CN107087531A - A kind of structure state of servo-drive large space two becomes the training of cell type trees and cut down trees robot - Google Patents
A kind of structure state of servo-drive large space two becomes the training of cell type trees and cut down trees robot Download PDFInfo
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- CN107087531A CN107087531A CN201710182231.2A CN201710182231A CN107087531A CN 107087531 A CN107087531 A CN 107087531A CN 201710182231 A CN201710182231 A CN 201710182231A CN 107087531 A CN107087531 A CN 107087531A
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- hinge
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- servomotor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/08—Felling trees
- A01G23/093—Combinations of shearing, sawing or milling apparatus specially adapted for felling trees
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/095—Delimbers
- A01G23/0955—Self-propelled along standing trees
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- Biodiversity & Conservation Biology (AREA)
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- Forests & Forestry (AREA)
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Abstract
A kind of structure state of servo-drive large space two becomes the training of cell type trees and cut down trees robot, is made up of cut down trees saw componet, cterpillar drive, frame, actuating arm, transmission arm, working arm, hinge, hydraulic cylinder and Hooke's hinge of servomotor, training.Actuating arm is made up of three connecting rods, and transmission arm has five connecting rods composition, and working arm is that output link connection training is cut down trees saw componet；Training cut down trees saw componet by knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife is constituted.Actuating arm implements programmable servo control by three servomotors, and born of the same parents are flexibly become with reference to machine two kinds of structure states of man-machine body, and the training, lumbering or segmentation interception task of trees can be flexibly completed in big working space.The present invention has PLC technology, big working space, high dynamic stability, the outstanding advantages of low manufacturing cost.
Description
Technical field
The present invention relates to robot field, particularly a kind of structure state of servo-drive large space two becomes the training of cell type trees and cut down trees
Robot.
Background technology
Chinese patent 201610396453.X discloses a kind of robot logger people, as described in document (CN106003071A),
The patent is the movement by four driving wheels, realizes the positioning of cutting, and operating accuracy and flexibility are low, and space is small, can only
Realize lumbering task；Chinese patent 201610419380.1 discloses a kind of all-hydraulic automatic lumbering device for tree-dozer,
This lumbering device is made up of all-hydraulic element, and its Hydraulic Elements required precision is high, and hydraulic system manufacturing cost is high, and working life is not
Long, easy oil leakage can only also realize lumbering task；Chinese patent 201210335835.3, which discloses one kind, cuts down trees and cuts a 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 can only match somebody with somebody with engineering machinery
Conjunction is used；Chinese patent 201310427637.4 discloses a kind of electric plant pruning machine, this plant pruning 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, and it is high to control performance, work
Make space small, stability is not enough, 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 are flexible low.
At present, there is not yet one kind can program SERVO CONTROL and can realize that two structure states are converted, stabilization is had concurrently
Output, flexibility, space is big, and manufacturing cost is low, long working life, and maintaining is simple, and arm weight is lighter, and operating efficiency is high
Feature, and can realize that saw is cut down in trees training finishing, whole trees and timber is segmented a kind of big sky of servo-drive of interception function
Between two structure states become the training of cell type trees and cut down trees the innovation design of robot.
The content of the invention
Become the training of cell type trees it is an object of the invention to provide a kind of structure state of servo-drive large space two to cut down trees robot, it
Can programmable servo control and can realize that two structure states are converted, have stable output concurrently, flexibility, space is big, manufacture
Cost is low, long working life, and maintaining is simple, lighter, the high feature of operating efficiency of arm weight, and can realize that trees training is repaiied
A whole, whole trees cut down saw and timber segmentation interception function.
