CN107116619A - A kind of double two and the change cell type automation training of single-degree-of-freedom conversion cut down trees robot - Google Patents
A kind of double two and the change cell type automation training of single-degree-of-freedom conversion cut down trees robot Download PDFInfo
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- CN107116619A CN107116619A CN201710182209.8A CN201710182209A CN107116619A CN 107116619 A CN107116619 A CN 107116619A CN 201710182209 A CN201710182209 A CN 201710182209A CN 107116619 A CN107116619 A CN 107116619A
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- bearing pin
- connecting rod
- training
- rocking bar
- motor
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- 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/08—Felling trees
- A01G23/091—Sawing apparatus specially adapted for felling trees
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
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- 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 double two and the change cell type automation training of single-degree-of-freedom conversion cut down trees robot, be made up of sensor, motor, crawler type running system, frame, drive link, kinematic link, tripod, output connecting rod, bearing pin, hydraulic cylinder, Hooke's hinge and training lumbering device.Sensor includes angular displacement sensor, range sensor and displacement transducer, pass through sensor and controllable drive motor, realize automated information collection and control, flexibly become born of the same parents with reference to two two-freedoms and a single-degree-of-freedom of fuselage tripe systems state, obtain three kinds of tripe systems states, it can neatly complete that trees are pruned, trimmed, cutting down trees or timber is quantitatively segmented interception automated job under complex environment, operating efficiency is higher.The invention also has the advantages that dynamic stability is high, manufacturing cost is low, light and flexible.
Description
Technical field
Cut down the present invention relates to the change cell type automation training of robot field, particularly a kind of pair two and single-degree-of-freedom conversion
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.
Metamorphic mechanisms are the key concepts that scholar proposes in recent years, change with multi-functional phase change, multiple topology,
The features such as multiple degrees of freedom change, can change according to functional requirement or environment etc., adapt to different task, are flexibly applied to different fields
Close.Metamorphic mechanisms are applied into trees training to cut down trees Robot Design, the new metamorphic mechanisms formula trees of a class will be produced and pruned
Cut down trees robot, make trees training cut down trees robot it is bigger play its function.
At present, there is not yet it is a kind of can full-automatic operation, and can be between two two-freedoms and a single-degree-of-freedom
Flexible transformation, has concurrently and flexibly realizes that three kinds of tripe systems states, big working space feature, and motor are installed in frame, reduces
Each component load, makes it move high dynamic stability, has the training of automation trees again, cut down trees is segmented interception function with timber
Double two and single-degree-of-freedom become the automation training of transformation cell type and cut down trees the innovation design of robot.
The content of the invention
Cut down trees robot it is an object of the invention to provide the change cell type automation training of a kind of double two and single-degree-of-freedom conversion,
It can full-automatic operation, and can between two two-freedoms and a single-degree-of-freedom flexible transformation, have concurrently and flexibly realize three
Plant tripe systems state, big working space feature, and motor to be installed in frame, reduce each component load, make its motion high dynamic
State stability, has the training of automation trees, cut down trees is segmented interception function with timber again.
