CN106965176A - A kind of structure state of tilting-type combination drive large space two becomes cell type training and cut down trees robot - Google Patents
A kind of structure state of tilting-type combination drive large space two becomes cell type training and cut down trees robot Download PDFInfo
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- CN106965176A CN106965176A CN201710182399.3A CN201710182399A CN106965176A CN 106965176 A CN106965176 A CN 106965176A CN 201710182399 A CN201710182399 A CN 201710182399A CN 106965176 A CN106965176 A CN 106965176A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/08—Felling trees
- A01G23/091—Sawing apparatus specially adapted for felling trees
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B13/00—Band or strap sawing machines; Components or equipment therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Ecology (AREA)
- Biodiversity & Conservation Biology (AREA)
- Wood Science & Technology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Manipulator (AREA)
Abstract
A kind of structure state of tilting-type combination drive large space two becomes cell type training and cut down trees robot, including tilt adjustment hydraulic cylinder, high-power conventional motor, small-power servomotor, running gear, chassis, frame, actuating arm, transmission arm, working arm, hinge, hydraulic cylinder, Hooke's hinge and saw head device.The robot can flexible hybrid drive control, comprehensive regulation fuselage pose, and can realize the conversion of two kinds of structure states, with big working space, high accuracy, high dynamic stability, control simple the characteristics of.Trees training, lumbering and timber segmentation interception can be carried out, there is multi-functional be integrated.
Description
Technical field
The present invention relates to trees training tree felling machine field, particularly a kind of structure state of tilting-type combination drive large space two becomes born of the same parents
Formula training is cut down trees robot.
Background technology
Chinese patent 201610396453.X discloses a kind of robot logger people, by the movement of four driving wheels, realizes
The positioning of cutting, working flexibility is low, and working space is small, can only realize lumbering task；The disclosure of Chinese patent 201610419380.1
A kind of all-hydraulic automatic lumbering device for tree-dozer, this lumbering device is made up of all-hydraulic element, its Hydraulic Elements essence
Degree requires high, and hydraulic system manufacturing cost is high, and working life is not long, and easy oil leakage can only also realize lumbering task；Chinese patent
201210335835.3, which disclose one kind, cuts down trees and cuts a wooden all-in-one, and this, which cuts down trees, cuts wooden machine, is only used for cutting down trees and cuts wood, it is impossible to be used in tree
Wood training, trimming, and this tree-dozer can only be used cooperatively with engineering machinery, and working space is small, flexible smaller；Chinese patent
201310427637.4 disclose a kind of electric plant pruning machine, this plant pruning machine, are only used for plant training, it is impossible to be used in cut down
Wood, section wood.The existing design about the robot that cuts down trees, equal function is single, and working space is small, and stability is not enough, and precision is low, it is impossible to
According to the change of functional requirement or environment, flexibly change configuration and pose to adapt to different task and occasion, it is flexible low.
At present, there is not yet one kind being capable of flexible hybrid drive control, comprehensive regulation pose, and can realize two kinds of structure states
Conversion, it has big working space, high accuracy, low cost concurrently and conserves simple, high dynamic stability features, and can have trees whole
Branch, a kind of structure state of tilting-type combination drive large space two cut down trees and be segmented interception function change cell type are pruned the wound of robot of cutting down trees
New invention is designed.
The content of the invention
Become cell type training it is an object of the invention to provide a kind of structure state of tilting-type combination drive large space two to cut down trees robot,
It being capable of flexible hybrid drive control, comprehensive regulation pose, and can realize the conversion of two kinds of structure states, with big working space, height
The characteristics of precision, high dynamic stability, trees can be pruned, cut down trees and be segmented with interception.