The technical scheme is that：A kind of structure state of servo-drive large space two becomes the training of cell type trees and cut down trees robot,
Including servomotor, saw componet, cterpillar drive, frame, actuating arm, transmission arm, working arm, hinge, the liquid of cutting down trees of pruning
Cylinder pressure and Hooke's hinge, it is characterised in that 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；
It is described training cut down trees saw componet including knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife；Institute
Stating knife saw mechanism includes knife saw, sliding block, guide rod, the 11st connecting rod, the 12nd connecting rod, crank, the first micro-machine, motor branch
Seat, screw mandrel and the second micro-machine, the knife saw are fixedly connected with sliding block, and sliding block and guide rod are connected by cylindrical pair, and described the
11 connecting rod one end are connected by revolute pair and sliding block, and the other end is connected by revolute pair and the 12nd connecting rod, the crank one
End is connected by revolute pair and the 12nd connecting rod, and the other end is connected by revolute pair and the first micro-machine, the motor support base
It is fixedly connected with the first micro-machine, motor support base is connected by screw pair and screw mandrel, and second micro-machine is by rotating
The connection of secondary and screw mandrel；Mechanism is held under described includes screw rod, hold-down support, the 9th connecting rod, movable bearing support, nut and the tenth company
Bar, the hold-down support, which is fixed on training, is cut down trees on saw componet, and hold-down support and movable bearing support are connected by screw rod, and the one of screw rod
Attaching nut is held, described 9th connecting rod one end is connected by revolute pair and hold-down support, and the other end is connected by revolute pair and the tenth
Bar is connected, and described tenth connecting rod one end is connected by revolute pair and the 9th connecting rod, and middle part is connected by revolute pair and movable bearing support；
The roller end is connected with original machine output shaft, and prime mover and training saw componet of cutting down trees are fixedly connected, and prime mover is arranged at whole
Branch is cut down trees inside saw componet, and training saw componet of cutting down trees has two rollers, along the symmetrical saw group of cutting down trees with training of vertical center line
Part 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 and cut down trees saw componet top, is fixedly connected with training saw componet of cutting down trees；
The cterpillar drive is connected by revolute pair with frame；
The actuating arm includes the 5th connecting rod, third connecting rod and first connecting rod, and described 5th connecting rod one end passes through the 12nd
Hinge is connected with frame, and the other end is connected by the 11st hinge with six-bar linkage, and described third connecting rod one end passes through the 6th hinge
Chain is connected with frame, and the other end is connected by the 4th hinge with fourth link, described first connecting rod one end by the 5th hinge with
Frame is connected, and the other end is connected by third hinge with seven-link assembly；
The transmission arm includes six-bar linkage, fourth link, second connecting rod, the 8th connecting rod and seven-link assembly, the described 6th
Connecting rod one end is connected by the 11st hinge with the 5th connecting rod, and the other end is connected by the 9th hinge with the 8th connecting rod, and described
Double leval jib one end is connected by the 4th hinge with third connecting rod, and the other end is connected by first axle with working arm, and described second
Connecting rod one end is connected by third hinge with first connecting rod, and the other end is connected by second hinge with seven-link assembly, and the described 8th
Connecting rod one end is connected by the 7th hinge with frame, and middle part is connected by the 9th hinge with six-bar linkage, and the other end passes through the 8th
Hinge is connected with seven-link assembly, and described seven-link assembly one end is connected by second hinge with second connecting rod, and middle part passes through the 8th hinge
Chain is connected with the 8th connecting rod, and the other end is connected by the tenth hinge with working arm；
Described working arm one end is connected by first axle with fourth link, and middle part is connected by the tenth hinge and seven-link assembly
Connect, the other end is hinged by the 13rd hinge with Hooke, working arm is connected by the first ball vice mechanism with hydraulic cylinder；
The 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 and the 13rd hinge.
The training saw componet of cutting down trees is hinged by revolute pair with Hooke, and the saw componet of cutting down trees of pruning passes through the second ball slave
Structure is connected with hydraulic cylinder.
The knife saw mechanism cuts down trees the bottom of saw componet in training, held under being successively up mechanism, roller, on hold
Mechanism and delimbing knife.
First servomotor, the second servomotor and the 3rd servo motor output shaft respectively with the first connecting rod,
Third connecting rod and the connection of the 5th connecting rod one end.
The first connecting rod, third connecting rod and the 5th connecting rod are respectively by the first servomotor, the second servomotor and the 3rd
Servomotor drives, and the first servomotor, the second servomotor and the driving of the 3rd servomotor are installed in described frame
On.
When the actuating arm is five connecting rod, second hinge and the 4th hinge are in lap position, realize eight connecting rod lists certainly
By degree motion；During actuating arm total movement, realize that ten connecting rod two-freedoms are moved；Actuating arm is third connecting rod and first connecting rod
When, the 5th connecting rod two ends are connected with frame, realize that seven-link assembly two-freedom is moved, when this state is mechanism two-freedom structure state
Special state.
The advantage of the invention is that：
1. in the course of the work, can realize two kinds of structure state conversion, actuating arm is all driven by servomotor, Neng Goushi
Existing programmable servo drive control, is easy to Programmed control to obtain different flexible outputs, flexibility degree is high, forestry operation
When, because arboreal growth complex shape is changeable, robot is cut down trees in trees training being capable of the flexible flexibly operation under its complicated state.
