CN107018857A - A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees robot - Google Patents
A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees robot Download PDFInfo
- Publication number
- CN107018857A CN107018857A CN201710182396.XA CN201710182396A CN107018857A CN 107018857 A CN107018857 A CN 107018857A CN 201710182396 A CN201710182396 A CN 201710182396A CN 107018857 A CN107018857 A CN 107018857A
- Authority
- CN
- China
- Prior art keywords
- bearing pin
- connecting rod
- frame
- rocking bar
- robot
- 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
Classifications
-
- 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
- A01G23/083—Feller-delimbers
-
- 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
- A01G23/099—Auxiliary devices, e.g. felling wedges
-
- 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
-
- 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
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27C—PLANING, DRILLING, MILLING, TURNING OR UNIVERSAL MACHINES FOR WOOD OR SIMILAR MATERIAL
- B27C5/00—Machines designed for producing special profiles or shaped work, e.g. by rotary cutters; Equipment therefor
- B27C5/006—Machines designed for producing special profiles or shaped work, e.g. by rotary cutters; Equipment therefor with non-rotating tools
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Wood Science & Technology (AREA)
- Debarking, Splitting, And Disintegration Of Timber (AREA)
Abstract
A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees robot, including servomotor, lifting hydraulic cylinder, running gear, chassis, frame, linkage, bearing pin, hydraulic cylinder, Hooke's hinge and felling head combined mechanism.The invention being capable of comprehensive regulation pose, and programmable SERVO CONTROL, and flexible transformation can become born of the same parents between two two-freedoms and a single-degree-of-freedom, it has big working space, high accuracy, low cost and maintenance simple feature concurrently, in addition, its drive control motor is installed in frame, reduces each component load, it is moved high dynamic stability.The robot can realize that interception work is pruned, trims, cuts down trees and be segmented to trees.
Description
Technical field
The present invention relates to robot field, particularly a kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down
Set 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, operating accuracy and flexibility are low, and space is small, can only realize lumbering task；Chinese patent
201610419380.1 disclose a kind of all-hydraulic automatic lumbering device for tree-dozer, and this lumbering device is by all-hydraulic element
Composition, its Hydraulic Elements required precision is high, and hydraulic system manufacturing cost is high, and working life is not long, and easy oil leakage can only also be realized and cut down
Wooden task；Chinese patent 201210335835.3, which discloses 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
Cut wood, it is impossible to be used in trees training, trimming, and this tree-dozer can only be used cooperatively with engineering machinery；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 to adapt to different task and occasion, it is flexible low.
At present, there is not yet one kind being capable of programmable SERVO CONTROL, comprehensive regulation, and can be in two two-freedoms
Flexible transformation becomes born of the same parents between a single-degree-of-freedom, and it has big working space, high accuracy, low cost and maintenance simple feature concurrently, and
And its drive control motor is installed in frame, each component load is reduced, it is moved high dynamic stability, there are trees again
A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training for pruning, cutting down trees and being segmented interception function are cut down trees robot
Innovation is designed.
The content of the invention
Cut down trees robot it is an object of the invention to provide a kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training,
It being capable of programmable SERVO CONTROL, comprehensive regulation, and can flexibly becoming between two double freedoms and a single-degree-of-freedom
Interception is pruned, cut down trees and be segmented to trees by transformation born of the same parents with big working space, high accuracy, high dynamic stability.
