CN106973755A - A kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine - Google Patents
A kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine Download PDFInfo
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- CN106973755A CN106973755A CN201710182235.0A CN201710182235A CN106973755A CN 106973755 A CN106973755 A CN 106973755A CN 201710182235 A CN201710182235 A CN 201710182235A CN 106973755 A CN106973755 A CN 106973755A
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- 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
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- 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
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- Biodiversity & Conservation Biology (AREA)
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- Forests & Forestry (AREA)
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Abstract
A kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine, including training lumbering saw device, tilt adjustment hydraulic cylinder, crawler type running system, chassis, frame, drive link, kinematic link, execution connecting rod, bearing pin, hydraulic cylinder and Hooke's hinge.The present invention comprehensive can be adjusted, and realize different azimuth pose, and can realize two kinds of structure state conversion, with big working space, high accuracy, high dynamic stability, trees can be completed again and prune, cut down trees and be segmented interception function.
Description
Technical field
The present invention relates to trees training tree felling machine field, particularly a kind of structure state metamorphic mechanisms formula tree of tilting-type large space two
Wood training tree felling machine.
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 tree felling machine, 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 changes configuration and pose to adapt to different task and occasion, flexible low.
At present, there is not yet one kind can comprehensive regulation pose, and the conversion of two kinds of structure states can be realized, it has big work concurrently
Space, high accuracy, low cost and maintenance is simple, high dynamic stability features, and can have trees prune, cut down trees and be segmented interception
A kind of innovation design of the structure state metamorphic mechanisms formula trees of the tilting-type large space two training tree felling machine of function.
The content of the invention
It is an object of the invention to provide a kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine, its energy
Enough comprehensive regulation poses, and can realize two kinds of structure states conversion, with big working space, high accuracy, high dynamic stability spy
Point, but interception is pruned, cuts down trees and be segmented to energy trees.
The technical scheme is that：A kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine, bag
Include training lumbering saw device, tilt adjustment hydraulic cylinder, crawler type running system, chassis, frame, drive link, kinematic link, hold
Row connecting rod, bearing pin, hydraulic cylinder and Hooke's hinge, concrete structure and annexation are：
It is described training lumbering saw device include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife；Institute
Stating knife saw mechanism includes knife saw, sliding block, guide rod, the 11st connecting rod, the 12nd connecting rod, crank, the first micro-machine, motor branch
Seat, screw mandrel and the second micro-machine, knife saw and sliding block the solidity connection, sliding block and guide rod are connected by cylindrical pair, and described the
11 connecting rod one end are connected by revolute pair and sliding block, and the other end is connected by revolute pair and the 12nd connecting rod, the crank one
End is connected by revolute pair and the 12nd connecting rod, and the other end is connected by revolute pair and the first micro-machine, the motor support base
With the connection of the first micro-machine solidity, motor support base is connected by screw pair and screw mandrel, and second micro-machine is by rotating
The connection of secondary 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 company
Bar, the hold-down support is fixed on training lumbering saw device, and hold-down support and movable bearing support are connected by screw rod, and the one of screw rod
Attaching nut is held, 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
Bar is connected, and 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 is connected with original machine output shaft, and prime mover is fixedly connected with training lumbering saw device, and prime mover is arranged at whole
Branch is lumbered inside saw device, and training lumbering saw device has two rollers, is filled along vertical center line is symmetrical with training felling saw
Put both sides；Mechanism is held on described and holds that mechanism structure is identical with, the annexation between its parts and parts is homogeneous
Together；The delimbing knife is arranged at training lumbering saw device top, is fixedly connected with training lumbering saw device；The tilt adjustment liquid