2. the robot is made up of ten connecting rods altogether, it can flexibly become born of the same parents, flexibly change working space, in two-freedom structure
When state works, seven-link assembly two-freedom and the work of ten connecting rod two-freedoms can be realized, its working space is effectively increased.
3. using the controllable linkage of closed chain, all motors are arranged in frame, and dynamic stability is good, effectively reduces bar
The weight of arm, improves trees training and cuts down trees machine human efficiency, and mechanism is made up of full rod member, and manufacturing cost is low, working life
Long, 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
Tree and section wooden institutional operation.
Brief description of the drawings
Fig. 1 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cuts down trees the of robot
One structural representation.
Fig. 2 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cuts down trees the of robot
Two structural representations.
Fig. 3 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cuts down trees the eight of robot
First structure state diagram during connecting rod single-degree-of-freedom.
Fig. 4 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cuts down trees the eight of robot
The second configuration state figure during connecting rod single-degree-of-freedom.
Fig. 5 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cuts down trees the ten of robot
First structure state diagram during connecting rod two-freedom.
Fig. 6 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cuts down trees the ten of robot
The second configuration state figure during connecting rod two-freedom.
Fig. 7 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cuts down trees the seven of robot
First structure state diagram during connecting rod two-freedom.
Fig. 8 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cuts down trees the seven of robot
The second configuration state figure during connecting rod two-freedom.
Fig. 9 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cuts down trees the ten of robot
Eminence trees training configuration state figure during connecting rod two-freedom.
Figure 10 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cut down trees robot
Eminence trees training configuration state figure during seven-link assembly two-freedom.
Figure 11 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cut down trees robot
Training is cut down trees the first structure schematic diagram of saw componet.
Figure 12 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cut down trees robot
Training is cut down trees the second structural representation of saw componet.
Figure 13 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cut down trees robot
Under hold the structural representation of mechanism.
Figure 14 becomes the training of cell type trees for a kind of structure state of servo-drive large space two of the present invention and cut down trees robot
The structural representation of knife saw mechanism.
Marked in figure：1st, first axle；2nd, fourth link；3rd, second hinge；4th, seven-link assembly；5th, second connecting rod；6、
Third hinge；7th, first connecting rod；8th, the 4th hinge；9th, third connecting rod；10th, the 5th hinge；11st, the 6th hinge；12nd, the 8th connects
Bar；13rd, the 7th hinge；14th, the 8th hinge；15th, working arm；16th, the 9th hinge；17th, six-bar linkage；18th, the tenth hinge；19、
11st hinge；20th, the 5th connecting rod；21st, the tenth two hinge；22nd, frame；23rd, cterpillar drive；24th, the first ball slave
Structure；25th, hydraulic cylinder；26th, the second ball vice mechanism；27th, training is cut down trees saw componet；28th, Hooke's hinge；29th, the 13rd hinge；30th, knife
Saw；301st, sliding block；302nd, guide rod；303rd, the 11st connecting rod；304th, the 12nd connecting rod；305th, crank；306th, first is small-sized
Motor；307th, motor support base；308th, screw mandrel；309th, the second micro-machine；3010th, knife saw；31st, mechanism is held under；311st, screw rod；
312nd, hold-down support；313rd, the 9th connecting rod；314th, movable bearing support；315th, nut；316th, the tenth connecting rod；32nd, roller；33rd, upper folder
Embrace mechanism；34th, delimbing knife；35th, the first servomotor；36th, the second servomotor；37th, the 3rd servomotor.
