CN107135821A - One kind become cell type stepping climb tree scissors training all-in-one - Google Patents
One kind become cell type stepping climb tree scissors training all-in-one Download PDFInfo
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- CN107135821A CN107135821A CN201710182078.3A CN201710182078A CN107135821A CN 107135821 A CN107135821 A CN 107135821A CN 201710182078 A CN201710182078 A CN 201710182078A CN 107135821 A CN107135821 A CN 107135821A
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- Prior art keywords
- pedipulator
- hydraulic cylinder
- scissors
- training
- bar
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
-
- 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
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
One kind becomes cell type stepping and climbed tree scissors training all-in-one, including scissors training system, frame bar assembly and pedipulator system.When pedipulator motor is operated alone, it just can realize that complexity is climbed tree and embrace 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 scissors training 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, and can be completed the training work of complexity and will not be produced binding phenomenon, will not also produce vibration and noise.
Description
Technical field
It is particularly a kind of to become cell type stepping and climb tree scissors training all-in-one the present invention relates to Robot Design field.
Background technology
Trees are during growth, and pruning is an essential job, and traditional trees training work is usual
It is that, by manually being completed by hand-held tool, the amount of labour is big and for higher trees, and work has certain risk.
The A of Chinese patent CN 102283026 disclose a kind of fruit tree pruning machine, and the fruit tree pruning machine needs the artificial back of the body
Negative, for high branch trimming, it is necessary to change lengthening aluminum pipe, therefore labor intensity is big, inefficiency.Chinese patent CN
105940975 A disclose a kind of fruit tree pruning machine, and the execution unit of the trimmer is arranged on power vehicle, by machinery
Arm carries out training work, but can not flexibly avoid being distributed limb at random, carries out accurate training work, has disclosed in other
The patent for closing training robot is similar with above-mentioned two patent.
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.
Saw formula pruning machine occurs that saw blade is jammed at work, causes to damage, and produces vibration and is unfavorable for robot capable of climbing trees
Holding, the problems such as having noise work, seacteur is then simple in construction for branch-finishing and pruning, will not produce sawdust, also be not in
The phenomenon of binding.
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, and operating efficiency is high, training accurate positioning, and the stepping for the problems such as will not producing binding, vibration, noise, which is climbed tree, cuts
Formula training all-in-one.
The content of the invention
It is an object of the invention to provide one kind become cell type stepping climb tree scissors training all-in-one, it can overcome existing training skill
The deficiency of art, the stepping climb tree saw formula training all-in-one, 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 cut
Formula training 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
To complete complicated training work and binding phenomenon will not be produced, vibration, noise will not be also produced.
The present invention reaches above-mentioned purpose by the following technical programs：One kind become cell type stepping climb tree scissors training all-in-one,
Including pedipulator system, scissors training system and frame bar assembly, concrete structure and annexation are：
The pedipulator system includes the first pedipulator system, the second pedipulator system, the 3rd pedipulator system and the 4th
Pedipulator system, the first pedipulator system 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 is connected with connecting rod, and the other end is 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 is connected with connecting rod, and the other end is connected 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 connected 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 pedipulator system, the 3rd machinery
Leg system, the 4th pedipulator system are identical with the first pedipulator system architecture and annexation；
The scissors training system includes the first scissors training system and the second scissors training system, and first scissors are whole
Branch system includes rotation seat, expansion link, two grades of expansion links, seacteur support, seacteur contiguous block, seacteur, scissors training systems
System first hydraulic cylinder, scissors training system second hydraulic cylinder, the scissors training hydraulic cylinder of system the 3rd and scissors training system the 4th