The technical scheme is that：A kind of structure state of tilting-type combination drive large space two becomes cell type training and cut down trees machine
People, including tilt adjustment hydraulic cylinder, high-power conventional motor, small-power servomotor, running gear, chassis, frame, driving
Arm, transmission arm, working arm, hinge, hydraulic cylinder, Hooke's hinge and saw head device, concrete structure and annexation are：
The tilt adjustment hydraulic cylinder includes the first tilt adjustment hydraulic cylinder and the second tilt adjustment hydraulic cylinder, described first
Tilt adjustment hydraulic cylinder one end is connected by the 16th hinge with chassis, and the other end is connected by the 17th hinge with frame, institute
State second tilt adjustment hydraulic cylinder one end to be connected with chassis by the 18th hinge, the other end is connected by the 19th hinge and frame
Connect, by the interaction of two tilt adjustment hydraulic cylinders, i.e. the first tilt adjustment hydraulic cylinder stretches, the second tilt adjustment hydraulic pressure
Cylinder compresses, or on the contrary, reach complete machine heeling condition, realizes the comprehensive regulation in the three dimensions of trees training tree felling machine；
The high-power conventional motor is fixedly connected with frame, drives third connecting rod；
The small-power servomotor includes the first small-power servomotor and the second small-power servomotor, the first small work(
Rate servomotor is fixedly connected with frame, drives first connecting rod, the second small-power servomotor is fixedly connected with frame, driving the
Five connecting rods；
The running gear is connected by revolute pair with chassis；
Described chassis one end is connected by the 14th hinge with frame, and the other end is connected by the 15th hinge with frame；
The actuating arm includes the 5th connecting rod, third connecting rod and first connecting rod, and described 5th connecting rod one end passes through the 12nd
Hinge is connected with frame, and the other end is connected by the 11st hinge with six-bar linkage, and described third connecting rod one end passes through the 6th hinge
Chain is connected with frame, and the other end is connected by the 4th hinge with fourth link, described first connecting rod one end by the 5th hinge with
Frame is connected, and the other end is connected by third hinge with seven-link assembly；
The transmission arm includes six-bar linkage, fourth link, second connecting rod, the 8th connecting rod and seven-link assembly, the described 6th
Connecting rod one end is connected by the 11st hinge with the 5th connecting rod, and the other end is connected by the 9th hinge with the 8th connecting rod, and described
Double leval jib one end is connected by the 4th hinge with third connecting rod, and the other end is connected by first axle with working arm, and described second
Connecting rod one end is connected by third hinge with first connecting rod, and the other end is connected by second hinge with seven-link assembly, and the described 8th
Connecting rod one end is connected by the 7th hinge with frame, and middle part is connected by the 9th hinge with six-bar linkage, and the other end passes through the 8th
Hinge is connected with seven-link assembly, and described seven-link assembly one end is connected by second hinge with second connecting rod, and middle part passes through the 8th hinge
Chain is connected with the 8th connecting rod, and the other end is connected by the tenth hinge with working arm；
Described working arm one end is connected by first axle with fourth link, and middle part is connected by the tenth hinge and seven-link assembly
Connect, the other end is hinged by the 13rd hinge with Hooke, working arm is connected by the first ball vice mechanism with hydraulic cylinder；
The saw head device include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife；The knife saw
Mechanism includes knife saw, sliding block, guide rod, the 11st connecting rod, the 12nd connecting rod, crank, the first micro-machine, motor support base, screw mandrel
With the second micro-machine, the knife saw is fixedly connected with sliding block, and sliding block and guide rod are connected by cylindrical pair, the 11st connecting rod
One end is connected by revolute pair and sliding block, and the other end is connected by revolute pair and the 12nd connecting rod, and described crank one end is by turning
Dynamic secondary and the 12nd connecting rod connection, the other end is connected by revolute pair and the first micro-machine, the motor support base and first small
Type motor is fixedly connected, and motor support base is connected by screw pair and screw mandrel, and second micro-machine passes through revolute pair and screw mandrel
Connection, it is described under hold mechanism including screw rod, hold-down support, the 9th connecting rod, movable bearing support, nut and the tenth connecting rod, it is described solid
Determine bearing to be fixed on saw head device, hold-down support and movable bearing support are connected by screw rod, one end attaching nut of screw rod, described
9th connecting rod one end is connected by revolute pair and hold-down support, and the other end is connected by revolute pair and the tenth connecting rod, and the described tenth
Connecting rod one end is connected by revolute pair and the 9th connecting rod, and middle part is connected by revolute pair and movable bearing support；The roller end with
Original machine output shaft is connected, and prime mover is fixedly connected with saw head device, and prime mover is arranged inside saw head device, and saw head device has
Two rollers, it is symmetrical with sawing head device both sides along vertical center line；Mechanism is held on described and holds mechanism structure phase with
Together, the annexation all same between its parts and parts；The delimbing knife is arranged at saw head device top, with saw head dress
Put and be fixedly connected.