Embodiment
Illustrated embodiment is further described to technical scheme below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, shown in Fig. 6, Figure 11, Figure 12, Figure 13 and Figure 14, a kind of servo-drive large space of the present invention
Two structure states become the training of cell type trees and cut down trees robot, including servomotor, training are cut down trees saw componet 27, cterpillar drive
23rd, frame 22, actuating arm, transmission arm, working arm 15, hinge, hydraulic cylinder 25 and Hooke's hinge 28, concrete structure and annexation
For：
The servomotor includes the first servomotor 35, the second servomotor 36 and the 3rd servomotor 37, and first watches
Take motor 35 to be fixedly connected with frame 22, the second servomotor 36 is fixedly connected with frame 22, the 3rd servomotor 37 and frame
22 are fixedly connected；
It is described training cut down trees saw componet 27 including knife saw mechanism 30, under hold mechanism 31, roller 32, on hold the and of mechanism 33
Delimbing knife 34；The knife saw mechanism 30 includes knife saw 3010, sliding block 301, guide rod 302, the 11st connecting rod 303, the 12nd connecting rod
304th, crank 305, the first micro-machine 306, motor support base 307, the micro-machine 309 of screw mandrel 308 and second, the knife saw 3010
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 first micro-machine 306, the He of motor support base 307
First micro-machine 306 is fixedly connected, and motor support base 307 is connected by screw pair and screw mandrel 308, second micro-machine
309 are connected by revolute pair and screw mandrel 308；Mechanism 31 is held under described includes screw rod 311, hold-down support 312, the 9th connecting rod
313rd, movable bearing support 315, the connecting rod 316 of nut 315 and the tenth, the hold-down support 312, which is fixed on training, cuts down trees on saw componet 27,
Hold-down support 312 and movable bearing support 314 are connected by screw rod 311, one end attaching nut 315 of screw rod 311, the 9th connecting rod
313 one end are connected by revolute pair and hold-down support 312, and the other end is connected by revolute pair and the tenth connecting rod 316, and the described tenth
The one end of connecting rod 316 is connected by revolute pair and the 9th connecting rod 313, and middle part is connected by revolute pair and movable bearing support 314；The rolling
Take turns 32 ends to be connected with original machine output shaft, prime mover and training saw componet 27 of cutting down trees are fixedly connected, and prime mover is arranged at training
Cut down trees inside saw componet 27, training saw componet 27 of cutting down trees there are two rollers 32, is cut down trees along vertical center line is symmetrical with training
The both sides of saw componet 27；Identical, the company between its parts and parts that holds the structure of mechanism 31 with of mechanism 33 is held on described
Connect relation all same；The delimbing knife 34 is arranged at training and cut down trees the top of saw componet 27, and company is fixed with training saw componet 27 of cutting down trees
Connect；
The cterpillar drive 23 is connected by revolute pair with frame 22；
The actuating arm includes the 5th connecting rod 20, third connecting rod 9 and first connecting rod 7, and described one end of 5th connecting rod 20 passes through
Tenth two hinge 21 is connected with frame 22, and the other end is connected by the 11st hinge 19 with six-bar linkage 17, the third connecting rod 9
One end is connected by the 6th hinge 11 with frame 22, and the other end is connected by the 4th hinge 8 with fourth link 2, and described first connects
The one end of bar 7 is connected by the 5th hinge 10 with frame 22, and the other end is connected by third hinge 6 with seven-link assembly 4；
The transmission arm includes six-bar linkage 17, fourth link 2, second connecting rod 5, the 8th connecting rod 12 and seven-link assembly 4, institute
State the one end of six-bar linkage 17 to be connected with the 5th connecting rod 20 by the 11st hinge 19, the other end is connected by the 9th hinge 16 and the 8th
Bar 12 is connected, and described one end of fourth link 2 is connected by the 4th hinge 8 with third connecting rod 9, the other end by first axle 1 with
Working arm 15 is connected, and described one end of second connecting rod 5 is connected by third hinge 6 with first connecting rod 7, and the other end passes through second hinge
3 are connected with seven-link assembly 4, and described one end of 8th connecting rod 12 is connected by the 7th hinge 13 with frame 22, and middle part passes through the 9th hinge
Chain 16 is connected with six-bar linkage 17, and the other end is connected by the 8th hinge 14 with seven-link assembly 4, and described one end of seven-link assembly 4 leads to
Cross second hinge 3 to be connected with second connecting rod 5, middle part is connected by the 8th hinge 14 with the 8th connecting rod 12, and the other end passes through the tenth
Hinge 18 is connected with working arm 15；
Described one end of working arm 15 is connected by first axle 1 with fourth link 2, and middle part passes through the tenth hinge 18 and the 7th
Connecting rod 4 is connected, and the other end is connected by the 13rd hinge 29 with Hooke's hinge 28, and working arm 15 passes through the first ball vice mechanism 24 and liquid
Cylinder pressure 25 is connected；
The 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 and of the tenth two hinge 21
13rd hinge 29.
The knife saw mechanism 30 is cut down trees the bottom of saw componet 27 in training, and mechanism 31, roller are held under being successively up
32nd, mechanism 33 and delimbing knife 34 are held on.
