CN107128387A - One kind automation stepping climb tree saw formula training robot - Google Patents
One kind automation stepping climb tree saw formula training robot Download PDFInfo
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- CN107128387A CN107128387A CN201710182108.0A CN201710182108A CN107128387A CN 107128387 A CN107128387 A CN 107128387A CN 201710182108 A CN201710182108 A CN 201710182108A CN 107128387 A CN107128387 A CN 107128387A
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- pedipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- Life Sciences & Earth Sciences (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
One kind automation stepping is climbed tree saw formula training robot, including mechanical leg device, saw formula training system, sensor and frame bar assembly.A kind of automation stepping is climbed tree saw formula training robot, when pedipulator motor is operated alone, just can be realized that complexity is climbed tree and be embraced tree motion, driving is simple；Pedipulator and trunk have angle of inclination, just can be realized using the reaction force of driving force locked, and climbing tree, it is safe and reliable to embrace tree；During robot climbs tree, the free degree is changed, thus it is possible to vary hold angle tightly, realize robot flexible adaptation different-diameter trees；Animal bodies construction is simulated, makes training robot flexible adaptation different shape trees of climbing tree；Multiple degrees of freedom training system is combined with robot capable of climbing trees, and travelling performance is good, training is convenient, flexible, and operating efficiency is high, registration of pruning, and can complete the training work of complexity；Multiple sensor feedback parameters pass through programming Control to controller, it is possible to achieve automate training work of climbing tree.
Description
Technical field
The present invention relates to Robot Design field, particularly a kind of automation stepping is climbed tree saw formula training robot.
Trees are during growth, and pruning is an essential job, patent of invention CN 102283026
A discloses a kind of fruit tree pruning machine, and the fruit tree pruning machine needs manually to bear, for high branch trimming, it is necessary to change lengthening aluminium
Pipe, therefore labor intensity is big, inefficiency.The A of patent of invention CN 105940975 disclose a kind of fruit tree pruning machine, described
The execution unit of trimmer is arranged on power vehicle, carries out training work by mechanical arm, but can not flexibly avoid distribution
Limb at random, carries out accurate training work, other disclosed patents and above-mentioned two patent class about the robot that prunes
Seemingly.
Chinese patent ZL2012103468033 discloses a kind of four-footed climbing robot, and the robot utilizes self-weight self-locking,
And each holding arm installs three motors, driving is more complicated, and overall movement speed is also relatively slow, does not have applicability.
With the continuous improvement of robot technology level, the application of bio-robot is gradually extensive, wherein bionical machine of climbing tree
Applying for device people is also increasing in terms of trees training, disease control, pest control, picking fruit, field detection monitoring,
Therefore bio-robot is applied to training work of climbing tree, the shortcoming of prior art can be overcome.
Automation is the essential condition and distinctive marks of the modernization of industry, by the sensing for measuring and feeding back various parameters
Device, control system can automatically adjust the running status of machine, therefore sensor is installed in training robot of climbing tree, can be with
It is automatically performed training operation of climbing tree.
At present, it there are no driving simple, climb tree reliable and secure, adapt to different thicknesses, shape trees, travelling performance is good,
Training is convenient, flexible, operating efficiency is high, the automation stepping of training registration is climbed tree saw formula training robot.
The content of the invention
It is an object of the invention to provide one kind automation stepping climb tree saw formula training robot, it can overcome existing training skill
The deficiency of art, the stepping climb tree saw formula training robot, when motor is operated alone, just can realize complexity climb tree embrace tree fortune
Dynamic, driving is simple；Pedipulator has angle of inclination with trunk, and locked, an armful tree of climbing tree just can be realized using the reaction force of driving force
It is safe and reliable；During robot climbs tree, the free degree is changed, thus it is possible to vary hold angle tightly, realize robot flexible adaptation
Different-diameter trees；Animal bodies construction is simulated, makes training robot flexible adaptation different shape trees of climbing tree；Multiple degrees of freedom is whole
Branch system is combined with robot capable of climbing trees, and travelling performance is good, is pruned convenient, flexible, and operating efficiency is high, registration of pruning, can be with complete
Into complicated training work；Multiple sensor feedback parameters pass through programming Control to controller, it is possible to achieve automation is climbed tree whole
Branch work.