Hydraulic cylinder, the expansion link is connected with rotation seat, and two grades of expansion links are slided in expansion link, and one end is connected with seacteur support,
Seacteur one end is connected with seacteur support, and the other end is connected with seacteur contiguous block, and seacteur contiguous block is pruned by scissors
The hydraulic cylinder of system the 4th is connected with seacteur support, and described scissors training system first hydraulic cylinder one end is connected with rotation seat, separately
One end is connected with expansion link, and scissors training system second hydraulic cylinder one end is connected with expansion link, and the other end and two grades stretch
Bar is connected, and described scissors training hydraulic cylinder one end of system the 3rd is connected with two grades of expansion links, and the other end is connected with seacteur support,
Second scissors training system is identical with the first scissors training system architecture and annexation；
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 connected, 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 connected with the first bar, separately
One end is connected with the 8th bar, and the driving hydraulic cylinder one end of side link the 4th is connected with the 6th bar, and the other end is connected with the 7th bar, frame linking
The driving hydraulic cylinder one end of bar the 5th is connected with the 5th bar, and the other end is connected with the 4th bar, the driving hydraulic cylinder one end of side link the 6th
It is connected with the second bar, the other end is connected 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. stepping is climbed tree, scissors prune all-in-one during climbing tree, and pedipulator can realize two-freedom and single-degree-of-freedom
Transformation, belong to variable freedom and become born of the same parents' structure, it is special with multi-functional phase change, multiple topology change, multiple degrees of freedom change
Levy, pedipulator is completed the action of complexity during climbing tree.During climbing tree, require different according to gait, single-degree-of-freedom work
It can realize that relative trunk is held tightly or loosened upwards upwards when making and wait motion, when two frees degree work, make pedipulator in machine
Keep holding tightly when device people moves upwards, and holding angle can be changed, adapt to different-diameter trees.
2. stepping is climbed tree, scissors are pruned all-in-one, and driving is simple, when pedipulator motor is operated alone, just can flexible mould
Imitative animal is climbed tree action, and pedipulator can realize relative trunk by holding tightly to loosening upwards, then dynamic to the complexity of holding trunk upwards
Make, while realizing that pedipulator is locked on trunk by the reaction force of driving force, training of climbing tree is safe and reliable.
3. multivariant scissors training machine is combined with robot capable of climbing trees, it is possible to achieve multi-faceted steering, avoidance, change
Become center of gravity, adapt to trees of different shapes, travelling performance is good, training is flexible, operating efficiency is high, training accurate positioning,
Be not in simultaneously binding phenomenon, will not also produce vibration and noise.
Brief description of the drawings
Fig. 1 be stepping of the present invention climb tree scissors prune all-in-one 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 scissors training all-in-one of change cell type stepping of the present invention.
Fig. 7 climbs tree gait schematic diagram for the climb tree second step of scissors training all-in-one of change cell type 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 in accompanying drawing：
1：First axle；2：8th bar；3：The motor of 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；12：3rd
Bar；13：Second hinge；14：Second bar；15：First Hooke's hinge；16：First bar；17：Pedipulator；18：Expansion link；19：Scissors
Training system first hydraulic cylinder；20：Rotation seat；21：The driving hydraulic cylinder of side link first；22：3rd Hooke's hinge；23：Side link
Second driving hydraulic cylinder；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：The driving hydraulic cylinder of side link the 5th；28：The driving hydraulic cylinder of side link the 6th；29：Pedipulator driving hydraulic cylinder；30：Pedipulator
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：Seacteur；41：The scissors training hydraulic cylinder of system the 4th；42：
Seacteur contiguous block；43：Seacteur support；44：The scissors training hydraulic cylinder of system the 3rd；45：Two grades of expansion links；46：Scissors are whole
Branch system second hydraulic cylinder；47：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, change cell type stepping of the present invention are climbed tree scissors training all-in-one, including machine
Tool leg system, scissors training system and frame bar assembly, concrete structure and annexation are：