Cylinder pressure includes the first tilt adjustment hydraulic cylinder and the second tilt adjustment hydraulic cylinder, and described first tilt adjustment hydraulic cylinder one end passes through
16th bearing pin is connected with chassis, and the other end is connected by the 17th bearing pin with frame, the second tilt adjustment hydraulic cylinder one
End is connected by the 18th bearing pin with chassis, and the other end is connected by the 19th bearing pin with frame, passes through two tilt adjustment liquid
The interaction of cylinder pressure, i.e. the first tilt adjustment hydraulic cylinder are stretched, the compression of the second tilt adjustment hydraulic cylinder, or on the contrary, are reached
Complete machine heeling condition, realizes the comprehensive regulation in the three dimensions of trees training tree felling machine；The crawler type running system leads to
Revolute pair is crossed to be connected with chassis；Described chassis one end is connected by the 14th bearing pin with frame, and the other end passes through the 15th bearing pin
It is connected with frame；The drive link includes the 5th connecting rod, third connecting rod and first connecting rod, and described 5th connecting rod one end passes through the
12 bearing pins are connected with frame, and the other end is connected by the 11st bearing pin with six-bar linkage, and described third connecting rod one end passes through
Six bearing pins are connected with frame, and the other end is connected by the 4th bearing pin with fourth link, and described first connecting rod one end passes through the 5th pin
Axle is connected with frame, and the other end is connected by the 3rd bearing pin with seven-link assembly；The kinematic link includes six-bar linkage, the 4th company
Bar, second connecting rod, the 8th connecting rod and seven-link assembly, described six-bar linkage one end are connected by the 11st bearing pin with the 5th connecting rod,
The other end is connected by the 9th bearing pin with the 8th connecting rod, and described fourth link one end is connected by the 4th bearing pin with third connecting rod,
The other end is connected by the first bearing pin with performing connecting rod, and described second connecting rod one end is connected by the 3rd bearing pin with first connecting rod,
The other end is connected by the second bearing pin with seven-link assembly, and described 8th connecting rod one end is connected by the 7th bearing pin with frame, middle part
It is connected by the 9th bearing pin with six-bar linkage, the other end is connected by the 8th bearing pin with seven-link assembly, described seven-link assembly one end
It is connected by the second bearing pin with second connecting rod, middle part is connected by the 8th bearing pin with the 8th connecting rod, the other end passes through the tenth bearing pin
It is connected with performing connecting rod；Described execution connecting rod one end is connected by the first bearing pin with fourth link, middle part by the tenth bearing pin and
Seven-link assembly is connected, and the other end is hinged by the 13rd bearing pin with Hooke, is performed connecting rod and is passed through the first ball vice mechanism and hydraulic pressure
Cylinder is connected；The bearing pin includes the first bearing pin, the second bearing pin, the 3rd bearing pin, the 4th bearing pin, the 5th bearing pin, the 6th bearing pin, the 7th
Bearing pin, the 8th bearing pin, the 9th bearing pin, the tenth bearing pin, the 11st bearing pin, the 12nd bearing pin, the 13rd bearing pin, the 14th bearing pin,
15th bearing pin, the 16th bearing pin, the 17th bearing pin, the 18th bearing pin and the 19th bearing pin.
The training lumbering saw device is hinged by revolute pair with Hooke, and training lumbering saw device passes through the second ball slave
Structure is connected with hydraulic cylinder.
The knife saw mechanism training lumbering saw device bottom, held under being successively up mechanism, roller, on hold
Mechanism and delimbing knife.
When the drive link is five connecting rod, the second bearing pin and the 4th bearing pin are in lap position, realize eight connecting rod lists
The free degree is moved；During drive link total movement, realize that ten connecting rod two-freedoms are moved；Drive link is third connecting rod and first
During connecting rod, the 5th connecting rod two ends are connected with frame, realize that seven-link assembly two-freedom is moved, and this state is mechanism two-freedom structure
Special state during state.
The present invention's has the prominent advantages that：
1. fuselage can integrally tilt, flexibly change fuselage pose, realize omnibearing tilt operation, be conducive to adapting to not
Same operating environment；And the flexible transformation of two kinds of structure states is combined, with larger flexibility.
2. trees training tree felling machine is made up of ten connecting rods altogether, it can flexibly become born of the same parents, flexibly change working space, two certainly
When being worked by degree structure state, it is possible to achieve seven-link assembly two-freedom and the work of ten connecting rod two-freedoms, its work is effectively increased
Space.