The hinge includes first axle, second hinge, third hinge, the 4th hinge, the 5th hinge, the 6th hinge, the
Seven hinges, the 8th hinge, the 9th hinge, the tenth hinge, the 11st hinge, the tenth two hinge, the 13rd hinge, the 14th hinge
Chain, the 15th hinge, the 16th hinge, the 17th hinge, the 18th hinge and the 19th hinge.
The knife saw mechanism saw head device bottom, held under being successively up mechanism, roller, on hold mechanism and
Delimbing knife.
The saw head device is hinged by revolute pair with Hooke, and saw head device is connected by the second ball vice mechanism and hydraulic cylinder
Connect.
The first small-power servo motor output shaft and the axle base of high-power conventional motor output shaft and second connect
The equal length of bar.
The equal length of the first connecting rod and third connecting rod.
The first small-power servo motor output shaft and the axle base of high-power conventional motor output shaft and second connect
The equal length of bar.
The length of the fourth link is more than the length of seven-link assembly with first axle and the axle base sum of the tenth hinge
Degree.
The first small-power servomotor, the second small-power servomotor and high-power conventional motor are installed in described
In frame.
When the actuating arm is five connecting rod, second hinge and the 4th hinge are in lap position, realize eight connecting rod lists certainly
By degree motion；During actuating arm total movement, realize that ten connecting rod two-freedoms are moved；Actuating arm is third connecting rod and first connecting rod
When, the 5th connecting rod two ends are connected with frame, realize that seven-link assembly two-freedom is moved, when this state is mechanism two-freedom structure state
Special state.
The present invention's has the prominent advantages that：
1. being driven by high-power conventional motor and small-power servomotor, mixing control driving, flexibility can be realized
Degree is high, during forestry operation, because arboreal growth complex shape is changeable, and robot is cut down trees in combination drive training can be in its complicated shape
Flexible flexibly operation under condition.
2. fuselage is by the interaction omnibearing tilt operation of two tilt adjustment hydraulic cylinders, fuselage different positions and pose is adjusted,
Be conducive to adapting to different work environment；And can between two structure states flexible transformation, robot is made up of ten connecting rods altogether, can
Flexibly become born of the same parents, flexibly change working space, when two-freedom structure state works, it is possible to achieve seven-link assembly two-freedom and ten connecting rods
Two-freedom works, and effectively increases its working space.
3. drive control motor can be arranged in frame, reduces the component caused by motor is on rod member and bear
Carry, dynamic stability is high；And mechanism is made up of full rod member, and manufacturing cost is low, long working life, facility maintenance maintenance is simple.
4. compound action can be realized, trees training, trimming can be carried out in the rugged forest of bad environments, physical features, is cut down trees
With timber segmentation interception operation.
Brief description of the drawings
Fig. 1 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
First structure schematic diagram.
Fig. 2 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
Second structural representation.
Fig. 3 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
First structure state diagram during eight connecting rod single-degree-of-freedoms.
Fig. 4 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
The second configuration state figure during eight connecting rod single-degree-of-freedoms.
Fig. 5 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
First structure state diagram during ten connecting rod two-freedoms.
Fig. 6 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
The second configuration state figure during ten connecting rod two-freedoms.
Fig. 7 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
First structure state diagram during seven-link assembly two-freedom.
Fig. 8 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
The second configuration state figure during seven-link assembly two-freedom.
Fig. 9 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
The configuration state figure of eminence trees training when complete machine tilts ten connecting rod two-freedoms.
Figure 10 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
Complete machine eminence trees training when tilting seven-link assembly two-freedom configuration state figure.
Figure 11 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
Saw head device first structure schematic diagram.
Figure 12 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
Saw head device the second structural representation.
Figure 13 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
Under hold the structural representation of mechanism.
Figure 14 becomes cell type training for a kind of structure state of tilting-type combination drive large space two of the present invention and cut down trees robot
Knife saw mechanism structural representation.
