CN107020627A - A kind of inclinable hydraulic driving large space two structure state becomes cell type training and cut down trees robot - Google Patents
A kind of inclinable hydraulic driving large space two structure state becomes cell type training and cut down trees robot Download PDFInfo
- Publication number
- CN107020627A CN107020627A CN201710182441.1A CN201710182441A CN107020627A CN 107020627 A CN107020627 A CN 107020627A CN 201710182441 A CN201710182441 A CN 201710182441A CN 107020627 A CN107020627 A CN 107020627A
- Authority
- CN
- China
- Prior art keywords
- hinge
- connecting rod
- training
- hydraulic motor
- hydraulic
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- 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
- A01G23/093—Combinations of shearing, sawing or milling apparatus specially adapted for felling trees
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Working Measures On Existing Buildindgs (AREA)
Abstract
A kind of inclinable hydraulic driving large space two structure state becomes cell type training and cut down trees robot, including lifting hydraulic cylinder, hydraulic motor, running gear, chassis, frame, linkage, hinge, hydraulic cylinder, Hooke's hinge and training lumbering saw componet.The trees training robot that cuts down trees passes through stable movement, light weight, large carrying capacity and the small hydraulic-driven of noise, comprehensive regulation pose, realize two kinds of structure state conversion, trees are pruned, trimmed, cut down trees and are segmented with interception, the characteristics of with big working space, high accuracy, high dynamic stability.
Description
Technical field
Cut down trees robot field the present invention relates to trees training, particularly a kind of inclinable hydraulic driving structure state of large space two
Become cell type training to 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, 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, but can only realize lumbering task, and
Working flexibility is low, and working space is small, and fuselage is unable to omnibearing tilt regulation；Chinese patent 201210335835.3 discloses one kind
Cut down trees and cut wooden all-in-one, 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 trees training, trimming, and this tree-dozer are only
It can be used cooperatively with engineering machinery；Chinese patent 201310427637.4 discloses a kind of electric plant pruning machine, and this plant is whole
Branch machine, is only used for plant training, it is impossible to be used in lumbering, section wood.The existing design about the robot that cuts down trees, equal function is single, work
Make space small, stability is not enough, precision is low, and smoothness is poor, and noise is big and bearing capacity is low, it is impossible to according to functional requirement or ring
The change in border, flexibly changes configuration to adapt to different task and occasion, flexible low.
At present, there is not yet a kind of being capable of stable movement, light weight, large carrying capacity and the small hydraulic-driven of noise, energy
Enough comprehensive regulations, and two kinds of structure state conversion can be realized, it is simple special that it has big working space, high accuracy, low cost and maintenance concurrently
Levy, and it drives hydraulic motor to be installed in frame, reduces each component load, it is moved high dynamic stability, and energy
A kind of inclinable hydraulic driving large space two structure state pruned with trees, cut down trees and be segmented interception function becomes cell type training and cut down trees
The innovation design of robot.
The content of the invention
Become cell type training it is an object of the invention to provide a kind of inclinable hydraulic driving large space two structure state to cut down trees robot,
By stable movement, light weight, large carrying capacity and the small hydraulic-driven of noise, comprehensive regulation, two kinds of structure state conversion are realized,
Trees are pruned, cut down trees and are segmented with interception under big working space, high accuracy, high dynamic stability status.