The present invention reaches above-mentioned purpose by the following technical programs：One kind automation stepping climb tree saw formula training robot,
Including mechanical leg device, saw formula training system, sensor and frame bar assembly, concrete structure and annexation are：
The mechanical leg device includes the first mechanical leg device, the second mechanical leg device, the 3rd mechanical leg device and the 4th
Mechanical leg device, the described first mechanical leg device includes drive rocker, driven rocking bar, connecting rod, pedipulator motor, connection
Frame, sliding sleeve, sliding sleeve driving hydraulic cylinder, pedipulator driving hydraulic cylinder, pedipulator, fixed claw, arc-shaped limit chute and rolling bearing,
Drive rocker one end and rod hinge connection, the other end are fixedly connected with pedipulator motor, pedipulator motor and the first bar
It is connected, and drives drive rocker to be rotated relative to the first bar, driven rocking bar one end and rod hinge connection, the other end is hinged with the first bar,
Link is both connected through the hinge with connecting rod, and is connected with sliding sleeve by cylindrical pair, is also connected with pedipulator driving hydraulic cylinder, institute
State sliding sleeve to be connected with sliding sleeve driving hydraulic cylinder, the pedipulator driving hydraulic cylinder is connected with pedipulator, the sliding sleeve drives hydraulic pressure
Cylinder is hinged with the first bar, and the fixed claw is fixedly connected with link, is mounted with rolling bearing below the driven rocking bar, is rolled
Bearing is moved in arc-shaped limit chute, and arc-shaped limit chute is fixed on below the first bar, the second mechanical leg device, the 3rd machinery
Leg device, the 4th mechanical leg device are identical with the first pedipulator apparatus structure and annexation；
The saw formula training system includes the first saw formula training system and the second saw formula training system, and the first saw formula is whole
Branch system include rotation seat, expansion link, two grades of expansion links, training saw connecting rod, training saw, saw formula training system first hydraulic cylinder,
Saw formula prunes system second hydraulic cylinder with the saw formula training hydraulic cylinder of system the 3rd, and the expansion link is hinged with rotation seat, and two grades are stretched
Contracting bar one end is slided in expansion link, and the other end and training saw rod hinge connection, training saw are fixedly connected on training saw connecting rod, institute
State saw formula training system first hydraulic cylinder one end to be hinged with rotation seat, the other end is hinged with expansion link, the saw formula training system
Second hydraulic cylinder one end is hinged with expansion link, and the other end is hinged with two grades of expansion links, the saw formula training hydraulic cylinder of system the 3rd
One end is hinged with two grades of expansion links, the other end and training saw rod hinge connection, and the second saw formula training system is with the first saw formula training
Structure of uniting and annexation are identical；
The sensor includes pressure sensor, PSD range sensors and velocity sensor, and the pressure sensor is fixed
Each pedipulator end is connected to, the PSD range sensors are fixedly connected on each link, the velocity sensor is consolidated
Surely it is connected on each pedipulator；
The frame bar assembly include the first bar, the second bar, the 3rd bar, the 4th bar, the 5th bar, the 6th bar, the 7th bar and
8th bar, the first bar is hinged with the second bar by the first Hooke, and the second bar is connected with the 3rd bar by second hinge, the 3rd bar
It is connected with the 4th bar by the motor of side link first, the 4th bar is connected with the 5th bar by third hinge, the 5th bar and
Six bars are hinged by the second Hooke, and the 6th bar and the 7th bar are by the 4th hinge connection, and the 7th bar and the 8th bar pass through frame linking
The motor of bar second is connected, and the 8th bar is connected with the first bar by first axle, side link the first driving hydraulic cylinder one end and
First bar is hinged, and the other end is hinged with the second bar by the 3rd Hooke, side link the second driving hydraulic cylinder one end and the 6th bar
It is connected, the other end is connected with the 5th bar by the 4th Hooke's hinge, and the driving hydraulic cylinder one end of side link the 3rd is hinged with the first bar, separately
One end is hinged with the 8th bar, and the driving hydraulic cylinder one end of side link the 4th is hinged with the 6th bar, and the other end is hinged with the 7th bar, frame linking
The driving hydraulic cylinder one end of bar the 5th is hinged with the 5th bar, and the other end is hinged with the 4th bar, the driving hydraulic cylinder one end of side link the 6th
It is hinged with the second bar, the other end is hinged with the 3rd bar.