Marked in figure：1st, first axle；2nd, fourth link；3rd, second hinge；4th, seven-link assembly；5th, second connecting rod；6、
Third hinge；7th, first connecting rod；8th, the 4th hinge；9th, third connecting rod；10th, the 5th hinge；11st, the 6th hinge；12nd, the 8th connects
Bar；13rd, the 7th hinge；14th, the 8th hinge；15th, working arm；16th, the 9th hinge；17th, six-bar linkage；18th, the tenth hinge；19、
11st hinge；20th, the 5th connecting rod；21st, the tenth two hinge；22nd, frame；23rd, running gear；24th, the first ball vice mechanism；25、
Hydraulic cylinder；26th, the second ball vice mechanism；27th, head device is sawed；28th, Hooke's hinge；29th, the 13rd hinge；30th, knife saw mechanism；301st, it is sliding
Block；302nd, guide rod；303rd, the 11st connecting rod；304th, the 12nd connecting rod；305th, crank；306th, the first micro-machine；307th, motor
Bearing；308th, screw mandrel；309th, the second micro-machine；3010th, knife saw；31st, mechanism is held under；311st, screw rod；312nd, hold-down support；
313rd, the 9th connecting rod；314th, movable bearing support；315th, nut；316th, the tenth connecting rod；32nd, roller；33rd, mechanism is held on；34th, delimbing
Knife；35th, the first small-power servomotor；36th, high-power conventional motor；37th, the second small-power servomotor；38th, the 14th hinge
Chain；39th, the 15th hinge；40th, the 16th hinge；41st, the first tilt adjustment hydraulic cylinder；42nd, the 17th hinge；43rd, the ten eight
Hinge；44th, the second tilt adjustment hydraulic cylinder；45th, the 19th hinge；46th, chassis.
Embodiment
Technical scheme is further described with reference to the accompanying drawings and examples.
As shown in Figure 1, Figure 2, shown in Fig. 6, Figure 11, Figure 12, Figure 13 and Figure 14, a kind of tilting-type combination drive of the present invention
The structure state of large space two becomes cell type training and cut down trees robot, including tilt adjustment hydraulic cylinder, high-power conventional motor 36, small-power are watched
Take motor, running gear 23, chassis 46, frame 22, actuating arm, transmission arm, working arm 15, hinge, hydraulic cylinder 25, Hooke's hinge 28
With saw head device 27, concrete structure and annexation are：
The tilt adjustment hydraulic cylinder includes the first tilt adjustment hydraulic cylinder 41 and the second tilt adjustment hydraulic cylinder 44, described
The one end of first tilt adjustment hydraulic cylinder 41 is connected by the 16th hinge 40 with chassis 46, the other end by the 17th hinge 42 with
Frame 22 is connected, and described one end of second tilt adjustment hydraulic cylinder 44 is connected by the 18th hinge 43 with chassis 46, and the other end leads to
The 19th hinge 45 is crossed to be connected with frame 22；
The high-power conventional motor 36 is fixedly connected with frame 22, drives third connecting rod 9；
The small-power servomotor includes the first small-power servomotor 35 and the second small-power servomotor 37, first
Small-power servomotor 35 is fixedly connected with frame 22, drives first connecting rod 7, and the second small-power servomotor 37 and frame 22 are solid
Fixed connection, drives the 5th connecting rod 20；
The running gear 23 is connected by revolute pair with chassis 46；
Described one end of chassis 46 is connected by the 14th hinge 38 with frame 22, and the other end passes through the 15th hinge 39 and machine
Frame 22 is connected；
The actuating arm includes the 5th connecting rod 20, third connecting rod 9 and first connecting rod 7, and described one end of 5th connecting rod 20 passes through
Tenth two hinge 21 is connected with frame 22, and the other end is connected by the 11st hinge 19 with six-bar linkage 17, the third connecting rod 9
One end is connected by the 6th hinge 11 with frame 22, and the other end is connected by the 4th hinge 8 with fourth link 2, and described first connects
The one end of bar 7 is connected by the 5th hinge 10 with frame 22, and the other end is connected by third hinge 6 with seven-link assembly 4；
The transmission arm includes six-bar linkage 17, fourth link 2, second connecting rod 5, the 8th connecting rod 12 and seven-link assembly 4, institute
State the one end of six-bar linkage 17 to be connected with the 5th connecting rod 20 by the 11st hinge 19, the other end is connected by the 9th hinge 16 and the 8th
Bar 12 is connected, and described one end of fourth link 2 is connected by the 4th hinge 8 with third connecting rod 9, the other end by first axle 1 with