The technical scheme is that：A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees machine
People, including servomotor, lifting hydraulic cylinder, running gear, chassis, frame, linkage, bearing pin, hydraulic cylinder, Hooke's hinge and cut down
Wood combined mechanism, concrete structure and annexation are：
The servomotor, including the first servomotor, the second servomotor and the 3rd servomotor, the first servomotor
It is fixedly connected with frame, the second servomotor is fixedly connected with frame, the 3rd servomotor is fixedly connected with frame；
The lifting hydraulic cylinder includes the first lifting hydraulic cylinder and the second lifting hydraulic cylinder, first lifting hydraulic cylinder one
End is connected by the 17th bearing pin with chassis, and the other end is connected by the 18th bearing pin with frame, second lifting hydraulic cylinder
One end is connected by the 19th bearing pin with chassis, and the other end is connected by the 20th bearing pin with frame, passes through two lifting hydraulic pressure
The interaction of cylinder, i.e. the first lifting hydraulic cylinder are stretched, the compression of the second lifting hydraulic cylinder, or on the contrary, reach that complete machine is skewed
State, realize trees training cut down trees robot mechanism three dimensions in comprehensive regulation；
The running gear and chassis are connected by revolute pair；
Described chassis one end is connected by the 15th bearing pin with frame, and the other end is connected by the 16th bearing pin with frame；
The linkage includes drive link, kinematic link, tripod and output connecting rod；Before the drive link includes
Rocking bar, middle rocking bar and rear rocking bar, described preceding rocking bar one end are connected by the 9th bearing pin with frame, and the other end passes through the 13rd bearing pin
Be connected with front rod, described middle rocking bar one end is connected by the 7th bearing pin with frame, the other end by the 5th bearing pin and middle connecting rod,
Tripod is connected, and described rear rocking bar one end is connected by the 6th bearing pin with frame, and the other end is connected by the 4th bearing pin and back link
Connect；The kinematic link includes front rod, cradling piece, middle connecting rod, back link and stock, and described front rod one end passes through the 13rd
Bearing pin is connected with preceding rocking bar, and the other end is connected by the 11st bearing pin with cradling piece, and described cradling piece one end passes through the 8th bearing pin
Be connected with frame, middle part is connected by the 11st bearing pin with front rod, the other end is connected by the tenth bearing pin with stock, it is described in
Connecting rod one end is connected by the 5th bearing pin with middle rocking bar, tripod, and middle part is connected by the second bearing pin with tripod, and the other end leads to
Cross the first bearing pin to be connected with output connecting rod, described back link one end is connected by the 4th bearing pin with rear rocking bar, and the other end passes through the
Three bearing pins are connected with stock, and described stock one end is connected by the 3rd bearing pin with back link, and middle part passes through the tenth bearing pin and support
Bar is connected, and the other end is connected by the 12nd bearing pin with output connecting rod；Described tripod one end by the 5th bearing pin and middle rocking bar,
Middle connecting rod connection, the other end is connected by the second bearing pin with middle connecting rod；Described output connecting rod one end passes through the first bearing pin and middle company
Bar is connected, and middle part is connected by the 12nd bearing pin with stock, and the other end is hinged by the 14th bearing pin with Hooke, exports connecting rod
It 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
Seven bearing pins, 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 pin
Axle, the 15th bearing pin, the 16th bearing pin, the 17th bearing pin, the 18th bearing pin, the 19th bearing pin and the 20th bearing pin；
The felling head combined mechanism include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife, institute
State bottom of the knife saw mechanism in felling head combined mechanism, held under being successively up mechanism, roller, on hold mechanism and delimbing
Knife, the felling head combined mechanism is hinged by revolute pair with Hooke, felling head combined mechanism by the second ball vice mechanism with
Hydraulic cylinder is connected.
It is mechanical, electrical that the knife saw mechanism includes knife saw, sliding block, guide rod, third connecting rod, fourth link, crank, the first small electrical
Machine bearing, screw mandrel and the second micro-machine, the knife saw are fixedly connected with sliding block, and sliding block and guide rod are connected by cylindrical pair, institute
State third connecting rod one end to connect by revolute pair and sliding block, the other end is connected by revolute pair and fourth link, the crank one
End is connected by revolute pair and fourth link, and the other end is connected by revolute pair and the first micro-machine, the motor support base and
First micro-machine is fixedly connected, and motor support base is connected by screw pair and screw mandrel, and second micro-machine passes through revolute pair
With screw mandrel connection.
Mechanism is held under described includes screw rod, hold-down support, first connecting rod, movable bearing support, nut and second connecting rod, described
Hold-down support is fixed on felling head combined mechanism, and hold-down support and movable bearing support are connected by screw rod, one end connection of screw rod
Nut, described first connecting rod one end is connected by revolute pair and hold-down support, and the other end is connected by revolute pair and second connecting rod,
Described second connecting rod one end is connected by revolute pair and first 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 felling head combined mechanism, prime mover
It is arranged inside felling head combined mechanism, felling head combined mechanism there are two rollers, it is symmetrical with lumbering along vertical center line
Head combined mechanism 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 felling head combined mechanism top, is fixedly connected with felling head combined mechanism.
During the drive link total movement, tripod one end is connected by the 5th bearing pin with middle rocking bar, middle connecting rod, another
End is connected by the second bearing pin with middle connecting rod, realizes that ten connecting rod two-freedoms are moved；During drive link total movement, tripod one
End is connected by the 5th bearing pin with middle rocking bar, middle connecting rod, when the bearing pin of the other end second and the 3rd bearing pin are in lap position, is realized
11 connecting rod two-freedoms are moved；When drive link is preceding rocking bar, when the 3rd bearing pin and the 5th bearing pin are in lap position, realize
Ten connecting rod single dof mobilities.
The present invention's has the prominent advantages that：
1. programmable full servo drive control can be realized, it is easy to Programmed control to obtain different flexible outputs, it is flexible
Change degree is high, during forestry operation, because arboreal growth complex shape is changeable, and robot is cut down trees in trees training can be in its complicated state
Lower flexible flexibly operation.
