CN107135824A - A kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees robot - Google Patents
A kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees robot Download PDFInfo
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- CN107135824A CN107135824A CN201710182397.4A CN201710182397A CN107135824A CN 107135824 A CN107135824 A CN 107135824A CN 201710182397 A CN201710182397 A CN 201710182397A CN 107135824 A CN107135824 A CN 107135824A
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- hinge
- connecting rod
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- cut down
- hydraulic motor
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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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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Biodiversity & Conservation Biology (AREA)
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- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Working Measures On Existing Buildindgs (AREA)
Abstract
A kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees robot, including tilt adjustment hydraulic cylinder, hydraulic motor, running gear, chassis, frame, drive link, kinematic link, tripod, output connecting rod, hinge, hydraulic cylinder, Hooke's hinge and training are cut down trees and cut a wooden component.Robot is cut down trees in trees training can be by the comprehensive regulation fuselage work pose of tilt adjustment hydraulic cylinder, and can easy motion, light weight, large carrying capacity and the small fluid motor-driven of noise, and flexible transformation can become born of the same parents between two double freedoms and a single-degree-of-freedom, with big working space, high accuracy, high dynamic stability feature, trees training can be carried out, cut down trees and be segmented interception etc. work.
Description
Technical field
The present invention relates to robot field, particularly a kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training are cut down
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, but can only realize lumbering task, and
Working flexibility is low, and working space is small, and fuselage is unable to omnibearing tilt regulation；Chinese patent 201210335835.3 discloses one kind
Cut down trees and cut wooden all-in-one, this, which cuts down trees, cuts wooden machine, is only used for cutting down trees and cuts wood, it is impossible to be used in trees training, trimming, and this tree-dozer are only
It can be used cooperatively with engineering machinery；Chinese patent 201310427637.4 discloses a kind of electric plant pruning machine, and this plant is whole
Branch machine, is only used for plant training, it is impossible to be used in lumbering, section wood.The existing design about the robot that cuts down trees, equal function is single, work
Make space small, stability is not enough, precision is low, and smoothness is poor, and noise is big and bearing capacity is low, it is impossible to according to functional requirement or ring
The change in border, flexibly changes configuration to adapt to different task and occasion, flexible low.
At present, there is not yet a kind of being capable of stable movement, light weight, large carrying capacity and the small hydraulic-driven of noise, energy
Enough comprehensive regulations, and flexible transformation can become born of the same parents between two two-freedoms and a single-degree-of-freedom, it is empty that it has big work concurrently
Between, high accuracy, low cost and maintenance simple feature, and it drives hydraulic motor to be installed in frame, reduces each component and bears
Carry, it is moved high dynamic stability, and double two and of a kind of tilting-type that there can be trees to prune, cut down trees and be segmented interception function
Single-degree-of-freedom conversion hydraulic-driven training cut down trees robot innovation design.
The content of the invention
Cut down trees robot it is an object of the invention to provide a kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training,
It can stable movement, light weight, large carrying capacity and the small hydraulic-driven of noise, comprehensive can adjust, and can be two
Flexible transformation becomes born of the same parents between individual double freedom and a single-degree-of-freedom, is carried out with big working space, high accuracy, high dynamic stability
Interception is pruned, cuts down trees and be segmented to trees.