Working arm 15 is connected, and described one end of second connecting rod 5 is connected by third hinge 6 with first connecting rod 7, and the other end passes through second hinge
3 are connected with seven-link assembly 4, and described one end of 8th connecting rod 12 is connected by the 7th hinge 13 with frame 22, and middle part passes through the 9th hinge
Chain 16 is connected with six-bar linkage 17, and the other end is connected by the 8th hinge 14 with seven-link assembly 4, and described one end of seven-link assembly 4 leads to
Cross second hinge 3 to be connected with second connecting rod 5, middle part is connected by the 8th hinge 14 with the 8th connecting rod 12, and the other end passes through the tenth
Hinge 18 is connected with working arm 15；
Described one end of working arm 15 is connected by first axle 1 with fourth link 2, and middle part passes through the tenth hinge 18 and the 7th
Connecting rod 4 is connected, and the other end is connected by the 13rd hinge 29 with Hooke's hinge 28, and working arm 15 passes through the first ball vice mechanism 24 and liquid
Cylinder pressure 25 is connected；
The saw head device 27 include knife saw mechanism 30, under hold mechanism 31, roller 32, on hold mechanism 33 and delimbing knife
34；The knife saw mechanism 30 includes knife saw 3010, sliding block 301, guide rod 302, the 11st connecting rod 303, the 12nd connecting rod 304, song
Handle 305, the first micro-machine 306, motor support base 307, the micro-machine 309 of screw mandrel 308 and second, the knife saw 3010 and sliding block
301 are fixedly connected, and sliding block 301 and guide rod 302 are connected by cylindrical pair, described one end of 11st connecting rod 303 by revolute pair and
Sliding block 301 is connected, and the other end is connected by revolute pair and the 12nd connecting rod 304, and described one end of crank 305 passes through revolute pair and
12 connecting rods 304 are connected, and the other end is connected by revolute pair and the first micro-machine 306, and the motor support base 307 and first is small
Type motor 306 is fixedly connected, and motor support base 307 is connected by screw pair and screw mandrel 308, and second micro-machine 309 passes through
Revolute pair and screw mandrel 308 are connected；Mechanism 31 is held under described includes screw rod 311, hold-down support 312, the 9th connecting rod 313, activity
Bearing 315, the connecting rod 316 of nut 315 and the tenth, the hold-down support 312 are fixed on saw head device 27, the He of hold-down support 312
Movable bearing support 314 is connected by screw rod 311, one end attaching nut 315 of screw rod 311, and described one end of 9th connecting rod 313 is by turning
Dynamic secondary and hold-down support 312 is connected, and the other end is connected by revolute pair and the tenth connecting rod 316, and described one end of tenth connecting rod 316 leads to
Cross revolute pair and the 9th connecting rod 313 is connected, middle part is connected by revolute pair and movable bearing support 314；The end of roller 32 and original
Motivation output shaft is connected, and prime mover is fixedly connected with saw head device 27, and prime mover is arranged inside saw head device 27, saws head device
27 have two rollers 32, symmetrical with sawing the both sides of head device 27 along vertical center line；Mechanism 33 is held on described to hold with
The structure of mechanism 31 is identical, the annexation all same between its parts and parts；The delimbing knife 34 is arranged at saw head dress
27 tops are put, are fixedly connected with saw head device 27.
The hinge includes first axle 1, second hinge 3, third hinge 6, the 4th hinge 8, the 5th hinge the 10, the 6th hinge
Chain 11, the 7th hinge 13, the 8th hinge 14, the 9th hinge 16, the tenth hinge 18, the 11st hinge 19, the tenth two hinge 21,
13 hinges 29, the 14th hinge 38, the 15th hinge 39, the 16th hinge 40, the 17th hinge 42, the and of the 18th hinge 43
19th hinge 45.
The knife saw mechanism 30 holds mechanism 31, roller 32, upper folder in the bottom of saw head device 27 under being successively up
Embrace mechanism 33 and delimbing knife 34.
The saw head device 27 is connected by revolute pair with Hooke's hinge 28, saw head device 27 by the second ball vice mechanism 26 and
Hydraulic cylinder 25 is connected.
