CN111730612A - A multifunctional tree-climbing robot platform - Google Patents

Abstract

The invention provides a multifunctional tree-climbing robot platform, which is characterized in that: comprises a frame, a telescopic frame, a transmission climbing wheel, a supporting frame, an auxiliary bracket, a positioning wheel, a positioning slide bar frame body and a connecting device; the rack is provided with a gear reduction motor; one end of the transmission climbing wheel is connected with a gear reduction motor, and a power wheel output gear is also arranged; the transmission climbing wheel is rotatably connected with the frame and is connected with a braking device; the telescopic frame is telescopically connected to one side of the frame; the support frame is connected with the telescopic frame; the auxiliary bracket is connected with the frame; the positioning wheel can be connected with the positioning slide bar frame body in a way of rotating around a vertical shaft; the output gear of the power wheel is meshed with a first gear linkage mechanism; the positioning slide bar frame body is provided with a gear linkage mechanism II; the positioning wheel is connected with a second gear linkage mechanism; the positioning slide rod frame body is connected with the frame in a sliding mode and is connected with a slide rod frame body pushing module. The platform can realize climbing and horizontal rotation, is stable in climbing, safe, reliable and simple and convenient to operate.

Description

A multifunctional tree-climbing robot platform

technical field

The invention relates to the technical field of robot picking, and more particularly, to a multifunctional tree-climbing robot platform.

Background technique

Coconuts and betel nut are tropical crops in Hainan Island, and their industries are developing continuously, but the most front-end picking is still mainly primitive manual picking. Coconut picking and garden plant protection are basically completed on the top of coconut trees, which belong to high-altitude operations. Not only is it difficult to be efficient, it is also very dangerous. Today, with the rapid development of intelligent industrialization and the deepening of the Chinese government's supportive policies for agriculture, the manufacturing industry has undergone subversive changes. Simple manual labor operations have gradually been replaced by robots, and tree-climbing robots have been used in coconut picking, landscaping, and plant protection. , to a large extent, it can reduce labor intensity and cost, and realize the automation and intelligence of picking and working machinery.

But at present, most of the robot picking cannot be adapted to work in a complex environment. The Chinese patent "A Manned Automatic Climbing Coconut Fruit Picking Device" (Announcement No.: CN207932987U) discloses a manned automatic climbing coconut fruit picking device, which does not fundamentally solve the difficulty and danger of manually picking coconuts , unable to adapt to too large or too small tree poles. The machine is braked by a motor, and there is no external braking device. The stability and safety are poor. The machine cannot turn the position and cannot work on the other end of the tree trunk.

The reasons for these shortcomings are: the machine sends people to the top of the tree, which requires extremely high safety and reliability; due to the frame design of the machine, the connecting rod needs to be removed when it is installed on the tree, which is complicated and troublesome to operate. Repeated installations that are not in place and the screw plugs are loose may create the risk of the machine and personnel falling from heights. The machine uses a fixed-length connecting rod. If the machine cannot be installed on the trunk when it encounters an oversized trunk, it will also make the passengers too close to the trunk. The process of ascending will cause the danger of bruising and the gravity offset will not be in place. ; If the time is too small, the machine will be tilted excessively, and the angle of personnel riding is too dangerous. The machine uses motor braking without additional braking device, which is less stable and safe. The machine is not equipped with a device for left and right rotation. When the direction of rotation is required on the tree, it cannot be completed. The machine needs to be lowered, re-rotated to the required angle, and then climbed to complete the rotation angle. The operation is time-consuming and troublesome.

SUMMARY OF THE INVENTION

In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present invention is to provide a multifunctional tree-climbing robot platform that can achieve climbing and horizontal rotation, stable climbing, safety and reliability, and simple and convenient operation.

In order to achieve the above purpose, the present invention is achieved through the following technical solutions: a multifunctional tree-climbing robot platform, characterized in that it includes a frame, a telescopic frame, a transmission climbing wheel, a support frame, an auxiliary support, a positioning wheel, a positioning slide The rod frame body and the connecting device for connecting with the working arm;

The frame is provided with a gear reduction motor; one end of the transmission climbing wheel is the active end, and is connected with the gear reduction motor to realize the rotation of the transmission climbing wheel around the horizontal axis, and the driving end of the transmission climbing wheel is also provided with a power wheel output gear; The other end of the drive climbing wheel is the driven end, which is rotatably connected with the frame and is connected with a braking device;