The technical scheme is that：A kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees machine
People, including it is tilt adjustment hydraulic cylinder, hydraulic motor, running gear, chassis, frame, drive link, kinematic link, tripod, defeated
Go out connecting rod, hinge, hydraulic cylinder, Hooke's hinge and training and cut down trees to cut a wooden component, concrete structure and annexation are：
The tilt adjustment hydraulic cylinder includes the first tilt adjustment hydraulic cylinder and the second tilt adjustment hydraulic cylinder, described first
Tilt adjustment hydraulic cylinder one end is connected by the 17th hinge with chassis, and the other end is connected by the 18th hinge with frame, institute
State second tilt adjustment hydraulic cylinder one end to be connected with chassis by the 19th hinge, the other end is connected by the 20th hinge and frame
Connect, by the interaction of two tilt adjustment hydraulic cylinders, i.e. the first tilt adjustment hydraulic cylinder stretches, the second tilt adjustment hydraulic pressure
Cylinder compresses, or on the contrary, reach complete machine heeling condition, realize trees training cut down trees robot mechanism three dimensions in full side
Position regulation；
The hydraulic motor include the first hydraulic motor, the second hydraulic motor, the 3rd hydraulic motor, the 4th hydraulic motor and
5th hydraulic motor, the first hydraulic motor is fixedly connected with frame, and the second hydraulic motor is fixedly connected with frame, the 3rd hydraulic pressure horse
It is fixedly connected up to frame, the 4th hydraulic motor is fixedly connected with motor bearing, the 5th hydraulic motor passes through revolute pair and screw mandrel
Connection；
The running gear and chassis are connected by revolute pair；
Described chassis one end is connected by the 15th hinge with frame, and the other end is connected by the 16th hinge 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 hinge and machine
Frame is connected, and the other end is connected by the 13rd hinge with front rod, and described middle rocking bar one end is connected by the 7th hinge with frame,
The other end is connected by the 5th hinge with middle connecting rod, tripod, and described rear rocking bar one end is connected by the 6th hinge with frame, separately
One end is connected by the 4th hinge 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 hinge is connected with preceding rocking bar, and the other end is connected by the 11st hinge with cradling piece, and described cradling piece one end passes through
Eight hinges are connected with frame, and middle part is connected by the 11st hinge with front rod, and the other end is connected by the tenth hinge with stock,
Described middle connecting rod one end is connected by the 5th hinge with middle rocking bar, tripod, and middle part is connected by second hinge with tripod, separately
One end is connected by first axle with output connecting rod, and described back link one end is connected by the 4th hinge with rear rocking bar, the other end
It is connected by third hinge with stock, described stock one end is connected by third hinge with back link, and middle part passes through the tenth hinge
It is connected with cradling piece, the other end is connected by the tenth two hinge with output connecting rod；
Described tripod one end is connected by the 5th hinge with middle rocking bar, middle connecting rod, and the other end is by second hinge with
Connecting rod is connected；
Described output connecting rod one end is connected by first axle with middle connecting rod, and middle part is connected by the tenth two hinge and stock
Connect, the other end is hinged by the 14th hinge with Hooke, output connecting rod is connected by the first ball vice mechanism with hydraulic cylinder；
The hinge includes first axle, second hinge, third hinge, the 4th hinge, the 5th hinge, the 6th hinge, the
Seven hinges, the 8th hinge, the 9th hinge, the tenth hinge, the 11st hinge, the tenth two hinge, the 13rd hinge, the 14th hinge
Chain, the 15th hinge, the 16th hinge, the 17th hinge, the 18th hinge, the 19th hinge and the 20th hinge；
The training cut down trees cut a wooden component include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife；
The knife saw mechanism cuts down trees in training cuts a bottom for wooden component, held under being successively up mechanism, roller, on hold mechanism and
Delimbing knife；The training, which is cut down trees, to cut a wooden component and is hinged by revolute pair with Hooke, and training, which is cut down trees, to cut a wood component and pass through the second ball
Vice mechanism is connected with hydraulic cylinder；The knife saw mechanism includes knife saw, sliding block, guide rod, third connecting rod, fourth link, crank, the 4th
Hydraulic motor, motor bearing, screw mandrel and the 5th hydraulic motor, the knife saw are fixedly connected with sliding block, and sliding block and guide rod pass through circle
Post pair connection, described third connecting rod one end is connected by revolute pair and sliding block, and the other end is connected by revolute pair and fourth link,
Described crank one end is connected by revolute pair and fourth link, and the other end is connected by revolute pair and the 4th hydraulic motor, described
Motor bearing and the 4th hydraulic motor are fixedly connected, and motor bearing is connected by screw pair and screw mandrel, the 5th hydraulic motor
Connected by revolute pair and screw mandrel；Held under described mechanism including screw rod, hold-down support, first connecting rod, movable bearing support, nut and
Second connecting rod, the hold-down support, which is fixed on training, is cut down trees on section wooden component, and hold-down support and movable bearing support are connected by screw rod,
One end attaching nut of screw rod, described first connecting rod one end is connected by revolute pair and hold-down support, and the other end passes through revolute pair
With second connecting rod connection, described second connecting rod one end is connected by revolute pair and first connecting rod, and middle part passes through revolute pair and activity
Bearing is connected；The roller end is connected with original machine output shaft, and prime mover and training, which are cut down trees, to cut a wooden component and be fixedly connected, and original is dynamic
Machine, which is arranged at training, cuts down trees and cuts a wooden component internal, and training, which is cut down trees, to cut a wooden component and have two rollers, symmetrical along vertical center line
Cut down trees with training and cut wooden component both sides；Mechanism is held on described, and to hold mechanism structure with identical, its parts and parts it
Between annexation all same；The delimbing knife, which is arranged at training, cuts down trees and cuts a wooden component top, is cut down trees with training and cuts a wooden component and consolidate
Fixed connection.
