CN109348892A - A kind of tractor Three Degree Of Freedom gardening pruning head - Google Patents
A kind of tractor Three Degree Of Freedom gardening pruning head Download PDFInfo
- Publication number
- CN109348892A CN109348892A CN201811200364.9A CN201811200364A CN109348892A CN 109348892 A CN109348892 A CN 109348892A CN 201811200364 A CN201811200364 A CN 201811200364A CN 109348892 A CN109348892 A CN 109348892A
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- CN
- China
- Prior art keywords
- sliding block
- slide bar
- tractor
- freedom
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
Abstract
The invention discloses a kind of tractor Three Degree Of Freedom gardening pruning heads, mainly include the upper hanging plate with slide bar, set pull rod, trimmer head in three.Wherein, every pull rod upper end and sliding block are hinged by revolute pair, while sliding block is placed on the slide bar of hanging plate, can be slided on slide bar, and pull rod lower end and trimmer head are secondary hinged by ball.This mechanism can control position and the posture of trimmer head by sliding slider, realize the adjusting of trimmer Handpiece Location and posture.
Description
Technical field
The present invention relates to a kind of tractor Three Degree Of Freedom gardening pruning heads.
Background technique
City, road or park require some plants and are afforested at present, in order to keep having for green plants better
Moulding becomes more beautiful, it is often necessary to trim to its branches and leaves, since the trees having are more tall and big, it is therefore desirable to Yi Zhongrong
The cutter head easily manipulated, to ensure that branches and leaves can either be trimmed to during trimming, and it is good to can ensure that the trees after trimming have
Moulding.
Summary of the invention
The purpose of the present invention is to provide a kind of tractor Three Degree Of Freedom gardening pruning heads, repair to green plants
When cutting, height, position and the posture of trimming cutter head can be easily adjusted, to improve work of the trimming personnel when trimming operation
Make efficiency.
In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention are as follows: a kind of tractor Three Degree Of Freedom gardening is repaired
Shearing machine head, including trimmer head and upper hanging plate, the upper hanging plate include upper guard-plate and under shield, the top gear
The first symmetrical slide bar, the second slide bar and third slide bar are equipped between plate and the under shield, on first slide bar
Third sliding block is installed by sliding pair, the second sliding block, the third slide bar are equipped with by sliding pair on second slide bar
It is upper that first sliding block is equipped with by sliding pair；Pull rod one end is set in first and the first sliding block revolute pair is hinged, other end
It is secondary hinged by ball with the trimmer head, pull rod one end is set in second and the second sliding block revolute pair is hinged, in addition one
End is secondary hinged by ball with the trimmer head, and pull rod one end is set in third and the third sliding block revolute pair is hinged, in addition
One end and the trimmer head are secondary hinged by ball.
In above scheme, first slide bar, second slide bar and the mutual angle of the third slide bar are
120°。
It is symmetrical there are three motor on the upper guard-plate in above scheme, it is symmetrically distributed on the under shield
Three rolling wheel supports are equipped with idler wheel on each rolling wheel support, pass through between each motor and each idler wheel
Belt connects, and respectively corresponds on each belt and is fixedly connected with first sliding block, the second sliding block and third sliding block.
In above scheme, the angle between each motor, between each rolling wheel support is 120 °.
In above scheme, pass through support between the center of the upper guard-plate and the center of the under shield
Axis connection, the support shaft are connected on farm implements connecting frame by mechanical arm, and the farm implements connecting frame is mounted on tractor.
Beneficial effects of the present invention: apparatus of the present invention control position and the appearance of trimmer head by three sliding sliders
State realizes the adjusting of trimmer Handpiece Location and posture.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of apparatus of the present invention.
Fig. 2 is the structure principle chart of apparatus of the present invention.
Fig. 3 is the structural schematic diagram of upper hanging plate in apparatus of the present invention.
Fig. 4 is the first sliding block operating structure schematic diagram in apparatus of the present invention.
Fig. 5 is to set pull rod Degree of Freedom Analysis figure in first.
Fig. 6 is trimmer head Degree of Freedom Analysis figure.
Fig. 7 is the scheme of installation of apparatus of the present invention.
The reference numerals are as follows: the upper hanging plate of 1-；The first sliding block of 2-；The second sliding block of 3-；4- third sliding block；In 5- first
Set pull rod；Pull rod is set in 6- second；Pull rod is set in 7- third；8- trimmer head；The first slide bar of 9-；The second slide bar of 10-；11-
Third slide bar；12- upper guard-plate；13- under shield；14- rolling wheel support；15- idler wheel；16- support shaft；17- pulley；18- electricity
Machine；19- belt；20- tractor；21- farm implements connecting frame；22- mechanical arm；23- trimmer head assembly.
