CN107135902A - A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot - Google Patents
A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot Download PDFInfo
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- CN107135902A CN107135902A CN201710182208.3A CN201710182208A CN107135902A CN 107135902 A CN107135902 A CN 107135902A CN 201710182208 A CN201710182208 A CN 201710182208A CN 107135902 A CN107135902 A CN 107135902A
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- bearing pin
- connecting rod
- hydraulic motor
- hydraulic
- rocking bar
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/08—Felling trees
- A01G23/091—Sawing apparatus specially adapted for felling trees
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/08—Felling trees
- A01G23/093—Combinations of shearing, sawing or milling apparatus specially adapted for felling trees
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/085—Motor-driven saws for pruning or branching
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot, be made up of hydraulic motor, saw head device, running gear, frame, linkage, bearing pin, hydraulic cylinder and Hooke's hinge.Hydraulic motor is made up of the first hydraulic motor, the second hydraulic motor, the 3rd hydraulic motor, the 4th hydraulic motor and the 5th hydraulic motor, pass through bridge joint of the driving and tripod of hydraulic motor on different connecting rods, flexibly realize single-degree-of-freedom and two two-freedoms, three kinds of structure states flexibly become born of the same parents, make robot under the complicated forest morphological state of complex environment, flexibly complete trees training, lumbering or cut wooden task.The invention has a stable movement, light weight large carrying capacity and noise is small, and operating efficiency is high, working space and flexible big, the high advantage of dynamic stability.
Description
Technical field
The present invention relates to robot field, particularly one kind double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and 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, and motor driving noise is big, can only realize lumbering task；China
Patent 201610419380.1 discloses a kind of all-hydraulic automatic lumbering device for tree-dozer, but can only realize that lumbering is appointed
Business；Chinese patent 201210335835.3, which discloses one kind, cuts down trees and cuts a wooden all-in-one, and this, which cuts down trees, cuts wooden machine, is only used for cutting down trees and cuts
Wood, it is impossible to be used in trees training, trimming, and this tree-dozer can only be used cooperatively with engineering machinery；Chinese patent
201310427637.4 disclose a kind of electric plant pruning machine, this plant pruning machine, are only used for plant training, it is impossible to be used in cut down
Wood, section wood.The existing design about the robot that cuts down trees, equal function is single, and working space is small, and stability is not enough, and precision is low, noise
Greatly, bearing capacity is small, it is impossible to according to the change of functional requirement or environment, flexibly changes configuration to adapt to different task and field
Close, it is flexible low.
At present, there is not yet a kind of hydraulic-driven controls and can be between two two-freedoms and a single-degree-of-freedom flexibly
Conversion, flexibly realizes three kinds of tripe systems states, has stable movement, light weight large carrying capacity concurrently and the small and big working space of noise is special
Levy, and motor is installed in frame, reduces each component load, it is moved high dynamic stability, and there are trees to prune again,
Cut down trees with timber be segmented a kind of double the two of interception function and single-degree-of-freedom conversion hydraulic-driven become cell type and prune the robot that cuts down trees
Innovation is designed.
The content of the invention
Become cell type training it is an object of the invention to provide a kind of double two and single-degree-of-freedom conversion hydraulic-driven to cut down trees robot,
It can flexibly realize three kinds of tripe systems states, have stable movement, light weight large carrying capacity concurrently and the small and big working space of noise is special
Levy, and motor is installed in frame, reduces each component load, it is moved high dynamic stability, and there are trees to prune again,
Cut down trees and be segmented interception function with timber.