The rear rocking bar, middle rocking bar, preceding rocking bar, crank and screw mandrel are respectively by the first hydraulic motor, the second hydraulic motor,
Three hydraulic motors, the 4th hydraulic motor and the 5th fluid motor-driven, and the first hydraulic motor, the second hydraulic motor and the 3rd liquid
Pressure motor is installed in frame.
During the drive link total movement, tripod one end is connected by the 5th hinge with middle rocking bar, middle connecting rod, another
End is connected by second hinge 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 hinge with middle rocking bar, middle connecting rod, when other end second hinge is in lap position with third hinge, is realized
11 connecting rod two-freedoms are moved；When driving rod member for preceding rocking bar, when third hinge is in lap position with the 5th hinge, realize
Ten connecting rod single dof mobilities.
The first ball vice mechanism be arranged at output connecting rod axis on, the second ball vice mechanism be arranged at training cut down trees cut
The side of wooden component；The first ball vice mechanism and the second ball vice mechanism be not in same vertical plane.
The present invention's has the prominent advantages that：
1. using the controllable linkage of closed chain, driving uses fluid motor-driven, and in frame, stable movement,
Light weight large carrying capacity and noise is small；In addition, mechanism is made up of full rod member, manufacturing cost is low, long working life, facility maintenance
Maintenance is simple.
2. fuselage is by the interaction omnibearing tilt operation of two tilt adjustment hydraulic cylinders, be conducive to adapting to different work
Environment；And can between two two-freedoms and a single-degree-of-freedom flexible transformation, flexibly realize three kinds of tripe systems states, mechanism
In two kinds of two-freedom structure states, the characteristics of mechanism is respectively provided with flexibility more effectively increases working space, and can be achieved
Working end high precision positioning, during mechanism single-degree-of-freedom, mechanical stability is higher, is easy to control；During forestry operation, because of arboreal growth
Complex shape is changeable, and robot is cut down trees in allosteric state trees training can the flexible flexibly operation under its complicated state.
3. compound action can be realized, trees training, trimming can be carried out in the rugged forest of bad environments, physical features, is cut down trees
With timber segmentation interception operation.
Brief description of the drawings
Fig. 1 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
First structure schematic diagram.
Fig. 2 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
Second structural representation.
Fig. 3 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
First structure state diagram during ten connecting rod single-degree-of-freedoms.
Fig. 4 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
Second configuration state figure during ten connecting rod single-degree-of-freedoms.
Fig. 5 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
First structure state diagram during ten connecting rod two-freedoms.
Fig. 6 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
Second configuration state figure during ten connecting rod two-freedoms.
Fig. 7 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
First structure state diagram during 11 connecting rod two-freedom.
Fig. 8 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
Second configuration state figure during 11 connecting rod two-freedom.
Fig. 9 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
Eminence trees training configuration state figure when complete machine tilts ten connecting rod two-freedoms.
Figure 10 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
Complete machine eminence trees training configuration state figure when tilting 11 connecting rod two-freedom.
Figure 11 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
Training cut down trees and cut a first structure schematic diagram for wooden component.
Figure 12 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
Training cut down trees and cut second structural representation of wooden component.
Figure 13 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
Under hold the structural representation of mechanism.