Operation principle and process：
As shown in Figure 3 and Figure 4, when mechanism is eight connecting rod single-degree-of-freedom, the hinge 8 of second hinge 3 and the 4th is in overlapping bit
When putting, first connecting rod 7, second connecting rod 5, third connecting rod 9 and frame 22 can regard lanar four rod mechanism, third connecting rod the 9, the 7th as
Connecting rod 4, the 8th connecting rod 12 and frame 22 can regard fisher's formula quadric chain as, because seven-link assembly 4 and fourth link 2 pass through
Two hinge 3 is connected, and fourth link 2 and working arm 15 are connected by first axle 1, and working arm 15 and seven-link assembly 4 pass through the tenth
Hinge 18 is connected, therefore seven-link assembly 4, fourth link 2 and working arm 15 can regard a bar as, and the 5th connecting rod 20 is around the 12nd
Hinge 21 is rotated, because the 5th connecting rod 20 and six-bar linkage 17 are connected by the 11st hinge 19, and then drives six-bar linkage 17
Rotate, the 8th connecting rod 12 and six-bar linkage 17 are connected by the 9th hinge 16, and then drive the 8th connecting rod 12 around the 7th hinge
13 are rotated, and the 8th connecting rod 12 and seven-link assembly 4 are connected by the 8th hinge 14, and then working arm 15 is made single dof mobility.
As shown in Figure 5 and Figure 6, when mechanism is ten connecting rod two-freedom, the 5th connecting rod 20 is rotated around the tenth two hinge 21,
Because the 5th connecting rod 20 and six-bar linkage 17 are connected by the 11st hinge 19, and then six-bar linkage 17 is driven to rotate, the 8th connects
Bar 12 and six-bar linkage 17 are connected by the 9th hinge 16, and then drive the 8th connecting rod 12 to be rotated around the 7th hinge 13, and the 3rd
Connecting rod 9 is rotated around the 6th hinge 11, because third connecting rod 9 and fourth link 2 are connected by the 4th hinge 8, and then drives the
Double leval jib 2 is rotated, and first connecting rod 7 is rotated around the 5th hinge 10, because first connecting rod 7 and second connecting rod 5 pass through third hinge 6
Connection, and then drive second connecting rod 5 to rotate, because second connecting rod 5 and seven-link assembly 4 are connected by second hinge 3, the 8th connecting rod
12 and seven-link assembly 4 connected by the 8th hinge 14, and then drive seven-link assembly 4 make two-freedom motion, due to fourth link 2
Connected with working arm 15 by first axle 1, seven-link assembly 4 and working arm 15 are connected by the tenth hinge 18, and then make work
Arm 15 makees two-freedom motion.
As shown in Figure 7 and Figure 8, when mechanism is seven-link assembly two-freedom, spy when this state is mechanism two-freedom structure state
State during different state, i.e. long distance work.The two ends of 5th connecting rod 20 are connected with frame 22, and now the 5th connecting rod the 20, the 6th connects
The connecting rod 12 of bar 17 and the 8th is in stationary state, and third connecting rod 9 is rotated around the 6th hinge 11, due to third connecting rod 9 and the 4th
Connecting rod 2 is connected by the 4th hinge 8, and then drives fourth link 2 to rotate, and first connecting rod 7 is rotated around the 5th hinge 10, due to
First connecting rod 7 and second connecting rod 5 are connected by third hinge 6, and then drive second connecting rod 5 to rotate, due to second connecting rod 5 and the
Seven-link assembly 4 is connected by second hinge 3, and the 8th connecting rod 12 and seven-link assembly 4 are connected by the 8th hinge 14, and then drives the 7th
Connecting rod 4 makees single dof mobility, because fourth link 2 and working arm 15 are connected by first axle 1, seven-link assembly 4 and work
Arm 15 is connected by the tenth hinge 18, and then working arm 15 is made two-freedom motion.
As shown in Figure 3, Figure 4, Figure 11 and Figure 12, by driving hydraulic cylinder 25, hydraulic cylinder 25 is extended, and then drives Hooke
Revolute pair between hinge 28 and saw head device 27 is rotated, and realizes the unitary rotation of saw head device 27.
