CN107409788A - A kind of three structure state metamorphic mechanisms formulas automation trees training is cut down trees robot - Google Patents
A kind of three structure state metamorphic mechanisms formulas automation trees training is cut down trees robot Download PDFInfo
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- CN107409788A CN107409788A CN201710182206.4A CN201710182206A CN107409788A CN 107409788 A CN107409788 A CN 107409788A CN 201710182206 A CN201710182206 A CN 201710182206A CN 107409788 A CN107409788 A CN 107409788A
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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
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Abstract
A kind of three structure state metamorphic mechanisms formulas automation trees training is cut down trees robot, including sensor, motor, felling head combined mechanism, cterpillar drive, frame, drive link, kinematic link, output connecting rod, bearing pin, hydraulic cylinder and Hooke's hinge.Acquisition, processing, storage and the output of real time information can be carried out during operation, realize that trees training is cut down trees the digitlization and intellectuality of robot, flexibly become born of the same parents with reference to three kinds of structure states of fuselage, manpower can be replaced under complex environment, the training, lumbering or timber for automatically completing trees are sized segmentation interception work.
Description
Technical field
The present invention relates to robot field, particularly a kind of three structure state metamorphic mechanisms formulas automation trees training is cut down trees machine
People.
Background technology
Chinese patent 201610396453.X discloses a kind of robot logger people, by the movement of four driving wheels, realizes
The positioning of cutting, operating accuracy and flexibility are low, and space is small, can only realize lumbering task；Chinese patent
201610419380.1 disclose a kind of all-hydraulic automatic lumbering device for tree-dozer, and this lumbering device is by all-hydraulic element
Composition, its Hydraulic Elements required precision is high, and hydraulic system manufacturing cost is high, and working life is not grown, easy oil leakage, can only also realize and cut down
Wooden task；Chinese patent 201210335835.3 disclose one kind cut down trees cut a wooden all-in-one, this cut down trees cut wooden machine, be only used for cutting down trees
Cut wood, it is impossible to be used in trees training, trimming, and this tree-dozer can only be used cooperatively with engineering machinery；Chinese patent
201310427637.4 disclose a kind of electric plant pruning machine, this plant pruning machine, are only used for plant training, it is impossible to be used in cut down
Wood, cut wood.The existing robot that cuts down trees all does not have automated job function yet.It is flexible it is therefore desirable to design a kind of stable output
Change, space is big, and manufacturing cost is low, and long working life, maintaining is simple, has trees training concurrently, cut down trees intercepts with timber
The trees for the being capable of automated job training of function is cut down trees robot.
Metamorphic mechanisms are the key concepts that scholar proposes in recent years, be can variable freedom or variable number of components Novel machine
Structure, this kind of mechanism can contract and height can also change topological diagram and cause to become in addition to exhibition except the height with similar development agency
The free degree, there is the features such as multi-functional phase change, multiple topology change, multiple degrees of freedom change, can according to functional requirement or
Environment etc. changes, and adapts to different task, is flexibly applied to different occasions.Metamorphic mechanisms and sensing technology are pruned applied to trees
Cut down trees the design of robot, a kind of new metamorphic mechanisms formula automation trees training will be produced and cut down trees robot.
At present, it is there is not yet a kind of being capable of full-automatic operation, have stable output and three structure state flexible varieties, motion concurrently
Space is big, operating accuracy is high, manufacturing cost is low, maintaining is simple, and can Flexible Control, again have trees training, cut down trees and
Timber interception function a kind of three structures state metamorphic mechanisms formula automation trees 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 three structure state metamorphic mechanisms formulas automation trees training, it has
Stable output, flexibility, space is big, manufacturing cost is low, long working life, maintaining are simple, and arm weight is relatively light, work is imitated
It the advantages that rate is high, can realize that saw and timber segmentation interception function are cut down in trees training finishing, whole trees again, and can automate
Operation.