Figure 14 is a kind of tilting-type of the present invention double two and single-degree-of-freedom conversion hydraulic-driven training is cut down trees robot
Knife saw mechanism structural representation.
Marked in figure：1st, first axle；2nd, middle connecting rod；3rd, second hinge；4th, third hinge；5th, stock；6th, back link；
7th, tripod；8th, the 4th hinge；9th, the 5th hinge；10th, rear rocking bar；11st, middle rocking bar；12nd, the 6th hinge；13rd, the 7th hinge；
14th, frame；15th, running gear；16th, cradling piece；17th, the 8th hinge；18th, the 9th hinge；19th, connecting rod is exported；20th, the tenth hinge
Chain；21 the 11st hinges；22nd, the tenth two hinge；23rd, the first ball vice mechanism；24th, hydraulic stem；25th, training, which is cut down trees, cuts wooden component；
26th, Hooke's hinge；27th, the 13rd hinge；28th, front rod；29th, preceding rocking bar；30th, the second ball vice mechanism；31st, the 14th hinge；32、
Knife saw mechanism；321st, sliding block；322nd, guide rod；323rd, third connecting rod；324th, fourth link；325th, crank；326th, the 4th hydraulic pressure horse
Reach；327th, motor bearing；328th, screw mandrel；329th, the 5th hydraulic 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 hydraulic motor；38th, the second hydraulic motor；39th, the 3rd hydraulic motor；40th, the 15th hinge
Chain；41st, the 16th hinge；42nd, the 17th hinge；43rd, the first tilt adjustment hydraulic cylinder；44th, the 18th hinge；45th, the ten nine
Hinge；46th, the second tilt adjustment hydraulic cylinder；47th, the 20th hinge；48th, chassis.
Embodiment
Technical scheme is further described with reference to the accompanying drawings and examples.
As shown in Figure 1, Figure 2, shown in Fig. 6, Figure 11, Figure 12, Figure 13 and Figure 14, a kind of tilting-type of the present invention double two and list
The training of mapping of freedom degree hydraulic-driven is cut down trees robot, including tilt adjustment hydraulic cylinder, hydraulic motor, running gear 15, chassis
48th, frame 14, drive link, kinematic link, tripod 7, output connecting rod 19, hinge, hydraulic cylinder 24, Hooke's hinge 26 and training are cut down
Tree cuts wooden component 25, and concrete structure and annexation are：
The tilt adjustment hydraulic cylinder includes the first tilt adjustment hydraulic cylinder 43 and the second tilt adjustment hydraulic cylinder 46, described
The one end of first tilt adjustment hydraulic cylinder 43 is connected by the 17th hinge 42 with chassis 48, the other end by the 18th hinge 44 with
Frame 14 is connected, and described one end of second tilt adjustment hydraulic cylinder 46 is connected by the 19th hinge 45 with chassis 48, and the other end leads to
Cross the 20th hinge 47 to be connected with frame 14, pass through the interaction of two tilt adjustment hydraulic cylinders, i.e. the first tilt adjustment liquid
Cylinder pressure 43 stretches, and the second tilt adjustment hydraulic cylinder 46 compresses, or on the contrary, reach complete machine heeling condition, realizes that trees training is cut down
Set the comprehensive regulation in the three dimensions of robot mechanism；
The hydraulic motor, including the first hydraulic motor 37, the second hydraulic motor 38, the 3rd hydraulic motor 39, the 4th liquid
The hydraulic motor 329 of pressure motor 326 and the 5th, the first hydraulic motor 37 is fixedly connected with frame 14, the second hydraulic motor 38 and machine
Frame 14 is fixedly connected, and the 3rd hydraulic motor 39 is fixedly connected with frame 14, and the 4th hydraulic motor 326 is fixed with motor bearing 327
Connection, the 5th hydraulic motor 329 is connected by revolute pair and screw mandrel 328；
The running gear 15 and chassis 48 are connected by revolute pair；
Described one end of chassis 48 is connected by the 15th hinge 40 with frame 14, and the other end passes through the 16th hinge 41 and machine
Frame 14 is connected；
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
Hinge 18 is connected with frame 14, and the other end is connected by the 13rd hinge 27 with front rod 28, and described middle one end of rocking bar 11 passes through
7th hinge 13 is connected with frame 14, and the other end is connected by the 5th hinge 9 with middle connecting rod 2, tripod 7, the rear rocking bar 10
One end is connected by the 6th hinge 12 with frame 14, and the other end is connected by the 4th hinge 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 hinge 27 with preceding rocking bar 29, and the other end is connected by the 11st hinge 21 with cradling piece 16, described
The one end of cradling piece 16 is connected by the 8th hinge 17 with frame 14, and middle part is connected by the 11st hinge 21 with front rod 28, separately