3. mechanism is made up of full rod member, manufacturing cost is low, long working life, and facility maintenance maintenance is simple, and motor
It can be arranged in frame, dynamic stability is good, operating efficiency is high.
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 institutional operation.
Brief description of the drawings
Fig. 1 is the first of a kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
Structural representation.
Fig. 2 is the second of a kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
Structural representation.
Fig. 3 is a kind of eight companies of the structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
First structure state diagram during bar single-degree-of-freedom.
Fig. 4 is a kind of eight companies of the structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
The second configuration state figure during bar single-degree-of-freedom.
Fig. 5 is a kind of ten companies of the structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
First structure state diagram during bar two-freedom.
Fig. 6 is a kind of ten companies of the structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
The second configuration state figure during bar two-freedom.
Fig. 7 is a kind of seven companies of the structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
First structure state diagram during bar two-freedom.
Fig. 8 is a kind of seven companies of the structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
The second configuration state figure during bar two-freedom.
Fig. 9 is a kind of complete machine of the structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
The configuration state figure that eminence trees are pruned when tilting ten connecting rod two-freedoms.
Figure 10 is whole for a kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
The configuration state figure of eminence trees training when machine tilts seven-link assembly two-freedom.
Figure 11 is whole for a kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
The first structure schematic diagram of branch lumbering saw device.
Figure 12 is whole for a kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
Second structural representation of branch lumbering saw device.
Figure 13 is under a kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
Hold the structural representation of mechanism.
Figure 14 is a kind of knife of the structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine of the present invention
The structural representation of saw.
Marked in figure：1st, the first bearing pin；2nd, fourth link；3rd, the second bearing pin；4th, seven-link assembly；5th, second connecting rod；6、
3rd bearing pin；7th, first connecting rod；8th, the 4th bearing pin；9th, third connecting rod；10th, the 5th bearing pin；11st, the 6th bearing pin；12nd, the 8th connects
Bar；13rd, the 7th bearing pin；14th, the 8th bearing pin；15th, connecting rod is performed；16th, the 9th bearing pin；17th, six-bar linkage；18th, the tenth bearing pin；
19th, the 11st bearing pin；20th, the 5th connecting rod；21st, the 12nd bearing pin；22nd, frame；23rd, crawler type running system；24th, the first ball pair
Mechanism；25th, hydraulic cylinder；26th, the second ball vice mechanism；27th, training lumbering saw device；28th, Hooke's hinge；29th, the 13rd bearing pin；30、
Knife saw mechanism；301st, sliding block；302nd, guide rod；303rd, the 11st connecting rod；304th, the 12nd connecting rod；305th, crank；306th, first is small
Type motor；307th, motor support base；308th, screw mandrel；309th, the second micro-machine；3010th, knife saw；31st, mechanism is held under；311st, spiral shell
Bar；312nd, hold-down support；313rd, the 9th connecting rod；314th, movable bearing support；315th, nut；316th, the tenth connecting rod；32nd, roller；33rd, on
Hold mechanism；34th, delimbing knife；35th, the 14th bearing pin；36th, the 15th bearing pin；37th, the 16th bearing pin；38th, the first tilt adjustment
Hydraulic cylinder；39th, the 17th bearing pin；40th, the 18th bearing pin；41st, the second tilt adjustment hydraulic cylinder；42nd, the 19th bearing pin；43rd, bottom
Disk.
Embodiment
Illustrated embodiment is further described to technical scheme below in conjunction with the accompanying drawings.