The technical scheme is that：A kind of three structure state metamorphic mechanisms formulas automation trees training is cut down trees robot, including
Sensor, motor, felling head combined mechanism, cterpillar drive, frame, drive link, kinematic link, output connect
Bar, bearing pin, hydraulic cylinder and Hooke's hinge, concrete structure and annexation are：
The sensor includes angular displacement sensor, range sensor and displacement transducer, the angular displacement sensor bag
The first angular displacement sensor, the second angular displacement sensor and the third angle displacement transducer are included, the first angular displacement sensor shakes with after
Bar lower end is fixedly connected, and the second angular displacement sensor is fixedly connected with middle rocking bar lower end, the third angle displacement transducer and preceding rocking bar
Lower end is fixedly connected；The range sensor is fixedly connected with felling head combined mechanism lower end；Institute's displacement sensors and lumbering
Head combined mechanism is fixedly connected；
The motor include the first motor, the second motor, the 3rd motor, the 4th motor and
5th motor, the first motor are fixedly connected with frame, rocking bar after driving, and the second motor and frame are fixed and connected
Connect, rocking bar in driving, the 3rd motor is fixedly connected with frame, and rocking bar before driving, the 4th motor and motor support base are consolidated
Fixed connection, drives crank, and the 5th motor is fixedly connected with felling head combined mechanism, drive screw；
The felling head combined mechanism include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife, institute
State bottom of the knife saw mechanism in felling head combined mechanism, held under being successively up mechanism, roller, on hold mechanism and delimbing
Knife, the felling head combined mechanism are hinged by revolute pair and Hooke, felling head combined mechanism by the second ball vice mechanism with
Hydraulic cylinder connects；
The cterpillar drive is connected by revolute pair with frame；
The drive link includes preceding rocking bar, middle rocking bar and rear rocking bar, and described preceding rocking bar one end passes through the 9th bearing pin and machine
Frame is connected, and the other end is connected by the 5th bearing pin with front rod, and described middle rocking bar one end is connected by the 4th bearing pin with frame, separately
One end is connected by the 7th bearing pin with middle connecting rod, and described rear rocking bar one end is connected by the 8th bearing pin with frame, and the other end passes through
3rd bearing pin is connected with curved bar；
The kinematic link includes front rod, middle connecting rod and curved bar, and described front rod one end is by the 5th bearing pin with before shaking
Bar is connected, and the other end is connected by the second bearing pin with curved bar, and described middle connecting rod one end is connected by the 7th bearing pin with middle rocking bar, separately
One end is connected by the first bearing pin with output connecting rod, and described curved bar one end is connected by the 3rd bearing pin with rear rocking bar, and middle part passes through
Second bearing pin is connected with front rod, and the other end is connected by the 6th bearing pin with output connecting rod；
Described output connecting rod one end is connected by the first bearing pin with middle connecting rod, and middle part is connected by the 6th bearing pin with curved bar,
The other end is hinged by the tenth bearing pin with Hooke, and output connecting rod 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 and the tenth bearing pin.
The knife saw mechanism includes knife saw, sliding block, guide rod, third connecting rod, fourth link, crank, the 4th motor, electricity
Machine bearing, screw mandrel and the 5th motor, the knife saw are fixedly connected with sliding block, and sliding block is connected with guide rod by cylindrical pair, institute
State third connecting rod one end to connect with sliding block by revolute pair, the other end is connected by revolute pair with fourth link, the crank one
End connect by revolute pair with fourth link, the other end by revolute pair and the 4th drive motor connection, the motor support base with
4th motor is fixedly connected, and motor support base is connected by screw pair with screw mandrel, and the 5th motor passes through revolute pair
Connected with screw mandrel.