The pedipulator system includes the first pedipulator system, the second pedipulator system, the 3rd pedipulator system and the 4th
Pedipulator system, the first pedipulator system 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 connected 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 connected with connecting rod 32, and the other end is connected 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 connected 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 pedipulator system, the 3rd machine
Tool leg system and the 4th pedipulator system are identical with the first pedipulator system architecture and annexation；
The scissors training system includes the first scissors training system and the second scissors training system, and first scissors are whole
Branch system includes rotation seat 20, expansion link 18, two grades of expansion links 45, seacteur support 43, seacteur contiguous block 42, seacteurs
40th, scissors training system first hydraulic cylinder 19, scissors training system second hydraulic cylinder 46, the scissors training hydraulic cylinder of system the 3rd
44th, the scissors training hydraulic cylinder 41 of system the 4th, the expansion link 18 is connected with rotation seat 20, and two grades of one end of expansion link 45 are flexible
Slide in bar 18, the other end is connected with seacteur support 43, and the one end of seacteur 40 is connected with seacteur support 43, the other end with it is whole
Secateurs contiguous block 42 is connected, and seacteur contiguous block 42 passes through the scissors training hydraulic cylinder 41 of system the 4th and the phase of seacteur support 43
Even, described one end of scissors training system first hydraulic cylinder 19 is connected with rotation seat 20, and the other end is connected with expansion link 18, described to cut
The one end of formula training system second hydraulic cylinder 46 is connected with expansion link 18, and the other end is connected with two grades of expansion links 45, and the scissors are whole
The one end of the 3rd hydraulic cylinder of branch system 44 is connected with two grades of expansion links 45, and the other end is connected with seacteur support 43, and the second scissors are whole
Branch system is identical with the first scissors training system architecture and annexation, passes through rotation seat 20, the scissors training hydraulic pressure of system first
The driving of cylinder 19, scissors training system second hydraulic cylinder 46 and the scissors training hydraulic cylinder 44 of system the 3rd, it is possible to achieve robot
Multiple degrees of freedom flexibly carries out training work；
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 connected 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 connected with the first bar 16, the other end and the 8th bar 2
Connection, one end of the 4th driving hydraulic cylinder of side link 26 is connected with the 6th bar 6, and the other end is connected with the 7th bar 4, and side link the 5th drives
The one end of hydrodynamic cylinder pressure 27 is connected with the 5th bar 8, and the other end is connected with the 4th bar 10, the one end of the 6th driving hydraulic cylinder of side link 28 with
Second bar 14 is connected, and the other end is connected 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 independent role effect of pedipulator motor 30, as state is changed into state shown in Fig. 3 as shown in Figure 2, it is possible to achieve machine
Relative first bar 16 of tool leg 17 holds the motion of trunk tightly simultaneously upwards, and such as action effect, state is changed into shown in Fig. 2 as shown in Figure 4
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 into by Fig. 4
When Fig. 2 is changed into state shown in Fig. 3 again, pedipulator 17 does upward relaxing exercise relative to the first bar 16, by holding and done again upwards
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 pedipulator 17 relative
It is also that pedipulator 17 drives training machine of climbing tree in the first bar 16 by holding state to loosening downwards again to the motion held tightly downwards
The process that people moves upwards, and sliding sleeve driving hydraulic cylinder 36 participates in being changed into Fig. 2 as shown in Figure 3 and is changed into mistake shown in Fig. 4 again
Journey, 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
Cheng Wei, when state is changed into state shown in Fig. 2 as shown in Figure 3, sliding sleeve driving hydraulic cylinder 36 is gradually stretched out, and in shape 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 to shown in Fig. 4 during state, pedipulator motor 30 and the phase interworking of sliding sleeve driving hydraulic cylinder 36 during this
Close, realize the automatic conversion of one degree of freedom and two frees degree, realize robot during upward motion, pedipulator 17
It is 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 47.