The arc-shaped limit chute circular arc corresponding angle is 110-115 °, and the pedipulator is with link setting angle
55-60°。
The present invention's has the prominent advantages that：
1. automation stepping is climbed tree, saw formula prunes robot during climbing tree, and pedipulator can realize two-freedom and list
The transformation of the free degree, belongs to variable freedom and becomes born of the same parents' structure, with multi-functional phase change, multiple topology change, multiple degrees of freedom
Variation characteristic, makes pedipulator complete the action of complexity during climbing tree.During climbing tree, require different according to gait, list is certainly
By degree work when can realize that relative trunk is held tightly or loosened upwards upwards and wait motion, when two frees degree work, make machinery
Leg keeps holding tightly when robot is moved upwards, and can change holding angle, adapts to different-diameter trees.
The saw formula training robot 2. automation stepping is climbed tree, driving is simple, when pedipulator motor is operated alone, just can
Flexibly imitate animal to climb tree action, pedipulator can realize relative trunk by holding tightly to upwards loosening, then to holding trunk upwards
Compound action, while realizing that pedipulator is locked on trunk by the reaction force of driving force, climbing tree training work safety can
Lean on.
3. multiple degrees of freedom training machine is combined with robot capable of climbing trees, it is possible to achieve multi-faceted steering, avoidance, change weight
The heart, adapts to trees of different shapes, and travelling performance is good, and training is flexible, and operating efficiency is high, accurate positioning of pruning, sensing
Device feedback parameter is to controller, and by programming Control, realization that can be flexible automates training work of climbing tree.
Brief description of the drawings
Fig. 1 for it is of the present invention automation stepping climb tree saw formula prune robot structural representation.
Fig. 2 is view when drive rocker of the present invention is vertical with the first bar.
Fig. 3 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar is moved upwards.
Fig. 4 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar is moved downward.
Fig. 5 is the schematic diagram of end movement track when pedipulator of the present invention is climbed tree upwards.
Fig. 6 climbs tree gait schematic diagram for the climb tree first step of saw formula training robot of automation stepping of the present invention.
Fig. 7 climbs tree gait schematic diagram for the climb tree second step of saw formula training robot of automation stepping of the present invention.
Fig. 8 is link schematic diagram of the present invention.
Fig. 9 is arc-shaped limit chute schematic diagram of the present invention.
The representative implication of each mark is in accompanying drawing：
1：First axle；2：8th bar；3：The motor of side link side link second；4：7th bar；5：4th hinge；6：
6th bar；7：Second Hooke's hinge；8：5th bar；9：Third hinge；10：4th bar；11：The motor of side link first；12：The
Three bars；13：Second hinge；14：Second bar；15：First Hooke's hinge；16：First bar；17：Pedipulator；18：Training saw connecting rod；
19：Two grades of expansion links；20：Expansion link；21：The driving hydraulic cylinder of side link first；22：3rd Hooke's hinge；23：Side link second drives
Hydrodynamic cylinder pressure；24：4th Hooke's hinge；25：The driving hydraulic cylinder of side link the 3rd；26：The driving hydraulic cylinder of side link the 4th；27：Even
The driving hydraulic cylinder of hack lever the 5th；28：The driving hydraulic cylinder of side link the 6th；29：Pedipulator driving hydraulic cylinder；30：Pedipulator drives
Motor；31：Drive rocker；32：Connecting rod；33：Link；34：Sliding sleeve；35：Driven rocking bar；36：Sliding sleeve driving hydraulic cylinder；37：
Arc-shaped limit chute；38：Rolling bearing；39：Fixed claw；40：PSD range sensors；41：Velocity sensor；42：Pressure sensing
Device；43：Rotation seat；44：Saw formula training system first hydraulic cylinder；45：Saw formula training system second hydraulic cylinder；46：Saw formula is pruned
The hydraulic cylinder of system the 3rd；47：Training saw；48：Trees.