2. fuselage is by the interaction omnibearing tilt operation of two lifting hydraulic cylinders, be conducive to adapting to different work ring
Border；And can between two two-freedoms and a single-degree-of-freedom flexible transformation, flexibly realize three kinds of tripe systems states, mechanism exists
During two kinds of two-freedom structure states, the characteristics of mechanism is respectively provided with flexibility more effectively increases working space, and work can be achieved
Make end high precision positioning, during mechanism single-degree-of-freedom, mechanical stability is higher, is easy to control.
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 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
First structure schematic diagram.
Fig. 2 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
Second structural representation.
Fig. 3 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
First structure state diagram during ten connecting rod single-degree-of-freedoms.
Fig. 4 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
Second configuration state figure during ten connecting rod single-degree-of-freedoms.
Fig. 5 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
First structure state diagram during ten connecting rod two-freedoms.
Fig. 6 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
Second configuration state figure during ten connecting rod two-freedoms.
Fig. 7 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
First structure state diagram during 11 connecting rod two-freedom.
Fig. 8 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
Second configuration state figure during 11 connecting rod two-freedom.
Fig. 9 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
Eminence trees training configuration state figure when complete machine tilts ten connecting rod two-freedoms.
Figure 10 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
Complete machine eminence trees training configuration state figure when tilting 11 connecting rod two-freedom.
Figure 11 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
Felling head combined mechanism first structure schematic diagram.
Figure 12 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
Felling head combined mechanism the second structural representation.
Figure 13 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
Under hold the structural representation of mechanism.
Figure 14 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion servo-drive training is cut down trees robot
Knife saw mechanism structural representation.
Marked in figure：1st, the first bearing pin；2nd, middle connecting rod；3rd, the second bearing pin；4th, the 3rd bearing pin；5th, stock；6th, back link；
7th, tripod；8th, the 4th bearing pin；9th, the 5th bearing pin；10th, rear rocking bar；11st, middle rocking bar；12nd, the 6th bearing pin；13rd, the 7th bearing pin；
14th, frame；15th, running gear；16th, cradling piece；17th, the 8th bearing pin；18th, the 9th bearing pin；19th, connecting rod is exported；20th, the tenth pin
Axle；21 the 11st bearing pins；22nd, the 12nd bearing pin；23rd, the first ball vice mechanism；24th, hydraulic stem；25th, felling head combined mechanism；26、
Hooke's hinge；27th, the 13rd bearing pin；28th, front rod；29th, preceding rocking bar；30th, the second ball vice mechanism；31st, the 14th bearing pin；32nd, knife
Saw；321st, sliding block；322nd, guide rod；323rd, third connecting rod；324th, fourth link；325th, crank；326th, the first micro-machine；
327th, motor support base；328th, screw mandrel；329th, the second micro-machine；3210th, knife saw；33rd, mechanism is held under；331st, screw rod；332、
Hold-down support；333rd, first connecting rod；334th, movable bearing support；335th, nut；336th, second connecting rod；34th, roller；35th, machine is held on
Structure；36 delimbing knives；37th, the first servomotor；38th, the second servomotor；39th, the 3rd servomotor；40th, the 15th bearing pin；41、
16th bearing pin；42nd, the 17th bearing pin；43rd, the first lifting hydraulic cylinder；44th, the 18th bearing pin；45th, the 19th bearing pin；46th,
Two lifting hydraulic cylinders；47th, the 20th bearing pin；48th, 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 of the present invention double two and list
The training of mapping of freedom degree servo-drive is cut down trees robot, including servomotor, lifting hydraulic cylinder, running gear 15, chassis 48, machine
Frame 14, linkage, bearing pin, hydraulic cylinder 24, Hooke's hinge 26 and felling head combined mechanism 25, concrete structure and annexation are：
The servomotor, including the first servomotor 37, the second servomotor 38 and the 3rd servomotor 39, first watches
Take motor 37 to be fixedly connected with frame 14, the second servomotor 38 is fixedly connected with frame 14, the 3rd servomotor 39 and frame
14 are fixedly connected；
The lifting hydraulic cylinder includes the first lifting hydraulic cylinder 43 and the second lifting hydraulic cylinder 46, the first lifting hydraulic pressure
The one end of cylinder 43 is connected by the 17th bearing pin 42 with chassis 48, and the other end is connected by the 18th bearing pin 44 with frame 14, described
The one end of second lifting hydraulic cylinder 46 is connected by the 19th bearing pin 45 with chassis 48, and the other end passes through the 20th bearing pin 47 and frame