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 pedipulator system, and with
Pedipulator in two pedipulator systems is on the contrary, pedipulator in pedipulator and the 4th pedipulator system in the second pedipulator system
Action is identical, therefore during climbing tree, the first step, as shown in fig. 6, the pedipulator in the pedipulator system of pedipulator 17 and the 3rd
Moved upwards with respect to body, and the pedipulator in the pedipulator and the 4th pedipulator system in the second pedipulator system is with respect to body
Move downward, i.e. pedipulator in pedipulator and the 4th pedipulator system in the second pedipulator system 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 pedipulator system in the second pedipulator system
Pedipulator is moved upwards with respect to body, and the pedipulator in the pedipulator system of pedipulator 17 and the 3rd is moved downward with respect to body, i.e.,
Pedipulator in the pedipulator system 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.
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 pedipulator, the 3rd liquid in the complete holding to trunk, the second fro hydraulic driving machinery leg system
The pedipulator state in pedipulator and the 4th fro hydraulic driving machinery leg system in pressure driving pedipulator system is driven with the first hydraulic pressure
The state of pedipulator 17 is identical in dynamic pedipulator system, and training robot of now climbing tree just firmly is held tightly on trunk.
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 3 can realize that the change of center of gravity, the various works of flexible adaptation are realized in left and right doubling
Condition.
Claims (3)
- The scissors training all-in-one 1. one kind change cell type stepping is climbed tree, including pedipulator system, scissors training system and frame bar group Part, it is characterised in that concrete structure and annexation are：The pedipulator system includes the first pedipulator system, the second pedipulator system, the 3rd pedipulator system and the 4th machinery Leg system, the first pedipulator system 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 is connected with connecting rod, and the other end is fixedly connected with pedipulator motor, and driven rocking bar is connected with connecting rod, and link was both It is connected, and is connected with sliding sleeve by cylindrical pair with connecting rod, is also fixedly connected with pedipulator driving hydraulic cylinder, the sliding sleeve and 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 pedipulator systems, the 3rd pedipulator system, the 4th pedipulator system are identical with the first pedipulator system architecture and annexation；The scissors training system includes the first scissors training system and the second scissors training system, the first scissors training system System includes rotation seat, expansion link, two grades of expansion links, seacteur support, seacteur contiguous block, seacteur, scissors and pruned system the One hydraulic cylinder, scissors training system second hydraulic cylinder, the scissors training hydraulic cylinder of system the 3rd and the scissors training hydraulic pressure of system the 4th Cylinder, the expansion link is connected with rotation seat, and two grades of expansion links are slided in expansion link, and one end is connected with seacteur support, training Cut one end to be connected with seacteur support, the other end is connected with seacteur contiguous block, seacteur contiguous block is pruned system by scissors 4th hydraulic cylinder is connected with seacteur support, and described scissors training system first hydraulic cylinder one end is connected with rotation seat, the other end It is connected with expansion link, described scissors training system second hydraulic cylinder one end is connected with expansion link, the other end and two grades of expansion links connect Connect, described scissors training hydraulic cylinder one end of system the 3rd is connected with two grades of expansion links, and the other end is connected with seacteur support, second Scissors training system is identical with the first scissors training system architecture and annexation.
- The scissors training all-in-one 2. change cell type 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 change cell type stepping climb tree scissors training all-in-one, it is characterised in that the pedipulator with Link setting angle is 55-60 °.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182078.3A CN107135821A (en) | 2017-03-24 | 2017-03-24 | One kind become cell type stepping climb tree scissors training all-in-one |
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|---|---|---|---|
| CN201710182078.3A CN107135821A (en) | 2017-03-24 | 2017-03-24 | One kind become cell type stepping climb tree scissors training all-in-one |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110012744A (en) * | 2019-05-06 | 2019-07-16 | 汤小梅 | A kind of Vertical Lift climbing razor for branch pruning |
| CN113518652A (en) * | 2018-09-26 | 2021-10-19 | 幽灵机器人公司 | Leg and foot type robot |
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| CN110012744A (en) * | 2019-05-06 | 2019-07-16 | 汤小梅 | A kind of Vertical Lift climbing razor for branch pruning |
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Application publication date: 20170908 |