The telescopic frame is telescopically connected to one side of the frame, forming a semi-enclosed frame together with the frame; the support frame is connected to the telescopic frame, and the support frame is located on the side opposite to the position of the drive climbing wheel; the auxiliary frame is connected to the The frame is connected, and the auxiliary bracket is located above the drive climbing wheel;

The positioning wheel is located above the transmission climbing wheel and below the auxiliary bracket; the positioning wheel is rotatably connected with the positioning slide bar frame body; the output gear of the power wheel is engaged with a gear linkage mechanism 1; the The positioning slide rod frame body is provided with a second gear linkage mechanism; the first gear linkage mechanism and the second gear linkage mechanism are meshed in a separable manner; the positioning wheel is connected with the second gear linkage mechanism; the positioning slide rod frame body is slidably connected to the machine The positioning slide bar frame is connected with the frame, and a slide bar frame push module is connected between the positioning slide bar frame body and the frame, so as to realize the sliding of the positioning slide bar frame body, so that the positioning wheel protrudes toward the trunk and causes the gear linkage mechanism II and the gear linkage mechanism I Meshing, or the positioning wheel retracts away from the trunk and separates the second gear linkage mechanism from the first gear linkage mechanism;

When climbing, the positioning wheel is located on the outside of the plane formed by the driving climbing wheel and the auxiliary bracket. The driving climbing wheel, the supporting frame and the auxiliary bracket are pressed together on the tree trunk, and the driving climbing wheel rotates to realize the robot platform climbing; when rotating horizontally. , the positioning wheel protrudes toward the tree trunk to protrude out of the plane formed by the transmission climbing wheel and the auxiliary bracket, so as to separate the transmission climbing wheel from the tree trunk, the positioning wheel, the support bracket and the auxiliary bracket are pressed together on the tree trunk. The positioning wheel is driven to rotate by the output gear of the power wheel, the first gear linkage mechanism and the second gear linkage mechanism, so that the robot platform can rotate clockwise or counterclockwise around the tree trunk.

The robot platform of the invention can realize climbing and horizontal rotation. The robot platform is transported to the tree trunk for installation. Using the principle of gravity bias, the driving climbing wheel carries most of the weight, while the support frame and the auxiliary support contact the smooth surface of the tree trunk, which plays a role in stable climbing. When climbing, the robot platform is fixed on the tree pole through three devices: driving climbing wheel, support frame and auxiliary support. When climbing, the gear reduction motor is started by remote control to drive the driving climbing wheel to move, which can provide stable climbing power. When the working arm needs to rotate to a different working position, the robot platform stays still, and the sliding rod frame pushes the module so that the positioning wheel protrudes toward the tree trunk to protrude out of the plane formed by the transmission climbing wheel and the auxiliary bracket, so that the positioning wheel contacts the tree trunk , and the transmission climbing wheel does not contact the tree trunk; the positioning wheel, the support frame and the auxiliary bracket are jointly pressed on the tree trunk; at the same time, the gear linkage mechanism 1 meshes with the gear linkage mechanism 2, and the kinetic energy of the gear reduction motor is transmitted to the positioning wheel. The positioning wheel rotates around the vertical axis to make the robot platform move horizontally.

The robot platform of the invention adopts the principle of semi-encircling frame and triangular gravity offset, and concentrates most of the weight on the side where the transmission climbing wheel and the auxiliary bracket are located, so that the robot platform can be firmly attached to the tree trunk and is stable and reliable. The support frame is connected with the frame through a telescopic frame, and the size of the semi-enclosed frame can be adjusted, which can solve the problem of different sizes of tree trunks and improve the stability during horizontal rotation. The gear reduction motor not only provides power for climbing and descending, but also provides power for horizontal rotation, which is cleverly designed. The connecting device can install coconut picking arm, landscaping working arm and plant protection working arm. The connecting device can be designed as a connecting device that can realize angle adjustment, which can adjust the inclination angle of the working arm and fix it firmly on the robot platform. Work on trees manually to avoid the danger of people working at heights.

Preferably, it also includes an anti-falling structure; the anti-falling structure includes an anti-falling rod and a rod body angle adjustment assembly; one end of the anti-falling rod is connected to the side of the frame away from the telescopic frame through the rod body angle adjustment assembly, so as to realize the angle adjustment of the anti-falling rod .