The technical scheme is that：A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees machine
People, including hydraulic motor, saw head device, running gear, frame, linkage, bearing pin, hydraulic cylinder and Hooke's hinge, concrete structure
It is with annexation：
The hydraulic motor, including the first hydraulic motor, the second hydraulic motor, the 3rd hydraulic motor, the 4th hydraulic motor
With 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 pressure
Motor is fixedly connected with frame, and the 4th hydraulic motor is fixedly connected with motor support base, and the 5th hydraulic motor passes through revolute pair and silk
Bar is connected；
The saw head device include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife, the knife saw
Mechanism includes knife saw, sliding block, guide rod, third connecting rod, fourth link, crank, the 4th hydraulic motor, motor support base, screw mandrel and the
Five hydraulic motors, the knife saw is fixedly connected with sliding block, and sliding block and guide rod are connected by cylindrical pair, and described third connecting rod one end leads to
Revolute pair and sliding block connection are crossed, the other end is connected by revolute pair and fourth link, described crank one end passes through revolute pair and the
Double leval jib is connected, and the other end is connected by revolute pair and the 4th hydraulic motor, and the motor support base and the 4th hydraulic motor are fixed
Connection, motor support base is connected by screw pair and screw mandrel, and the 5th hydraulic motor is connected by revolute pair and screw mandrel；Under described
Holding mechanism includes screw rod, hold-down support, first connecting rod, movable bearing support, nut and second connecting rod, and the hold-down support is fixed on
Saw on head device, 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
Connected by revolute pair and hold-down support, the other end is connected by revolute pair and second connecting rod, and described second connecting rod one end passes through
Revolute pair and first connecting rod connection, middle part is connected by revolute pair and movable bearing support；The roller end and original machine output shaft
Connection, prime mover is fixedly connected with saw head device, and prime mover is arranged inside saw head device, and saw head device has two rollers, edge
Vertical center line is symmetrical with sawing head device both sides；Mechanism identical, its parts that hold mechanism structure with are held on described
Annexation all same between parts；The delimbing knife is arranged at saw head device top, is fixedly connected with saw head device；
The running gear is connected by revolute pair with frame；
The linkage includes drive link, kinematic link, tripod and output connecting rod；Before the drive link includes
Rocking bar, middle rocking bar and rear rocking bar, described preceding rocking bar one end are connected by the 9th bearing pin with frame, and the other end passes through the 13rd bearing pin
Be connected with front rod, described middle rocking bar one end is connected by the 7th bearing pin with frame, the other end by the 5th bearing pin and middle connecting rod,
Tripod is connected, and described rear rocking bar one end is connected by the 6th bearing pin with frame, and the other end is connected by the 4th bearing pin and back link
Connect；The kinematic link includes front rod, cradling piece, middle connecting rod, back link and stock, and described front rod one end passes through the 13rd
Bearing pin is connected with preceding rocking bar, and the other end is connected by the 11st bearing pin with cradling piece, and described cradling piece one end passes through the 8th bearing pin
Be connected with frame, middle part is connected by the 11st bearing pin with front rod, the other end is connected by the tenth bearing pin with stock, it is described in
Connecting rod one end is connected by the 5th bearing pin with middle rocking bar, tripod, and middle part is connected by the second bearing pin with tripod, and the other end leads to
Cross the first bearing pin to be connected with output connecting rod, described back link one end is connected by the 4th bearing pin with rear rocking bar, and the other end passes through the
Three bearing pins are connected with stock, and described stock one end is connected by the 3rd bearing pin with back link, and middle part passes through the tenth bearing pin and support
Bar is connected, and the other end is connected by the 12nd bearing pin with output connecting rod；Described tripod one end by the 5th bearing pin and middle rocking bar,
Middle connecting rod connection, the other end is connected by the second bearing pin with middle connecting rod；Described output connecting rod one end passes through the first bearing pin and middle company
Bar is connected, and middle part is connected by the 12nd bearing pin with stock, and the other end is hinged by the 14th bearing pin with Hooke, exports connecting rod
It is connected by the first ball vice mechanism with hydraulic cylinder；
The bearing pin includes the first bearing pin, the second bearing pin, the 3rd bearing pin, the 4th bearing pin, the 5th bearing pin, the 6th bearing pin, the
Seven bearing pins, the 8th bearing pin, the 9th bearing pin, the tenth bearing pin, the 11st bearing pin, the 12nd bearing pin, the 13rd bearing pin and the 14th pin
Axle.
The saw head device is hinged by revolute pair with Hooke, and saw head device is connected by the second ball vice mechanism and hydraulic cylinder
Connect.
The knife saw mechanism saw head device bottom, held under being successively up mechanism, roller, on hold mechanism and
Delimbing knife.
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 bearing pin with middle rocking bar, middle connecting rod, another
End is connected by the second bearing pin with middle connecting rod, realizes that ten connecting rod two-freedoms are moved；During drive link total movement, tripod one
End is connected by the 5th bearing pin with middle rocking bar, middle connecting rod, when the bearing pin of the other end second and the 3rd bearing pin are in lap position, is realized
11 connecting rod two-freedoms are moved；When drive link is preceding rocking bar, when the 3rd bearing pin and the 5th bearing pin are in lap position, realize
Ten connecting rod single dof mobilities.