Mechanism is held under described includes screw rod, hold-down support, first connecting rod, movable bearing support, nut and second connecting rod, described
Hold-down support is fixed on felling head combined mechanism, and hold-down support is connected with movable bearing support by screw rod, one end connection of screw rod
Nut, described first connecting rod one end are connected by revolute pair with hold-down support, and the other end is connected by revolute pair with second connecting rod,
Described second connecting rod one end is connected by revolute pair with first connecting rod, and middle part is connected by revolute pair with movable bearing support.
The roller end is connected with original machine output shaft, and prime mover is fixedly connected with felling head combined mechanism, prime mover
It is arranged inside felling head combined mechanism, felling head combined mechanism there are two rollers, symmetrical with lumbering along vertical centerline
Head combined mechanism both sides.
Mechanism is held on described and holds that mechanism structure is identical with, the annexation between its parts and parts is homogeneous
Together.
The delimbing knife is arranged at felling head combined mechanism top, is fixedly connected with felling head combined mechanism.
The present invention's has the prominent advantages that：
1. compound action can be realized, trees training can be carried out in the rugged forest of bad environments, physical features, trim, cut down trees
With a section carpentery workshop industry.
2. by sensor and controllable drive motor, automated information collection and control are realized, trees training is realized, repaiies
Cut, cut down trees is segmented interception automated job with timber measured length, operating efficiency is higher；During forestry operation, because of arboreal growth form
Complicated and changeable, robot is cut down trees in automation trees training can the flexible flexible operation under its complicated state.
3. three kinds of structure state flexible transformations of robot in the course of the work, can be achieved.During mechanism two-freedom, mechanism has soft
The characteristics of property, can the operation in larger space, and can be accurately positioned；During mechanism single-degree-of-freedom, mechanical stability is higher,
It is easy to control；During zero free degree of mechanism, preceding rocking bar revolution is connected with frame, and mechanism does not work, the three dimensions that integrated model accounts for
It is small.During actual job, can flexibly it change between three kinds of frees degree, flexibility degree is high.
4. due to using the controllable linkage of closed chain, all controlled motors are arranged in frame, effectively reduce lever arm
Weight, improve trees training and cut down trees the dynamic stability of robot；And mechanism is made up of full rod member, and manufacturing cost is low, mechanism
Maintaining is simple.
Brief description of the drawings
Fig. 1 is that a kind of three structures state metamorphic mechanisms formula of the present invention automates trees training and cut down trees the first knot of robot
Structure schematic diagram.
Fig. 2 is that a kind of three structures state metamorphic mechanisms formula of the present invention automates trees training and cut down trees the second knot of robot
Structure schematic diagram.
Fig. 3 be a kind of three structures state metamorphic mechanisms formula of the present invention automate trees training cut down trees robot zero freely
First structure state diagram when spending.
Fig. 4 be a kind of three structures state metamorphic mechanisms formula of the present invention automate trees training cut down trees robot zero freely
Second configuration state figure when spending.
Fig. 5 be a kind of three structures state metamorphic mechanisms formula of the present invention automate trees training cut down trees robot it is single freely
First structure state diagram when spending.
Fig. 6 be a kind of three structures state metamorphic mechanisms formula of the present invention automate trees training cut down trees robot it is single freely
Second configuration state figure when spending.
Fig. 7 be a kind of three structures state metamorphic mechanisms formula of the present invention automate trees training cut down trees robot two freely
First structure state diagram when spending.
Fig. 8 be a kind of three structures state metamorphic mechanisms formula of the present invention automate trees training cut down trees robot two freely
Second configuration state figure when spending.
Fig. 9 be a kind of three structures state metamorphic mechanisms formula of the present invention automate trees training cut down trees robot two freely
Eminence trees training first structure state diagram when spending.
Figure 10 be a kind of three structures state metamorphic mechanisms formula of the present invention automate trees training cut down trees robot two from
The second configuration state figure of eminence trees training during by spending.
Figure 11 is that a kind of three structures state metamorphic mechanisms formula of the present invention automates trees training and cut down trees the lumbering of robot
The first structure schematic diagram of head combined mechanism.