The technical scheme is that：A kind of double two and the change cell type automation training of single-degree-of-freedom conversion cut down trees machine
People, including sensor, motor, crawler type running system, frame, drive link, kinematic link, tripod, output connecting rod,
Bearing pin, hydraulic cylinder, Hooke's hinge and training lumbering device, concrete structure and annexation are：
The sensor includes angular displacement sensor, range sensor and displacement transducer, the angular displacement sensor bag
The first angular displacement sensor, the second angular displacement sensor and the third angle displacement transducer are included, the first angular displacement sensor shakes with after
Bar lower end is fixedly connected, and the second angular displacement sensor is fixedly connected with middle rocking bar lower end, the third angle displacement transducer and preceding rocking bar
Lower end is fixedly connected；The range sensor is fixedly connected with training lumbering device lower end；Institute's displacement sensors are cut down with training
Wooden device is fixedly connected；
The motor include the first motor, the second motor, the 3rd motor, the 4th motor and
5th motor, the first motor is fixedly connected with frame, rocking bar after driving, and the second motor and frame are fixed and connected
Connect, rocking bar in driving, the 3rd motor is fixedly connected with frame, rocking bar before driving, the 4th motor and motor support base are solid
Fixed connection, drives crank, and the 5th motor is fixedly connected with training lumbering device, drive screw；
The crawler type running system is connected by revolute pair with frame；
The drive link includes preceding rocking bar, middle rocking bar and rear rocking bar, and described preceding rocking bar one end passes through the 9th bearing pin and machine
Frame is connected, and the other end is connected by the 13rd bearing pin with front rod, and described middle rocking bar one end is connected by the 7th bearing pin with frame,
The other end is connected by the 5th bearing pin with middle connecting rod, tripod, and described rear rocking bar one end is connected by the 6th bearing pin with frame, separately
One 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
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
Eight bearing pins are connected with frame, 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,
Described middle 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, separately
One end is connected by the first bearing pin with output connecting rod, and described back link one end is connected by the 4th bearing pin with rear rocking bar, the other end
It is connected by the 3rd bearing pin with stock, described stock one end is connected by the 3rd bearing pin with back link, and middle part passes through the tenth bearing pin
It is connected with cradling piece, the other end is connected by the 12nd bearing pin with output connecting rod；
Described tripod one end is connected by the 5th bearing pin with middle rocking bar, middle connecting rod, and the other end is by the second bearing pin with
Connecting rod is connected；
Described output connecting rod one end is connected by the first bearing pin with middle connecting rod, and middle part is connected by the 12nd bearing pin and stock
Connect, the other end is hinged by the 14th bearing pin with Hooke, output connecting rod is connected by the first ball vice mechanism with hydraulic cylinder；It is described
Training lumbering device is hinged by revolute pair with Hooke, and training lumbering device is connected by the second ball vice mechanism with hydraulic cylinder；
It is described training lumbering device include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife, it is described
Training lumbering device is hinged by revolute pair with Hooke, and training lumbering device is connected by the second ball vice mechanism with hydraulic cylinder,
The knife saw mechanism training lumbering device bottom, held under being successively up mechanism, roller, on hold mechanism and delimbing
Knife.
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 and the 14th pin
Axle.
The middle rocking bar and middle connecting rod are double-rod, and other connecting rods are single pole.
The tripod is two.
The knife saw mechanism includes knife saw, sliding block, guide rod, third connecting rod, fourth link, crank, the 4th motor, electricity
Machine bearing, screw mandrel and the 5th motor, knife saw and sliding block the solidity connection, 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, the other end by revolute pair and the 4th driving motor connection, the motor support base and
4th motor solidity is connected, and motor support base is connected by screw pair and screw mandrel, and the 5th motor 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 training lumbering device, and hold-down support and movable bearing support are connected by screw rod, one end connection spiral shell of screw rod
Mother, 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, institute
State second connecting rod one end to connect by revolute pair and first connecting rod, 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 device, and prime mover is set
It is placed in inside training lumbering device, lumbering device of pruning there are two rollers, is filled along vertical center line is symmetrical with training lumbering
Put both sides；
Mechanism is held on described and holds that mechanism structure is identical with, the annexation between its parts and parts is homogeneous
Together；
The delimbing knife is arranged at training lumbering device top, is fixedly connected with training lumbering device.
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. by sensor and controllable drive motor, realizing automated information collection and controlling, realize trees training, repair
Cut, cut down trees or timber is quantitatively segmented interception automated job, operating efficiency is higher.
2. in the course of the work, can between two two-freedoms and a single-degree-of-freedom flexible transformation, flexibly realize three
Tripe systems state is planted, trees prune tree felling machine in two kinds of two-freedom configurations, and the characteristics of being respectively provided with flexibility more effectively enters one
Step increases working space, and the positioning of working end high precision can be achieved, and during mechanism single-degree-of-freedom, mechanical stability is higher.It is high
Flexibility degree, make training cut down trees robot forestry operation when, can adapt to the changeable any situation of arboreal growth complex shape,
Flexible flexibly operation.
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, the training of automation trees can be carried out in the rugged forest of bad environments, physical features, is repaiied
Cut, cut down trees and be segmented and cut carpentery workshop industry.
Brief description of the drawings
Fig. 1 automates the robot that cuts down trees that prunes for the change cell type of of the present invention a kind of double two and single-degree-of-freedom conversion
First structure schematic diagram.
Fig. 2 automates the robot that cuts down trees that prunes for the change cell type of of the present invention a kind of double two and single-degree-of-freedom conversion
Second structural representation.