The present invention's has the prominent advantages that：
1. all driven using controlled hydraulic motor, and in frame, stable movement, light weight, large carrying capacity
And noise is small.
2. in the course of the work, can between two two-freedoms and a single-degree-of-freedom flexible transformation, flexibly realize three
Tripe systems state is planted, trees prune tree felling machine in two kinds of two-freedom configurations, the characteristics of mechanism is respectively provided with flexibility, more effectively
Further increase working space, and the positioning of working end high precision can be achieved, during mechanism single-degree-of-freedom, mechanical stability compared with
It is high.High flexibility degree, make training cut down trees robot forestry operation when, can adapt to changeable any of arboreal growth complex shape
Situation, flexible flexibly operation.
3. drive control motor can be arranged in frame, reduces the component caused by motor is on rod member and bear
Carry, dynamic stability is high, and mechanism is made up of full rod member, and manufacturing cost is low, long working life, and facility maintenance maintenance is simple.
4. compound action can be realized, trees training, trimming can be carried out in the rugged forest of bad environments, physical features, is cut down trees
Carpentery workshop industry is cut with segmentation.
Brief description of the drawings
Fig. 1 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
First structure schematic diagram.
Fig. 2 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
Second structural representation.
Fig. 3 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
First structure state diagram during ten connecting rod single-degree-of-freedoms.
Fig. 4 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
Second configuration state figure during ten connecting rod single-degree-of-freedoms.
Fig. 5 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
First structure state diagram during ten connecting rod two-freedoms.
Fig. 6 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
Second configuration state figure during ten connecting rod two-freedoms.
Fig. 7 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
First structure state diagram during 11 connecting rod two-freedom.
Fig. 8 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
Second configuration state figure during 11 connecting rod two-freedom.
Fig. 9 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
Eminence trees training configuration state figure during ten connecting rod two-freedoms.
Figure 10 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
11 connecting rod two-freedom when eminence trees training configuration state figure.
Figure 11 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
Saw head device first structure schematic diagram.
Figure 12 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
Saw head device the second structural representation.
Figure 13 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
Under hold the structural representation of mechanism.
Figure 14 is that of the present invention a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot
Knife saw mechanism structural representation.
Marked in figure：1st, the first bearing pin；2nd, middle connecting rod；3rd, the second bearing pin；4th, the 3rd bearing pin；5th, stock；6th, back link；
7th, tripod；8th, the 4th bearing pin；9th, the 5th bearing pin；10th, rear rocking bar；11st, middle rocking bar；12nd, the 6th bearing pin；13rd, the 7th bearing pin；
14th, frame；15th, running gear；16th, cradling piece；17th, the 8th bearing pin；18th, the 9th bearing pin；19th, connecting rod is exported；20th, the tenth pin
Axle；21 the 11st bearing pins；22nd, the 12nd bearing pin；23rd, the first ball vice mechanism；24th, hydraulic stem；25th, head device is sawed；26th, Hooke
Hinge；27th, the 13rd bearing pin；28th, front rod；29th, preceding rocking bar；30th, the second ball vice mechanism；31st, the 14th bearing pin；32nd, knife saw machine
Structure；321st, sliding block；322nd, guide rod；323rd, third connecting rod；324th, fourth link；325th, crank；326th, the 4th hydraulic motor；327、
Motor support base；328th, screw mandrel；329th, the 5th hydraulic motor；3210th, knife saw；33rd, mechanism is held under；331st, screw rod；332nd, it is fixed
Bearing；333rd, first connecting rod；334th, movable bearing support；335th, nut；336th, second connecting rod；34th, roller；35th, mechanism is held on；36
Delimbing knife；37th, the first hydraulic motor；38th, the second hydraulic motor；39th, the 3rd hydraulic motor.