The training saw componet 27 of cutting down trees is connected by revolute pair with Hooke's hinge 28, is pruned and is cut down trees saw componet 27 by second
Ball vice mechanism 26 is connected with hydraulic cylinder 25.
Operation principle and process：
As shown in Figure 3 and Figure 4, when mechanism is eight connecting rod single-degree-of-freedom, the 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 9, as
Seven-link assembly 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 are logical
Cross second hinge 3 to connect, fourth link 2 and working arm 15 are connected by first axle 1, and working arm 15 and seven-link assembly 4 pass through
Tenth hinge 18 is connected, therefore seven-link assembly 4, fourth link 2 and working arm 15 can regard 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 working arm 15 is made single-degree-of-freedom
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 working arm 15 by first axle 1, seven-link assembly 4 and working arm 15 are connected by the tenth hinge 18, and then make work
Arm 15 makees two-freedom motion.
As shown in Figure 7 and Figure 8, when mechanism is seven-link assembly two-freedom, spy when this state is mechanism two-freedom structure state
State during different state, i.e. long distance work.The two ends of 5th connecting rod 20 are connected with frame 22, and now the 5th connecting rod the 20, the 6th connects
The connecting rod 12 of bar 17 and the 8th is in stationary state, and third connecting rod 9 is rotated around the 6th hinge 11, due to third connecting rod 9 and the 4th
Connecting rod 2 is connected by the 4th hinge 8, and then drives fourth link 2 to rotate, and first connecting rod 7 is rotated around the 5th hinge 10, due to
First connecting rod 7 and second connecting rod 5 are connected by third hinge 6, and then drive second connecting rod 5 to rotate, due to second connecting rod 5 and the
Seven-link assembly 4 is connected by second hinge 3, and the 8th connecting rod 12 and seven-link assembly 4 are connected by the 8th hinge 14, and then drives the 7th
Connecting rod 4 makees single dof mobility, because fourth link 2 and working arm 15 are connected by first axle 1, seven-link assembly 4 and work
Arm 15 is connected by the tenth hinge 18, and then working arm 15 is made two-freedom motion.
As shown in Figure 3, Figure 4, Figure 11 and Figure 12, by driving hydraulic cylinder 25, hydraulic cylinder 25 is extended, and then drives Hooke
The revolute pair that hinge 28 and training are cut down trees between saw componet 27 is rotated, and realizes that training is cut down trees the unitary rotation of saw componet 27.
As shown in Fig. 2, Fig. 4, Fig. 6 and Fig. 8, when training cuts down trees saw componet 27 in vertical state, trees training tree felling machine
Device people carries out operation in lower position, can realize that whole trees cut down saw function.
As shown in Fig. 1, Fig. 3, Fig. 5, Fig. 7, Fig. 9 and Figure 10, training cuts down trees saw componet 27 in horizontality, trees training
Robot cut down trees in lower position progress operation, can realize that timber is segmented interception function；When being worked in higher position, Neng Goushi
The training grooming function of existing trees.
Claims (6)
- The robot 1. a kind of structure state of servo-drive large space two change cell type trees training is cut down trees, including servomotor, training are cut down trees Saw componet, cterpillar drive, frame, actuating arm, transmission arm, working arm, hinge, hydraulic cylinder and Hooke's hinge, 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；It is described training cut down trees saw componet including knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife；The knife Saw includes knife saw, sliding block, guide rod, the 11st connecting rod, the 12nd connecting rod, crank, the first micro-machine, motor support base, silk Bar and the second micro-machine, the knife saw are fixedly connected with sliding block, and sliding block and guide rod are connected by cylindrical pair, and the described 11st connects Bar one end is connected by revolute pair and sliding block, and the other end is connected by revolute pair and the 12nd connecting rod, and described crank one end passes through Revolute pair and the connection of the 12nd connecting rod, the other end are connected by revolute pair and the first micro-machine, the motor support base and first Micro-machine is fixedly connected, and motor support base is connected by screw pair and screw mandrel, and second micro-machine passes through revolute pair and silk Bar is connected；Mechanism is held under described includes screw rod, hold-down support, the 9th connecting rod, movable bearing support, nut and the tenth connecting rod, described Hold-down support, which is fixed on training, is cut down trees on 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 rolling Wheel end is connected with original machine output shaft, and prime mover and training saw componet of cutting down trees are fixedly connected, and prime mover is arranged at training and cut down trees Inside saw componet, training saw componet of cutting down trees has two rollers, along the symmetrical saw componet both sides of cutting down trees with training of vertical center line； Mechanism is held on