Fig. 3 automates the robot that cuts down trees that prunes for the change cell type of of the present invention a kind of double two and single-degree-of-freedom conversion
First structure state diagram during ten connecting rod single-degree-of-freedoms.
Fig. 4 automates the robot that cuts down trees that prunes for the change cell type of of the present invention a kind of double two and single-degree-of-freedom conversion
Second configuration state figure during ten connecting rod single-degree-of-freedoms.
Fig. 5 automates the robot that cuts down trees that prunes for the change cell type of of the present invention a kind of double two and single-degree-of-freedom conversion
First structure state diagram during ten connecting rod two-freedoms.
Fig. 6 automates the robot that cuts down trees that prunes for the change cell type of of the present invention a kind of double two and single-degree-of-freedom conversion
Second configuration state figure during ten connecting rod two-freedoms.
Fig. 7 automates the robot that cuts down trees that prunes for the change cell type of of the present invention a kind of double two and single-degree-of-freedom conversion
First structure state diagram during 11 connecting rod two-freedom.
Fig. 8 automates the robot that cuts down trees that prunes for the change cell type of of the present invention a kind of double two and single-degree-of-freedom conversion
Second configuration state figure during 11 connecting rod two-freedom.
Fig. 9 automates the robot that cuts down trees that prunes for the change cell type of of the present invention a kind of double two and single-degree-of-freedom conversion
Eminence trees training configuration state figure during ten connecting rod two-freedoms.
Figure 10 cuts down trees robot for the change cell type automation training of of the present invention a kind of double two and single-degree-of-freedom conversion
11 connecting rod two-freedom when eminence trees training configuration state figure.
Figure 11 cuts down trees robot for the change cell type automation training of of the present invention a kind of double two and single-degree-of-freedom conversion
Training lumbering device first structure schematic diagram.
Figure 12 cuts down trees robot for the change cell type automation training of of the present invention a kind of double two and single-degree-of-freedom conversion
Training lumbering device the second structural representation.
Figure 13 cuts down trees robot for the change cell type automation training of of the present invention a kind of double two and single-degree-of-freedom conversion
Under hold the structural representation of mechanism.
Figure 14 cuts down trees robot for the change cell type automation training of of the present invention a kind of double two and single-degree-of-freedom conversion
Knife saw mechanism structural representation.
Figure 15 cuts down trees robot for the change cell type automation training of of the present invention a kind of double two and single-degree-of-freedom conversion
Rear rocking bar 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, crawler type running system；16th, cradling piece；17th, the 8th bearing pin；18th, the 9th bearing pin；19th, connecting rod is exported；20th,
Ten bearing pins；21 the 11st bearing pins；22nd, the 12nd bearing pin；23rd, the first ball vice mechanism；24th, hydraulic stem；25th, training lumbering device；
26th, 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；32、
Knife saw mechanism；321st, sliding block；322nd, guide rod；323rd, third connecting rod；324th, fourth link；325th, crank；326th, the 4th driving electricity
Machine；327th, motor support base；328th, screw mandrel；329th, the 5th motor；3210th, knife saw；33rd, mechanism is held under；331st, screw rod；
332nd, hold-down support；333rd, first connecting rod；334th, movable bearing support；335th, nut；336th, second connecting rod；34th, roller；35th, upper folder
Embrace mechanism；36 delimbing knives；37th, the first motor；38th, the second motor；39th, the 3rd motor；40th, the first angular displacement
Sensor；41st, the second angular displacement sensor；42nd, the third angle displacement transducer；43rd, range sensor；44th, displacement transducer.