Specific embodiment
Present invention will be further explained with reference to the attached drawings and specific examples, but protection scope of the present invention is simultaneously
It is without being limited thereto.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of tractor Three Degree Of Freedom gardening pruning head shown in the present invention, packet
Trimmer head 8 and upper hanging plate 11 are included, the upper hanging plate 11 includes upper guard-plate 12 and under shield 13, the top gear
It is equipped with the first symmetrical slide bar 9, the second slide bar 10 and third slide bar 11 between plate 12 and the under shield 13, described the
One slide bar 9, second slide bar 10 and the mutual angle of the third slide bar 11 are 120 °.On first slide bar 9
Third sliding block 4 is installed by sliding pair, second sliding block 3, the third are equipped with by sliding pair on second slide bar 10
First sliding block 2 is equipped with by sliding pair on slide bar 11, above three sliding pair is driving kinematic pair；Pull rod 5 is set in first
One end and 2 revolute pair of the first sliding block are hinged, and other end and the trimmer head 8 are secondary hinged by ball, set in second
6 one end of pull rod and 3 revolute pair of the second sliding block are hinged, and other end and the trimmer head 8 are secondary hinged by ball, third
In set 7 one end of pull rod and 4 revolute pair of third sliding block is hinged, other end and the trimmer head 8 are secondary hingedly by ball.
It is symmetrical there are three motor 18 on the upper guard-plate 12, between each motor 18, each rolling wheel support 14 it
Between angle be 120 °.It is symmetrical there are three rolling wheel support 14 on the under shield 13, on each rolling wheel support 14
Idler wheel 15 is installed, is connected between each motor 18 and each idler wheel 15 by belt 19, each belt 19
On respectively correspond and be fixedly connected with first sliding block 2, the second sliding block 3 and third sliding block 4.The centre bit of the upper guard-plate 12
It sets and is connected between the center of the under shield 13 by support shaft 16, as shown in fig. 7, the support shaft 16 passes through machine
Tool arm 22 is connected on farm implements connecting frame 21, and the farm implements connecting frame 21 is mounted on tractor 20.Agriculture on tractor 20
Have connecting frame 21 and mechanical arm 22 according to specific works status adjustment to appropriate position when, can be according to the need of specific works state
The relative position that further adjust the first sliding block 2, the second sliding block 3, third sliding block 4 on trimmer head, make trimmer head into
Row overturning is promoted or is declined, to realize further amendment of the trimmer head relative to 20 position of tractor, to make to be trimmed
When have better operability.
As shown in figure 5, a branch for taking out pruning mechanism carries out the analysis of freedom degree.Coordinate system as shown in Figure 5 is established,
Coordinate origin O is located at the ABC planar central position of the under shield 13 of upper hanging plate 1, and x, y-axis are located at the flat of under shield 13
In face, and x-axis is parallel with the side BC of under shield 13, and y-axis is vertical with the side BC of under shield 13, and z-axis is perpendicular under shield
13 ABC plane, spiral system of branch are
Backpitch with this available five spirals of above formula is
And due toTherefore one restraining force of this spiral expression (line arrow power), i.e. parallel first is sliding along the x-axis direction
The axis of revolute pair on block 2, position cross ball sub-center point, as shown in Figure 5.
As shown in fig. 6, whole to this pruning mechanism into free analysis, the foundation and progress Bifurcation Analysis phase of coordinate system
Together.By symmetry it is found that it is respectively a, b, c, all excessively respective branch that 3 same branches, which have 3 similar restraining forces (line arrow power),
Ball sub-center point and, 3 restraining force (lines parallel and in the same plane with the axis of respective branches sliding block revolute pair
Arrow power) linear combination can uniquely constitute a couple again, it constrains a rotation around z-axis again.From the property of constraint
Matter can be determined that, acts on 3 restraining forces in trimmer head plane and just constrains 3 freedom degrees of plane, limit including
The relative rotation of two movements and moving plane normal direction in dynamic plane.The freedom degree of mechanism can be calculated according to G-K formula:
Wherein: n is number of components, and component is upper hanging plate 1, in the first sliding block 2, the second sliding block 3, Four-slider 4, first
It sets and sets pull rod 6 in pull rod 5, second, set pull rod 7, trimmer head 8, therefore, n=8 in third；G is kinematic pair quantity, movement
Pair be 3 ball pairs, 3 revolute pairs, 3 prismatic pairs, therefore: g=9；Fi is the freedom degree of each kinematic pair, and ball pair is 3 freedom
Degree, prismatic pair are 1 freedom degree, and revolute pair is 1 freedom degree, therefore: fi=15；V is redundant degree of freedom, this is by analysis
The v value of system is 0.
