The invention provides a portable intelligent obstacle-avoiding climbing robot which comprises a main rack, and four omnidirectional wheels with motors are carried on a chassis of the main rack and used for driving the robot to freely move in all directions; two pairs of micro steering engines are respectively mounted on the front and rear sides of the main frame and are respectively and powerfully connected with the front and rear pairs of holding arms; the miniature steering engine can automatically control the tightness of the embracing arms according to the pressure bearing condition of the embracing arms to adapt to the thickness of the trunk, and it is guaranteed that the robot can always embrace the trunk tightly in the climbing process; small rollers are respectively mounted at the tail ends of the front and rear embracing arms, so that the front and rear embracing arms can move in the same direction along with the main frame and automatically avoid branch forking through the telescopic movement of the front and rear embracing arms. The climbing device is light and handy in structure, convenient to carry, easy to operate and use, flexible in climbing and capable of crossing a plurality of branches and forking, dealing with complex tree conditions and rapidly reaching an accurate position for picking, effectively avoids the danger of climbing trees manually and does not damage the trees.
本发明提供了一种便携式智能避障攀爬机器人,包括主机架,所述主机架底盘搭载四个带电机的全向轮,用于驱动机器人全向自由移动;主机架两侧前后各安装两对微型舵机,并分别强力连接前、后两对抱臂;微型舵机可根据抱臂承压情况自动控制抱臂松紧度,自适应树干的粗细,保证在机器人攀爬过程中能始终抱紧树干;前后抱臂可伸缩,末端分别安装小滚轮,能够跟随主机架同向移动,通过前后抱臂伸缩移动自动避开树枝分叉。其结构轻巧、便于携带,而且操作简单易用、攀爬灵活,可以穿越多个树枝分叉,应对复杂树况,快速到达准确位置实施采摘,有效避免人工爬树的危险,也不会损伤树木。
Portable intelligent obstacle-avoiding climbing robot
便携式智能避障攀爬机器人
2024-01-05
Patent
Electronic Resource
Chinese
IPC: | B25J Manipulatoren , MANIPULATORS / A01D Ernten , HARVESTING / B60B VEHICLE WHEELS , Räder für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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