The robot platform will encounter some potholes or bulges in the tree trunk during the movement process, at this time there will be unstable situation, which may cause the robot platform to fall off the tree; Open side; the shedding structure can adjust the angle of the anti-falling rod according to the size of the trunk, so that the anti-falling rod and the trunk have a certain safety distance; when the robot platform moves to the convex position or other conditions cause deviation and detachment, the anti-falling rod can be adjusted. The robot platform is blocked from being completely separated from the tree trunk, and the robot platform can be restored to a stable state by the action of gravity bias in the subsequent falling process, which further improves the safety of the robot platform operation.

Preferably, the rod body angle adjustment assembly includes a positioning ratchet, a ratchet switch, a ratchet rod and an elastic element arranged on the frame; the anti-dropping rod is connected with the positioning ratchet; the ratchet switch and the ratchet rod are slidably arranged on the anti-dropping rod ; The elastic element is connected between the ratchet rod and the anti-falling rod.

Preferably, the braking device includes a brake disc, a hydraulic brake assembly for braking the brake disc, a brake input gear arranged on the brake disc, and a brake meshing with the brake input gear. The driven end of the transmission climbing wheel is provided with a one-way bearing; the one-way bearing is connected with the brake disc; the hydraulic brake caliper is connected with the hydraulic brake to realize the clamping or closing of the hydraulic brake caliper. Open.

The working principle of the brake device is: the hydraulic brake assembly includes a gear box, a gear pump, a brake input oil pipe, a brake circuit oil pipe, a hydraulic input brake bracket and a hydraulic brake caliper; Pump, gear pump and hydraulic input via the brake input oil pipe to the hydraulic brake caliper that is fixed to the brake bracket, and finally the hydraulic brake caliper clamps the brake disc, through the brake input gear, brake output gear and one-way Bearings limit the rotation of the drive climbing wheels for braking.

Preferably, the frame is provided with two side positioning slide rails, and two sides of the positioning slide bar frame body are respectively slidably arranged in the two side positioning slide rails;

The first gear linkage mechanism includes at least one positioning spur gear, and the first bevel gear of the first bevel gear group; the second gear linkage mechanism includes the second bevel gear of the first bevel gear group, as well as the bevel gear shaft and the second bevel gear group; The two ends of the gear shaft are respectively connected with the bevel gear 2 of the bevel gear set 1 and the bevel gear 1 of the bevel gear set 2; the bevel gear 2 of the bevel gear set 2 is connected with the positioning wheel; the bevel gear 1 of the bevel gear set 1 is connected with the bevel gear The positions of the bevel gears of group 1 correspond to each other, and bevel gear 2 of bevel gear group 1 is located on the side of bevel gear 1 of bevel gear group 1 away from bevel gear group 2, so as to realize that the positioning slide bar frame body moves toward the tree trunk after the bevel gear. Bevel gear 1 of group 1 meshes with bevel gear 2.

The gear linkage mechanism 1 and gear linkage mechanism 2 can convert the rotation of the output gear of the power wheel around the horizontal axis into the rotation around the vertical axis required by the positioning wheel, and can realize the opening and closing meshing, so that the positioning wheel is only connected when the robot platform rotates horizontally. Power, disconnecting power when climbing, saves energy and improves safety.

Preferably, the positioning slide bar frame body is further provided with a driven positioning wheel that can rotate around a vertical axis; the positioning wheel and the driven positioning wheel are symmetrically arranged.

Preferably, the support frame includes a support frame body, a telescopic portion symmetrically connected to the support frame body, and a support slide; the telescopic portion and the support frame body can be telescopically adjusted and positioned by means of snapping; The support angle adjustment mechanism is connected with the support slide;

The telescopic frame and the frame can be telescopically adjusted and positioned by means of snapping.

Preferably, the auxiliary support includes an auxiliary support body hinged with the frame and an auxiliary sliding sheet symmetrically connected to the auxiliary support body; an auxiliary support pushing module is connected between the auxiliary support body and the frame; the auxiliary sliding piece passes the auxiliary angle The adjusting mechanism is connected with the auxiliary bracket body.

The support sliding piece and the auxiliary sliding piece are used to contact the tree trunk, and the supporting sliding piece and the auxiliary sliding piece respectively adopt a symmetrical structure and can adjust the angle, which can improve the stability and reliability of the contact with the tree trunk. The telescopic adjustment between the telescopic frame and the frame and between the telescopic part of the support frame and the support frame body, as well as the pushing stroke of the auxiliary support push module to the auxiliary support body, can be adjusted according to the size of the trunk. The auxiliary bracket push module can use a pneumatic push rod, and the sliding rod frame push module can use an electric push rod. Both the support angle adjustment mechanism and the auxiliary angle adjustment mechanism include a connecting ball cover and a connecting ball.