14 connections, are stretched, the second lifting hydraulic cylinder 46 is pressed by the interaction of two lifting hydraulic cylinders, i.e. the first lifting hydraulic cylinder 43
Contracting, or on the contrary, reach complete machine heeling condition, realize trees training cut down trees robot mechanism three dimensions in comprehensive tune
Section；
The running gear 15 and chassis 48 are connected by revolute pair；
Described one end of chassis 48 is connected by the 15th bearing pin 40 with frame 14, and the other end passes through the 16th bearing pin 41 and machine
Frame 14 is connected；
The linkage includes drive link, kinematic link, tripod 7 and output connecting rod 19；The drive link bag
Preceding rocking bar 29, middle rocking bar 11 and rear rocking bar 10 are included, described preceding one end of rocking bar 29 is connected by the 9th bearing pin 18 with frame 14, another
End is connected by the 13rd bearing pin 27 with front rod 28, and described middle one end of rocking bar 11 is connected by the 7th bearing pin 13 with frame 14,
The other end is connected by the 5th bearing pin 9 with middle connecting rod 2, tripod 7, and described rear one end of rocking bar 10 passes through the 6th bearing pin 12 and frame
14 connections, the other end is connected by the 4th bearing pin 8 with back link 6；The kinematic link include front rod 28, cradling piece 16, in
Connecting rod 2, back link 6 and stock 5, described one end of front rod 28 are connected by the 13rd bearing pin 27 with preceding rocking bar 29, and the other end leads to
Cross the 11st bearing pin 21 to be connected with cradling piece 16, described one end of cradling piece 16 is connected by the 8th bearing pin 17 with frame 14, middle part
It is connected by the 11st bearing pin 21 with front rod 28, the other end is connected by the tenth bearing pin 20 with stock 5, the middle connecting rod 2 one
End is connected by the 5th bearing pin 9 with middle rocking bar 11, tripod 7, and middle part is connected by the second bearing pin 3 with tripod 7, and the other end leads to
Cross the first bearing pin 1 to be connected with output connecting rod 19, described one end of back link 6 is connected by the 4th bearing pin 8 with rear rocking bar 10, the other end
It is connected by the 3rd bearing pin 4 with stock 5, described one end of stock 5 is connected by the 3rd bearing pin 4 with back link 6, and middle part passes through the tenth
Bearing pin 20 is connected with cradling piece 16, and the other end is connected by the 12nd bearing pin 22 with output connecting rod 19；Described one end of tripod 4 leads to
Cross the 5th bearing pin 9 to be connected with middle rocking bar 11, middle connecting rod 2, the other end is connected by the second bearing pin 3 with middle connecting rod 2；The output connects
The one end of bar 19 is connected by the first bearing pin 1 with middle connecting rod 2, and middle part is connected by the 12nd bearing pin 22 with stock 5, and the other end passes through
14th bearing pin 31 is connected with Hooke's hinge 26, and output connecting rod 19 is connected by the first ball vice mechanism 23 with hydraulic cylinder 24；
The bearing pin includes the first bearing pin 1, the second bearing pin 3, the 3rd bearing pin 4, the 4th bearing pin 8, the 5th bearing pin the 9, the 6th pin
Axle 12, the 7th bearing pin 13, the 8th bearing pin 17, the 9th bearing pin 18, the tenth bearing pin 20, the 11st bearing pin 21, the 12nd bearing pin 22,
13 bearing pins 27, the 14th bearing pin 31, the 15th bearing pin 40, the 16th bearing pin 41, the 17th bearing pin 42, the 18th bearing pin 44,
19th bearing pin 45 and the 20th bearing pin 47；
The felling head combined mechanism 25 include knife saw mechanism 32, under hold mechanism 33, roller 34, on hold the and of mechanism 35
Delimbing knife 36, the knife saw mechanism 32 holds mechanism 33, roller in the bottom of felling head combined mechanism 25 under being successively up
34th, mechanism 35 and delimbing knife 36 are held on, the felling head combined mechanism 25 is connected by revolute pair with Hooke's hinge 26, felling head
Combined mechanism 25 is connected by the second ball vice mechanism 30 with hydraulic cylinder 24.
The knife saw mechanism 32 includes knife saw 3210, sliding block 321, guide rod 322, third connecting rod 323, fourth link 324, song
Handle 325, the first micro-machine 326, motor support base 327, the micro-machine 329 of screw mandrel 328 and second, the knife saw 3210 and sliding block
321 are fixedly connected, and sliding block 321 and guide rod 322 are connected by cylindrical pair, and described one end of third connecting rod 323 passes through revolute pair and cunning
Block 321 is connected, and the other end is connected by revolute pair and fourth link 324, and described one end of crank 325 is connected by revolute pair and the 4th
Bar 324 is connected, and the other end is connected by revolute pair and the first micro-machine 326, the micro-machine of motor support base 327 and first
326 are fixedly connected, and motor support base 327 is connected by screw pair and screw mandrel 328, and second micro-machine 329 passes through revolute pair
Connected with screw mandrel 328.