One end is connected by the tenth hinge 20 with stock 5, and described middle one end of connecting rod 2 passes through the 5th hinge 9 and middle rocking bar 11, tripod 7
Connection, middle part is connected by second hinge 3 with tripod 7, and the other end is connected by first axle 1 with output connecting rod 19, described
The one end of back link 6 is connected by the 4th hinge 8 with rear rocking bar 10, and the other end is connected by third hinge 4 with stock 5, the length
The one end of bar 5 is connected by third hinge 4 with back link 6, and middle part is connected by the tenth hinge 20 with cradling piece 16, and the other end passes through
Tenth two hinge 22 is connected with output connecting rod 19；
Described one end of tripod 4 is connected by the 5th hinge 9 with middle rocking bar 11, middle connecting rod 2, and the other end passes through second hinge
3 are connected with middle connecting rod 2；
Described output one end of connecting rod 19 is connected by first axle 1 with middle connecting rod 2, and middle part passes through the tenth two hinge 22 and length
Bar 5 is connected, and the other end is connected by the 14th hinge 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 hinge includes first axle 1, second hinge 3, third hinge 4, the 4th hinge 8, the 5th hinge the 9, the 6th hinge
Chain 12, the 7th hinge 13, the 8th hinge 17, the 9th hinge 18, the tenth hinge 20, the 11st hinge 21, the tenth two hinge 22,
13 hinges 27, the 14th hinge 31, the 15th hinge 40, the 16th hinge 41, the 17th hinge 42, the 18th hinge 44,
19th hinge 45 and the 20th hinge 47；
The training cut down trees cut a wooden component 25 include knife saw mechanism 32, under hold mechanism 33, roller 34, on hold mechanism 35
With delimbing knife 36；The knife saw mechanism 32 cuts down trees in training cuts a bottom for wooden component 25, held under being successively up mechanism 33,
Roller 34, on hold mechanism 35 and delimbing knife 36；The training, which is cut down trees, to cut a wooden component 25 and is connected by revolute pair with Hooke's hinge 26,
Training, which is cut down trees, to cut a wooden component 25 and is connected by the second ball vice mechanism 30 with hydraulic cylinder 24；The knife saw mechanism 32 includes knife saw
3210th, sliding block 321, guide rod 322, third connecting rod 323, fourth link 324, crank 325, the 4th hydraulic motor 326, motor bearing
327th, the hydraulic motor 329 of screw mandrel 328 and the 5th, the knife saw 3210 is fixedly connected with sliding block 321, and sliding block 321 and guide rod 322 are logical
Cylindrical pair connection is crossed, described one end of third connecting rod 323 connected by revolute pair and sliding block 321, the other end passes through revolute pair and the
Double leval jib 324 is connected, and described one end of crank 325 is connected by revolute pair and fourth link 324, and the other end passes through revolute pair and
Four hydraulic motors 326 are connected, and the motor bearing 327 is fixedly connected with the 4th hydraulic motor 326, and motor bearing 327 passes through spiral shell
Rotation is secondary and screw mandrel 328 is connected, and the 5th hydraulic motor 329 is connected by revolute pair and screw mandrel 328；Mechanism 33 is held under described
Including screw rod 331, hold-down support 332, first connecting rod 333, movable bearing support 335, nut 335 and second connecting rod 336, the fixation
Bearing 332, which is fixed on training, is cut down trees on section wooden component 25, and hold-down support 332 and movable bearing support 334 are connected by screw rod 331, spiral shell
One end attaching nut 335 of bar 331, described one end of first connecting rod 333 is connected by revolute pair and hold-down support 332, the other end
Connected by revolute pair and second connecting rod 336, described one end of second connecting rod 336 is connected by revolute pair and first connecting rod 333, in
Portion 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 cut down with training
Tree cuts a wooden component 25 and is fixedly connected, and prime mover, which is arranged at training, cuts down trees and cut inside wooden component 25, and training, which is cut down trees, to cut a wooden component 25 and have
Two rollers 34, the wooden both sides of component 25 are cut along symmetrical cut down trees with training of vertical center line；Mechanism 35 is held on described with
Hold that the structure of mechanism 33 is identical, the annexation all same between its parts and parts；The delimbing knife 36 is arranged at whole
Branch, which is cut down trees, cuts the wooden top of component 25, is cut down trees with training and cuts a wooden component 25 and be fixedly connected.