Preferably, the frame includes a base frame, a side frame body disposed on one side of the base frame, and a connecting frame connected between the base frame and the side frame body; the transmission climbing wheel, the auxiliary support and the positioning wheel are all located on the base frame. The outer side of the base frame is also provided with a control device and a power supply module; the gear reduction motor is arranged on the inner side of the base frame through the motor frame. The advantage of this design is that the gravity is more inclined to the side where the driving climbing wheel and the auxiliary bracket are located, and the robot platform can be closer to the tree trunk, which further improves the reliability of the robot platform's climbing and horizontal rotation.

Preferably, the drive climbing wheel has a concave arc surface; the concave arc surface is provided with a thorn body. The iron thorns on the surface of the climbing wheel are in contact with the tree trunk and will not slip, which can further improve the stability of climbing.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

1. The robot platform of the present invention can achieve climbing and horizontal rotation, and the climbing is stable, safe and reliable; the robot platform can rotate horizontally on the top of the trunk or the middle of the trunk, and it does not need to spend time to descend to the ground and then manually rotate the angle; the semi-encircling frame is adopted to enclose it. It is located outside the trunk, and the semi-encircling frame can be easily adjusted in size to adapt to trunks of different sizes; the operation is simple and convenient, and the safety performance is high;

2. In the robot platform of the present invention, the anti-dropping rod can prevent the robot platform from completely detaching from the trunk, and improve the safety of the robot platform operation;

3. The robot platform of the present invention, the braking device can provide additional protection in the event of falling and failure;

4. The connecting device of the robot platform of the present invention is connected with the working arm, and the operator does not need to climb the tree, thus ensuring the safety of the personnel.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is the front side perspective structure schematic diagram of the present invention;

Fig. 3 is the enlarged view of A part in Fig. 2;

Fig. 4 is an enlarged view of part B in Fig. 2;

5 is a schematic diagram of a rear side perspective structure of the present invention;

Fig. 6 is the enlarged view of C part in Fig. 5;

Fig. 7 is the enlarged view of D part in Fig. 5;

8 is a schematic structural diagram of the driving end of the drive climbing wheel of the present invention;

9 is a schematic structural diagram of the driven end of the drive climbing wheel of the present invention;

10 is a schematic diagram of the use state of the present invention during the climbing action;

Among them, 1-frame, 2-extension frame, 3-gear reduction motor, 4-transmission climbing wheel, 5-slider frame push module, 6-double-acting buckle, 7-support frame, 8-connection device, 9—Auxiliary bracket, 10—Power module, 11—Control device, 12—Power module holder, 14—Anti-fallout rod, 31—Motor frame, 41—Transmission axle, 42—Bearing, 43—Power wheel input gear, 44 - Power wheel output gear, 45 - pulley, 46 - thorn body, 47 - brake disc, 48 - brake output gear, 49 - one-way bearing, 50 - positioning wheel shaft, 51 - positioning spur gear, 52 - positioning gear Shaft, 53—bevel gear group one, 54—positioning slide rail, 55—positioning slide rod frame, 56—push rod frame, 57—bevel gear shaft, 58—bevel gear group two, 59—positioning wheel, 71—telescopic Part, 72—connecting ball, 73—connecting ball cover, 74—supporting slide, 75—buckle, 76—buckle frame, 91—auxiliary slide, 92—auxiliary support push module, 130—gear pump, 131— Gearbox, 132—brake input gear, 133—brake bracket, 134 hydraulic brake caliper, 135—brake input oil pipe, 136—brake circuit oil pipe, 140—positioning ratchet, 141—ratchet switch, 142— Ratchet rod, 143 - elastic element.

Detailed ways

The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example

As shown in Figures 1 to 10, a multifunctional tree climbing robot platform includes a frame 1, a telescopic frame 2, a transmission climbing wheel 4, a support frame 7, an auxiliary support 9, a positioning wheel 59, and a positioning slide bar frame 55 and connecting means 8 for connecting with the working arm.