As shown in Figure 9 and Figure 10, the second tilt adjustment hydraulic cylinder 44 is in extended configuration, the first tilt adjustment hydraulic cylinder 41
In compressive state, frame 22 and chassis 46 are connected by the 14th hinge 38 and the 15th hinge 39, are produced relative rotation, whole
Machine is in the work such as trees training, the trimming in heeling condition, completion three dimensions.
As shown in Fig. 2, Fig. 4, Fig. 6 and Fig. 8, when saw head device 27 is in vertical state, the trees training robot that cuts down trees exists
Lower position carries out operation, and whole trees can be achieved and cut down saw function.
As shown in Fig. 1, Fig. 3, Fig. 5, Fig. 7, Fig. 9 and Figure 10, saw head device 27 is in horizontality, trees training tree felling machine
Device people carries out operation in lower position, and timber segmentation interception function can be achieved；When being worked in higher position, the whole of trees can be achieved
Branch grooming function.
Claims (10)
- The robot 1. a kind of structure state of tilting-type combination drive large space two change cell type training is cut down trees, including tilt adjustment hydraulic cylinder, High-power conventional motor, small-power servomotor, running gear, chassis, frame, actuating arm, transmission arm, working arm, hinge, liquid Cylinder pressure, Hooke's hinge and saw head device, it is characterised in that concrete structure and annexation are：The tilt adjustment hydraulic cylinder includes the first tilt adjustment hydraulic cylinder and the second tilt adjustment hydraulic cylinder, and described first tilts Regulation hydraulic cylinder one end is connected by the 16th hinge with chassis, and the other end is connected by the 17th hinge with frame, and described the Two tilt adjustment hydraulic cylinder one end are connected by the 18th hinge with chassis, and the other end is connected by the 19th hinge with frame, By the interaction of two tilt adjustment hydraulic cylinders, i.e. the first tilt adjustment hydraulic cylinder stretches, the second tilt adjustment hydraulic cylinder Compression, or on the contrary, reach complete machine heeling condition, realize the comprehensive regulation in the three dimensions of trees training tree felling machine；The high-power conventional motor is fixedly connected with frame, drives third connecting rod；The small-power servomotor includes the first small-power servomotor and the second small-power servomotor, and the first small-power is watched Take motor to be fixedly connected with frame, drive first connecting rod, the second small-power servomotor is fixedly connected with frame, driving the 5th connects Bar；The running gear is connected by revolute pair with chassis；Described chassis one end is connected by the 14th hinge with frame, and the other end is connected by the 15th hinge with frame；The actuating arm includes the 5th connecting rod, third connecting rod and first connecting rod, and described 5th connecting rod one end passes through the tenth two hinge Be connected with frame, the other end is connected by the 11st hinge with six-bar linkage, described third connecting rod one end by the 6th hinge with Frame is connected, and the other end is connected by the 4th hinge with fourth link, and described first connecting rod one end passes through the 5th hinge and frame Connection, the other end is connected by third hinge with seven-link assembly；The transmission arm includes six-bar linkage, fourth link, second connecting rod, the 8th connecting rod and seven-link assembly, the six-bar linkage One end is connected by the 11st hinge with the 5th connecting rod, and the other end is connected by the 9th hinge with the 8th connecting rod, and the described 4th connects Bar one end is connected by the 4th hinge with third connecting rod, and the other end is connected by first axle with working arm, the second connecting rod One end is connected by third hinge with first connecting rod, and the other end is connected by second hinge with seven-link assembly, the 8th connecting rod One end is connected by the 7th hinge with frame, and middle part is connected by the 9th hinge with six-bar linkage, and the other end passes through the 8th hinge Be connected with seven-link assembly, described seven-link assembly one end is connected by second hinge with second connecting rod, middle part by the 8th hinge with 8th connecting rod is connected, and the other end is connected by the tenth hinge with working arm；Described working arm one end is connected by first axle with fourth link, and middle part is connected by the tenth hinge with seven-link assembly, The other end is hinged by the 13rd hinge with Hooke, and working arm is connected by the first ball vice mechanism with hydraulic cylinder；The saw head device include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife；The knife saw mechanism Including knife saw, sliding block, guide rod, the 11st connecting rod, the 12nd connecting rod, crank, the first micro-machine, motor support base, screw mandrel and Two micro-machines, the knife saw is fixedly connected with sliding block, and sliding block and guide rod are connected by cylindrical pair, described 11st connecting rod one end Connected by revolute pair and sliding block, the other end is connected by