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 large space two of the present invention
Structure state metamorphic mechanisms formula trees training tree felling machine, including training lumbering saw device 27, tilt adjustment hydraulic cylinder, crawler-type traveling system
System 23, chassis 43, frame 22, drive link, kinematic link, execution connecting rod 15, bearing pin, hydraulic cylinder 25 and Hooke's hinge 28, specifically
Structure and annexation are：
It is described training lumbering saw device 27 include knife saw mechanism 30, under hold mechanism 31, roller 32, on hold the and of mechanism 33
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
304th, crank 305, the first micro-machine 306, motor support base 307, the micro-machine 309 of screw mandrel 308 and second, the knife saw 3010
With the connection of the solidity of sliding block 301, sliding block 301 and guide rod 302 are connected by cylindrical pair, and described one end of 11st connecting rod 303 is by turning
Dynamic secondary 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 is by rotating
Secondary and the 12nd connecting rod 304 is connected, and the other end is connected by revolute pair and the first micro-machine 306, the He of motor support base 307
The solidity of first micro-machine 306 is connected, and motor support base 307 is connected by screw pair and screw mandrel 308, second micro-machine
309 are connected by revolute pair and screw mandrel 308；Mechanism 31 is held under described includes screw rod 311, hold-down support 312, the 9th connecting rod
313rd, movable bearing support 315, the connecting rod 316 of nut 315 and the tenth, the hold-down support 312 are fixed on training lumbering saw device 27,
Hold-down support 312 and movable bearing support 314 are connected by screw rod 311, one end attaching nut 315 of screw rod 311, the 9th connecting rod
313 one end are connected by revolute pair and hold-down support 312, and the other end is connected by revolute pair and the tenth connecting rod 316, and the described tenth
The one end of connecting rod 316 is connected by revolute pair and the 9th connecting rod 313, and middle part is connected by revolute pair and movable bearing support 314；The rolling
Take turns 32 ends to be connected with original machine output shaft, prime mover is fixedly connected with training lumbering saw device 27, and prime mover is arranged at training
Lumber inside saw device 27, training lumbering saw device 27 there are two rollers 32, lumbered along vertical center line is symmetrical with training
The both sides of saw device 27；Identical, the company between its parts and parts that holds the structure of mechanism 31 with of mechanism 33 is held on described
Connect relation all same；The delimbing knife 34 is arranged at training lumbering saw device 28 top, fixes and connects with training lumbering saw device 27
Connect；The tilt adjustment hydraulic cylinder includes the first tilt adjustment hydraulic cylinder 38 and the second tilt adjustment hydraulic cylinder 41, described first
The one end of tilt adjustment hydraulic cylinder 38 is connected by the 16th bearing pin 37 with chassis 43, and the other end passes through the 17th bearing pin 39 and frame
22 connections, described one end of second tilt adjustment hydraulic cylinder 41 is connected by the 18th bearing pin 40 with chassis 43, and the other end passes through the
19 bearing pins 42 are connected with frame 22, pass through the interaction of two tilt adjustment hydraulic cylinders, i.e. the first tilt adjustment hydraulic cylinder
38 stretch, and the second tilt adjustment hydraulic cylinder 41 compresses, or on the contrary, reach complete machine heeling condition, realize that trees are pruned tree felling machine
Three dimensions in comprehensive regulation；The crawler type running system 23 is connected by revolute pair with chassis 43；The chassis
43 one end are connected by the 14th bearing pin 35 with frame 22, and the other end is connected by the 15th bearing pin 36 with frame 22；It is described to drive
Dynamic connecting rod 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 the 12nd bearing pin 21