Operation principle and process：
As shown in Figure 3 and Figure 4, when mechanism is ten connecting rod single-degree-of-freedom, the hinge 9 of third hinge 4 and the 5th is 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 hinge 9
Connection, middle connecting rod 2 and output connecting rod 19 are connected by first axle 1, and output connecting rod 19 and stock 5 are connected by the tenth two hinge 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 hinge 18, due to
Front rod 28 and preceding rocking bar 29 are connected by the 13rd hinge 27, and then drive front rod 28 to rotate, cradling piece 16 and front rod
28 are connected by the 11st hinge 21, and then drive cradling piece 16 to be rotated around the 8th hinge 17, and stock 5 and cradling piece 16 pass through
Tenth hinge 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 hinge 18,
Because front rod 28 and preceding rocking bar 29 are connected by the 13rd hinge 27, and then front rod 28 is driven to rotate, cradling piece 16 is with before
Connecting rod 28 is connected by the 11st hinge 21, and then drives cradling piece 16 to be rotated around the 8th hinge 17, and middle rocking bar 11 is around the
Seven hinges 13 are rotated, and because middle connecting rod 2 and middle rocking bar 11 are connected by the 5th hinge 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 hinge
Chain 12 is rotated, because back link 6 and rear rocking bar 10 are connected by the 4th hinge 8, and then drives back link 6 to rotate, stock 5 and after
Connecting rod 6 is connected by third hinge 4, and the middle part of stock 5 and cradling piece 16 are connected by the tenth hinge 20, and then realize stock 5
Plane motion, output connecting rod 19 and middle connecting rod 2 are connected by first axle 1, and the middle part of output connecting rod 19 and stock 5 pass through the 12nd
Hinge 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 hinge
It is dynamic, because front rod 28 and preceding rocking bar 29 are connected by the 13rd hinge 27, and then drive front rod 28 to rotate, the He of cradling piece 16
Front rod 28 is connected by the 11st hinge 21, so drive cradling piece 16 rotated around the 8th hinge 17, middle rocking bar 11 around
7th hinge 13 is rotated, because middle connecting rod 2 and middle rocking bar 11 are connected by the 5th hinge 9, and then connecting rod 2 is rotated in driving, by
Connected in tripod 7 and middle rocking bar 11 by the 5th hinge 9, and then drive tripod 7 to rotate, rear rocking bar 10 is around the 6th hinge
12 rotate, because back link 6 and rear rocking bar 10 are connected by the 4th hinge 8, and then drive back link 6 to rotate, the He of second hinge 3
Third hinge 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 third hinge 4, and the middle part of stock 5 and cradling piece 16 are connected by the tenth hinge 20, and then
Stock 5 is set to realize plane motion, output connecting rod 19 and middle connecting rod 2 are connected by first axle 1, the middle part of output connecting rod 19 and stock
5 are connected by the tenth two hinge 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
Hinge 26 and the revolute pair rotation cut down trees and cut between wooden component 25 of pruning, realize to prune to cut down trees and cut a unitary rotation for wooden component 25.
As shown in Figure 9 and Figure 10, the second tilt adjustment hydraulic cylinder 46 is in extended configuration, the first tilt adjustment hydraulic cylinder 43
In compressive state, frame 14 and chassis 48 are connected by the 15th hinge 40 and the 16th hinge 41, are produced relative rotation, whole
Machine is in the work such as trees training, the trimming in heeling condition, completion three dimensions.