The technical scheme is that：A kind of inclinable hydraulic driving large space two structure state becomes cell type training and cut down trees machine
People, including lifting hydraulic cylinder, hydraulic motor, running gear, chassis, frame, linkage, hinge, hydraulic cylinder, Hooke's hinge and whole
Branch lumbering saw componet, concrete structure and annexation are：
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 16th hinge with chassis, and the other end is connected by the 17th hinge with frame, second lifting hydraulic cylinder
One end is connected by the 18th hinge with chassis, and the other end is connected by the 19th hinge 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, realizes the comprehensive regulation in the three dimensions of trees training tree felling machine；
The hydraulic motor include the first hydraulic motor, the second hydraulic motor, the 3rd hydraulic motor, the 4th hydraulic motor and
5th hydraulic motor, the first hydraulic motor, the second hydraulic motor and the 3rd hydraulic motor are arranged in frame, the 4th hydraulic motor
It is fixedly connected with motor bearing, the 5th hydraulic motor is connected by revolute pair and screw mandrel；
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 linkage includes drive link, kinematic link and performs connecting rod；The drive link include the 5th connecting rod,
Third connecting rod and first connecting rod, described 5th connecting rod one end are connected by the tenth two hinge with frame, and the other end passes through the 11st
Hinge is connected with six-bar linkage, and described third connecting rod one end is connected by the 6th hinge with frame, and the other end passes through the 4th hinge
It is connected with fourth link, described first connecting rod one end is connected by the 5th hinge with frame, the other end passes through third hinge and the
Seven-link assembly is connected；The kinematic link includes six-bar linkage, fourth link, second connecting rod, the 8th connecting rod and seven-link assembly, described
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, institute
State fourth link one end to be connected with third connecting rod by the 4th hinge, the other end is connected by first axle with performing connecting rod, institute
State second connecting rod one end to be connected with first connecting rod by third hinge, the other end is connected by second hinge with seven-link assembly, institute
State the 8th connecting rod one end to be connected with frame by the 7th hinge, middle part is connected by the 9th hinge with six-bar linkage, the other end leads to
Cross the 8th hinge to be connected with seven-link assembly, described seven-link assembly one end is connected by second hinge with second connecting rod, and middle part passes through
8th hinge is connected with the 8th connecting rod, and the other end is connected by the tenth hinge with performing connecting rod；Described execution connecting rod one end passes through
First axle is connected with fourth link, and middle part is connected by the tenth hinge with seven-link assembly, the other end by the 13rd hinge with
Hooke is hinged, and is performed connecting rod and is connected by the first ball vice mechanism with hydraulic cylinder；
It is described training lumbering saw componet 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 4th hydraulic pressure horse
Reach, motor bearing, screw mandrel and the 5th hydraulic motor, the knife saw is fixedly connected with sliding block, and sliding block and guide rod are connected by cylindrical pair
Connect, described 11st connecting rod one end is connected by revolute pair and sliding block, the other end is connected by revolute pair and the 12nd connecting rod, institute
State crank one end to connect by revolute pair and the 12nd connecting rod, the other end is connected by revolute pair and the 4th hydraulic motor, described
Motor bearing and the 4th hydraulic motor are fixedly connected, and motor bearing is connected by screw pair and screw mandrel, the 5th hydraulic motor
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, described
Hold-down support is fixed on training lumbering saw componet, 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 roller end is connected with original machine output shaft, and prime mover is fixedly connected with training lumbering saw componet, prime mover
Training felling saw component internal is arranged at, training lumbering saw componet there are two rollers, symmetrical with pruning along vertical center line
Lumbering saw componet 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 componet top, is fixedly connected with training lumbering saw componet.
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 training lumbering saw componet is hinged by revolute pair with Hooke, and training lumbering saw componet passes through the second ball slave
Structure is connected with hydraulic cylinder.
The knife saw mechanism training lumbering saw componet bottom, held under being successively up mechanism, roller, on hold
Mechanism and delimbing knife.
When the drive link 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 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. driving uses all-hydraulic motor and Driven by Hydraulic Cylinder, and in frame, stable movement, light weight, carrying
Ability is big and noise is small.
2. fuselage is by the interaction omnibearing tilt operation of two lifting hydraulic cylinders, fuselage different positions and pose is adjusted, favorably
In adaptation different work environment；And can between two structure states flexible transformation, robot is made up of ten connecting rods altogether, can be flexible
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 are certainly
By degree work, its working space is effectively increased, flexibility degree is high, during forestry operation, because arboreal growth complex shape is more
Become, the robot can the flexible flexibly operation under its complicated state.
3. drive motor is installed in frame, dynamic stability is high；And mechanism is made up of full rod member, manufacturing cost
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 inclinable hydraulic driving large space two structure state of the present invention and cut down trees robot
First structure schematic diagram.
Fig. 2 becomes cell type training for a kind of inclinable hydraulic driving large space two structure state of the present invention and cut down trees robot
Second structural representation.
Fig. 3 becomes cell type training for a kind of inclinable hydraulic driving large space two structure state 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 inclinable hydraulic driving large space two structure state 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 inclinable hydraulic driving large space two structure state 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 inclinable hydraulic driving large space two structure state 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 inclinable hydraulic driving large space two structure state 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 inclinable hydraulic driving large space two structure state 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 inclinable hydraulic driving large space two structure state 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 inclinable hydraulic driving large space two structure state 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 inclinable hydraulic driving large space two structure state of the present invention and cut down trees robot
Training lumbering saw componet first structure schematic diagram.
