trees. The upper climbing mechanism and the lower steering mechanism are connected with the rotating joints of the four limbs of the main trunk through the arm structures respectively, so that the climbing mechanism and the steering mechanism clamp and unclamp a tree. Under the action of movement of the main trunk mechanism, the upper climbing mechanism and the lower rotating mechanism, the tree climbing robot is simple in structure, good in obstacle crossing ability and good in stability, and clamping force can be actively adjusted to adapt to continuous change of the diameter of a tree; the self-locking device can move axially and circumferentially along a trunk, has a self-locking function and can stop at any position.
本发明公开了一种可变径智能避障爬树机器人,包括左右对称的主躯干机构、上部爬升机构、下部转向机构。主躯干机构其设置在机器人中部,四肢部分分别放置有驱动舵机控制关节的转动,上部爬升机构其设置在主躯干的上半部分,其由两个结构完全相同末端带驱动电机的结构组成,通过驱动电机带动轮胎实现机器人的上下攀爬;下部转向机构其设置在主躯干的下半部分,其亦由两个结构完全相同末端带驱动电机的结构组成,通过驱动电机驱动下部轮胎实现机器人对树木的周向运动。上部爬升机构与下部转向机构分别通过手臂结构与主躯干四肢的转动关节连接,实现爬升机构以及转向机构对树木的夹紧与张开。在主躯干机构,上部爬升机构以及下部转动机构的运动作用下,本发明的爬树机器人结构简单,越障能力良好,具有良好的稳定性,能够主动调节夹紧力的大小去适应树木直径的连续变化;可以沿树干做轴向和周向运动,并且有自锁功能,能够在任意位置停止。
Diameter-variable intelligent obstacle-avoiding tree-climbing robot
一种可变径智能避障爬树机器人
2025-01-03
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |