CN103231361A - Multifunctional operation mechanical arm of forest cutting and tending machine - Google Patents
Multifunctional operation mechanical arm of forest cutting and tending machine Download PDFInfo
- Publication number
- CN103231361A CN103231361A CN2013101128686A CN201310112868A CN103231361A CN 103231361 A CN103231361 A CN 103231361A CN 2013101128686 A CN2013101128686 A CN 2013101128686A CN 201310112868 A CN201310112868 A CN 201310112868A CN 103231361 A CN103231361 A CN 103231361A
- Authority
- CN
- China
- Prior art keywords
- arm
- work
- oil cylinder
- hinge
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses a multifunctional operation mechanical arm of a forest cutting and tending machine. A multi-point hinged base is adopted, and enables a mechanical arm rotation structure mounted on the base to rotate in the horizontal direction by using a hydraulic drive device. The multifunctional operation mechanical arm is characterized in that the base does the pitching motion by using the hydraulic drive device and a hinge point mounted on a frame; a mechanical arm main body positioned above the rotating base is divided into a main arm and an expansion arm; the main arm is connected with the base by the hinge point; the main arm is driven to do the pitching motion via the hydraulic drive device and the rotation structure through taking a hinge revolute pair as a fulcrum; a double-connected plane four-bar linkage hinge mechanism is fixed on the main arm; and the hinge mechanism forms an amplitude variable plane drive mechanism through one side of a main rotating pair arranged in the plane four-bar linkage hinge mechanism and close to the rotation structure, so as to drive the tail end point of the plane four-bar linkage hinge mechanism to swing in a semi-crank type relative to the main rotating pair, drive another plane four-bar linkage mechanism connected with the hinge mechanism and having common edges with the hinge mechanism to swing in a semi-crank type through the hinge of the tail end point, and drive a hinge end point of the expansion arm to take the hinged point of the expansion arm and the main arm as a circle point to do a pitching swing. A hydraulic cylinder in the expansion arm is used for driving to enable a small built-in arm to expand along a sleeve-type slide rail, and finally, the effect that the tail end of the mechanical arm can expand, pitch and rotate according to the hydraulic drive aim is achieved.
Description
Technical field
The invention belongs to technical field of engineering machinery, be specifically related to a kind ofly fell the multi-function work machine arm foster operation in forestry, is a kind ofly to be applied in the associating forest and to fell and grow the device that carries out operation on a large scale on the loading vehicles of machine, multi-functional base material transporter.
Background technology
It is the important process device that working equipment is felled and grown in forestry that forest is felled and grown the machine work arm, at present, fell the field in forestry, the external automated job of having realized substantially the forest felling, therefore at this situation, this forest is felled and grown compound motion that the machine work arm mainly forms jointly by principal arm, auxiliary, telescopic arm and revolution pedestal institute by oil cylinder control separately and realizes that the automation that trees are felled is moved and control; Can realize by the extreme higher position to extreme lower position the action control of centre position in the certain limit of the left and right sides.It replaced in traditional forestry felling work cut down, the action of fortune, logging, be one reliably, forestry fast and efficiently fells and grows mechanized equipment.
Summary of the invention
The objective of the invention is in order to prolong the job area of forest machinery, big to reach job area, a kind of work jibs system of the target of operation flexible movements, equipment operation efficient energy-saving.
Multi-functional forest is felled and grown the machine work arm, it is characterized in that: in the hinged mode of multiple spot, be installed on the vehicle frame of delivery power car, form integral pitch, whole revolution, principal arm pitching, telescopic arm pitching, flexible totally five frees degree of telescopic arm on it, end in its work jibs is the articulated mounting with two frees degree, can select to connect the several work equipment.Described apparatus for work is one and includes the how hinged point type pedestal of taking back the rotation mechanism part, principal arm, telescopic arm and amplitude oil cylinder thereof, telescopic oil cylinder, and pedestal amplitude oil cylinder.Described apparatus for work is the basic mechanical arm that adopts following structure: the revolution pedestal that is provided with band hydraulic cylinder slew gear, whole arm amplitude oil cylinder is connected by the upper articulation point with the revolution pedestal, the pin joint of arranging on amplitude oil cylinder lower link point and the vehicle frame is connected, principal arm amplitude oil cylinder bottom is hinged with the revolution pedestal with hinge, the upper end is articulated in principal arm connecting rod middle part, and the principal arm connecting rod is installed on somewhere on the principal arm center line by an end is hinged.The principal arm linkage is arranged on the principal arm, adopts the hinged end pin joint that principal arm amplitude oil cylinder upper end pin joint and telescopic arm amplitude oil cylinder are installed on it respectively.Described mechanical arm base part is divided into top slewing equipment and pedestal bottom luffing device, and the pin joint place on top slewing equipment and the vehicle frame is respectively as the lower link point place of pedestal amplitude oil cylinder with big arm amplitude oil cylinder.The pin joint of described mechanical arm principal arm and telescopic arm has been connected to form local quadric chain with telescopic arm amplitude draw-bar, master connecting-rod, slave connecting rod, pull bar.Described mechanical arm end can be installed two-way articulated mounting, device for revolving and driving.The described various tool unit of selecting to carry refers to: multi-functional forest is felled and grown apparatus for work, logging gripping apparatus device, and mechanical arm and apparatus for work assembly are as the equipment of forest working equipment.
Description of drawings
Fig. 1 is general structure schematic diagram of the present invention;
Fig. 2 is pedestal pendulous device structural representation;
Fig. 3 stretches for the telescopic arm luffing and shrinks schematic diagram.
It below is the explanation of main Reference numeral in the Figure of description of the present invention.
The 1-carriage chassis; The whole swing of 2-amplitude oil cylinder; 3-pedestal slewing equipment; 4-principal arm amplitude oil cylinder; 5-attaching parts 1; 6-attaching parts 2; 7-attaching parts 3; The 8-connecting rod; The 9-principal arm; The 10-telescopic arm; 11-equipment connecting portion; Pin joint behind the 12-pedestal; 13-amplitude oil cylinder lower link point; 14-pedestal upper link point.
The specific embodiment
It is the five degree of freedom apparatus for work that a kind of novel forest is felled and grown the machine work arm, and structure mainly comprises: pedestal slewing equipment (3), master connecting-rod (5), slave connecting rod (6), pull bar connect (7), pull bar (8), principal arm (9), telescopic arm (10).
Described pedestal slewing equipment (3) comprises angling cylinder (can realize the deflection between column and the pedestal), base framework, column frame, two hinged interface, the lower hinge interface is that radial type is connected with carriage chassis (1) connected mode, be movably hinged the swing of mechanism's realization mechanical arm integral body by the triangle of supporting pin joint (12) behind hydraulic cylinder and the pedestal that is connected, pedestal upper link point (14), amplitude oil cylinder lower link point (13) to form, top and principal arm (9) are hinged, and control the elevating movement of principal arm by the hinged oil cylinder of pedestal;
Described principal arm part-structure and connecting rod (8), attaching parts (5), secondary attaching parts (6), attaching parts (7) constitute linkage, and by forming the bar linkage structure that is connected with rear end two pin joints of telescopic arm, form the controlled linkage that to control the telescopic arm luffing.
Described mechanical arm apparatus for work be telescopic arm (10) device foremost, comprise flexible inner arm, flexible outer arm, motion slide rail, limited block, by hydraulic cylinder linear movement control terminal stretch out withdrawal; Described telescopic arm is provided with the equipment connecting portion (11) of selecting to carry the various tool unit foremost.
Claims (8)
1. multi-functional forest is felled and grown the machine work arm, it is characterized in that:
In the hinged mode of multiple spot, be installed on the vehicle frame of delivery power car, form integral pitch, whole revolution, principal arm pitching, telescopic arm pitching, flexible totally five frees degree of telescopic arm on it, end in its work jibs is the articulated mounting with two frees degree, can select to connect the several work equipment.
2. multi-functional forest according to claim 1 is felled and grown the Work machine arm, it is characterized in that, described apparatus for work is one and includes the how hinged point type pedestal of taking back the rotation mechanism part, principal arm, telescopic arm and amplitude oil cylinder thereof, telescopic oil cylinder, and pedestal amplitude oil cylinder.
3. multi-functional forest according to claim 2 is felled and grown the Work machine arm, it is characterized in that, described apparatus for work is the basic mechanical arm that adopts following structure: the revolution pedestal that is provided with band hydraulic cylinder slew gear, whole arm amplitude oil cylinder is connected by the upper articulation point with the revolution pedestal, the pin joint of arranging on amplitude oil cylinder lower link point and the vehicle frame is connected, principal arm amplitude oil cylinder bottom is hinged with the revolution pedestal with hinge, the upper end is articulated in principal arm connecting rod middle part, and the principal arm connecting rod is installed on somewhere on the principal arm center line by an end is hinged.
4. multi-functional forest according to claim 1 is felled and grown the machine work arm, it is characterized in that, the principal arm linkage is arranged on the principal arm, adopts the hinged end pin joint that principal arm amplitude oil cylinder upper end pin joint and telescopic arm amplitude oil cylinder are installed on it respectively.
5. multi-functional forest according to claim 4 is felled and grown the machine work arm, it is characterized in that, described mechanical arm base part is divided into top slewing equipment and pedestal bottom luffing device, and the pin joint place on top slewing equipment and the vehicle frame is respectively as the lower link point place of pedestal amplitude oil cylinder with big arm amplitude oil cylinder.
6. multi-functional forest according to claim 5 is felled and grown the machine work arm, it is characterized in that, the pin joint of described mechanical arm principal arm and telescopic arm has been connected to form local quadric chain with telescopic arm amplitude draw-bar, master connecting-rod, slave connecting rod, pull bar.
7. fell and grow the machine work arm according to claim 1,2,3, one of 4 and 5 described multi-functional forests, it is characterized in that described mechanical arm end can be installed two-way articulated mounting, device for revolving and driving.
8. fell and grow the machine work arm according to claim 1,2,3, one of 4 and 5 described multi-functional forests, it is characterized in that, the described various tool unit of selecting to carry refers to: multi-functional forest is felled and grown apparatus for work, logging gripping apparatus device, and mechanical arm and apparatus for work assembly are as the equipment of forest working equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101128686A CN103231361A (en) | 2013-03-22 | 2013-03-22 | Multifunctional operation mechanical arm of forest cutting and tending machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101128686A CN103231361A (en) | 2013-03-22 | 2013-03-22 | Multifunctional operation mechanical arm of forest cutting and tending machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103231361A true CN103231361A (en) | 2013-08-07 |
Family
ID=48879467
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013101128686A Pending CN103231361A (en) | 2013-03-22 | 2013-03-22 | Multifunctional operation mechanical arm of forest cutting and tending machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103231361A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103548641A (en) * | 2013-10-28 | 2014-02-05 | 王云荣 | Harvester mechanical arm |
| CN103738424A (en) * | 2013-11-05 | 2014-04-23 | 北京林业大学 | Small obstacle-crossing working arm for multifunctional crawler-type forest cutting and cultivating machine |
| CN104170702A (en) * | 2014-08-08 | 2014-12-03 | 周泓宇 | Wood cutting, loading, conveying and unloading all-in-one machine |
| CN105909913A (en) * | 2016-04-18 | 2016-08-31 | 中北大学 | Permanent magnetism positioning emergency plugging device based on pressure vessel fillet weld leakage |
| CN106106032A (en) * | 2016-06-29 | 2016-11-16 | 无锡南理工科技发展有限公司 | The disposal facility of a kind of aging fruit tree and method |
| CN106480847A (en) * | 2015-08-31 | 2017-03-08 | 日立建机株式会社 | Watering adnexa, Work machine and sprinkler system |
| CN106523467A (en) * | 2016-12-30 | 2017-03-22 | 国家林业局哈尔滨林业机械研究所 | Operation arm based on forestry expandable work platform with rapid assembling function |
| CN108476912A (en) * | 2018-05-29 | 2018-09-04 | 昆明学院 | A kind of driving device for digging tree cutter turning motion |
| CN109019501A (en) * | 2018-08-24 | 2018-12-18 | 浙江海洋大学 | A kind of amplitude variation type hard tube filling apparatus applied under bad sea situation |
| CN109673298A (en) * | 2019-02-18 | 2019-04-26 | 江苏集萃道路工程技术与装备研究所有限公司 | It is a kind of to afforest automobile-used multiple degrees of freedom equipment |
| CN109848980A (en) * | 2019-01-18 | 2019-06-07 | 浙江大学 | A kind of all-hydraulic cylinder driving scalable mechanical arm pedestal of five degree of freedom |
| CN110065544A (en) * | 2019-05-21 | 2019-07-30 | 沃得重工(中国)有限公司 | Crawler type agricultural transportation vehicle |
| CN110521419A (en) * | 2019-09-26 | 2019-12-03 | 江苏宁靖盐高速公路有限公司 | A kind of trimmer for spherical vegetation |
| CN110786164A (en) * | 2019-09-26 | 2020-02-14 | 扬州大学 | Multifunctional trimming machine |
| CN114412861A (en) * | 2022-01-14 | 2022-04-29 | 大连华锐重工集团股份有限公司 | Pitching hydraulic system of arm support of continuous ship unloader and working method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2302920Y (en) * | 1997-05-19 | 1999-01-06 | 鞠天祥 | Multi-function hydraulic manipulator carried with it automobile |
| CN101362330A (en) * | 2008-09-27 | 2009-02-11 | 公安部上海消防研究所 | Anti-terrorist explosive-removal robot with multi-degree of freedom and large load manipulator |
| CN201282679Y (en) * | 2008-10-24 | 2009-08-05 | 北京林业大学 | Multifunctional tree felling machine |
| CN102900442A (en) * | 2012-09-27 | 2013-01-30 | 三一重工股份有限公司 | Boom system, wet spraying machine and engineering machine with boom system |
-
2013
- 2013-03-22 CN CN2013101128686A patent/CN103231361A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2302920Y (en) * | 1997-05-19 | 1999-01-06 | 鞠天祥 | Multi-function hydraulic manipulator carried with it automobile |
| CN101362330A (en) * | 2008-09-27 | 2009-02-11 | 公安部上海消防研究所 | Anti-terrorist explosive-removal robot with multi-degree of freedom and large load manipulator |
| CN201282679Y (en) * | 2008-10-24 | 2009-08-05 | 北京林业大学 | Multifunctional tree felling machine |
| CN102900442A (en) * | 2012-09-27 | 2013-01-30 | 三一重工股份有限公司 | Boom system, wet spraying machine and engineering machine with boom system |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103548641A (en) * | 2013-10-28 | 2014-02-05 | 王云荣 | Harvester mechanical arm |
| CN103738424A (en) * | 2013-11-05 | 2014-04-23 | 北京林业大学 | Small obstacle-crossing working arm for multifunctional crawler-type forest cutting and cultivating machine |
| CN104170702A (en) * | 2014-08-08 | 2014-12-03 | 周泓宇 | Wood cutting, loading, conveying and unloading all-in-one machine |
| CN104170702B (en) * | 2014-08-08 | 2016-01-13 | 周泓宇 | Lumbering dress wood fortune wood unloads wooden all-in-one |
| CN106480847B (en) * | 2015-08-31 | 2019-05-21 | 日立建机株式会社 | Watering attachment, Work machine and sprinkler system |
| CN106480847A (en) * | 2015-08-31 | 2017-03-08 | 日立建机株式会社 | Watering adnexa, Work machine and sprinkler system |
| CN105909913A (en) * | 2016-04-18 | 2016-08-31 | 中北大学 | Permanent magnetism positioning emergency plugging device based on pressure vessel fillet weld leakage |
| CN105909913B (en) * | 2016-04-18 | 2018-02-06 | 中北大学 | A kind of emergent plugging device of permanent magnetism positioning based on pressure vessel welding seam leakage at angle point |
| CN106106032A (en) * | 2016-06-29 | 2016-11-16 | 无锡南理工科技发展有限公司 | The disposal facility of a kind of aging fruit tree and method |
| CN106106032B (en) * | 2016-06-29 | 2019-03-12 | 河北泽硕农业科技开发有限公司 | A kind of disposal facility and method of aging fruit tree |
| CN106523467A (en) * | 2016-12-30 | 2017-03-22 | 国家林业局哈尔滨林业机械研究所 | Operation arm based on forestry expandable work platform with rapid assembling function |
| CN108476912A (en) * | 2018-05-29 | 2018-09-04 | 昆明学院 | A kind of driving device for digging tree cutter turning motion |
| CN109019501A (en) * | 2018-08-24 | 2018-12-18 | 浙江海洋大学 | A kind of amplitude variation type hard tube filling apparatus applied under bad sea situation |
| CN109848980A (en) * | 2019-01-18 | 2019-06-07 | 浙江大学 | A kind of all-hydraulic cylinder driving scalable mechanical arm pedestal of five degree of freedom |
| CN109848980B (en) * | 2019-01-18 | 2023-12-05 | 浙江大学 | Full hydraulic cylinder driving five-degree-of-freedom telescopic mechanical arm base |
| CN109673298A (en) * | 2019-02-18 | 2019-04-26 | 江苏集萃道路工程技术与装备研究所有限公司 | It is a kind of to afforest automobile-used multiple degrees of freedom equipment |
| CN110065544A (en) * | 2019-05-21 | 2019-07-30 | 沃得重工(中国)有限公司 | Crawler type agricultural transportation vehicle |
| CN110521419A (en) * | 2019-09-26 | 2019-12-03 | 江苏宁靖盐高速公路有限公司 | A kind of trimmer for spherical vegetation |
| CN110786164A (en) * | 2019-09-26 | 2020-02-14 | 扬州大学 | Multifunctional trimming machine |
| CN114412861A (en) * | 2022-01-14 | 2022-04-29 | 大连华锐重工集团股份有限公司 | Pitching hydraulic system of arm support of continuous ship unloader and working method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103231361A (en) | Multifunctional operation mechanical arm of forest cutting and tending machine | |
| CN104221606B (en) | A kind of self-propelled vibration woods fruit harvester and collecting method thereof | |
| CN100588603C (en) | Harvester crane | |
| CN206201009U (en) | A kind of automatic mechanical hand | |
| CN103846762A (en) | Automatic feeding and blanking mechanism for lens grinder | |
| CN101607296A (en) | Upper connecting rod forward-only connecting type forging manipulator | |
| CN202400646U (en) | Intermediate-thickness plate turnover machine | |
| CN201605109U (en) | Brick feeder | |
| CN105666474A (en) | Self-weight-balance intelligent control device | |
| CN114211474A (en) | Mechanical arm with telescopic structure and capable of automatically grabbing | |
| CN103950735B (en) | Hybrid drive formula bucket-wheel stacker reclaimer | |
| CN201133218Y (en) | Three hinge joint triangle connecting rack mast movement linkage | |
| CN103157741B (en) | Dual-drive straight-line lifting forging manipulator | |
| CN203582318U (en) | Tractor with hoisting device | |
| CN103848354B (en) | Three Degree Of Freedom servo-drive face-up transporting hoist of container crane | |
| CN210470530U (en) | Vehicle-mounted tree mover | |
| CN203667845U (en) | Planar two-DOF (degree of freedom) eleven-bar servo-driven container reach stacker | |
| CN201459781U (en) | Muck loader with excavating bucket | |
| CN110405793B (en) | Heavy-duty manipulator | |
| CN103848351B (en) | Three Degree Of Freedom servo-drive closed chain formula face-up transporting hoist of container crane | |
| CN203091650U (en) | Double-drive forging manipulator achieving straight-line lifting | |
| CN208262120U (en) | A kind of slipping mechanism of servo driven type | |
| CN214452015U (en) | Full-automatic ice cream vanning machinery snatchs hand | |
| CN201763260U (en) | Parallelogram luffing mechanism of rotary drilling rig | |
| CN201851133U (en) | Attached type quick mounting manipulator for tunnel arches |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130807 |