described and holds that mechanism structure is identical with, the annexation all same between its parts and parts；It is described Delimbing knife is arranged at training and cut down trees saw componet top, is fixedly connected with training saw componet of cutting down trees；The cterpillar drive is connected by revolute pair with frame；The actuating arm includes the 5th connecting rod, third connecting rod and first connecting rod, and described 5th connecting rod one end passes through the tenth two hinge Be connected with frame, the other end is connected by the 11st hinge with six-bar linkage, described third connecting rod one end by the 6th hinge with Frame is connected, and the other end is connected by the 4th hinge with fourth link, and described first connecting rod one end passes through the 5th hinge and frame Connection, the other end is connected by third hinge with seven-link assembly；The transmission arm includes six-bar linkage, fourth link, second connecting rod, the 8th connecting rod and seven-link assembly, the six-bar linkage One end is connected by the 11st hinge with the 5th connecting rod, and the other end is connected by the 9th hinge with the 8th connecting rod, and the described 4th connects Bar one end is connected by the 4th hinge with third connecting rod, and the other end is connected by first axle with working arm, the second connecting rod One end is connected by third hinge with first connecting rod, and the other end is connected by second hinge with seven-link assembly, the 8th connecting rod One end is connected by the 7th hinge with frame, and middle part is connected by the 9th hinge with six-bar linkage, and the other end passes through the 8th hinge Be connected with seven-link assembly, described seven-link assembly one end is connected by second hinge with second connecting rod, middle part by the 8th hinge with 8th connecting rod is connected, and the other end is connected by the tenth hinge with working arm；Described working arm one end is connected by first axle with fourth link, and middle part is connected by the tenth hinge with seven-link assembly, The other end is hinged by the 13rd hinge with Hooke, and working arm is connected by the first ball vice mechanism with hydraulic cylinder；The hinge includes first axle, second hinge, third hinge, the 4th hinge, the 5th hinge, the 6th hinge, the 7th hinge Chain, the 8th hinge, the 9th hinge, the tenth hinge, the 11st hinge, the tenth two hinge and the 13rd hinge.
- The robot 2. the structure state of a kind of servo-drive large space two change cell type trees training according to claim 1 is cut down trees, its It is characterised by, the training saw componet of cutting down trees is hinged by revolute pair with Hooke, the saw componet of cutting down trees of pruning passes through the second ball pair Mechanism is connected with hydraulic cylinder.
- The robot 3. the structure state of a kind of servo-drive large space two change cell type trees training according to claim 1 is cut down trees, its It is characterised by, the knife saw mechanism is cut down trees the bottom of saw componet in training, and mechanism, roller, upper folder are held under being successively up Embrace mechanism and delimbing knife.
- The robot 4. the structure state of a kind of servo-drive large space two change cell type trees training according to claim 1 is cut down trees, its Be characterised by, first servomotor, the second servomotor and the 3rd servo motor output shaft respectively with the first connecting rod, Third connecting rod and the connection of the 5th connecting rod one end.
- The robot 5. the structure state of a kind of servo-drive large space two change cell type trees training according to claim 1 is cut down trees, its It is characterised by, the first connecting rod, third connecting rod and the 5th connecting rod are respectively by the first servomotor, the second servomotor and the 3rd Servomotor drives, and the first servomotor, the second servomotor and the driving of the 3rd servomotor are installed in described frame On.
- The robot 6. the structure state of a kind of servo-drive large space two change cell type trees training according to claim 1 is cut down trees, its It is characterised by, when the actuating arm is five connecting rod, second hinge and the 4th hinge are in lap position, realize eight connecting rod lists certainly By degree motion；During actuating arm total movement, realize that ten connecting rod two-freedoms are moved；Actuating arm is third connecting rod and first connecting rod When, the 5th connecting rod two ends are connected with frame, realize that seven-link assembly two-freedom is moved, when this state is mechanism two-freedom structure state Special state.
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| CN201710182231.2A CN107087531A (en) | 2017-03-24 | 2017-03-24 | A kind of structure state of servo-drive large space two becomes the training of cell type trees and cut down trees robot |
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| CN201710182231.2A CN107087531A (en) | 2017-03-24 | 2017-03-24 | A kind of structure state of servo-drive large space two becomes the training of cell type trees and cut down trees robot |
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Application publication date: 20170825 |