Embodiment
Illustrated embodiment is further described to technical scheme below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, shown in Fig. 6, Figure 11, Figure 12, Figure 13 and Figure 14, a kind of pair two of the present invention and single-degree-of-freedom
Conversion hydraulic-driven becomes cell type training and cut down trees robot, including hydraulic motor, saw head device 25, running gear 15, frame 14, even
Linkage, bearing pin, hydraulic cylinder 24 and Hooke's hinge 26, concrete structure and annexation are：
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 support base 327
Connection, the 5th hydraulic motor 329 is connected by revolute pair and screw mandrel 328；
The saw head device 25 include knife saw mechanism 32, under hold mechanism 33, roller 34, on hold mechanism 35 and delimbing knife
36, the knife saw mechanism 32 includes knife saw 3210, sliding block 321, guide rod 322, third connecting rod 323, fourth link 324, crank
325th, the 4th hydraulic motor 326, motor support base 327, the hydraulic motor 329 of screw mandrel 328 and the 5th, the knife saw 3210 and sliding block
321 are fixedly connected, and sliding block 321 and guide rod 322 are connected by cylindrical pair, and described one end of third connecting rod 323 passes through revolute pair and cunning
Block 321 is connected, and the other end is connected by revolute pair and fourth link 324, and described one end of crank 325 is connected by revolute pair and the 4th
Bar 324 is connected, and the other end is connected by revolute pair and the 4th hydraulic motor 326, the hydraulic motor of motor support base 327 and the 4th
326 are fixedly connected, and motor support base 327 is connected by screw pair and screw mandrel 328, and the 5th hydraulic motor 329 passes through revolute pair
Connected with screw mandrel 328；Mechanism 33 is held under described includes screw rod 331, hold-down support 332, first connecting rod 333, movable bearing support
335th, nut 335 and second connecting rod 336, the hold-down support 332 are fixed on saw head device 25, hold-down support 332 and activity
Bearing 334 is connected by screw rod 331, one end attaching nut 335 of screw rod 331, and described one end of first connecting rod 333 passes through revolute pair
Connected with hold-down support 332, the other end is connected by revolute pair and second connecting rod 336, described one end of second connecting rod 336 is by turning
Dynamic secondary and first connecting rod 333 is connected, and middle part is connected by revolute pair and movable bearing support 334；The end of roller 34 and prime mover
Output shaft is connected, and prime mover is fixedly connected with saw head device 25, and prime mover is arranged inside saw head device 25, and saw head device 25 has
Two rollers 34, it is symmetrical with sawing the both sides of head device 25 along vertical center line；Mechanism 35 is held on described and holds mechanism with
33 structures are identical, the annexation all same between its parts and parts；The delimbing knife 36 is arranged at saw head device 25
Top, is fixedly connected with saw head device 25；
The running gear is connected by revolute pair with frame；
The linkage includes drive link, kinematic link, tripod 4 and output connecting rod 19；The drive link bag
Preceding rocking bar 29, middle rocking bar 11 and rear rocking bar 10 are included, described preceding one end of rocking bar 29 is connected by the 9th bearing pin 18 with frame 14, another
End is connected by the 13rd bearing pin 27 with front rod 28, and described middle one end of rocking bar 11 is connected by the 7th bearing pin 13 with frame 14,
The other end is connected by the 5th bearing pin 9 with middle connecting rod 2, tripod 7, and described rear one end of rocking bar 10 passes through the 6th bearing pin 12 and frame
14 connections, the other end is connected by the 4th bearing pin 8 with back link 6；The kinematic link include front rod 28, cradling piece 16, in
Connecting rod 2, back link 6 and stock 5, described one end of front rod 28 are connected by the 13rd bearing pin 27 with preceding rocking bar 29, and the other end leads to
Cross the 11st bearing pin 21 to be connected with cradling piece 16, described one end of cradling piece 16 is connected by the 8th bearing pin 17 with frame 14, middle part
It is connected by the 11st bearing pin 21 with front rod 28, the other end is connected by the tenth bearing pin 20 with stock 5, the middle connecting rod 2 one
End is connected by the 5th bearing pin 9 with middle rocking bar 11, tripod 7, and middle part is connected by the second bearing pin 3 with tripod 7, and the other end leads to
Cross the first bearing pin 1 to be connected with output connecting rod 19, described one end of back link 6 is connected by the 4th bearing pin 8 with rear rocking bar 10, the other end
It is connected by the 3rd bearing pin 4 with stock 5, described one end of stock 5 is connected by the 3rd bearing pin 4 with back link 6, and middle part passes through the tenth
Bearing pin 20 is connected with cradling piece 16, and the other end is connected by the 12nd bearing pin 22 with output connecting rod 19；Described one end of tripod 4 leads to
Cross the 5th bearing pin 9 to be connected with middle rocking bar 11, middle connecting rod 2, the other end is connected by the second bearing pin 3 with middle connecting rod 2；The output connects
The one end of bar 19 is connected by the first bearing pin 1 with middle connecting rod 2, and middle part is connected by the 12nd bearing pin 22 with stock 5, and the other end passes through
14th bearing pin 31 is connected with Hooke's hinge 26, and output connecting rod 19 is connected by the first ball vice mechanism 23 with hydraulic cylinder 24；
The bearing pin includes the first bearing pin 1, the second bearing pin 3, the 3rd bearing pin 4, the 4th bearing pin 8, the 5th bearing pin the 9, the 6th pin
Axle 12, the 7th bearing pin 13, the 8th bearing pin 17, the 9th bearing pin 18, the tenth bearing pin 20, the 11st bearing pin 21, the 12nd bearing pin 22,
13 bearing pins 27 and the 14th bearing pin 31.