Figure 12 is that a kind of three structures state metamorphic mechanisms formula of the present invention automates trees training and cut down trees the lumbering of robot
Second structural representation of head combined mechanism.
Figure 13 is that a kind of three structures state metamorphic mechanisms formula of the present invention automates trees training and cut down trees the lower folder of robot
Embrace the structural representation of mechanism.
Figure 14 is that a kind of three structures state metamorphic mechanisms formula of the present invention automates trees training and cut down trees the knife saw of robot
The structural representation of mechanism.
Figure 15, which for a kind of three structures state metamorphic mechanisms formula of the present invention automates trees training and cut down trees, to be shaken after robot
The structural scheme of mechanism of bar.
In figure mark for：1st, the first bearing pin；2nd, middle connecting rod；3rd, the second bearing pin；4th, front rod；5th, curved bar；6th, the 3rd bearing pin；
7th, rear rocking bar；8th, middle rocking bar；9th, the first motor；10th, the 4th bearing pin；11st, the 5th bearing pin；12nd, preceding rocking bar；13rd, the 3rd drive
Dynamic motor；14th, frame；15th, cterpillar drive；16th, connecting rod is exported；17th, the 6th bearing pin；18th, the first ball vice mechanism；19、
Hydraulic cylinder；20th, Hooke's hinge；21st, felling head combined mechanism；22nd, roller；23rd, mechanism is held under；231st, screw rod；232nd, fixed branch
Seat；233rd, first connecting rod；234th, movable bearing support；235th, nut；236th, second connecting rod；24th, knife saw mechanism；241st, sliding block；242、
Guide rod；243rd, third connecting rod；244th, fourth link；245th, crank；246th, the 4th motor；247th, motor support base；248th, silk
Bar；249th, the 5th motor；2410th, knife saw；25th, mechanism is held on；26th, delimbing knife；27th, the 7th bearing pin；28th, the 8th pin
Axle；29th, the second motor；30th, the second ball vice mechanism；31st, the 9th bearing pin；32nd, the tenth bearing pin；33rd, the first angle displacement transducer
Device；34th, the second angular displacement sensor；35th, the third angle displacement transducer；36th, range sensor；37th, displacement transducer.
Embodiment
Illustrated embodiment is further described to technical scheme below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 5, Figure 11, Figure 12, Figure 13, Figure 14 and Figure 15, a kind of three structure of the present invention
The automation trees training of state metamorphic mechanisms formula is cut down trees robot, including sensor, motor, felling head combined mechanism 21, is carried out
Belt running gear 15, frame 14, drive link, kinematic link, output connecting rod 16, bearing pin, hydraulic cylinder 19 and Hooke's hinge 20, tool
Body structure and annexation are：
The sensor includes angular displacement sensor, range sensor 36 and displacement transducer 37, the angle displacement transducer
Device includes the first angular displacement sensor 33, the second angular displacement sensor 34 and the third angle displacement transducer 35, and the first angular displacement passes
Sensor 33 is fixedly connected with the rear lower end of rocking bar 7, and the second angular displacement sensor 34 is fixedly connected with the middle lower end of rocking bar 8, the third angle position
Displacement sensor 35 is fixedly connected with the preceding lower end of rocking bar 12；The range sensor 36 is fixed with the lower end of felling head combined mechanism 21 to be connected
Connect；Institute's displacement sensors 37 are fixedly connected with felling head combined mechanism 21；
The motor, including the driving of the first motor 9, the second motor 29, the 3rd motor the 13, the 4th
The motor 249 of motor 246 and the 5th, the first motor 13 are fixedly connected with frame 14, rocking bar 7 after driving, the second driving
Motor 29 is fixedly connected with frame 14, and rocking bar 8 in driving, the 3rd motor 13 is fixedly connected with frame 14, rocking bar before driving
12, the 4th motor 246 is fixedly connected with motor support base 247, drives crank 245, the 5th motor 249 and felling head group
Close mechanism 21 to be fixedly connected, drive screw 248；
The felling head combined mechanism 21 include knife saw mechanism 24, under hold mechanism 23, roller 22, on hold the and of mechanism 25