It can see from above-mentioned about beam analysis, moving platform can only be done by 3 independent restraining forces, mechanism moving platform
2 dimension rotations in plane, as shown in two hollow arrows n1 and n2 in Fig. 6, and moving along Z-direction.Therefore it only needs logical
Cross motor adjust the first sliding block 2, the second sliding block 3, third sliding block 4 position, can so that trimmer head overturning, promoted or under
Drop.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of tractor Three Degree Of Freedom gardening pruning head, including trimmer head (8) and upper hanging plate (11), feature exists
In, the upper hanging plate (11) include upper guard-plate (12) and under shield (13), the upper guard-plate (12) and the lower part
Symmetrical the first slide bar (9), the second slide bar (10) and third slide bar (11), first slide bar are equipped between baffle (13)
(9) it is equipped with third sliding block (4) on by sliding pair, the second sliding block is equipped with by sliding pair on second slide bar (10)
(3), the first sliding block (2) are equipped with by sliding pair on the third slide bar (11)；Pull rod (5) one end and described the are set in first
One sliding block (2) revolute pair is hinged, and other end and the trimmer head (8) are secondary hinged by ball, and pull rod (6) one is set in second
End is hinged with the second sliding block (3) revolute pair, and other end and the trimmer head (8) are secondary hinged by ball, in third
It sets pull rod (7) one end and third sliding block (4) revolute pair is hinged, other end and the trimmer head (8) pass through ball pair
Hingedly.
2. a kind of tractor Three Degree Of Freedom gardening pruning head according to claim 1, which is characterized in that described first is sliding
Bar (9), second slide bar (10) and the mutual angle of the third slide bar (11) are 120 °.
3. a kind of tractor Three Degree Of Freedom gardening pruning head according to claim 1 or 2, which is characterized in that on described
Symmetrical there are three motor (18) on portion's baffle (12), symmetrical on the under shield (13) there are three rolling wheel supports
(14), it is equipped with idler wheel (15) on each rolling wheel support (14), each motor (18) and each idler wheel (15)
Between connected by belt (19), respectively correspond and first sliding block (2), the second sliding block (3) on each belt (19)
It is fixedly connected with third sliding block (4).
4. a kind of tractor Three Degree Of Freedom gardening pruning head according to claim 3, which is characterized in that each electricity
Angle between machine (18), between each rolling wheel support (14) is 120 °.
5. a kind of tractor Three Degree Of Freedom gardening pruning head according to claim 1 or 2, which is characterized in that on described
It is connected between the center of portion's baffle (12) and the center of the under shield (13) by support shaft (16), the branch
Support axis (16) is connected on farm implements connecting frame (21) by mechanical arm (22), and the farm implements connecting frame (21) is mounted on tractor
(20) on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811200364.9A CN109348892A (en) | 2018-10-16 | 2018-10-16 | A kind of tractor Three Degree Of Freedom gardening pruning head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811200364.9A CN109348892A (en) | 2018-10-16 | 2018-10-16 | A kind of tractor Three Degree Of Freedom gardening pruning head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109348892A true CN109348892A (en) | 2019-02-19 |
Family
ID=65349480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811200364.9A Pending CN109348892A (en) | 2018-10-16 | 2018-10-16 | A kind of tractor Three Degree Of Freedom gardening pruning head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109348892A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4615073A (en) * | 1984-08-08 | 1986-10-07 | Haak Raymond L | Tree topping device having hinged, adjustable clamping members |
| CN1355083A (en) * | 2000-11-29 | 2002-06-26 | 中国科学院沈阳自动化研究所 | Five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism |
| CN203245874U (en) * | 2013-03-21 | 2013-10-23 | 万新光学集团有限公司 | Three-freedom-degree movable parallel robot mechanism |
| CN105702117A (en) * | 2016-04-29 | 2016-06-22 | 燕山大学 | Six-axis-driven three-degree-of-freedom static load balancing large parallel movement simulation platform |
| CN108381762A (en) * | 2018-02-10 | 2018-08-10 | 黄朝仁 | One kind is built a wall promotes agitating device with cement |
| CN108617176A (en) * | 2018-04-28 | 2018-10-09 | 江苏大学 | A kind of tractor Three Degree Of Freedom farm implements suspension mechanism |
-
2018
- 2018-10-16 CN CN201811200364.9A patent/CN109348892A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4615073A (en) * | 1984-08-08 | 1986-10-07 | Haak Raymond L | Tree topping device having hinged, adjustable clamping members |
| CN1355083A (en) * | 2000-11-29 | 2002-06-26 | 中国科学院沈阳自动化研究所 | Five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism |
| CN203245874U (en) * | 2013-03-21 | 2013-10-23 | 万新光学集团有限公司 | Three-freedom-degree movable parallel robot mechanism |
| CN105702117A (en) * | 2016-04-29 | 2016-06-22 | 燕山大学 | Six-axis-driven three-degree-of-freedom static load balancing large parallel movement simulation platform |
| CN108381762A (en) * | 2018-02-10 | 2018-08-10 | 黄朝仁 | One kind is built a wall promotes agitating device with cement |
| CN108617176A (en) * | 2018-04-28 | 2018-10-09 | 江苏大学 | A kind of tractor Three Degree Of Freedom farm implements suspension mechanism |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190219 |