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. 4, Fig. 6, Figure 11, Figure 12, Figure 13, Figure 14 and Figure 15, of the present invention a kind of double two
The change cell type automation training converted with single-degree-of-freedom is cut down trees robot, including sensor, motor, crawler type running system
15th, frame 14, drive link, kinematic link, tripod 7, output connecting rod 19, bearing pin, hydraulic cylinder 24, Hooke's hinge 26 and training are cut down
Wooden device 25, concrete structure and annexation are：
The sensor includes angular displacement sensor, range sensor 43 and displacement transducer 44, the angle displacement transducer
Device includes the first angular displacement sensor 40, the second angular displacement sensor 41 and the third angle displacement transducer 42, and the first angular displacement is passed
Sensor 40 is fixedly connected with the rear lower end of rocking bar 10, and the second angular displacement sensor 41 is fixedly connected with the middle lower end of rocking bar 11, the third angle
Displacement transducer 42 is fixedly connected with the preceding lower end of rocking bar 29；The range sensor 43 is fixed with training lumbering device 25 lower end to be connected
Connect；Institute's displacement sensors 44 are fixedly connected with training lumbering device 25；
The motor includes the first motor 37, the second motor 38, the driving of the 3rd motor the 39, the 4th
The motor 329 of motor 326 and the 5th, the first motor 37 is fixedly connected with frame 14, rocking bar 10 after driving, the second driving
Motor 38 is fixedly connected with frame 14, and rocking bar 11 in driving, the 3rd motor 39 is fixedly connected with frame 14, rocking bar before driving
29, the 4th motor 326 is fixedly connected with motor support base 327, drives crank 325, the 5th motor 329 and training lumbering
Device 25 is fixedly connected, drive screw 328；
The crawler type running system 15 is connected by revolute pair with frame 14；
The drive link includes preceding rocking bar 29, middle rocking bar 11 and rear rocking bar 10, and described preceding one end of rocking bar 29 passes through the 9th
Bearing pin 18 is connected with frame 14, and the other end is connected by the 13rd bearing pin 27 with front rod 28, and described middle one end of rocking bar 11 passes through
7th bearing pin 13 is connected with frame 14, and the other end is connected by the 5th bearing pin 9 with middle connecting rod 2, tripod 7, the rear rocking bar 10
One end is connected by the 6th bearing pin 12 with frame 14, and the other end is connected by the 4th bearing pin 8 with back link 6；
The kinematic link includes front rod 28, cradling piece 16, middle connecting rod 2, back link 6 and stock 5, the front rod 28
One end is connected by the 13rd bearing pin 27 with preceding rocking bar 29, and the other end is connected by the 11st bearing pin 21 with cradling piece 16, described
The one end of cradling piece 16 is connected by the 8th bearing pin 17 with frame 14, and middle part is connected by the 11st bearing pin 21 with front rod 28, separately
One end is connected by the tenth bearing pin 20 with stock 5, and described middle one end of connecting rod 2 passes through the 5th bearing pin 9 and middle rocking bar 11, tripod 7
Connection, middle part is connected by the second bearing pin 3 with tripod 7, and the other end is connected by the first bearing pin 1 with output connecting rod 19, described
The one end of back link 6 is connected by the 4th bearing pin 8 with rear rocking bar 10, and the other end is connected by the 3rd bearing pin 4 with stock 5, the length
The one end of bar 5 is connected by the 3rd bearing pin 4 with back link 6, and middle part is connected by the tenth bearing pin 20 with cradling piece 16, and the other end passes through
12nd bearing pin 22 is connected with output connecting rod 19；
Described one end of tripod 4 is connected by the 5th bearing pin 9 with middle rocking bar 11, middle connecting rod 2, and the other end passes through the second bearing pin
3 are connected with middle connecting rod 2；
Described output one end of connecting rod 19 is connected by the first bearing pin 1 with middle connecting rod 2, and middle part passes through the 12nd bearing pin 22 and length
Bar 5 is connected, and the other end is connected by the 14th bearing pin 31 with Hooke's hinge 26, and output connecting rod 19 passes through the first ball vice mechanism 23 and liquid
Cylinder pressure 24 is connected；
The training lumbering device 25 include knife saw mechanism 32, under hold mechanism 33, roller 34, on hold mechanism 35 and beat
Branch knife 36, the training lumbering device 25 is connected by revolute pair with Hooke's hinge 26, and training lumbering device 25 passes through the second ball pair
Mechanism 30 is connected with hydraulic cylinder 24, and the knife saw mechanism 32 is held in the bottom of training lumbering device 25 under being successively up
Mechanism 33, roller 34, on hold mechanism 35 and delimbing knife 36；
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 and the 14th bearing pin 31.
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 4th motor 326, motor support base 327, the motor 329 of screw mandrel 328 and the 5th, 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 4th motor 326, the motor of motor support base 327 and the 4th
326 are fixedly connected, and motor support base 327 is connected by screw pair and screw mandrel 328, and the 5th motor 329 passes through revolute pair
Connected with screw mandrel 328.