The saw head device 25 is connected by revolute pair with Hooke's hinge 26, saw head device 25 by the second ball vice mechanism 30 and
Hydraulic cylinder 24 is connected.
The knife saw mechanism 32 holds mechanism 33, roller 34, upper folder in the bottom of saw head device 25 under being successively up
Embrace mechanism 35 and delimbing knife 36.
Operation principle and process：
As shown in Figure 3 and Figure 4, when mechanism is ten connecting rod single-degree-of-freedom, the 3rd bearing pin 4 and the 5th bearing pin 9 are in overlapping bit
Put, rear rocking bar 10, back link 6 and middle rocking bar 11 can regard lanar four rod mechanism as, stock 5 and middle connecting rod 2 pass through the 5th bearing pin 9
Connection, middle connecting rod 2 and output connecting rod 19 are connected by the first bearing pin 1, and output connecting rod 19 and stock 5 are connected by the 12nd bearing pin 22
Connect, therefore stock 5, middle connecting rod 2 and output connecting rod 19 can regard a bar as, preceding rocking bar 29 is rotated around the 9th bearing pin 18, due to
Front rod 28 and preceding rocking bar 29 are connected by the 13rd bearing pin 27, and then drive front rod 28 to rotate, cradling piece 16 and front rod
28 are connected by the 11st bearing pin 21, and then drive cradling piece 16 to be rotated around the 8th bearing pin 17, and stock 5 and cradling piece 16 pass through
Tenth bearing pin 20 is connected, and then output connecting rod 19 is made single dof mobility.
As shown in Figure 5 and Figure 6, when mechanism is that ten connecting rod two-freedoms are moved, preceding rocking bar 29 is rotated around the 9th bearing pin 18,
Because front rod 28 and preceding rocking bar 29 are connected by the 13rd bearing pin 27, and then front rod 28 is driven to rotate, cradling piece 16 is with before
Connecting rod 28 is connected by the 11st bearing pin 21, and then drives cradling piece 16 to be rotated around the 8th bearing pin 17, and middle rocking bar 11 is around the
Seven bearing pins 13 are rotated, and because middle connecting rod 2 and middle rocking bar 11 are connected by the 5th bearing pin 9, the two ends of tripod 7 connect with middle connecting rod 2
Connect, tripod 7 and middle connecting rod 2 can now be regarded as to connecting rod 2 in a bar, and then drive and rotated, rear rocking bar 10 is around the 6th pin
Axle 12 is rotated, because back link 6 and rear rocking bar 10 are connected by the 4th bearing pin 8, and then drives back link 6 to rotate, stock 5 and after
Connecting rod 6 is connected by the 3rd bearing pin 4, and the middle part of stock 5 and cradling piece 16 are connected by the tenth bearing pin 20, and then realize stock 5
Plane motion, output connecting rod 19 and middle connecting rod 2 are connected by the first bearing pin 1, and the middle part of output connecting rod 19 and stock 5 pass through the 12nd
Bearing pin 22 is connected, and then output connecting rod 19 is made two-freedom motion.