The rack 1 is provided with a gear reduction motor 3; one end of the transmission climbing wheel 4 is the active end, and is connected with the gear reduction motor 3 to realize the rotation of the transmission climbing wheel 4 around the horizontal axis, and the driving end of the transmission climbing wheel 4 is also provided with power The wheel output gear 44; the other end of the transmission climbing wheel 4 is the driven end, which is rotatably connected with the frame 1, and is connected with a braking device;

The telescopic frame 2 is telescopically connected to one side of the frame 1, forming a semi-enclosed frame together with the frame 1; the support frame 7 is connected to the telescopic frame 2, and the support frame 7 is located on the opposite side of the transmission climbing wheel 4; The auxiliary bracket 9 is connected with the frame 1, and the auxiliary bracket 9 is located above the transmission climbing wheel 4;

The positioning wheel 59 is located above the transmission climbing wheel 4 and below the auxiliary support 9; the positioning wheel 59 is rotatably connected to the positioning slide bar frame 55 around the vertical axis; the power wheel output gear 44 is meshed with a gear linkage mechanism 1; The positioning slide bar frame body 55 is provided with a second gear linkage mechanism; the gear linkage mechanism one and the gear linkage mechanism two are detachably meshed; the positioning wheel 59 is connected with the gear linkage mechanism two; the positioning slide bar frame body 55 is slidably connected with The frame 1 is connected, and the sliding rod frame pushing module 5 is connected between the positioning sliding rod frame body 55 and the frame 1, so as to realize the sliding of the positioning sliding rod frame body 55, so that the positioning wheel 59 extends toward the trunk and causes the gears to be linked. The second mechanism meshes with the first gear linkage mechanism, or the positioning wheel 59 retracts away from the trunk and separates the second gear linkage mechanism from the first gear linkage mechanism.

During the climbing work, the positioning wheel 59 is located outside the plane formed by the transmission climbing wheel 4 and the auxiliary sliding vane 91, and the transmission climbing wheel 4, the support frame 7 and the auxiliary support 9 are jointly set on the trunk, and are rotated by the transmission climbing wheel 4. Realize the robot platform to climb; when rotating horizontally, the positioning wheel 59 stretches out toward the trunk to protrude out of the plane formed by the transmission climbing wheel 4 and the auxiliary slide 91, so that the transmission climbing wheel 4 is separated from the tree trunk, the positioning wheel 59, the support frame 7 Together with the auxiliary bracket 9, it is pressed on the tree trunk, and the gear reduction motor 3 drives the positioning wheel 59 to rotate through the power wheel output gear 44, the first gear linkage mechanism and the second gear linkage mechanism, so as to realize the clockwise or counterclockwise rotation of the robot platform around the trunk. turn.

Specifically, the rack 1 is provided with positioning slide rails 54 on both sides, and the two sides of the positioning slide bar frame body 55 are respectively slidably arranged in the positioning slide rails 54 on both sides;

The first gear linkage mechanism includes at least one positioning spur gear 51, and the first bevel gear of the first bevel gear group 53; the second gear linkage mechanism includes the second bevel gear of the first bevel gear group 53, and the bevel gear shaft 57 and the second bevel gear group 58; Both ends of the bevel gear shaft 57 are respectively connected with the bevel gear 2 of the bevel gear set 1 53 and the bevel gear 1 of the bevel gear set 2 58; the bevel gear 2 of the bevel gear set 2 58 is connected with the positioning wheel 59; the bevel gear set 1 53 The first bevel gear corresponds to the second position of the bevel gear set 53, and the bevel gear 2 of the bevel gear set 1 53 is located on the side of the bevel gear 1 of the bevel gear set 1 53 away from the bevel gear set 2 58, so as to realize After the positioning slide bar frame 55 moves toward the tree trunk, the first bevel gear of the bevel gear group 53 meshes with the second bevel gear.

The gear linkage mechanism 1 and gear linkage mechanism 2 can convert the rotation of the power wheel output gear 44 around the horizontal axis into the rotation around the vertical axis required by the positioning wheel 59, and can realize the opening and closing meshing, so that the positioning wheel 59 rotates horizontally on the robot platform The power is connected only when the power is connected, and the power is disconnected when climbing, which can save energy consumption and improve safety performance. The positioning slide bar frame body 55 is also provided with a driven positioning wheel that can rotate around the vertical axis; the positioning wheel 59 is symmetrically arranged with the driven positioning wheel.

The support frame 7 includes a support frame body, a telescopic part 71 symmetrically connected to the support frame body, and a support slide 74; the telescopic part 71 and the support frame body can be telescopically adjusted and positioned by means of snapping; the telescopic part 71 is supported by the angle The adjusting mechanism is connected with the supporting sliding sheet 74; the telescopic frame 2 and the frame 1 can be telescopically adjusted and positioned by means of snapping.