Mechanism 33 is held under described includes screw rod 331, hold-down support 332, first connecting rod 333, movable bearing support 335, nut
335 and second connecting rod 336, the hold-down support 332 is fixed on training lumbering device 25, hold-down support 332 and movable bearing support
334 are connected by screw rod 331, one end attaching nut 335 of screw rod 331, and described one end of first connecting rod 333 is by revolute pair and admittedly
Determine bearing 332 to connect, the other end is connected by revolute pair and second connecting rod 336, described one end of second connecting rod 336 passes through revolute pair
Connected with first connecting rod 333, middle part is connected by revolute pair and movable bearing support 334.
The end of roller 34 is connected with original machine output shaft, and prime mover is fixedly connected with training lumbering device 25, and original is dynamic
Machine be arranged at training lumbering device 25 inside, training lumbering device 25 have two rollers 34, along vertical center line it is symmetrical with
Training lumbering device 25 both sides.
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 training lumbering device 25 top, is fixedly connected with training lumbering device 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 training lumbering device 25 is rotated, and realizes the unitary rotation of training lumbering device 25.
As shown in Fig. 2, Fig. 4, Fig. 6 and Fig. 8, when training lumbering device 25 is in vertical state, trees training is cut down trees machine
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 device 25 is in horizontality, and trees training is cut down
Set robot and carry out operation in lower position, timber segmentation interception function can be achieved；When being worked in higher position, trees can be achieved
Training grooming function.
As shown in figure 4,42 points of the first angular displacement sensor 40, the second angular displacement sensor 41 and the third angle displacement transducer
It is not installed on rear rocking bar 10, middle rocking bar 11 and preceding rocking bar 29, the first angular displacement sensor 40 is turned by rocking bar after regulation and control 10
Dynamic angle, realizes the control to rear rocking bar 10, and the second angular displacement sensor 41 is realized by the rotational angle of rocking bar in regulation and control 11
The control of centering rocking bar 11, the third angle displacement transducer 42 is realized to preceding rocking bar 29 by the rotational angle of rocking bar 29 before regulation and control
Control；Range sensor 43 is installed on training lumbering device 21, by measuring the distance with trees, to realize the folder to trees
Embrace and cut down saw；Displacement transducer 44 is installed on training lumbering device 25, and training lumbering device 25 holds trees, by trees whole
The displacement moved on branch lumbering device 25, is intercepted to realize to be segmented timber；By the mutual cooperation of each sensor, trees are realized
Training is cut down trees the automation of robot.
Claims (10)
1. a kind of double two and the change cell type automation training of single-degree-of-freedom conversion cut down trees robot, including sensor, motor,
Crawler type running system, frame, drive link, kinematic link, tripod, output connecting rod, bearing pin, hydraulic cylinder, Hooke's hinge and whole
Branch lumbering device, it is characterised in that concrete structure and annexation are：
The sensor includes angular displacement sensor, range sensor and displacement transducer, and the angular displacement sensor includes the
Under one angular displacement sensor, the second angular displacement sensor and the third angle displacement transducer, the first angular displacement sensor and rear rocking bar
End is fixedly connected, and the second angular displacement sensor is fixedly connected with middle rocking bar lower end, the third angle displacement transducer and preceding rocking bar lower end
It is fixedly connected；The range sensor is fixedly connected with training lumbering device lower end；Institute's displacement sensors and training lumbering dress
Put and be fixedly connected；
The motor includes the first motor, the second motor, the 3rd motor, the 4th motor and the 5th
Motor, the first motor is fixedly connected with frame, and rocking bar after driving, the second motor is fixedly connected with frame, is driven
Rocking bar in dynamic, the 3rd motor is fixedly connected with frame, rocking bar before driving, and the 4th motor and motor support base are fixed and connected
Connect, drive crank, the 5th motor is fixedly connected with training lumbering device, drive screw；
The crawler type running system is connected by revolute pair with frame；
The drive link includes preceding rocking bar, middle rocking bar and rear rocking bar, and described preceding rocking bar one end is connected by the 9th bearing pin and frame
Connect, the other end is connected by the 13rd bearing pin with front rod, described middle rocking bar one end is connected by the 7th bearing pin with frame, another
End is connected by the 5th bearing pin with middle connecting rod, tripod, and described rear rocking bar one end is connected by the 6th bearing pin with frame, the other end
It 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 tenth
Three bearing pins are 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 pin
Axle is connected with frame, 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, described
Middle 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, the other end
It is connected by the first bearing pin 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
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 branch
Hack lever is connected, and the other end is connected by the 12nd bearing pin with output connecting rod；
Described tripod one end is connected by the 5th bearing pin with middle rocking bar, middle connecting rod, and the other end passes through the second bearing pin and middle connecting rod
Connection；
Described output connecting rod one end is connected by the first bearing pin with middle connecting rod, and middle part is connected by the 12nd bearing pin with stock, separately
One end is hinged by the 14th bearing pin with Hooke, and output connecting rod is connected by the first ball vice mechanism with hydraulic cylinder；The training
Lumbering device is hinged by revolute pair with Hooke, and training lumbering device is connected by the second ball vice mechanism with hydraulic cylinder；
It is described training lumbering device include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife, the training
Lumbering device is hinged by revolute pair with Hooke, and training lumbering device is connected by the second ball vice mechanism with hydraulic cylinder, described
Knife saw mechanism training lumbering device bottom, held under being successively up mechanism, roller, on hold mechanism and delimbing knife.