As shown in Figure 7 and Figure 8, when mechanism is that 11 connecting rod two-freedoms are moved, preceding rocking bar 29 is around 18 turns of the 9th bearing pin
It is dynamic, because front rod 28 and preceding rocking bar 29 are connected by the 13rd bearing pin 27, and then drive front rod 28 to rotate, the He of cradling piece 16
Front rod 28 is connected by the 11st bearing pin 21, so drive cradling piece 16 rotated around the 8th bearing pin 17, middle rocking bar 11 around
7th bearing pin 13 is rotated, because middle connecting rod 2 and middle rocking bar 11 are connected by the 5th bearing pin 9, and then connecting rod 2 is rotated in driving, by
Connected in tripod 7 and middle rocking bar 11 by the 5th bearing pin 9, and then drive tripod 7 to rotate, rear rocking bar 10 is around the 6th bearing pin
12 rotate, because back link 6 and rear rocking bar 10 are connected by the 4th bearing pin 8, and then drive back link 6 to rotate, the He of the second bearing pin 3
3rd bearing pin 4 is in lap position, and now rear rocking bar 10, back link 6, tripod 7 and middle rocking bar 11 constitute the connecting rod machine of plane five
Structure, stock 5 and back link 6 are connected by the 3rd bearing pin 4, and the middle part of stock 5 and cradling piece 16 are connected by the tenth bearing pin 20, and then
Stock 5 is set to realize plane motion, output connecting rod 19 and middle connecting rod 2 are connected by the first bearing pin 1, the middle part of output connecting rod 19 and stock
5 are connected by the 12nd bearing pin 22, and then output connecting rod 19 is made two-freedom motion.
As shown in Figure 3, Figure 4, Figure 11 and Figure 12, by driving hydraulic cylinder 24, hydraulic cylinder 24 is extended, and then drives Hooke
Revolute pair between hinge 26 and saw head device 25 is rotated, and realizes the unitary rotation of saw head device 25.
As shown in Fig. 2, Fig. 4, Fig. 6 and Fig. 8, when saw head device 25 is in vertical state, the trees training robot that cuts down trees exists
Lower position carries out operation, and whole trees can be achieved and cut down saw function.
As shown in Fig. 1, Fig. 3, Fig. 5, Fig. 7, Fig. 9 and Figure 10, saw head device 25 is in horizontality, trees training tree felling machine
Device people carries out operation in lower position, and timber segmentation interception function can be achieved；When being worked in higher position, the whole of trees can be achieved
Branch grooming function.
Claims (5)
1. a kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot, including hydraulic motor, saw head dress
Put, running gear, frame, linkage, bearing pin, hydraulic cylinder and Hooke's hinge, it is characterised in that concrete structure and annexation
For：
The hydraulic motor, including the first hydraulic motor, the second hydraulic motor, the 3rd hydraulic motor, the 4th hydraulic motor and
Five hydraulic motors, the first hydraulic motor is fixedly connected with frame, and the second hydraulic motor is fixedly connected with frame, the 3rd hydraulic motor
It is fixedly connected with frame, the 4th hydraulic motor is fixedly connected with motor support base, the 5th hydraulic motor is connected by revolute pair and screw mandrel
Connect；
The saw head device include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife, the knife saw mechanism
Including knife saw, sliding block, guide rod, third connecting rod, fourth link, crank, the 4th hydraulic motor, motor support base, screw mandrel and the 5th liquid
Pressure motor, the knife saw is fixedly connected with sliding block, and sliding block and guide rod are connected by cylindrical pair, and described third connecting rod one end is by turning
Dynamic secondary and sliding block connection, the other end is connected by revolute pair and fourth link, and described crank one end is connected by revolute pair and the 4th
Bar is connected, and the other end is connected by revolute pair and the 4th hydraulic motor, and the motor support base and the 4th hydraulic motor are fixedly connected,
Motor support base is connected by screw pair and screw mandrel, and the 5th hydraulic motor is connected by revolute pair and screw mandrel；Held under described
Mechanism includes screw rod, hold-down support, first connecting rod, movable bearing support, nut and second connecting rod, and the hold-down support is fixed on saw head
On device, hold-down support and movable bearing support are connected by screw rod, and one end attaching nut of screw rod, described first connecting rod one end passes through
Revolute pair and hold-down support connection, the other end are connected by revolute pair and second connecting rod, and described second connecting rod one end is by rotating
Secondary and first connecting rod connection, middle part is connected by revolute pair and movable bearing support；The roller end is connected with original machine output shaft,
Prime mover is fixedly connected with saw head device, and prime mover is arranged inside saw head device, and saw head device has two rollers, along in vertical
Heart line is symmetrical with sawing head device both sides；Mechanism is held on described, and to hold mechanism structure with identical, its parts and zero
Annexation all same between part；The delimbing knife is arranged at saw head device top, is fixedly connected with saw head device；