As shown in Fig. 1, Fig. 4, Fig. 6 and Fig. 8, when training cuts down trees a section wooden component 25 in vertical state, trees training is cut down trees
Robot carries out operation in lower position, and whole trees can be achieved and cut down saw function.
As shown in Fig. 2, Fig. 3, Fig. 5, Fig. 7, Fig. 9 and Figure 10, training, which is cut down trees, cuts wooden component 25 in horizontality, and trees are whole
Branch cuts down trees robot in lower position progress operation, and timber segmentation interception function can be achieved；When being worked in higher position, it can be achieved
The training grooming function of trees.
Claims (4)
- The robot 1. a kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees, including tilt adjustment hydraulic cylinder, Hydraulic motor, running gear, chassis, frame, drive link, kinematic link, tripod, output connecting rod, hinge, hydraulic cylinder, tiger Gram hinge and training are cut down trees and cut a wooden component, it is characterised in that concrete structure and annexation are：The tilt adjustment hydraulic cylinder includes the first tilt adjustment hydraulic cylinder and the second tilt adjustment hydraulic cylinder, and described first tilts Regulation hydraulic cylinder one end is connected by the 17th hinge with chassis, and the other end is connected by the 18th hinge with frame, and described the Two tilt adjustment hydraulic cylinder one end are connected by the 19th hinge with chassis, and the other end is connected by the 20th hinge with frame, By the interaction of two tilt adjustment hydraulic cylinders, i.e. the first tilt adjustment hydraulic cylinder stretches, the second tilt adjustment hydraulic cylinder Compression, or on the contrary, reach complete machine heeling condition, realize trees training cut down trees robot mechanism three dimensions in it is comprehensive Regulation；The hydraulic motor includes the first hydraulic motor, the second hydraulic motor, the 3rd hydraulic motor, the 4th hydraulic motor and the 5th Hydraulic motor, the first hydraulic motor is fixedly connected with frame, and the second hydraulic motor is fixedly connected with frame, the 3rd hydraulic motor and Frame is fixedly connected, and the 4th hydraulic motor is fixedly connected with motor bearing, and the 5th hydraulic motor is connected by revolute pair and screw mandrel；The running gear and chassis are connected by revolute pair；Described chassis one end is connected by the 15th hinge with frame, and the other end is connected by the 16th hinge 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 hinge and frame Connect, the other end is connected by the 13rd hinge with front rod, described middle rocking bar one end is connected by the 7th hinge with frame, another End is connected by the 5th hinge with middle connecting rod, tripod, and described rear rocking bar one end is connected by the 6th hinge with frame, the other end It is connected by the 4th hinge 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 hinges are connected with preceding rocking bar, and the other end is connected by the 11st hinge with cradling piece, and described cradling piece one end passes through the 8th hinge Chain is connected with frame, and middle part is connected by the 11st hinge with front rod, and the other end is connected by the tenth hinge with stock, described Middle connecting rod one end is connected by the 5th hinge with middle rocking bar, tripod, and middle part is connected by second hinge with tripod, the other end It is connected by first axle with output connecting rod, described back link one end is connected by the 4th hinge with rear rocking bar, and the other end passes through Third hinge is connected with stock, and described stock one end is connected by third hinge with back link, and middle part passes through the tenth hinge and branch Hack lever is connected, and the other end is connected by the tenth two hinge with output connecting rod；Described tripod one end is connected by the 5th hinge with middle rocking bar, middle connecting rod, and the other end passes through second hinge and middle connecting rod Connection；Described output connecting rod one end is connected by first axle with middle connecting rod, and middle part is connected by the tenth two hinge with stock, separately One end is hinged by the 14th hinge with Hooke, and output connecting rod is connected by the first ball vice mechanism with hydraulic cylinder；The hinge includes first axle, second hinge, third hinge, the 4th hinge, the 5th hinge, the 6th hinge, the 7th hinge Chain, the 8th hinge, the 9th hinge, the tenth hinge, the 11st hinge, the tenth two hinge, the 13rd hinge, the 14th hinge, 15 hinges, the 16th hinge, the 17th hinge, the 18th hinge, the 19th hinge and the 20th hinge；The training cut down trees cut a wooden component include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife；It is described Knife saw mechanism cuts down trees in training