The auxiliary support 9 includes an auxiliary support body hinged with the frame 1 and an auxiliary sliding piece 91 symmetrically connected to the auxiliary support body; an auxiliary support pushing module 92 is connected between the auxiliary support body and the frame 1; the auxiliary sliding piece 91 passes through the auxiliary support The angle adjustment mechanism is connected with the auxiliary bracket body.

The supporting sliding piece 74 and the auxiliary sliding piece 91 are used to contact the tree trunk, and the supporting sliding piece 74 and the auxiliary sliding piece 91 respectively adopt a symmetrical structure and can adjust the angle, which can improve the stability and reliability of the contact with the tree trunk. The telescopic adjustment between the telescopic frame 2 and the frame 1 and between the telescopic part 71 of the support frame 7 and the support frame body can be adjusted according to the size of the trunk. The auxiliary bracket pushing module 92 can use a pneumatic push rod, and the sliding rod frame pushing module 5 can use an electric push rod. Both the support angle adjustment mechanism and the auxiliary angle adjustment mechanism include a connecting ball cover and a connecting ball.

The preferred solution is: the frame 1 includes a base frame, a side frame body disposed on one side of the base frame, and a connecting frame connected between the base frame and the side frame body; the transmission climbing wheel 4, the auxiliary support 9 and the positioning wheel 59 are all It is located on the side where the base frame is located; the outside of the base frame is also provided with a control device 11 and a power supply module 10 ; The advantage of this design is that the gravity is more inclined to the side where the drive climbing wheel 4 and the auxiliary bracket are located, the robot platform can be closer to the tree trunk, and the reliability of the robot platform's climbing and horizontal rotation can be further improved.

The transmission climbing wheel 4 has a concave arc surface; the concave arc surface is provided with a thorn body 46 . The iron thorns on the surface of the climbing wheel are in contact with the tree trunk and will not slip, which can further improve the stability of climbing.

The robot platform of the invention can realize climbing and horizontal rotation. The robot platform is transported to the tree trunk for installation. Using the principle of gravity bias, the driving climbing wheel 4 carries most of the weight, while the support frame 7 and the auxiliary support 9 contact the smooth surface of the tree trunk and play a role in stable climbing. When climbing, the robot platform is fixed on the tree pole through the transmission climbing wheel 4, the support frame 7 and the auxiliary support 9. When climbing, the gear reduction motor 3 is activated by remote control to drive the transmission climbing wheel 4 to move, which can provide stable climbing. power. When the working arm needs to be rotated to different working positions, the robot platform stays still, and the sliding rod frame pushes the module 5 to make the positioning wheel 59 protrude toward the tree trunk to protrude out of the plane formed by the transmission climbing wheel 4 and the auxiliary bracket 9, so that the positioning wheel 59 can be positioned. The wheel 59 is in contact with the tree trunk, while the transmission climbing wheel 4 is not in contact with the tree trunk; the positioning wheel 59, the support frame 7 and the auxiliary support 9 are pressed together on the tree trunk; at the same time, the gear linkage mechanism one meshes with the gear linkage mechanism two, and the gear decelerates. The kinetic energy of the motor 3 is transmitted to the positioning wheel 59, and the positioning wheel 59 rotates around the vertical axis to cause the robot platform to move horizontally.

The robot platform of the present invention adopts the principle of semi-encircling frame and triangular gravity offset, and concentrates most of the weight on the side where the drive climbing wheel 4 and the auxiliary bracket are located, so that the robot platform can be firmly attached to the tree trunk, which is stable and reliable. The support frame 7 is connected with the frame 1 through the telescopic frame 2, and the size of the semi-enclosed frame can be adjusted, which can solve the problem of different sizes of tree trunks and improve the stability during horizontal rotation. The gear reduction motor 3 not only provides power for climbing and descending, but also provides power for horizontal rotation, which is ingeniously designed. The connecting device 8 can install the coconut picking arm, the landscaping working arm and the plant protection working arm. The connecting device 8 can be designed as a connecting device 8 that can realize angle adjustment, which can adjust the inclination angle of the working arm and fix it firmly on the robot platform. It replaces manual work on trees and avoids the danger of people working at heights.

The braking device includes a brake disc 47, a hydraulic brake assembly for braking the brake disc 47, a brake input gear provided on the brake disc 47, and a brake output meshing with the brake input gear Gear 48; the driven end of the transmission climbing wheel 4 is provided with a one-way bearing 49; the one-way bearing 49 is connected with the brake disc 47; the hydraulic brake caliper is connected with the hydraulic brake to realize the clamping of the hydraulic brake caliper or open.