Delimbing knife 26, the knife saw mechanism 24 hold mechanism 23, roller in the bottom of felling head combined mechanism 21 under being successively up
22nd, mechanism 25 and delimbing knife 26 are held on, the felling head combined mechanism 21 is connected by revolute pair with Hooke's hinge 20, felling head
Combined mechanism 21 is connected by the second ball vice mechanism 30 with hydraulic cylinder 19；
The cterpillar drive 15 is connected by revolute pair with frame 14；
The drive link includes preceding rocking bar 12, middle rocking bar 8 and rear rocking bar 7, and described preceding one end of rocking bar 12 passes through the 9th pin
Axle 31 is connected with frame 14, and the other end is connected by the 5th bearing pin 11 with front rod 4, and described middle one end of rocking bar 8 passes through the 4th pin
Axle 10 is connected with frame 14, and the other end is connected by the 7th bearing pin 27 with middle connecting rod 2, and described rear one end of rocking bar 7 passes through the 8th pin
Axle 28 is connected with frame 14, and the other end is connected by the 3rd bearing pin 6 with curved bar 5；
The kinematic link includes front rod 4, middle connecting rod 2 and curved bar 5, and described one end of front rod 4 passes through the 5th bearing pin 11
Be connected with preceding rocking bar 12, the other end is connected by the second bearing pin 3 with curved bar 5, described middle one end of connecting rod 2 by the 7th bearing pin 27 with
Middle rocking bar 8 is connected, and the other end is connected by the first bearing pin 1 with output connecting rod 16, described one end of curved bar 5 by the 3rd bearing pin 6 with
Rocking bar 7 is connected afterwards, and middle part is connected by the second bearing pin 3 with front rod 4, and the other end is connected by the 6th bearing pin 17 and output connecting rod 16
Connect；
Described output one end of connecting rod 16 is connected by the first bearing pin 1 with middle connecting rod 2, and middle part passes through the 6th bearing pin 17 and curved bar
5 connections, the other end are connected by the tenth bearing pin 32 with Hooke's hinge 20, and output connecting rod 16 passes through the first ball vice mechanism 18 and hydraulic cylinder
19 connections.
The bearing pin includes the first bearing pin 1, the second bearing pin 3, the 3rd bearing pin 6, the 4th bearing pin 10, the 5th bearing pin the 11, the 6th
Bearing pin 17, the 7th bearing pin 27, the 8th bearing pin 28, the 9th bearing pin 31 and the tenth bearing pin 32.
The knife saw mechanism 24 includes knife saw 2410, sliding block 241, guide rod 242, third connecting rod 243, fourth link 244, song
Handle 245, the 4th motor 246, motor support base 247, the motor 249 of screw mandrel 248 and the 5th, the knife saw 2410 and sliding block
241 are fixedly connected, and sliding block 241 is connected with guide rod 242 by cylindrical pair, and described one end of third connecting rod 243 passes through revolute pair and cunning
Block 241 is connected, and the other end is connected by revolute pair and fourth link 244, and described one end of crank 245 is connected by revolute pair and the 4th
Bar 244 is connected, and the other end is connected by revolute pair and the 4th motor 246, the motor of motor support base 247 and the 4th
246 are fixedly connected, and motor support base 247 is connected by screw pair and screw mandrel 248, and the 5th motor 249 passes through revolute pair
Connected with screw mandrel 248.
Mechanism 23 is held under described includes screw rod 231, hold-down support 232, first connecting rod 233, movable bearing support 234, nut
235 and second connecting rod 236, the hold-down support 232 be fixed on felling head combined mechanism 21, hold-down support 232 and activity prop up
Seat 234 is connected by screw rod 231, one end attaching nut 235 of screw rod 231, described one end of first connecting rod 233 by revolute pair and
Hold-down support 232 is connected, and the other end is connected by revolute pair and second connecting rod 236, and described one end of second connecting rod 236 passes through rotation
Secondary and first connecting rod 233 is connected, and middle part is connected by revolute pair and movable bearing support 234.