cuts a bottom for wooden component, held under being successively up mechanism, roller, on hold mechanism and delimbing Knife；The training, which is cut down trees, to cut a wooden component and is hinged by revolute pair with Hooke, and training, which is cut down trees, to cut a wood component and pass through the second ball slave Structure is connected with hydraulic cylinder；The knife saw mechanism includes knife saw, sliding block, guide rod, third connecting rod, fourth link, crank, the 4th hydraulic pressure Motor, motor bearing, screw mandrel and the 5th hydraulic motor, the knife saw are fixedly connected with sliding block, and sliding block and guide rod pass through cylindrical pair Connection, described third connecting rod one end is connected by revolute pair and sliding block, and the other end is connected by revolute pair and fourth link, described Crank one end is connected by revolute pair and fourth link, and the other end is connected by revolute pair and the 4th hydraulic motor, the motor Bearing and the 4th hydraulic motor are fixedly connected, and motor bearing is connected by screw pair and screw mandrel, and the 5th hydraulic motor passes through Revolute pair and screw mandrel connection；Mechanism is held under described includes screw rod, hold-down support, first connecting rod, movable bearing support, nut and second Connecting rod, the hold-down support, which is fixed on training, is cut down trees on section wooden component, and hold-down support and movable bearing support are connected by screw rod, screw rod One end attaching nut, described first connecting rod one end connected by revolute pair and hold-down support, and the other end passes through revolute pair and the Two connecting rods are connected, and described second connecting rod one end is connected by revolute pair and first connecting rod, and middle part passes through revolute pair and movable bearing support Connection；The roller end is connected with original machine output shaft, and prime mover and training, which are cut down trees, to cut a wooden component and be fixedly connected, and prime mover is set Be placed in training and cut down trees and cut a wooden component internal, training, which is cut down trees, to cut a wooden component and have two rollers, along vertical center line it is symmetrical with it is whole Branch, which is cut down trees, cuts wooden component both sides；Mechanism is held on described, and to hold mechanism structure with identical, between its parts and parts Annexation all same；The delimbing knife, which is arranged at training, cuts down trees and cuts a wooden component top, and cutting down trees to cut a wooden component and fix with training connects Connect.
- The robot 2. a kind of tilting-type according to claim 1 double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees, Characterized in that, the rear rocking bar, middle rocking bar, preceding rocking bar, crank and screw mandrel are respectively by the first hydraulic motor, the second hydraulic pressure horse Reach, the 3rd hydraulic motor, the 4th hydraulic motor and the 5th fluid motor-driven, and the first hydraulic motor, the second hydraulic motor and 3rd hydraulic motor is installed in frame.
- The robot 3. a kind of tilting-type according to claim 1 double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees, Characterized in that, during the drive link total movement, tripod one end is connected by the 5th hinge with middle rocking bar, middle connecting rod, The other end is connected by second hinge 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 hinge with middle rocking bar, middle connecting rod, when other end second hinge is in lap position with third hinge, Realize that 11 connecting rod two-freedoms are moved；When drive link is preceding rocking bar, when third hinge is in lap position with the 5th hinge, Realize ten connecting rod single dof mobilities.
- The robot 4. a kind of tilting-type according to claim 1 double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees, Characterized in that, the first ball vice mechanism is arranged on the axis of output connecting rod, the second ball vice mechanism is arranged at training and cut down Tree cuts the side of wooden component；The first ball vice mechanism and the second ball vice mechanism be not in same vertical plane.
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| CN201710182397.4A CN107135824A (en) | 2017-03-24 | 2017-03-24 | A kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees robot |
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| CN201710182397.4A CN107135824A (en) | 2017-03-24 | 2017-03-24 | A kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees robot |
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| CN103210795A (en) * | 2013-04-10 | 2013-07-24 | 吉林市尚宁科技有限公司 | Portable automatic saw blade saw |
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Application publication date: 20170908 |