Embodiment
Below in conjunction with the accompanying drawings and technical scheme is clearly and completely described embodiment, it is clear that this is only
Only it is a part of embodiment of the invention, rather than whole embodiments.Based on embodiments of the present invention, art technology
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the model that the present invention is protected
Enclose.
Compares figure 1, Fig. 2, Fig. 8 and Fig. 9, automation stepping of the present invention are climbed tree saw formula training robot, including machine
Tool leg device, saw formula training system, sensor and frame bar assembly, concrete structure and annexation are：
The mechanical leg device includes the first mechanical leg device, the second mechanical leg device, the 3rd mechanical leg device and the 4th
Mechanical leg device, the described first mechanical leg device includes drive rocker 31, driven rocking bar 35, connecting rod 32, pedipulator motor
30th, link 33, sliding sleeve 34, sliding sleeve driving hydraulic cylinder 36, pedipulator driving hydraulic cylinder 29, pedipulator 17, fixed claw 39, rolling
Bearing 38 and arc-shaped limit chute 37, one end of drive rocker 31 are hinged with connecting rod 32, and the other end is consolidated with pedipulator motor 30
Fixed connection, pedipulator motor 30 is connected with the first bar 16, and drives drive rocker 31 to be rotated relative to the first bar 16, from shaking
The one end of bar 35 is hinged with connecting rod 32, and the other end is hinged with the first bar 16, and link 33 is both connected through the hinge with connecting rod 32, and with
Sliding sleeve 34 is connected by cylindrical pair, is also connected with pedipulator driving hydraulic cylinder 29, the sliding sleeve 34 and sliding sleeve driving hydraulic cylinder 36
Connection, the pedipulator driving hydraulic cylinder 29 is connected with pedipulator 17, and the sliding sleeve driving hydraulic cylinder 36 is hinged with the first bar 16,
The fixed claw 39 is fixedly connected with link 33, and the driven lower section of rocking bar 35 is mounted with rolling bearing 38, rolling bearing 38
Moved in arc-shaped limit chute 37, arc-shaped limit chute 37 is fixed on the lower section of the first bar 16, the second mechanical leg device, the 3rd machine
Tool leg device and the 4th mechanical leg device are identical with the first pedipulator apparatus structure and annexation；
The saw formula training system includes the first saw formula training system and the second saw formula training system, and the first saw formula is whole
Branch system includes rotation seat 43, expansion link 20, two grades of expansion links 19, training saw connecting rod 18, training saw 47, saw formula training system the
One hydraulic cylinder 44, saw formula training system second hydraulic cylinder 45, the saw formula training hydraulic cylinder 46 of system the 3rd, the expansion link 20 is with turning
Dynamic seat 43 is hinged, and two grades of one end of expansion link 19 are slided in expansion link 20, and the other end is hinged with training saw connecting rod 18, training saw 47
It is fixedly connected on training saw connecting rod 18, described one end of saw formula training system first hydraulic cylinder 44 is hinged with rotation seat 43, another
End is hinged with expansion link 20, and saw formula one end of system second hydraulic cylinder 45 of pruning is hinged with expansion link 20, the other end and two grades
Expansion link 19 is hinged, and the one end of the 3rd hydraulic cylinder of the saw formula training system 46 is hinged with two grades of expansion links 19, the other end and training
Saw connecting rod 18 is hinged, and the second saw formula training system is identical with the first saw formula training system architecture, passes through rotation seat 43, saw formula training
System first hydraulic cylinder 44, saw formula training system second hydraulic cylinder 45, saw formula is pruned the driving of the hydraulic cylinder 46 of system the 3rd, can be with
The first saw formula training system multiple degrees of freedom is set flexibly to carry out training work；
The sensor includes pressure sensor 42, PSD range sensors 40 and velocity sensor 41, the pressure sensing
Device 42 is fixedly connected on each pedipulator end, and the PSD range sensors 40 are fixedly connected on each link, the speed
Degree sensor 41 is fixedly connected on each pedipulator；