Figure 12 becomes cell type training for a kind of inclinable hydraulic driving large space two structure state of the present invention and cut down trees robot
Training lumbering saw componet the second structural representation.
Figure 13 becomes cell type training for a kind of inclinable hydraulic driving large space two structure state 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 inclinable hydraulic driving large space two structure state 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, connecting rod is performed；16th, the 9th hinge；17th, six-bar linkage；18th, the tenth hinge；
19th, the 11st hinge；20th, the 5th connecting rod；21st, the tenth two hinge；22nd, frame；23rd, running gear；24th, the first ball vice mechanism；
25th, hydraulic cylinder；26th, the second ball vice mechanism；27th, training lumbering saw componet；28th, Hooke's hinge；29th, the 13rd hinge；30th, knife saw machine
Structure；301st, sliding block；302nd, guide rod；303rd, the 11st connecting rod；304th, the 12nd connecting rod；305th, crank；306th, the 4th hydraulic motor；
307th, motor bearing；308th, screw mandrel；309th, the 5th hydraulic motor；3010th, knife saw；31st, mechanism is held under；311st, screw rod；312、
Hold-down support；313rd, the 9th connecting rod；314th, movable bearing support；315th, nut；316th, the tenth connecting rod；32nd, roller；33rd, machine is held on
Structure；34th, delimbing knife；35th, the first hydraulic motor；36th, the second hydraulic motor；37th, the 3rd hydraulic motor；38th, the 14th hinge；
39th, the 15th hinge；40th, the 16th hinge；41st, the first lifting hydraulic cylinder；42nd, the 17th hinge；43rd, the 18th hinge；44、
Second lifting 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 inclinable hydraulic driving of the present invention
The structure state of large space two becomes cell type training and cut down trees robot, including lifting hydraulic cylinder, hydraulic motor, running gear 23, chassis 46, machine
Frame 22, linkage, hinge, hydraulic cylinder 25, Hooke's hinge 28 and training lumbering saw componet 27, concrete structure and annexation are：
The lifting hydraulic cylinder includes the first lifting hydraulic cylinder 41 and the second lifting hydraulic cylinder 44, the first lifting hydraulic pressure
The one end of cylinder 41 is connected by the 16th hinge 40 with chassis 46, and the other end is connected by the 17th hinge 42 with frame 22, described
The one end of second lifting hydraulic cylinder 44 is connected by the 18th hinge 43 with chassis 46, and the other end passes through the 19th hinge 45 and frame
22 connections, are stretched, the second lifting hydraulic cylinder 44 is pressed by the interaction of two lifting hydraulic cylinders, i.e. the first lifting hydraulic cylinder 41
Contracting, or on the contrary, reach complete machine heeling condition, realize the comprehensive regulation in the three dimensions of trees training tree felling machine；
The hydraulic motor includes the first hydraulic motor 35, the second hydraulic motor 36, the 3rd hydraulic motor 37, the 4th hydraulic pressure
The hydraulic motor 309 of motor 306 and the 5th, the first hydraulic motor 35 is fixedly connected with frame 22, the second hydraulic motor 36 and frame
22 are fixedly connected, and the 3rd hydraulic motor 37 is fixedly connected with frame 22, and the 4th hydraulic motor 306 is fixed with motor bearing 307 to be connected
Connect, the 5th hydraulic motor 309 is connected by revolute pair and screw mandrel 308；
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 linkage includes drive link, kinematic link and performs connecting rod 15；The drive link includes the 5th and connected
Bar 20, third connecting rod 9 and first connecting rod 7, described one end of 5th connecting rod 20 is connected by the tenth two hinge 21 with frame 22, another
End is connected by the 11st hinge 19 with six-bar linkage 17, and described one end of third connecting rod 9 is connected by the 6th hinge 11 and frame 22
Connect, the other end is connected by the 4th hinge 8 with fourth link 2, described one end of first connecting rod 7 passes through the 5th hinge 10 and frame 22
Connection, the other end is connected by third hinge 6 with seven-link assembly 4；The kinematic link include six-bar linkage 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 passes through the 11st hinge 19 and the 5th connecting rod
20 connections, the other end is connected by the 9th hinge 16 with the 8th connecting rod 12, described one end of fourth link 2 by the 4th hinge 8 and
Third connecting rod 9 is connected, and the other end is connected by first axle 1 with performing connecting rod 15, and described one end of second connecting rod 5 passes through the 3rd hinge