It is connected with frame 22, the other end is connected by the 11st bearing pin 19 with six-bar linkage 17, described one end of third connecting rod 9 passes through the 6th
Bearing pin 11 is connected with frame 22, and the other end is connected by the 4th bearing pin 8 with fourth link 2, and described one end of first connecting rod 7 passes through
Five bearing pins 10 are connected with frame 22, and the other end is connected by the 3rd bearing pin 6 with seven-link assembly 4；The kinematic link includes the 6th
Connecting rod 17, fourth link 2, second connecting rod 5, the 8th connecting rod 12 and seven-link assembly 4, described one end of six-bar linkage 17 pass through the 11st
Bearing pin 19 is connected with the 5th connecting rod 20, and the other end is connected by the 9th bearing pin 16 with the 8th connecting rod 12, described one end of fourth link 2
It is connected by the 4th bearing pin 8 with third connecting rod 9, the other end is connected by the first bearing pin 1 with performing connecting rod 15, the second connecting rod
5 one end are connected by the 3rd bearing pin 6 with first connecting rod 7, and the other end is connected by the second bearing pin 3 with seven-link assembly 4, and the described 8th
The one end of connecting rod 12 is connected by the 7th bearing pin 13 with frame 22, and middle part is connected by the 9th bearing pin 16 with six-bar linkage 17, another
End is connected by the 8th bearing pin 14 with seven-link assembly 4, and described one end of seven-link assembly 4 is connected by the second bearing pin 3 and second connecting rod 5
Connect, middle part is connected by the 8th bearing pin 14 with the 8th connecting rod 12, the other end is connected by the tenth bearing pin 18 with performing connecting rod 15；Institute
State execution one end of connecting rod 15 to be connected with fourth link 2 by the first bearing pin 1, middle part is connected by the tenth bearing pin 18 with seven-link assembly 4
Connect, the other end is connected by the 13rd bearing pin 29 with Hooke's hinge 28, perform connecting rod 15 and pass through the first ball vice mechanism 24 and hydraulic cylinder
25 connections；The bearing pin includes the first bearing pin 1, the second bearing pin 3, the 3rd bearing pin 6, the 4th bearing pin 8, the 5th bearing pin the 10, the 6th pin
Axle 11, the 7th bearing pin 13, the 8th bearing pin 14, the 9th bearing pin 16, the tenth bearing pin 18, the 11st bearing pin 19, the 12nd bearing pin 21,
13 bearing pins 29, the 14th bearing pin 35, the 15th bearing pin 36, the 16th bearing pin 37, the 17th bearing pin 39, the and of the 18th bearing pin 40
19th bearing pin 42.
The knife saw mechanism 30 holds mechanism 31, roller in the bottom of training lumbering saw device 27 under being successively up
32nd, mechanism 33 and delimbing knife 34 are held on.
The training lumbering saw device 27 is connected by revolute pair with Hooke's hinge 28, and training lumbering saw device 27 passes through second
Ball vice mechanism 26 is connected with hydraulic cylinder 25.
Operation principle and process：
As shown in Figure 3 and Figure 4, when mechanism is eight connecting rod single-degree-of-freedom, the second bearing pin 3 and the 4th bearing pin 8 are 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 bearing pins 3 are connected, and fourth link 2 and execution connecting rod 15 are connected by the first bearing pin 1, perform connecting rod 15 and seven-link assembly 4 passes through
Tenth bearing pin 18 is connected, therefore seven-link assembly 4, fourth link 2 and is performed connecting rod 15 and can be regarded a bar as, the 5th connecting rod 20 around
12nd bearing pin 21 is rotated, because the 5th connecting rod 20 and six-bar linkage 17 are connected by the 11st bearing pin 19, and then drives the 6th
Connecting rod 17 is rotated, and the 8th connecting rod 12 and six-bar linkage 17 are connected by the 9th bearing pin 16, and then drives the 8th connecting rod 12 around the
Seven bearing pins 13 are rotated, and the 8th connecting rod 12 and seven-link assembly 4 are connected by the 8th bearing pin 14, and then execution connecting rod 15 is made single freedom
Degree motion.