The frame bar assembly includes the first bar 16, the second bar 14, the 3rd bar 12, the 4th bar 10, the 5th bar 8, the 6th bar
6th, the 7th bar 4 and the 8th bar 2, the first bar 16 are connected with the second bar 14 by the first Hooke's hinge 15, the second bar 14 and the 3rd bar 12
Connected by second hinge 13, the 3rd bar 12 is connected with the 4th bar 10 by the first motor of side link 11, the 4th bar 10 with
5th bar 8 is connected by third hinge 9, and the 5th bar 8 is connected with the 6th bar 6 by the second Hooke's hinge 7, the 6th bar 6 and the 7th bar 4
Connected by the 4th hinge 5, the 7th bar 4 is connected with the 8th bar 2 by the second motor of side link 3, the 8th bar 2 and the first bar
16 are connected by first axle 1, and the one end of the first driving hydraulic cylinder of side link 21 is hinged with the first bar 16, the other end and the second bar 14
Connected by the 3rd Hooke's hinge 22, the one end of the second driving hydraulic cylinder of side link 23 is connected with the 6th bar 6, the other end and the 5th bar 8
It is connected by the 4th Hooke's hinge 24, the one end of the 3rd driving hydraulic cylinder of side link 25 is hinged with the first bar 16, the other end and the 8th bar 2
It is hinged, the one end of the 4th driving hydraulic cylinder of side link 26 is hinged with the 6th bar 6, the other end is hinged with the 7th bar 4, side link the 5th drives
The one end of hydrodynamic cylinder pressure 27 is hinged with the 5th bar 8, and the other end is hinged with the 4th bar 10, the one end of the 6th driving hydraulic cylinder of side link 28 with
Second bar 14 is hinged, and the other end is hinged with the 3rd bar 12.
The circular arc corresponding angle of arc-shaped limit chute 37 is 110-115 °, the pedipulator 17 and the established angle of link 33
Spend for 55-60 °.
Operation principle and process：
Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, when drive rocker 31 is vertical with connecting rod 32, sliding sleeve 34 slides into link 33
It is middle；The first driving independent role effect of servomotor 30, as state is changed into state shown in Fig. 3 as shown in Figure 2, it is possible to achieve
Relative first bar 16 of pedipulator 17 holds the motion of trunk tightly simultaneously upwards, and such as action effect, state is changed into Fig. 2 institutes as shown in Figure 4
Show state, it is possible to achieve relative first bar 16 of pedipulator 17 loosens the motion of trunk simultaneously upwards, i.e. action effect is changed by Fig. 4
When being changed into state shown in Fig. 3 again for Fig. 2, pedipulator 17 relative to the first bar 16, from holding do upward relaxing exercise do again to
Upper to hold motion tightly, action effect on the contrary is changed into Fig. 2 and is changed into state shown in Fig. 4 again as shown in Figure 3, realizes the phase of pedipulator 17
It is also that pedipulator 17 drives pruning machine of climbing tree for the first bar 16 by holding state to loosening downwards again to the motion held tightly downwards
The process that device people moves upwards, and sliding sleeve driving hydraulic cylinder 36 participates in being changed into Fig. 2 as shown in Figure 3 and being again changed into shown in Fig. 4
Process, it is ensured that when robot is moved upwards, pedipulator 17 is always maintained at the holding to trunk, the driving of sliding sleeve driving hydraulic cylinder 36
Process is, when state is changed into state shown in Fig. 2 as shown in Figure 3, and sliding sleeve driving hydraulic cylinder 36 is gradually stretched out, and shown in Fig. 2
State is up to range, when state is changed into state shown in Fig. 4 as shown in Figure 2, and sliding sleeve driving hydraulic cylinder 36 gradually bounces back, and
Reset condition is reduced in state shown in Fig. 4, pedipulator motor 30 and sliding sleeve driving hydraulic cylinder 36 are mutual during this
Coordinate, realize the automatic conversion of one degree of freedom and two frees degree, realize robot during upward motion, pedipulator
17 are always maintained at holding tightly.
Compares figure 5, when pedipulator 17 is moved upwards, can realize under the independent role of pedipulator motor 30 and climb tree
The range of motion of holding, imitates animal and climbs tree process leg action, i.e. pedipulator 17 by holding trunk, to gradually putting upwards
Pine, then to the process gradually held tightly upwards, θ in Fig. 51、θ2The size of value reflects the holding degree of pedipulator 17 and trees 48.
Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, pedipulator 17 constitute a pin with fixed claw 39 and climb instrument, and incline with trunk
Oblique certain angle, therefore the driving force of pedipulator motor 30 can not only realize that pedipulator 17 is climbed tree while holding trunk tightly upwards
Motion, moreover it is possible to realize that pedipulator 17, to the locked of trunk, meets reliable and stable requirement of climbing tree, at the same pedipulator 17 with machinery
Leg driving hydraulic cylinder 29 is connected, and the collapsing length of pedipulator driving hydraulic cylinder 29 can be adjusted automatically according to trunk diameter, is realized
Generally it is applicable function.
Compares figure 6, Fig. 7 and Fig. 8, pedipulator 17 are identical with the pedipulator action in the 3rd mechanical leg device, and with the
Pedipulator in two mechanical leg devices is on the contrary, the pedipulator in the second mechanical leg device and the pedipulator in the 4th machinery leg device
Action is identical, therefore during climbing tree, the first step, as shown in fig. 6, the pedipulator in the mechanical leg device of pedipulator 17 and the 3rd
Moved upwards with respect to body, and the pedipulator in the pedipulator and the 4th mechanical leg device in the second mechanical leg device is with respect to body
Move downward, i.e., the pedipulator in pedipulator and the 4th mechanical leg device in the second mechanical leg device is held tightly, band mobile robot
Main body is moved upwards, and second step is identical with the first step, in the pedipulator and the 4th mechanical leg device in the second mechanical leg device
Pedipulator is moved upwards with respect to body, and the pedipulator in the mechanical leg device of pedipulator 17 and the 3rd is moved downward with respect to body, i.e.,
Pedipulator in the mechanical leg device of pedipulator 17 and the 3rd drives robot body to move upwards, and the two steps are carried out just successively
Training robot of climbing tree is realized quickly to climb tree.
The driving hydraulic cylinder 25 of side link the 3rd and the driving hydraulic cylinder 26 of side link the 4th are driven simultaneously, or driving connects simultaneously
The driving hydraulic cylinder 27 of hack lever the 5th and the driving hydraulic cylinder 28 of side link the 6th, it is possible to achieve left and right turn, while driving side link
First driving hydraulic cylinder 21 and the second driving hydraulic cylinder of side link 23 can be realized and bent over upwards, while driving side link first to drive
Dynamic motor 11 and the second motor of side link side link 3 can realize that the change of center of gravity, flexible adaptation are realized in left and right doubling
Various operating modes.
When climbing tree, training robot needs the remains stationary on trunk, to complete such as training, monitoring, insect pest preventing and controlling work
When, driven rocking bar 35 connects rolling bearing 38, and to move to upper extreme position in arc-shaped limit chute 37 locked, only by sliding sleeve
Driving hydraulic cylinder 36 drives, and realizes the pedipulator in the complete holding to trunk, the second mechanical leg device, the 3rd mechanical leg device
In pedipulator, the pedipulator state in the 4th mechanical leg device is identical with pedipulator 17, training robot of now climbing tree
Just firmly hold tightly on trunk.
Compares figure 1-8, pressure sensor 42 can detect pressure value of the pedipulator 17 to trunk, PSD range sensors
The distance of 40 detection pedipulators 17 and trunk, velocity sensor 41 is used for detecting the movement velocity of pedipulator 17, and each sensor will be believed
Number control system is fed back to, realize exact automatic control.