The working principle of the brake device is: the hydraulic brake assembly includes a gear box, a gear pump, a brake input oil pipe, a brake circuit oil pipe, a hydraulic input brake bracket and a hydraulic brake caliper; The pump, gear pump and the hydraulic brake caliper fixed by the brake input oil pipe will input the hydraulic pressure to the brake bracket, and finally the hydraulic brake caliper clamps the brake disc 47, and the hydraulic brake caliper clamps the brake disc 47 through the brake input gear, brake output gear 48 and The one-way bearing 49 restricts the rotation of the drive climbing wheel 4 to achieve braking. Use this brake for extra protection in the event of descents and failures.

The robot platform preferably also includes an anti-falling structure; the anti-falling structure includes an anti-falling rod 14 and a rod body angle adjustment assembly; one end of the anti-falling rod 14 is connected to the side of the frame 1 away from the telescopic frame 2 through the rod body angle adjustment assembly, so as to prevent Drop-off rod 14 angle adjustment.

The robot platform will encounter some potholes or bulges in the tree trunk during the movement process, at this time there will be unstable situation, which may cause the robot platform to fall off the tree; Open side; the shedding structure can adjust the angle of the anti-shedding rod 14 according to the size of the trunk, so that there is a certain safety distance between the anti-shedding rod 14 and the trunk; when the robot platform moves to the convex position or other conditions cause deviation and detachment, the anti-falling off The rod 14 can prevent the robot platform from being completely separated from the tree trunk, and in the subsequent falling process, the robot platform can be restored to a stable state by the action of gravity bias, which further improves the operation safety of the robot platform.

The rod body angle adjustment assembly includes a positioning ratchet, a ratchet switch, a ratchet rod and an elastic element arranged on the frame 1; the anti-dropping rod 14 is connected with the positioning ratchet; The element is connected between the ratchet rod and the anti-fallout rod 14 .

The invention is simple and efficient, has a high degree of automation, can complete steering, has an adjustable frame, has good adaptability, and has a simple design of a sliding plate, which can effectively meet the needs of up and down movement and left and right movement. The semi-enclosed frame frame structure combined with the anti-falling rod can realize quick installation and disassembly.

The above-mentioned embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, The simplification should be equivalent replacement manners, which are all included in the protection scope of the present invention.

Claims (10)

