The invention discloses a telescopic obstacle-avoiding tree-climbing robot. The telescopic obstacle-avoiding tree-climbing robot comprises a clamping mechanism, a moving mechanism and a telescopic 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 five arc-shaped blocks and two knuckles through a steering engine, and the knuckles and the arc-shaped blocks are controlled by the steering engines to extrude and clamp the tree trunk inwards; the moving mechanism is mounted on the arc-shaped block in the middle and used for moving and avoiding obstacles when the clamping mechanism is unfolded; the telescopic mechanism is installed on the platform, a roller is connected with the second arc-shaped block and the fourth arc-shaped block through a belt, a motor controls rotation of a gear, the belt is driven to contract the second arc-shaped block and the fourth arc-shaped block of the clamping mechanism into a third arc-shaped block, and crotches can be conveniently avoided during obstacle avoidance. By means of the clamping mechanism, the moving mechanism, the telescopic mechanism and the like, obstacle-avoiding crawling and self-adaptive clamping capacity can be achieved on a tree trunk with a certain crotch, and the problem that an existing tree-climbing robot is difficult to crawl on the tree trunk with the crotch is solved.
本发明公开了一种可伸缩的避障爬树机器人,包括有:夹持机构、移动机构、伸缩机构;夹持机构,三个呈上下平行设置且结构相同,其由五段弧形块和两块指关节通过舵机连接而成,通过舵机控制指关节和弧形块将树干向内部挤压夹紧;移动机构,安装在最中间的弧形块上,用于夹持机构展开时移动避障;伸缩机构,安装在平台上,皮带将滚筒和第二、四弧形块相连,通过电机控制齿轮的转动,带动皮带将夹持机构的第二、四弧形块收缩到第三弧形块内部,便于避障时避开树杈。本发明通过夹持机构、移动机构、伸缩机构等,能够实现在具有一定树杈的树干上进行避障爬行和自适应夹紧能力,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。
Telescopic obstacle-avoiding tree-climbing robot
一种可伸缩的避障爬树机器人
2025-02-14
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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