Mechanism 33 is held under described and mechanism 35 is above held for same mechanism, under hold mechanism 33 and include screw rod 331, fixed
Bearing 332, first connecting rod 333, movable bearing support 335, nut 335 and second connecting rod 336, the hold-down support 332, which is fixed on, to be cut down
On wood combined mechanism 25, hold-down support 332 and movable bearing support 334 are connected by screw rod 331, one end connection spiral shell of screw rod 331
Mother 335, described one end of first connecting rod 333 is connected by revolute pair and hold-down support 332, and the other end is connected by revolute pair and second
Bar 336 is connected, and described one end of second connecting rod 336 is connected by revolute pair and first connecting rod 333, and middle part passes through revolute pair and activity
Bearing 334 is connected.
The end of roller 34 is connected with original machine output shaft, and prime mover is fixedly connected with felling head combined mechanism 25, former
Motivation is arranged inside felling head combined mechanism 25, and felling head combined mechanism 25 has two rollers 34, symmetrical along vertical center line
Distribution and the both sides of felling head combined mechanism 25.
Identical, the annexation between its parts and parts that holds the structure of mechanism 33 with of mechanism 35 is held on described
All same.
The delimbing knife 36 is arranged at the top of felling head combined mechanism 25, is fixedly connected with felling head combined mechanism 25.
Operation principle and process：
As shown in Figure 3 and Figure 4, when mechanism is ten connecting rod single-degree-of-freedom, the 3rd bearing pin 4 and the 5th bearing pin 9 are in overlapping bit
Put, rear rocking bar 10, back link 6 and middle rocking bar 11 can regard lanar four rod mechanism as, stock 5 and middle connecting rod 2 pass through the 5th bearing pin 9
Connection, middle connecting rod 2 and output connecting rod 19 are connected by the first bearing pin 1, and output connecting rod 19 and stock 5 are connected by the 12nd bearing pin 22
Connect, therefore stock 5, middle connecting rod 2 and output connecting rod 19 can regard a bar as, preceding rocking bar 29 is rotated around the 9th bearing pin 18, due to
Front rod 28 and preceding rocking bar 29 are connected by the 13rd bearing pin 27, and then drive front rod 28 to rotate, cradling piece 16 and front rod
28 are connected by the 11st bearing pin 21, and then drive cradling piece 16 to be rotated around the 8th bearing pin 17, and stock 5 and cradling piece 16 pass through
Tenth bearing pin 20 is connected, and then output connecting rod 19 is made single dof mobility.
As shown in Figure 5 and Figure 6, when mechanism is that ten connecting rod two-freedoms are moved, preceding rocking bar 29 is rotated around the 9th bearing pin 18,
Because front rod 28 and preceding rocking bar 29 are connected by the 13rd bearing pin 27, and then front rod 28 is driven to rotate, cradling piece 16 is with before
Connecting rod 28 is connected by the 11st bearing pin 21, and then drives cradling piece 16 to be rotated around the 8th bearing pin 17, and middle rocking bar 11 is around the
Seven bearing pins 13 are rotated, and because middle connecting rod 2 and middle rocking bar 11 are connected by the 5th bearing pin 9, the two ends of tripod 7 connect with middle connecting rod 2
Connect, tripod 7 and middle connecting rod 2 can now be regarded as to connecting rod 2 in a bar, and then drive and rotated, rear rocking bar 10 is around the 6th pin
Axle 12 is rotated, because back link 6 and rear rocking bar 10 are connected by the 4th bearing pin 8, and then drives back link 6 to rotate, stock 5 and after
Connecting rod 6 is connected by the 3rd bearing pin 4, and the middle part of stock 5 and cradling piece 16 are connected by the tenth bearing pin 20, and then realize stock 5
Plane motion, output connecting rod 19 and middle connecting rod 2 are connected by the first bearing pin 1, and the middle part of output connecting rod 19 and stock 5 pass through the 12nd
Bearing pin 22 is connected, and then output connecting rod 19 is made two-freedom motion.