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 12nd bearing pin 21,
Because the 5th connecting rod 20 and six-bar linkage 17 are connected by the 11st bearing pin 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 bearing pin 16, and then drive the 8th connecting rod 12 to be rotated around the 7th bearing pin 13, and the 3rd
Connecting rod 9 is rotated around the 6th bearing pin 11, because third connecting rod 9 and fourth link 2 are connected by the 4th bearing pin 8, and then drives the
Double leval jib 2 is rotated, and first connecting rod 7 is rotated around the 5th bearing pin 10, because first connecting rod 7 and second connecting rod 5 pass through the 3rd bearing pin 6
Connection, and then drive second connecting rod 5 to rotate, because second connecting rod 5 and seven-link assembly 4 are connected by the second bearing pin 3, the 8th connecting rod
12 and seven-link assembly 4 connected by the 8th bearing pin 14, and then drive seven-link assembly 4 make two-freedom motion, due to fourth link 2
Connected with connecting rod 15 is performed by the first bearing pin 1, seven-link assembly 4 and execution connecting rod 15 are connected by the tenth bearing pin 18, and then are made
Perform connecting rod 15 and make 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 bearing pin 11, due to third connecting rod 9 and the 4th
Connecting rod 2 is connected by the 4th bearing pin 8, and then drives fourth link 2 to rotate, and first connecting rod 7 is rotated around the 5th bearing pin 10, due to
First connecting rod 7 and second connecting rod 5 are connected by the 3rd bearing pin 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 the second bearing pin 3, and the 8th connecting rod 12 and seven-link assembly 4 are connected by the 8th bearing pin 14, and then drives the 7th
Connecting rod 4 makees single dof mobility, due to fourth link 2 and performs connecting rod 15 and is connected by the first bearing pin 1, seven-link assembly 4 and holds
Row connecting rod 15 is connected by the tenth bearing pin 18, and then execution connecting rod 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 training lumbering saw device 27 is rotated, and realizes the unitary rotation of training lumbering saw device 27.
As shown in Figure 9 and Figure 10, the second tilt adjustment hydraulic cylinder 41 is in extended configuration, the first tilt adjustment hydraulic cylinder 38
In compressive state, frame 22 and chassis 43 are connected by the 14th bearing pin 35 and the 15th bearing pin 36, 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 training lumbering saw device 27 is in vertical state, trees training tree felling machine
Operation is carried out in lower position, 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, training lumbering saw device 27 is in horizontality, trees training
Tree felling machine carries out operation in lower position, and timber segmentation interception function can be achieved；When being worked in higher position, trees can be achieved
Training grooming function.
Claims (4)
- The tree felling machine 1. a kind of structure state metamorphic mechanisms formula trees of tilting-type large space two are pruned, including training lumbering saw device, inclination Adjust hydraulic cylinder, crawler type running system, chassis, frame, drive link, kinematic link, perform connecting rod, bearing pin, hydraulic cylinder and Hooke's hinge, it is characterised in that concrete structure and annexation are：It is described training lumbering saw device include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife；The knife Saw includes knife saw, sliding block, guide rod, the 11st connecting rod, the 12nd connecting rod, crank, the first micro-machine, motor support base, silk Bar and the second micro-machine, knife saw and sliding block the solidity connection, sliding block and guide rod are connected by cylindrical pair, and the described 11st connects Bar 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 passes through Revolute pair and the connection of the 12nd connecting rod, the other end are connected by revolute pair and the first micro-machine, the motor support base and first Micro-machine solidity is connected, and motor support base is connected by screw pair and screw mandrel, and second micro-machine passes through revolute pair and silk Bar is connected；Mechanism is held under described includes screw rod, hold-down support, the 9th connecting rod, movable bearing support, nut and the tenth connecting rod, described Hold-down support is fixed on training lumbering saw device, and hold-down support and movable bearing support are connected by screw rod, one end connection of screw rod Nut, 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, 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 rolling Wheel end is connected with original machine output shaft, and prime mover is fixedly connected with training lumbering saw device, and prime mover is arranged at training lumbering Inside saw device, training lumbering saw device has two rollers, symmetrical with training lumbering saw device both sides along vertical center line； Mechanism is held on described and holds that mechanism structure is identical with, the annexation all same between its parts and parts；It is described Delimbing knife is arranged at training lumbering saw device top, is fixedly connected with training