A method for robot steering

A robot and turntable technology, which is applied in the field of climbing equipment, can solve the problems of poor adaptability of the tree surface and inflexible fixing methods around the trunk.

Active Publication Date: 2020-07-31
绍兴兰卡智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The use of mechanical equipment instead of manual climbing of trees can reduce the risk of climbers falling and improve work efficiency. The current tree-climbing robot can realize tree pruning, fruit picking, pest control, tree growth detection, etc.; existing Most of the tree-climbing robots have three parts as a whole, the driving part for driving the tree climbing, the fixing part for fixing with the tree body, and the functional part for the robot to operate the tree body. Among them, Chinese patent CN201410242830.5 A tree-climbing robot is disclosed. The fixing part adopts the method of embracing the tree body. This robot mainly moves up and down the trunk to pruning the tree body and grasps the tree body firmly. The body surface has poor adaptability. In the process of tree growth detection or environmental detection, it is necessary to quickly and flexibly climb the tree without destroying the tree. Irregularly growing trees, to complete environmental monitoring, in order for the robot to climb to different areas of the tree, the robot needs to be able to turn on the surface of the tree

Method used

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  • A method for robot steering
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specific Embodiment approach 1

[0100] A tree-climbing robot disclosed in this embodiment combines figure 1 and figure 2 As shown, it includes a casing 1, a transmission belt 2, a tree-climbing claw 3, a limit ring 4, a transmission belt driving member 5 and a pressure member 6. The casing 1 includes: a bottom surface in contact with the surface of the tree body, and a top surface opposite the bottom surface. , the two sides of the bottom surface are parallel to the axial direction of the tree body, a cavity for accommodating the internal structure is arranged between the two sides of the shell 1, and a transmission belt 2 is arranged in the cavity, and the transmission belt 2 follows the direction of the tree body. The axis is arranged in the direction of the axis, and the transmission belt 2 is driven to rotate by the transmission belt driving member 5 inside the cavity. A number of tree climbing claws 3 are arranged on both sides of the transmission belt 2, and a number of tree climbing claws 3 are arran...

specific Embodiment approach 2

[0109] This embodiment is based on the specific implementation manner 1, specifically, combined with image 3 As shown, the claw body 3-1 of the tree-climbing claw 3 is arc-shaped, and the center of the arc-shaped circle falls on the hinge shaft where the tree-climbing claw 3 is hinged with the transmission belt 2;

[0110] It is convenient for the tip of the claw body 3-1 to pierce the tree body for fixing.

specific Embodiment approach 3

[0112] This embodiment is based on the specific implementation manners one or two, specifically, combined with Figure 5 As shown, the transmission belt driving member 5 includes: a driving motor 5-1, a driving wheel 5-2, a frame body 5-3 and a driven wheel 5-4, the transmission belt 2 is sleeved outside the frame body 5-3, and the frame The body 5-3 provides support for the transmission belt 2, the two ends of the frame body 5-3 are respectively provided with a driving wheel 5-2 and a driven wheel 5-4, and the driving wheel 5-2 and the driven wheel 5-4 are connected with the synchronizing gears. 2-2 is engaged, and the driving wheel 5-2 is connected with the drive motor 5-1.

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Abstract

The invention belongs to the technical field of climbing equipment and in particular relates to a robot steering method. A fan of a pressure piece is switched from a medium-speed rotation into high-speed rotation; a first moon-shaped disc and a second moon-shaped enter grabbing sections; tree climbing claws in the grabbing sections are pushed to a virtual circle, where circular arc sections of theexternal sides of the two moon-shaped discs are arranged, by the two moon-shaped discs; two driving motors rotate in reverse directions; two transmission belts rotate in the reverse directions so that the tree climbing claws on the two sides move in the reverse directions; the tree climbing claws in the two grabbing sections slide along the external edge of the first moon-shaped disc or the second moon-shaped disc; a robot steers with the circle center of the virtual circle as a shaft so that pivot steering of the robot can be realized, and the robot steers on the surface of a tree body; andthe robot possesses better flexibility when facing the irregular surface of the tree body so that the robot climbs to different areas of the tree body to satisfy a growth detection or environment monitoring demand.

Description

technical field [0001] The invention belongs to the technical field of climbing equipment, and in particular relates to a robot steering method. Background technique [0002] The use of mechanical equipment instead of manual climbing of trees can reduce the risk of climbers falling and improve work efficiency. The current tree-climbing robot can realize tree pruning, fruit picking, pest control, tree growth detection, etc.; existing Most of the tree-climbing robots have three parts as a whole, the driving part for driving the tree climbing, the fixing part for fixing with the tree body, and the functional part for the robot to operate the tree body. Among them, Chinese patent CN201410242830.5 A tree-climbing robot is disclosed. The fixing part adopts the method of embracing the tree body. This robot mainly moves up and down the trunk to pruning the tree body and grasps the tree body firmly. The body surface has poor adaptability. In the process of tree growth detection or e...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 韩志勇
Owner 绍兴兰卡智能科技有限公司
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