As shown in Figure 7 and Figure 8, when mechanism is that 11 connecting rod two-freedoms are moved, preceding rocking bar 29 is around 18 turns of the 9th bearing pin
It is dynamic, because front rod 28 and preceding rocking bar 29 are connected by the 13rd bearing pin 27, and then drive front rod 28 to rotate, the He of cradling piece 16
Front rod 28 is connected by the 11st bearing pin 21, so drive cradling piece 16 rotated around the 8th bearing pin 17, middle rocking bar 11 around
7th bearing pin 13 is rotated, because middle connecting rod 2 and middle rocking bar 11 are connected by the 5th bearing pin 9, and then connecting rod 2 is rotated in driving, by
Connected in tripod 7 and middle rocking bar 11 by the 5th bearing pin 9, and then drive tripod 7 to rotate, rear rocking bar 10 is around the 6th bearing pin
12 rotate, because back link 6 and rear rocking bar 10 are connected by the 4th bearing pin 8, and then drive back link 6 to rotate, the He of the second bearing pin 3
3rd bearing pin 4 is in lap position, and now rear rocking bar 10, back link 6, tripod 7 and middle rocking bar 11 constitute the connecting rod machine of plane five
Structure, stock 5 and back link 6 are connected by the 3rd bearing pin 4, and the middle part of stock 5 and cradling piece 16 are connected by the tenth bearing pin 20, and then
Stock 5 is set to realize plane motion, output connecting rod 19 and middle connecting rod 2 are connected by the first bearing pin 1, the middle part of output connecting rod 19 and stock
5 are connected by the 12nd bearing pin 22, and then output connecting rod 19 is made two-freedom motion.
As shown in Figure 3, Figure 4, Figure 11 and Figure 12, by driving hydraulic cylinder 24, hydraulic cylinder 24 is extended, and then drives Hooke
Revolute pair between hinge 26 and felling head combined mechanism 25 is rotated, and realizes the unitary rotation of felling head combined mechanism 25.
As shown in Figure 9 and Figure 10, the second lifting hydraulic cylinder 46 is in extended configuration, and the first lifting hydraulic cylinder 43 is in compression
State, frame 14 and chassis 48 are connected by the 15th bearing pin 40 and the 16th bearing pin 41, are produced relative rotation, and complete machine, which is in, inclines
The work such as trees training, trimming in ramp-like state, completion three dimensions.
As shown in Fig. 1, Fig. 4, Fig. 6 and Fig. 8, when felling head combined mechanism 25 is in vertical state, trees training tree felling machine
Device people carries out operation in lower position, and whole trees can be achieved and cut down saw function.
As shown in Fig. 2, Fig. 3, Fig. 5, Fig. 7, Fig. 9 and Figure 10, felling head combined mechanism 25 is in horizontality, trees training
Robot cut down trees in lower position progress operation, timber segmentation interception function can be achieved；When being worked in higher position, tree can be achieved
The training grooming function of wood.
Claims (7)
- Robot, including servomotor, lifting liquid 1. a kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees Cylinder pressure, running gear, chassis, frame, linkage, bearing pin, hydraulic cylinder, Hooke's hinge and felling head combined mechanism, its feature exist In concrete structure and annexation are：The servomotor, including the first servomotor, the second servomotor and the 3rd servomotor, the first servomotor and machine Frame is fixedly connected, and the second servomotor is fixedly connected with frame, and the 3rd servomotor is fixedly connected with frame；The lifting hydraulic cylinder includes the first lifting hydraulic cylinder and the second lifting hydraulic cylinder, and described first lifting hydraulic cylinder one end leads to Cross the 17th bearing pin to be connected with chassis, the other end is connected by the 18th bearing pin with frame, described second lifting hydraulic cylinder one end It is connected by the 19th bearing pin with chassis, the other end is connected by the 20th bearing pin with frame, passes through two lifting hydraulic cylinders Interaction, i.e. the first lifting hydraulic cylinder stretches, the compression of the second lifting hydraulic cylinder, or on the contrary, reaches complete machine heeling condition, in fact Existing trees training cut down trees robot mechanism three dimensions in comprehensive regulation；The running gear and chassis are connected by revolute pair；Described chassis one end is connected by the 15th bearing pin with frame, and the other end is connected by the 16th bearing pin with frame；The linkage includes drive link, kinematic link, tripod and output connecting rod；The drive link is shaken before including Bar, middle rocking bar and rear rocking bar, described preceding rocking bar one end are connected by the 9th bearing pin with frame, the other end by the 13rd bearing pin with Front rod is connected, and described middle rocking bar one end is connected by the 7th bearing pin with frame, and the other end passes through the 5th bearing pin and middle connecting rod, three Corner bracket is connected, and described rear rocking bar one end is connected by the 6th bearing pin with frame, and the other end is connected by the 4th bearing pin with back link； The kinematic link includes front rod, cradling piece, middle connecting rod, back link and stock, and described front rod one end passes through the 13rd pin Axle is connected with preceding rocking bar, and the other end is connected by the 11st bearing pin with cradling piece, described cradling piece one end by the 8th bearing pin with Frame is connected, and middle part is connected by the 11st bearing pin with front rod, and the other end is connected by the tenth bearing pin with stock, the middle company Bar one end is connected by the 5th bearing pin with middle rocking bar, tripod, and middle part is connected by the second bearing pin with tripod, and the other end passes through First bearing pin is connected with output connecting rod, and described back link one end is connected by the 4th bearing pin with rear rocking bar, and the other end passes through the 3rd Bearing pin is connected with stock, and described stock one end is connected by the 3rd bearing pin with back link, and middle part passes through the tenth bearing pin and cradling piece Connection, the other end is connected by the 12nd bearing pin with output connecting rod；Described tripod one end by the 5th bearing pin and middle rocking bar, in Connecting rod is connected, and the other end is connected by the second bearing pin with middle connecting rod；Described output connecting rod one end passes through the first bearing pin and middle connecting rod Connection, middle part is connected by the 12nd bearing pin with stock, and the other end is hinged by the 14th bearing pin with Hooke, and output connecting rod leads to The first ball vice mechanism is crossed to be connected 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 pin Axle, 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, 15 bearing pins, the 16th bearing pin, the 17th bearing pin, the 18th bearing pin, the 19th bearing pin and the 20th bearing pin；The felling head combined mechanism include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife, the knife Saw in the bottom of felling head combined mechanism, held under being successively up mechanism, roller, on hold mechanism and delimbing knife, The felling head combined mechanism is hinged by revolute pair with Hooke, and felling head combined mechanism passes through the second ball vice mechanism and hydraulic pressure Cylinder is connected.