The running gear is connected by revolute pair with frame；
The linkage includes drive link, kinematic link, tripod and output connecting rod；The drive link is shaken before including
Bar, middle rocking bar and rear rocking bar, described preceding rocking bar one end are connected by the 9th bearing pin with frame, the other end by the 13rd bearing pin with
Front rod is connected, and described middle rocking bar one end is connected by the 7th bearing pin with frame, and the other end passes through the 5th bearing pin and middle connecting rod, three
Corner bracket is connected, and described rear rocking bar one end is connected by the 6th bearing pin with frame, and the other end is connected by the 4th bearing pin with back link；
The kinematic link includes front rod, cradling piece, middle connecting rod, back link and stock, and described front rod one end passes through the 13rd pin
Axle is connected with preceding rocking bar, and the other end is connected by the 11st bearing pin with cradling piece, described cradling piece one end by the 8th bearing pin with
Frame is connected, and middle part is connected by the 11st bearing pin with front rod, and the other end is connected by the tenth bearing pin with stock, the middle company
Bar one end is connected by the 5th bearing pin with middle rocking bar, tripod, and middle part is connected by the second bearing pin with tripod, and the other end passes through
First bearing pin is connected with output connecting rod, and described back link one end is connected by the 4th bearing pin with rear rocking bar, and the other end passes through the 3rd
Bearing pin is connected with stock, and described stock one end is connected by the 3rd bearing pin with back link, and middle part passes through the tenth bearing pin and cradling piece
Connection, the other end is connected by the 12nd bearing pin with output connecting rod；Described tripod one end by the 5th bearing pin and middle rocking bar, in
Connecting rod is connected, and the other end is connected by the second bearing pin with middle connecting rod；Described output connecting rod one end passes through the first bearing pin and middle connecting rod
Connection, middle part is connected by the 12nd bearing pin with stock, and the other end is hinged by the 14th bearing pin with Hooke, and output connecting rod leads to
The first ball vice mechanism is crossed to be connected with hydraulic cylinder；
The bearing pin includes the first bearing pin, the second bearing pin, the 3rd bearing pin, the 4th bearing pin, the 5th bearing pin, the 6th bearing pin, the 7th pin
Axle, the 8th bearing pin, the 9th bearing pin, the tenth bearing pin, the 11st bearing pin, the 12nd bearing pin, the 13rd bearing pin and the 14th bearing pin.
The robot 2. one kind double two according to claim 1 and single-degree-of-freedom conversion hydraulic-driven change cell type training are cut down trees,
Characterized in that, the saw head device is hinged by revolute pair with Hooke, saw head device passes through the second ball vice mechanism and hydraulic pressure
Cylinder is connected.
The robot 3. one kind double two according to claim 1 and single-degree-of-freedom conversion hydraulic-driven change cell type training are cut down trees,
Characterized in that, the knife saw mechanism saw head device bottom, held under being successively up mechanism, roller, on hold machine
Structure and delimbing knife.
The robot 4. one kind double two according to claim 1 and single-degree-of-freedom conversion hydraulic-driven change cell type 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 5. one kind double two according to claim 1 and single-degree-of-freedom conversion hydraulic-driven change cell type training are cut down trees,
Characterized in that, during the drive link total movement, tripod one end is connected by the 5th bearing pin with middle rocking bar, middle connecting rod,
The other end is connected by the second bearing pin with middle connecting rod, realizes that ten connecting rod two-freedoms are moved；During drive link total movement, triangle
Frame one end is connected by the 5th bearing pin with middle rocking bar, middle connecting rod, when the bearing pin of the other end second and the 3rd bearing pin are in lap position,
Realize that 11 connecting rod two-freedoms are moved；When drive link is preceding rocking bar, when the 3rd bearing pin and the 5th bearing pin are in lap position,
Realize ten connecting rod single dof mobilities.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182208.3A CN107135902A (en) | 2017-03-24 | 2017-03-24 | A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182208.3A CN107135902A (en) | 2017-03-24 | 2017-03-24 | A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot |
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| CN107135902A true CN107135902A (en) | 2017-09-08 |
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| CN201710182208.3A Pending CN107135902A (en) | 2017-03-24 | 2017-03-24 | A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot |
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| CN112223282A (en) * | 2020-09-28 | 2021-01-15 | 广西大学 | Metamorphic palletizing robot |
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