The robot 2. the change cell type automation training that a kind of pair two according to claim 1 and single-degree-of-freedom are converted is cut down trees,
Characterized in that, the bearing pin include the first bearing pin, the second bearing pin, the 3rd bearing pin, the 4th bearing pin, the 5th bearing pin, the 6th bearing pin,
7th bearing pin, the 8th bearing pin, the 9th bearing pin, the tenth bearing pin, the 11st bearing pin, the 12nd bearing pin, the 13rd bearing pin and the 14th
Bearing pin.
The robot 3. the change cell type automation training that a kind of pair two according to claim 1 and single-degree-of-freedom are converted is cut down trees,
Characterized in that, the middle rocking bar and middle connecting rod are double-rod, other connecting rods are single pole.
The robot 4. the change cell type automation training that a kind of pair two according to claim 1 and single-degree-of-freedom are converted is cut down trees,
Characterized in that, the tripod is two.
The robot 5. the change cell type automation training that a kind of pair two according to claim 1 and single-degree-of-freedom are converted is cut down trees,
Characterized in that, the knife saw mechanism includes knife saw, sliding block, guide rod, third connecting rod, fourth link, crank, the 4th driving electricity
Mechanical, electrical machine bearing, screw mandrel and the 5th motor, knife saw and sliding block the solidity connection, 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 passes through revolute pair and the 4th driving motor connection, the motor branch
Seat and the connection of the 4th motor solidity, motor support base are connected by screw pair and screw mandrel, and the 5th motor is by turning
Dynamic secondary and screw mandrel connection.
The robot 6. the change cell type automation training that a kind of pair two according to claim 1 and single-degree-of-freedom are converted is 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 training lumbering device, and hold-down support and movable bearing support are connected by screw rod, and one end of screw rod connects
Connected 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
Connect, described second connecting rod one end is connected by revolute pair and first connecting rod, middle part is connected by revolute pair and movable bearing support.
The robot 7. the change cell type automation training that a kind of pair two according to claim 1 and single-degree-of-freedom are converted is cut down trees,
Characterized in that, the roller end is connected with original machine output shaft, prime mover is fixedly connected with training lumbering device, prime mover
It is arranged inside training lumbering device, training lumbering device there are two rollers, is lumbered along vertical center line is symmetrical with training
Device both sides.
The robot 8. the change cell type automation training that a kind of pair two according to claim 1 and single-degree-of-freedom are converted is 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 9. the change cell type automation training that a kind of pair two according to claim 1 and single-degree-of-freedom are converted is cut down trees,
Characterized in that, the delimbing knife is arranged at training lumbering device top, it is fixedly connected with training lumbering device.
The robot 10. the change cell type automation training that a kind of pair two according to claim 1 and single-degree-of-freedom are converted is 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.
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| CN107538573A (en) * | 2017-09-10 | 2018-01-05 | 韩朝锋 | A kind of intelligence lumbering debranching segment robot |
| CN107640058A (en) * | 2017-10-31 | 2018-01-30 | 安徽易威斯新能源科技股份有限公司 | A kind of rescue type energy storage charging pile |
| 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 |
| 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 |
| 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 |
| 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 |
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Application publication date: 20170901 |