- The robot 2. a kind of tilting-type according to claim 1 double two and single-degree-of-freedom conversion servo-drive training are cut down trees, Characterized in that, the knife saw mechanism includes knife saw, sliding block, guide rod, third connecting rod, fourth link, crank, the first small electrical Mechanical, electrical machine bearing, screw mandrel and the second micro-machine, the knife saw are fixedly connected with sliding block, and sliding block and guide rod are connected by cylindrical pair Connect, described third connecting rod one end is connected by revolute pair and sliding block, the other end is connected by revolute pair and fourth link, the song Handle one end is connected by revolute pair and fourth link, and the other end is connected by revolute pair and the first micro-machine, the motor branch Seat is fixedly connected with the first micro-machine, and motor support base is connected by screw pair and screw mandrel, and second micro-machine is by turning Dynamic secondary and screw mandrel connection.
- The robot 3. a kind of tilting-type according to claim 1 double two and single-degree-of-freedom conversion servo-drive training are cut down trees, Characterized in that, mechanism is held under described includes screw rod, hold-down support, first connecting rod, movable bearing support, nut and second connecting rod, The hold-down support is fixed on felling head combined mechanism, and hold-down support and movable bearing support are connected by screw rod, one end of screw rod Attaching nut, described first connecting rod one end is connected by revolute pair and hold-down support, and the other end passes through revolute pair and second connecting rod Connection, described second connecting rod one end is connected by revolute pair and first connecting rod, and middle part is connected by revolute pair and movable bearing support.
- The robot 4. a kind of tilting-type according to claim 1 double two and single-degree-of-freedom conversion servo-drive training are cut down trees, Characterized in that, the roller end is connected with original machine output shaft, prime mover is fixedly connected with felling head combined mechanism, and original is dynamic Machine is arranged inside felling head combined mechanism, and felling head combined mechanism has two rollers, symmetrical with cutting down along vertical center line Wood combined mechanism both sides.
- The robot 5. a kind of tilting-type according to claim 1 double two and single-degree-of-freedom conversion servo-drive training are cut down trees, Characterized in that, mechanism is held on described holds that mechanism structure is identical with, the annexation between its parts and parts All same.
- The robot 6. a kind of tilting-type according to claim 1 double two and single-degree-of-freedom conversion servo-drive training are cut down trees, Characterized in that, the delimbing knife is arranged at felling head combined mechanism top, it is fixedly connected with felling head combined mechanism.