lumbering saw device；The tilt adjustment hydraulic cylinder bag The first tilt adjustment hydraulic cylinder and the second tilt adjustment hydraulic cylinder are included, described first tilt adjustment hydraulic cylinder one end passes through the 16th Bearing pin is connected with chassis, and the other end is connected by the 17th bearing pin with frame, and described second tilt adjustment hydraulic cylinder one end passes through 18th bearing pin is connected with chassis, and the other end is connected by the 19th bearing pin with frame, passes through two tilt adjustment hydraulic cylinders Interaction, i.e. the first tilt adjustment hydraulic cylinder stretches, the compression of the second tilt adjustment hydraulic cylinder, or on the contrary, reaches that complete machine is inclined Ramp-like state, realizes the comprehensive regulation in the three dimensions of trees training tree felling machine；The crawler type running system is by rotating Pair is connected with chassis；Described chassis one end is connected by the 14th bearing pin with frame, and the other end passes through the 15th bearing pin and frame Connection；The drive link includes the 5th connecting rod, third connecting rod and first connecting rod, and described 5th connecting rod one end passes through the 12nd pin Axle is connected with frame, and the other end is connected by the 11st bearing pin with six-bar linkage, and described third connecting rod one end passes through the 6th bearing pin It is connected with frame, the other end is connected by the 4th bearing pin with fourth link, described first connecting rod one end passes through the 5th bearing pin and machine Frame is connected, and the other end is connected by the 3rd bearing pin with seven-link assembly；The kinematic link includes six-bar linkage, fourth link, the Two connecting rods, the 8th connecting rod and seven-link assembly, described six-bar linkage one end are connected by the 11st bearing pin with the 5th connecting rod, the other end It is connected by the 9th bearing pin with the 8th connecting rod, described fourth link one end is connected by the 4th bearing pin with third connecting rod, the other end It is connected by the first bearing pin with performing connecting rod, described second connecting rod one end is connected by the 3rd bearing pin with first connecting rod, the other end It is connected by the second bearing pin with seven-link assembly, described 8th connecting rod one end is connected by the 7th bearing pin with frame, middle part passes through Nine bearing pins are connected with six-bar linkage, and the other end is connected by the 8th bearing pin with seven-link assembly, and described seven-link assembly one end passes through Two bearing pins are connected with second connecting rod, and middle part is connected by the 8th bearing pin with the 8th connecting rod, and the other end is by the tenth bearing pin with performing Connecting rod is connected；Described execution connecting rod one end is connected by the first bearing pin with fourth link, and middle part is connected by the tenth bearing pin and the 7th Bar is connected, and the other end is hinged by the 13rd bearing pin with Hooke, is performed connecting rod and is connected by the first ball vice mechanism with hydraulic cylinder； The bearing pin includes the first bearing pin, the second bearing pin, the 3rd bearing pin, the 4th bearing pin, the 5th bearing pin, the 6th bearing pin, the 7th bearing pin, the Eight bearing pins, the 9th bearing pin, the tenth bearing pin, the 11st bearing pin, the 12nd bearing pin, the 13rd bearing pin, the 14th bearing pin, the 15th pin Axle, the 16th bearing pin, the 17th bearing pin, the 18th bearing pin and the 19th bearing pin.
- The tree felling machine 2. the structure state metamorphic mechanisms formula trees of a kind of tilting-type large space two according to claim 1 are pruned, it is special Levy and be, the training lumbering saw device is hinged by revolute pair with Hooke, training lumbering saw device passes through the second ball slave Structure is connected with hydraulic cylinder.
- The tree felling machine 3. the structure state metamorphic mechanisms formula trees of a kind of tilting-type large space two according to claim 1 are pruned, it is special Levy and be, the knife saw mechanism training lumbering saw device bottom, held under being successively up mechanism, roller, on hold Mechanism and delimbing knife.
- The tree felling machine 4. the structure state metamorphic mechanisms formula trees of a kind of tilting-type large space two according to claim 1 are pruned, it is special Levy and be, when the drive link is five connecting rod, the second bearing pin and the 4th bearing pin are in lap position, realize eight connecting rod lists certainly By degree motion；During drive link total movement, realize that ten connecting rod two-freedoms are moved；Drive link is that third connecting rod and first connect During bar, the 5th connecting rod two ends are connected with frame, realize that seven-link assembly two-freedom is moved, and this state is mechanism two-freedom structure state When special state.
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| CN201710182235.0A CN106973755A (en) | 2017-03-24 | 2017-03-24 | A kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine |
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