Chain 6 is connected with first connecting rod 7, and the other end is connected by second hinge 3 with seven-link assembly 4, and described one end of 8th connecting rod 12 passes through
7th hinge 13 is connected with frame 22, and middle part is connected by the 9th hinge 16 with six-bar linkage 17, and the other end passes through the 8th hinge
14 are connected with seven-link assembly 4, and described one end of seven-link assembly 4 is connected by second hinge 3 with second connecting rod 5, and middle part passes through the 8th
Hinge 14 is connected with the 8th connecting rod 12, and the other end is connected by the tenth hinge 18 with performing connecting rod 15；The execution connecting rod 15 1
End is connected by first axle 1 with fourth link 2, and middle part is connected by the tenth hinge 18 with seven-link assembly 4, and the other end passes through the
13 hinges 29 are connected with Hooke's hinge 28, are performed connecting rod 15 and are connected by the first ball vice mechanism 24 with hydraulic cylinder 25；
It is described training lumbering saw componet 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 4th hydraulic motor 306, motor bearing 307, the hydraulic motor 309 of screw mandrel 308 and the 5th, the knife saw 3010
It is fixedly connected with sliding block 301, sliding block 301 and guide rod 302 are connected by cylindrical pair, 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 4th hydraulic motor 306, the He of motor bearing 307
4th hydraulic motor 306 is fixedly connected, and motor bearing 307 is connected by screw pair and screw mandrel 308, the 5th hydraulic motor
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 313, movable bearing support 315, nut
315 and the tenth connecting rod 316, the hold-down support 312 is fixed on training lumbering saw componet 27, and hold-down support 312 and activity are propped up
Seat 314 is connected by screw rod 311, one end attaching nut 315 of screw rod 311, described one end of 9th connecting rod 313 by revolute pair 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 is by rotating
Secondary and the 9th connecting rod 313 is connected, and middle part is connected by revolute pair and movable bearing support 314；
The end of roller 32 is connected with original machine output shaft, and prime mover is fixedly connected with training lumbering saw componet 27, former
Motivation is arranged inside training lumbering saw componet 27, and training lumbering saw componet 27 has two rollers 32, symmetrical along vertical center line
Distribution and training lumbering saw componet 27 both sides；
Identical, the annexation between its parts and parts that holds the structure of mechanism 31 with of mechanism 33 is held on described
All same；
The delimbing knife 34 is arranged at training lumbering saw componet 27 top, is fixedly connected with training lumbering saw componet 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 training lumbering saw componet 27 is connected by revolute pair with Hooke's hinge 28, and training lumbering saw componet 27 passes through second
Ball vice mechanism 26 is connected with hydraulic cylinder 25.
The knife saw mechanism 30 holds mechanism 31, roller in the bottom of training lumbering saw componet 27 under being successively up
32nd, mechanism 33 and delimbing knife 34 are held on.
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 execution connecting rod 15 are connected by first axle 1, perform connecting rod 15 and seven-link assembly 4 passes through
Tenth hinge 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
Tenth two 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 the 6th
Connecting rod 17 is rotated, and the 8th connecting rod 12 and six-bar linkage 17 are connected by the 9th hinge 16, and then drives the 8th connecting rod 12 around the
Seven hinges 13 are rotated, and the 8th connecting rod 12 and seven-link assembly 4 are connected by the 8th hinge 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 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 connecting rod 15 is performed by first axle 1, seven-link assembly 4 and execution connecting rod 15 are connected by the tenth hinge 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 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, due to fourth link 2 and performs connecting rod 15 and is connected by first axle 1, seven-link assembly 4 and holds
Row connecting rod 15 is connected by the tenth hinge 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 componet 27 is rotated, and realizes the unitary rotation of training lumbering saw componet 27.