- The robot 7. a kind of tilting-type according to claim 1 double two and single-degree-of-freedom conversion servo-drive training are cut down trees, Characterized in that, during the drive link total movement, tripod one end is connected by the 5th bearing pin with middle rocking bar, middle connecting rod, The other end is connected by the second bearing pin with middle connecting rod, realizes that ten connecting rod two-freedoms are moved；During drive link total movement, triangle Frame one end is connected by the 5th bearing pin with middle rocking bar, middle connecting rod, when the bearing pin of the other end second and the 3rd bearing pin are in lap position, Realize that 11 connecting rod two-freedoms are moved；When drive link is preceding rocking bar, when the 3rd bearing pin and the 5th bearing pin are in lap position, Realize ten connecting rod single dof mobilities.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182396.XA CN107018857A (en) | 2017-03-24 | 2017-03-24 | A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182396.XA CN107018857A (en) | 2017-03-24 | 2017-03-24 | A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107018857A true CN107018857A (en) | 2017-08-08 |
Family
ID=59526031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710182396.XA Pending CN107018857A (en) | 2017-03-24 | 2017-03-24 | A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107018857A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103210795A (en) * | 2013-04-10 | 2013-07-24 | 吉林市尚宁科技有限公司 | Portable automatic saw blade saw |
| CN104170702A (en) * | 2014-08-08 | 2014-12-03 | 周泓宇 | Wood cutting, loading, conveying and unloading all-in-one machine |
| CN104493809A (en) * | 2014-12-10 | 2015-04-08 | 广西大学 | Metamorphic mechanism type wheel type mobile robot palletizer mechanism |
| CN104647336A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Controllable mechanism type two-degrees-of-freedom mobile manipulator |
| CN205363937U (en) * | 2016-01-05 | 2016-07-06 | 广东双虹新材料科技有限公司 | Grabhook with touch sensing |
| CN106017950A (en) * | 2016-08-08 | 2016-10-12 | 淮阴工学院 | Double-cylinder non-parallel driving automobile parking slope angle detection system |
| CN106416930A (en) * | 2016-09-25 | 2017-02-22 | 徐洪恩 | Automatic lumbering and pruning robot |
-
2017
- 2017-03-24 CN CN201710182396.XA patent/CN107018857A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103210795A (en) * | 2013-04-10 | 2013-07-24 | 吉林市尚宁科技有限公司 | Portable automatic saw blade saw |
| CN104170702A (en) * | 2014-08-08 | 2014-12-03 | 周泓宇 | Wood cutting, loading, conveying and unloading all-in-one machine |
| CN104493809A (en) * | 2014-12-10 | 2015-04-08 | 广西大学 | Metamorphic mechanism type wheel type mobile robot palletizer mechanism |
| CN104647336A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Controllable mechanism type two-degrees-of-freedom mobile manipulator |
| CN205363937U (en) * | 2016-01-05 | 2016-07-06 | 广东双虹新材料科技有限公司 | Grabhook with touch sensing |
| CN106017950A (en) * | 2016-08-08 | 2016-10-12 | 淮阴工学院 | Double-cylinder non-parallel driving automobile parking slope angle detection system |
| CN106416930A (en) * | 2016-09-25 | 2017-02-22 | 徐洪恩 | Automatic lumbering and pruning robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107116619A (en) | A kind of double two and the change cell type automation training of single-degree-of-freedom conversion cut down trees robot | |
| CN107020627A (en) | A kind of inclinable hydraulic driving large space two structure state becomes cell type training and cut down trees robot | |
| CN106954476A (en) | A kind of three structure states with three kinds of mapping of freedom degree become cell type trees training tree felling machine | |
| CN107409789A (en) | A kind of automation trees training of the structure state metamorphic mechanisms formula of tilting-type three is cut down trees robot | |
| CN106965149A (en) | One kind automation large space two structure state becomes the training of cell type trees and cut down trees robot | |
| CN103231361A (en) | Multifunctional operation mechanical arm of forest cutting and tending machine | |
| CN103493691A (en) | Shrub trimmer for mass and high-speed trimming | |
| CN107087531A (en) | A kind of structure state of servo-drive large space two becomes the training of cell type trees and cut down trees robot | |
| CN204069856U (en) | A kind of electric GREEB HEDGE MACHINE | |
| CN106965150A (en) | A kind of tilting-type double two and single-degree-of-freedom conversion combination drive training are cut down trees robot | |
| KR100970131B1 (en) | The apparatus and method of auto cutting with robot saw of multi joint | |
| CN107135825A (en) | A kind of tilting-type double two and single-degree-of-freedom conversion automation training are cut down trees robot | |
| CN106034772B (en) | Multifunctional tree molding machine | |
| CN208095304U (en) | A kind of urban afforestation clipping device | |
| CN107018857A (en) | A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees robot | |
| CN107155662A (en) | A kind of structure state of tilting-type three becomes born of the same parents trees training tree felling machine | |
| CN107135902A (en) | A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot | |
| CN107097237A (en) | A kind of tilting-type automation large space two structure state becomes cell type training and cut down trees robot | |
| CN106965176A (en) | A kind of structure state of tilting-type combination drive large space two becomes cell type training and cut down trees robot | |
| CN111937619A (en) | Hand-push type tree trimmer | |
| CN106973755A (en) | A kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine | |
| CN107020625A (en) | A kind of structure state of tilting-type combination drive three becomes the training of cell type trees and cut down trees robot | |
| CN107155811A (en) | A kind of structure state of tilting-type servo-drive three becomes the training of cell type trees and cut down trees robot | |
| CN112690126A (en) | Deadweight clamping type electric tree climbing pruning machine | |
| CN107018856A (en) | A kind of training of structure state metamorphic mechanisms formula trees of combination drive three is cut down trees robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170808 |