The end of roller 22 is connected with original machine output shaft, and prime mover is fixedly connected with felling head combined mechanism 21, former
Motivation is arranged inside felling head combined mechanism 21, and felling head combined mechanism 21 has two rollers 22, symmetrical along vertical centerline
Distribution and the both sides of felling head combined mechanism 21.
Identical, the annexation between its parts and parts that holds the structure of mechanism 23 with of mechanism 25 is held on described
All same.
The delimbing knife 26 is arranged at the top of felling head combined mechanism 21, is fixedly connected with felling head combined mechanism 21.
Operation principle and process：
As depicted in figs. 1 and 2, preceding rocking bar 12 rotates around the 9th bearing pin 31, because preceding rocking bar 12 and front rod 4 pass through
Five bearing pins 11 connect, and then drive front rod 4 to rotate, and middle rocking bar 8 rotates around the 4th bearing pin 10, due to middle rocking bar 8 and middle company
Bar 2 is connected by the 7th bearing pin 27, and then connecting rod 2 rotates in drive, and rear rocking bar 7 rotates around the 8th bearing pin 28, is shaken due to after
Bar 7 and curved bar 5 are connected by the 3rd bearing pin 6, and front rod 4 and curved bar 5 are connected by the second bearing pin 3, and then curved bar 5 is made plane
Motion, middle connecting rod 2 are connected with output connecting rod 16 by the first bearing pin 1, and curved bar 5 is connected with output connecting rod 16 by the 6th bearing pin 17
Connect, and then output connecting rod 17 is made two-freedom motion.
As shown in Figure 5 and Figure 6, when the 3rd bearing pin 6 and the 7th bearing pin 17 are in lap position, middle rocking bar 8 and rear rocking bar 7 stop
Rotation stop is moved, and preceding rocking bar 12 rotates around the 9th bearing pin 31, because preceding rocking bar 12 and front rod 4 are connected by the 5th bearing pin 11, is entered
And driving front rod 4 to rotate, front rod 4 and curved bar 5 are connected by the second bearing pin 3, and then drive curved bar 5 to rotate, and now bent
Bar 5, middle connecting rod 2 and output connecting rod 16 can regard a bar as, that is, think that exporting connecting rod 16 makees single dof mobility.
As shown in Figures 3 and 4, when the 3rd bearing pin 6 and the 7th bearing pin 17 are in lap position, middle rocking bar 8 and rear rocking bar 7 stop
Rotate, preceding rocking bar 12 returns back to be connected with frame 14, and preceding rocking bar 12 stops operating, that is, realizes output connecting rod 16 0 free degree fortune
It is dynamic.
As shown in figure 13, because drive screw 231 rotates, due to screw rod 231 and hold-down support 232 and movable bearing support 234
Connected by screw pair, and then drive the translation of movable bearing support 234, because hold-down support 232 and first connecting rod 233 pass through rotation
Pair connection, the one end of second connecting rod 236 are connected by revolute pair and first connecting rod 233, and middle part passes through revolute pair and movable bearing support 234
Connection, and then drive the rotation of second connecting rod 236.
As shown in figure 14, the drive screw 248 of the 5th motor 249 rotates, because screw mandrel 248 and motor support base 247 are logical
Screw pair connection, and then the translation of drive motor bearing 247 are crossed, the 4th motor 246 driving crank 245 rotates, due to song
Handle 245 is connected with fourth link 244 by revolute pair, and the one end of third connecting rod 243 is connected by revolute pair and fourth link 244,
One end is connected by revolute pair and sliding block 241, and sliding block 241 is connected with guide rod 242 by cylindrical pair, and then is existed with movable slider 241
Movement on guide rod 242, because sliding block 241 is fixedly connected with knife saw 2410, and then drive the movement of knife saw 2410.
