The invention discloses a quick tree climbing obstacle avoidance robot platform, which comprises a power device, a machine body, a pre-tightening embracing device and a clamping mechanism, the pre-tightening embracing device comprises a primary motion unit and a secondary motion unit, the power device and the pre-tightening embracing device are respectively connected to two sides of the machine body, and the clamping mechanism is arranged at the upper part of the machine body. The tree-climbing robot platform is good in rigidity and high in load, the pre-tightening embracing device is higher in flexibility and adaptability due to the under-actuated technology of the pre-tightening embracing device, when the pre-tightening embracing device makes contact with a tree trunk, the tree-climbing robot can adapt to the tree trunks with different diameters by adjusting the position of the connecting rod, the embracing type structure can make the tree-climbing robot climb rapidly, and the tree-climbing robot is more convenient to use. When the robot encounters crotch obstacles, the robot body rotates through gear transmission to achieve the obstacle avoidance function, and the dual functions of rapid climbing and obstacle avoidance are achieved.
本发明公开了一种快速爬树可避障机器人平台,包括动力装置、机身、预紧环抱装置和夹紧机构,所述预紧环抱装置包括一级运动单元和二级运动单元,动力装置和预紧环抱装置分别连接于机身的两侧,夹紧机构设置在机身的上部。该爬树机器人平台刚性好、负载高,预紧环抱装置的欠驱动技术使预紧环抱装置灵活性和适应性更强,当预紧环抱装置接触到一个树干时,通过调整连杆的位置,可以自适应不同直径的树干,环抱式结构能够使爬树机器人快速爬升,当遇到树杈障碍物时,通过齿轮传动使机身转动实现避障功能,实现快速爬升与避障双重功能。
Robot platform capable of quickly climbing trees and avoiding obstacles
一种快速爬树可避障机器人平台
2024-09-03
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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