As shown in Figure 9 and Figure 10, the second lifting hydraulic cylinder 44 is in extended configuration, and the first lifting hydraulic cylinder 41 is in compression
State, frame 22 and chassis 46 are connected by the 14th hinge 38 and the 15th hinge 39, 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. 2, Fig. 4, Fig. 6 and Fig. 8, when training lumbering saw componet 27 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. 1, Fig. 3, Fig. 5, Fig. 7, Fig. 9 and Figure 10, training lumbering saw componet 27 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 (5)
- Robot, including lifting hydraulic cylinder, hydraulic pressure 1. a kind of inclinable hydraulic driving large space two structure state change cell type training is cut down trees Motor, running gear, chassis, frame, linkage, hinge, hydraulic cylinder, Hooke's hinge and training lumbering saw componet, its feature exist In concrete structure and annexation are：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 16th hinge to be connected with chassis, the other end is connected by the 17th hinge with frame, described second lifting hydraulic cylinder one end It is connected by the 18th hinge with chassis, the other end is connected by the 19th hinge 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 Comprehensive regulation in the three dimensions of existing trees training tree felling machine；The hydraulic motor includes the first hydraulic motor, the second hydraulic motor, the 3rd hydraulic motor, the 4th hydraulic motor and the 5th Hydraulic motor, the first hydraulic motor, the second hydraulic motor and the 3rd hydraulic motor are arranged in frame, the 4th hydraulic motor and horse It is fixedly connected up to bearing, the 5th hydraulic motor is connected by revolute pair and screw mandrel；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 linkage includes drive link, kinematic link and performs connecting rod；The drive link includes the 5th connecting rod, the 3rd Connecting rod and first connecting rod, described 5th connecting rod one end are connected by the tenth two hinge with frame, and the other end passes through the 11st hinge It is connected with six-bar linkage, described third connecting rod one end is connected by the 6th hinge with frame, the other end passes through the 4th hinge and Double leval jib is connected, and described first connecting rod one end is connected by the 5th hinge with frame, and the other end is connected by third hinge with the 7th Bar is connected；The kinematic link 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 performing connecting rod, and described the Two connecting rod one end are connected by third hinge with first connecting rod, and the other end is connected by second hinge with seven-link assembly, and described Eight connecting rod one end are 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 Eight hinges are 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 is connected with the 8th connecting rod, and the other end is connected by the tenth hinge with performing connecting rod；Described execution connecting rod one end passes through first Hinge is connected with fourth link, and middle part is connected by the tenth hinge with seven-link assembly, and the other end passes through the 13rd hinge and Hooke It is hinged, performs connecting rod and be connected by the first ball vice mechanism with hydraulic cylinder；It is described training lumbering saw componet 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 4th hydraulic motor, horse Up to bearing, screw mandrel and the 5th hydraulic motor, the knife saw is fixedly connected with sliding block, and sliding block and guide rod are connected by cylindrical pair, institute State the 11st connecting rod one end to connect by revolute pair and sliding block, the other end is connected by revolute pair and the 12nd connecting rod, the song Handle one end is connected by revolute pair and the 12nd connecting rod, and the other end is connected by revolute pair and the 4th hydraulic motor, the motor Bearing and the 4th hydraulic motor are fixedly connected, and motor bearing is connected by screw pair and screw mandrel, and the 5th hydraulic motor passes through Revolute pair and screw mandrel connection；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 fixation Bearing is fixed on training lumbering saw componet, and 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, 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 componet, and prime mover is set In training felling saw component internal, training lumbering saw componet has two rollers, is lumbered along vertical center line is symmetrical with training Saw componet both sides；Mechanism is held on described and holds that mechanism structure is identical with, the annexation all same between its parts and parts；The delimbing knife is arranged at training lumbering saw componet top, is fixedly connected with training lumbering saw componet.
- The robot 2. a kind of inclinable hydraulic driving large space two structure state 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 inclinable hydraulic driving large space two structure state change cell type training according to claim 1 is cut down trees, Characterized in that, the training lumbering saw componet is hinged by revolute pair with Hooke, training lumbering saw componet passes through the second ball Vice mechanism is connected with hydraulic cylinder.
- The robot 4. a kind of inclinable hydraulic driving large space two structure state change cell type training according to claim 1 is cut down trees, Characterized in that, the knife saw mechanism training lumbering saw componet bottom, held under being successively up mechanism, roller, on Hold mechanism and delimbing knife.