As shown in Figure 3, Figure 4, Figure 11 and Figure 12, by driving hydraulic cylinder 19, hydraulic cylinder 19 is extended, and then drives Hooke
Revolute pair between hinge 20 and felling head combined mechanism 21 rotates, and realizes the unitary rotation of felling head combined mechanism 21.
As shown in Fig. 4, Fig. 6 and Fig. 8, when felling head combined mechanism 21 is in vertical state, trees training is cut down trees robot
Operation is carried out in lower position, whole trees can be achieved and cut down saw function.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 5, Fig. 7, Fig. 9 and Figure 10, felling head combined mechanism 21 is in horizontality, trees
Training cuts down trees robot in lower position progress operation, achievable timber segmentation interception function；, can be real when being worked in higher position
The training grooming function of existing trees.
As shown in figure 4, the first angular displacement sensor 33, the second angular displacement sensor 34 and the third angle displacement transducer 35 divide
It is not installed on rear rocking bar 7, middle rocking bar 8 and preceding rocking bar 12, the angle of rotation that the first angular displacement sensor 33 passes through rocking bar after regulation and control 7
Degree, realizes the control to rear rocking bar 7, the second angular displacement sensor 34 realizes that centering is shaken by the rotational angle of rocking bar in regulation and control 8
The control of bar 8, the third angle displacement transducer 35 realize the control to preceding rocking bar 12 by the rotational angle of rocking bar before regulation and control 12；
Range sensor 36 is installed on felling head combined mechanism 21, by measure with the distances of trees, come realize to trees hold and
Cut down saw；Displacement transducer 37 is installed on felling head combined mechanism 21, and felling head combined mechanism 21 holds trees, is being cut down by trees
The displacement moved on wood combined mechanism 21, intercepted to realize to be segmented timber；By the mutual cooperation of each sensor, tree is realized
Wood training is cut down trees the automation of robot.
Claims (7)
- Robot, including sensor, motor, felling head 1. a kind of three structure state metamorphic mechanisms formulas automation trees training is cut down trees Combined mechanism, cterpillar drive, frame, drive link, kinematic link, output connecting rod, bearing pin, hydraulic cylinder and Hooke's hinge, Characterized in that, concrete structure and annexation are：The sensor includes angular displacement sensor, range sensor and displacement transducer, and the angular displacement sensor includes the Under one angular displacement sensor, the second angular displacement sensor and the third angle displacement transducer, the first angular displacement sensor and rear rocking bar End is fixedly connected, and the second angular displacement sensor is fixedly connected with middle rocking bar lower end, the third angle displacement transducer and preceding rocking bar lower end It is fixedly connected；The range sensor is fixedly connected with felling head combined mechanism lower end；Institute's displacement sensors and felling head group Mechanism is closed to be fixedly connected；The motor includes the first motor, the second motor, the 3rd motor, the 4th motor and the 5th Motor, the first motor are fixedly connected with frame, and rocking bar after driving, the second motor is fixedly connected with frame, are driven Rocking bar in dynamic, the 3rd motor are fixedly connected with frame, rocking bar before driving, and the 4th motor and motor support base are fixed and connected Connect, drive crank, the 5th motor is fixedly connected with felling head combined mechanism, drive screw；The felling head combined mechanism include knife saw mechanism, under hold mechanism, roller, on hold mechanism and delimbing knife, the knife Saw in the bottom of felling head combined mechanism, held under being successively up mechanism, roller, on hold mechanism and delimbing knife, The felling head combined mechanism is hinged by revolute pair and Hooke, and felling head combined mechanism passes through the second ball vice mechanism and hydraulic pressure Cylinder connects；The cterpillar drive is connected by revolute pair with frame；The drive link includes preceding rocking bar, middle rocking bar and rear rocking bar, and described preceding rocking bar one end is connected by the 9th bearing pin and frame Connect, the other end is connected by the 5th bearing pin with front rod, and described middle rocking bar one end is connected by the 4th bearing pin with