revolute pair and the 12nd connecting rod, and described crank one end passes through revolute pair With the connection of the 12nd connecting rod, the other end is connected by revolute pair and the first micro-machine, the motor support base and the first small electrical Machine is fixedly connected, and motor support base is connected by screw pair and screw mandrel, and second micro-machine is connected by revolute pair and screw mandrel； Mechanism is held under described includes screw rod, hold-down support, the 9th connecting rod, movable bearing support, nut and the tenth connecting rod, the hold-down support It is fixed on saw head device, hold-down support and movable bearing support are connected by screw rod, one end attaching nut of screw rod, the described 9th connects Bar one end is connected by revolute pair and hold-down support, and the other end is connected by revolute pair and the tenth connecting rod, the tenth connecting rod one End is connected by revolute pair and the 9th connecting rod, and middle part is connected by revolute pair and movable bearing support；The roller end and prime mover Output shaft is connected, and prime mover is fixedly connected with saw head device, and prime mover is arranged inside saw head device, and saw head device has two rollings Wheel, it is symmetrical with sawing head device both sides along vertical center line；Mechanism is held on described and holds that mechanism structure is identical with, it zero Annexation all same between part and parts；The delimbing knife is arranged at saw head device top, is fixed with saw head device Connection.
- The robot 2. a kind of structure state of tilting-type combination drive large space two change cell type training according to claim 1 is cut down trees, Characterized in that, the hinge include first axle, second hinge, third hinge, the 4th hinge, the 5th hinge, the 6th hinge, 7th hinge, the 8th hinge, the 9th hinge, the tenth hinge, the 11st hinge, the tenth two hinge, the 13rd hinge, the 14th hinge Chain, the 15th hinge, the 16th hinge, the 17th hinge, the 18th hinge and the 19th hinge.
- The robot 3. a kind of structure state of tilting-type combination drive large space two change cell type training according to claim 1 is cut down trees, Characterized in that, the knife saw mechanism saw head device bottom, held under being successively up mechanism, roller, on hold machine Structure and delimbing knife.
- The robot 4. a kind of structure state of tilting-type combination drive large space two change cell type training according to claim 1 is cut down trees, Characterized in that, the saw head device is hinged by revolute pair with Hooke, saw head device passes through the second ball vice mechanism and hydraulic pressure Cylinder is connected.
- The robot 5. a kind of structure state of tilting-type combination drive large space two change cell type training according to claim 1 is cut down trees, Characterized in that, the axle base and second of the first small-power servo motor output shaft and high-power conventional motor output shaft The equal length of connecting rod.
- The robot 6. a kind of structure state of tilting-type combination drive large space two change cell type training according to claim 1 is cut down trees, Characterized in that, the equal length of the first connecting rod and third connecting rod.
- The robot 7. a kind of structure state of tilting-type combination drive large space two change cell type training according to claim 1 is cut down trees, Characterized in that, the axle base and second of the first small-power servo motor output shaft and high-power conventional motor output shaft The equal length of connecting rod.
- The robot 8. a kind of structure state of tilting-type combination drive large space two change cell type training according to claim 1 is cut down trees, Characterized in that, the length of the fourth link is more than seven-link assembly with first axle and the axle base sum of the tenth hinge Length.
- The robot 9. a kind of structure state of tilting-type combination drive large space two change cell type training according to claim 1 is cut down trees, Characterized in that, the first small-power servomotor, the second small-power servomotor and high-power conventional motor are installed in In the frame.
- The robot 10. a kind of structure state of tilting-type combination drive large space two change cell type training according to claim 1 is cut down trees, Characterized in that, when the actuating arm is five connecting rod, second hinge and the 4th hinge are in lap position, realize eight connecting rod lists The free degree is moved；During actuating arm total movement, realize that ten connecting rod two-freedoms are moved；Actuating arm is third connecting rod and first connecting rod When, the 5th connecting rod two ends are connected with frame, realize that seven-link assembly two-freedom is moved, when this state is mechanism two-freedom structure state Special state.
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| CN201710182399.3A CN106965176A (en) | 2017-03-24 | 2017-03-24 | A kind of structure state of tilting-type combination drive large space two becomes cell type training and cut down trees robot |
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Application publication date: 20170721 |