- The robot 5. a kind of inclinable hydraulic driving large space two structure state change cell type training according to claim 1 is cut down trees, Characterized in that, when the drive link is five connecting rod, second hinge and the 4th hinge are in lap position, realize eight connecting rods Single dof mobility；During drive link total movement, realize that ten connecting rod two-freedoms are moved；Drive link is third connecting rod and the During one 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 Special state during structure state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182441.1A CN107020627A (en) | 2017-03-24 | 2017-03-24 | A kind of inclinable hydraulic driving large space two structure state becomes cell type training and cut down trees robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182441.1A CN107020627A (en) | 2017-03-24 | 2017-03-24 | A kind of inclinable hydraulic driving large space two structure state becomes cell type training and cut down trees robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107020627A true CN107020627A (en) | 2017-08-08 |
Family
ID=59525825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710182441.1A Pending CN107020627A (en) | 2017-03-24 | 2017-03-24 | A kind of inclinable hydraulic driving large space two structure state becomes cell type training and cut down trees robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107020627A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696178A (en) * | 2017-11-06 | 2018-02-16 | 芜湖炬胜机电设备厂 | A kind of automatic segment tree-dozer and its application method |
| CN107856138A (en) * | 2017-11-06 | 2018-03-30 | 芜湖炬胜机电设备厂 | A kind of automatic tree-dozer segment mechanism and its application method |
| CN107856139A (en) * | 2017-11-06 | 2018-03-30 | 芜湖炬胜机电设备厂 | A kind of automatic tree-dozer and its application method |
| CN107873466A (en) * | 2017-11-06 | 2018-04-06 | 芜湖炬胜机电设备厂 | A kind of automatic tree-dozer of guide type and its application method |
| CN107896908A (en) * | 2017-11-06 | 2018-04-13 | 芜湖炬胜机电设备厂 | A kind of robot logger hand and its application method |
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 |
| CN104647336A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Controllable mechanism type two-degrees-of-freedom mobile manipulator |
| CN204658449U (en) * | 2015-06-08 | 2015-09-23 | 广西大学 | A kind of allosteric state large space robot palletizer mechanism |
| 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 CN201710182441.1A patent/CN107020627A/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 |
| CN104647336A (en) * | 2014-12-25 | 2015-05-27 | 广西大学 | Controllable mechanism type two-degrees-of-freedom mobile manipulator |
| CN204658449U (en) * | 2015-06-08 | 2015-09-23 | 广西大学 | A kind of allosteric state large space robot palletizer mechanism |
| 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 |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696178A (en) * | 2017-11-06 | 2018-02-16 | 芜湖炬胜机电设备厂 | A kind of automatic segment tree-dozer and its application method |
| CN107856138A (en) * | 2017-11-06 | 2018-03-30 | 芜湖炬胜机电设备厂 | A kind of automatic tree-dozer segment mechanism and its application method |
| CN107856139A (en) * | 2017-11-06 | 2018-03-30 | 芜湖炬胜机电设备厂 | A kind of automatic tree-dozer and its application method |
| CN107873466A (en) * | 2017-11-06 | 2018-04-06 | 芜湖炬胜机电设备厂 | A kind of automatic tree-dozer of guide type and its application method |
| CN107896908A (en) * | 2017-11-06 | 2018-04-13 | 芜湖炬胜机电设备厂 | A kind of robot logger hand and its application method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107020627A (en) | A kind of inclinable hydraulic driving large space two structure state becomes cell type training and cut down trees robot | |
| CN107116619A (en) | A kind of double two and the change cell type automation training of single-degree-of-freedom conversion 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 | |
| CN106954476A (en) | A kind of three structure states with three kinds of mapping of freedom degree become cell type trees training tree felling machine | |
| CN110115169B (en) | Garden trimmer | |
| CN107409789A (en) | A kind of automation trees training of the structure state metamorphic mechanisms formula of tilting-type three is cut down trees robot | |
| CN106003071A (en) | Woodcutting robot | |
| CN112470746A (en) | Garden modeling robot | |
| CN107826998A (en) | The method of work of truck-mounted crane pruning machine, truck-mounted crane and truck-mounted crane pruning machine | |
| CN206481733U (en) | A kind of novel tree felling machinery | |
| 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 | |
| CN107135825A (en) | A kind of tilting-type double two and single-degree-of-freedom conversion automation training are 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 | |
| KR100912356B1 (en) | Log Grapple Saw with Shovel Type Excavator | |
| CN106973755A (en) | A kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine | |
| CN107155662A (en) | A kind of structure state of tilting-type three becomes born of the same parents trees training tree felling machine | |
| CN106965150A (en) | A kind of tilting-type double two and single-degree-of-freedom conversion combination drive training are cut down trees robot | |
| CN207665578U (en) | Forest farm plantation pruning tool vehicle | |
| 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 | |
| CN210840789U (en) | Garden engineering vehicle | |
| CN107135902A (en) | A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot | |
| 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 |
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 |