frame, the other end It is connected by the 7th bearing pin with middle connecting rod, described rear rocking bar one end is connected by the 8th bearing pin with frame, and the other end passes through the 3rd Bearing pin is connected with curved bar；The kinematic link includes front rod, middle connecting rod and curved bar, and described front rod one end is connected by the 5th bearing pin and preceding rocking bar Connect, the other end is connected by the second bearing pin with curved bar, and described middle connecting rod one end is connected by the 7th bearing pin with middle rocking bar, the other end It is connected by the first bearing pin with output connecting rod, described curved bar one end is connected by the 3rd bearing pin with rear rocking bar, and middle part passes through second Bearing pin is connected with front rod, and the other end is connected by the 6th bearing pin with output connecting rod；Described output connecting rod one end is connected by the first bearing pin with middle connecting rod, and middle part is connected by the 6th bearing pin with curved bar, another End is hinged by the tenth bearing pin with Hooke, and output connecting rod is connected by the first ball vice mechanism with hydraulic cylinder.
- The robot 2. a kind of three structures state metamorphic mechanisms formula automation trees training according to claim 1 is cut down trees, its feature It is, 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 and the tenth bearing pin.
- The robot 3. a kind of three structures state metamorphic mechanisms formula automation trees training according to claim 1 is cut down trees, its feature It is, the knife saw mechanism includes knife saw, sliding block, guide rod, third connecting rod, fourth link, crank, the 4th motor, motor Bearing, screw mandrel and the 5th motor, the knife saw are fixedly connected with sliding block, and sliding block is connected with guide rod by cylindrical pair, described Third connecting rod one end is connected by revolute pair with sliding block, and the other end is connected by revolute pair with fourth link, described crank one end Connected by revolute pair with fourth link, the other end passes through revolute pair and the 4th driving motor connection, the motor support base and the Four motors are fixedly connected, and motor support base is connected by screw pair with screw mandrel, the 5th motor by revolute pair and Screw mandrel connects.
- The robot 4. a kind of three structures state metamorphic mechanisms formula automation trees training according to claim 1 is cut down trees, its feature It is, mechanism is held under described includes screw rod, hold-down support, first connecting rod, movable bearing support, nut and second connecting rod, described solid Determine bearing to be fixed on felling head combined mechanism, hold-down support is connected with movable bearing support by screw rod, one end connection spiral shell of screw rod Mother, described first connecting rod one end are connected by revolute pair with hold-down support, and the other end is connected by revolute pair with second connecting rod, institute State second connecting rod one end to connect with first connecting rod by revolute pair, middle part is connected by revolute pair with movable bearing support.
- The robot 5. a kind of three structures state metamorphic mechanisms formula automation trees training according to claim 1 is cut down trees, its feature It is, the roller end is connected with original machine output shaft, and prime mover is fixedly connected with felling head combined mechanism, and prime mover is set Inside felling head combined mechanism, felling head combined mechanism has two rollers, symmetrical with felling head group along vertical centerline Close mechanism both sides.
- The robot 6. a kind of three structures state metamorphic mechanisms formula automation trees training according to claim 1 is cut down trees, its feature Be, it is described on hold mechanism and hold that mechanism structure is identical with, the annexation all same between its parts and parts.
- The robot 7. a kind of three structures state metamorphic mechanisms formula automation trees training according to claim 1 is cut down trees, its feature It is, the delimbing knife is arranged at felling head combined mechanism top, is fixedly connected with felling head combined mechanism.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112956395A (en) * | 2021-03-12 | 2021-06-15 | 天津智汇港创新科技有限公司 | Automatic directional tree cutting device of empting based on agriculture and forestry transformation |
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