1. a multifunctional tree-climbing robot platform is characterized in that: comprising a frame, a telescopic frame, a transmission climbing wheel, a support frame, an auxiliary support, a positioning wheel, a positioning sliding rod frame body and a connecting device for connecting with a working arm ; The frame is provided with a gear reduction motor; one end of the transmission climbing wheel is the active end, and is connected with the gear reduction motor to realize the rotation of the transmission climbing wheel around the horizontal axis, and the driving end of the transmission climbing wheel is also provided with a power wheel output gear; The other end of the drive climbing wheel is the driven end, which is rotatably connected with the frame and is connected with a braking device; The telescopic frame is telescopically connected to one side of the frame, forming a semi-enclosed frame together with the frame; the support frame is connected to the telescopic frame, and the support frame is located on the side opposite to the position of the drive climbing wheel; the auxiliary frame is connected to the The frame is connected, and the auxiliary bracket is located above the drive climbing wheel; The positioning wheel is located above the transmission climbing wheel and below the auxiliary bracket; the positioning wheel is rotatably connected with the positioning slide bar frame body; the output gear of the power wheel is engaged with a gear linkage mechanism 1; the The positioning slide rod frame body is provided with a second gear linkage mechanism; the first gear linkage mechanism and the second gear linkage mechanism are meshed in a separable manner; the positioning wheel is connected with the second gear linkage mechanism; the positioning slide rod frame body is slidably connected to the machine The positioning slide bar frame is connected with the frame, and a slide bar frame push module is connected between the positioning slide bar frame body and the frame, so as to realize the sliding of the positioning slide bar frame body, so that the positioning wheel protrudes toward the trunk and causes the gear linkage mechanism II and the gear linkage mechanism I Meshing, or the positioning wheel retracts away from the trunk and separates the second gear linkage mechanism from the first gear linkage mechanism; When climbing, the positioning wheel is located on the outside of the plane formed by the driving climbing wheel and the auxiliary bracket. The driving climbing wheel, the supporting frame and the auxiliary bracket are pressed together on the tree trunk, and the driving climbing wheel rotates to realize the robot platform climbing; when rotating horizontally. , the positioning wheel protrudes toward the tree trunk to protrude out of the plane formed by the transmission climbing wheel and the auxiliary bracket, so as to separate the transmission climbing wheel from the tree trunk, the positioning wheel, the support bracket and the auxiliary bracket are pressed together on the tree trunk. The positioning wheel is driven to rotate by the output gear of the power wheel, the first gear linkage mechanism and the second gear linkage mechanism, so that the robot platform can rotate clockwise or counterclockwise around the tree trunk. 2. The multifunctional tree-climbing robot platform according to claim 1, characterized in that: it further comprises an anti-falling structure; the anti-falling structure comprises an anti-falling rod and a rod body angle adjustment assembly; The side of the frame away from the telescopic frame is connected to realize the angle adjustment of the anti-dropping rod. 3. The multifunctional tree-climbing robot platform according to claim 2, wherein the rod body angle adjustment assembly comprises a positioning ratchet, a ratchet switch, a ratchet rod and an elastic element arranged on the frame; The positioning ratchet is connected; the ratchet switch and the ratchet rod are slidably arranged on the anti-dropping rod; the elastic element is connected between the ratchet rod and the anti-dropping rod. 4. The multifunctional tree-climbing robot platform according to claim 1, wherein the braking device comprises a brake disc, a hydraulic brake assembly for braking the brake disc, a The brake input gear on the plate, and the brake output gear meshed with the brake input gear; the driven end of the drive climbing wheel is provided with a one-way bearing; the one-way bearing is connected with the brake disc; hydraulic brake clamp The brake is connected with the hydraulic brake to realize the clamping or opening of the hydraulic brake caliper. 5. The multifunctional tree-climbing robot platform according to claim 1, characterized in that: the frame is provided with two-side positioning slide rails, and both sides of the positioning slide bar frame body are respectively slidably arranged on both sides of the two-side positioning slide rails middle; The first gear linkage mechanism includes at least one positioning spur gear, and the first bevel gear of the first bevel gear group; the second gear linkage mechanism includes the second bevel gear of the first bevel gear group, as well as the bevel gear shaft and the second bevel gear group; The two ends of the gear shaft are respectively connected with the bevel gear 2 of the bevel gear set 1 and the bevel gear 1 of the bevel gear set 2; the bevel gear 2 of the bevel gear set 2 is connected with the positioning wheel; the bevel gear 1 of the bevel gear set 1 is connected with the bevel gear The positions of the bevel gears of group 1 correspond to each other, and bevel gear 2 of bevel gear group 1 is located on the side of bevel gear 1 of bevel gear group 1 away from bevel gear group 2, so as to realize that the positioning slide bar frame body moves toward the tree trunk after the bevel gear. Bevel gear 1 of group 1 meshes with bevel gear 2. 6 . The multifunctional tree-climbing robot platform according to claim 5 , wherein the positioning slider frame body is further provided with a driven positioning wheel that can rotate around a vertical axis; the positioning wheel is symmetrical with the driven positioning wheel. 7 . set up. 7 . The multifunctional tree climbing robot platform according to claim 1 , wherein the support frame comprises a support frame body, a telescopic portion symmetrically connected to the support frame body, and a support slide; the telescopic portion and the support The frame bodies can be telescopically adjusted and positioned by means of buckles; the telescopic part is connected with the support sliding sheet through the support angle adjustment mechanism; The telescopic frame and the frame can be telescopically adjusted and positioned by means of snapping. 8 . The multifunctional tree-climbing robot platform according to claim 1 , wherein the auxiliary support includes an auxiliary support body hinged with the frame and an auxiliary sliding sheet symmetrically connected to the auxiliary support body; the auxiliary support body is connected to the auxiliary support body. 9 . An auxiliary bracket pushing module is connected between the racks; the auxiliary sliding sheet is connected with the auxiliary bracket body through an auxiliary angle adjustment mechanism. 9 . The multifunctional tree-climbing robot platform according to claim 1 , wherein the frame comprises a base frame, a side frame body arranged on one side of the base frame, and a side frame connected between the base frame and the side frame body. 10 . The connecting frame; the transmission climbing wheel, the auxiliary bracket and the positioning wheel are all located on the side of the base frame; the outer side of the base frame is also provided with a control device and a power supply module; the gear reduction motor is arranged on the inner side of the base frame through the motor frame . 10 . The multifunctional tree climbing robot platform according to claim 1 , wherein the drive climbing wheel has a concave arc surface; the concave arc surface is provided with thorns. 11 .

Images