Claims (3)
- The saw formula training robot 1. one kind automation stepping is climbed tree, including mechanical leg device, saw formula training system, sensor and machine Hack lever component, it is characterised in that concrete structure and annexation are：The mechanical leg device includes the first mechanical leg device, the second mechanical leg device, the 3rd mechanical leg device and the 4th machinery Leg device, the described first mechanical leg device includes drive rocker, driven rocking bar, connecting rod, pedipulator motor, link, cunning Set, sliding sleeve driving hydraulic cylinder, pedipulator driving hydraulic cylinder, pedipulator, fixed claw, arc-shaped limit chute and rolling bearing, driving Rocking bar one end and rod hinge connection, the other end are fixedly connected with pedipulator motor, driven rocking bar and rod hinge connection, and link was both With rod hinge connection, and it is connected, is also fixedly connected with pedipulator driving hydraulic cylinder, the sliding sleeve and sliding sleeve by cylindrical pair with sliding sleeve Driving hydraulic cylinder is connected through a screw thread, and the pedipulator driving hydraulic cylinder is connected through a screw thread with pedipulator, the fixed claw with Link is fixedly connected, and the rolling bearing is arranged on below driven rocking bar, and rolling bearing is moved in arc-shaped limit chute, the Two mechanical leg devices, the 3rd mechanical leg device, the 4th mechanical leg device are identical with the first pedipulator apparatus structure and annexation；The saw formula training system includes the first saw formula training system and the second saw formula training system, the first saw formula training system System includes rotation seat, expansion link, two grades of expansion links, training saw connecting rod, training saw, saw formula training system first hydraulic cylinder, saw formulas Training system second hydraulic cylinder and the saw formula training hydraulic cylinder of system the 3rd, the expansion link are hinged with rotation seat, two grades of expansion links One end is slided in expansion link, and the other end and training saw rod hinge connection, training saw are fixedly connected on training saw connecting rod, the saw Formula training system first hydraulic cylinder one end is hinged with rotation seat, and the other end is hinged with expansion link, the saw formula training system second Hydraulic cylinder one end is hinged with expansion link, and the other end is hinged with two grades of expansion links, described saw formula training system the 3rd hydraulic cylinder one end It is hinged with two grades of expansion links, the other end and training saw rod hinge connection, the second saw formula training system and the first saw formula training system knot Structure and annexation are identical；The sensor includes pressure sensor, PSD range sensors and velocity sensor, and the pressure sensor is fixedly connected In each pedipulator end, the PSD range sensors are fixedly connected on each link, and the velocity sensor, which is fixed, to be connected It is connected on each pedipulator.
- The saw formula training robot 2. automation stepping according to claim 1 is climbed tree, it is characterised in that the arc-shaped limit Chute circular arc corresponding angle is 110-115 °.
- 3. it is according to claim 1 automation stepping climb tree saw formula training robot, it is characterised in that the pedipulator with Link setting angle is 55-60 °.
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| CN201710182108.0A CN107128387B (en) | 2017-03-24 | 2017-03-24 | A kind of automation stepping is climbed tree saw formula training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182108.0A CN107128387B (en) | 2017-03-24 | 2017-03-24 | A kind of automation stepping is climbed tree saw formula training robot |
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| CN107128387B CN107128387B (en) | 2018-12-04 |
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| CN107128387B (en) * | 2017-03-24 | 2018-12-04 | 广西大学 | A kind of automation stepping is climbed tree saw formula training robot |
| CN109121804A (en) * | 2018-10-23 | 2019-01-04 | 熊文祺 | A kind of automatic gas cutting machine of trees fork branch |
| CN112394730A (en) * | 2020-11-14 | 2021-02-23 | 上海源正科技有限责任公司 | Pipeline detection device |
| CN113366987A (en) * | 2021-06-28 | 2021-09-10 | 北京林业大学 | Electric standing tree pruning machine based on metamorphic mechanism |
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| CN107128387B (en) * | 2017-03-24 | 2018-12-04 | 广西大学 | A kind of automation stepping is climbed tree saw formula training robot |
| CN108578181A (en) * | 2017-12-19 | 2018-09-28 | 浙江工业大学 | A kind of four-footed power-assisted healing robot |
| CN109121804A (en) * | 2018-10-23 | 2019-01-04 | 熊文祺 | A kind of automatic gas cutting machine of trees fork branch |
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| CN112394730B (en) * | 2020-11-14 | 2024-09-27 | 中冶检测认证(上海)有限公司 | Pipeline detection device |
| CN113366987A (en) * | 2021-06-28 | 2021-09-10 | 北京林业大学 | Electric standing tree pruning machine based on metamorphic mechanism |
| CN114342686A (en) * | 2021-12-10 | 2022-04-15 | 江苏大学 | Bionic six-foot topping robot |
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