Servo-driven large-space dual-configuration metamorphic-type pruning and cutting robot for trees

Abstract

A servo-driven large-space dual-configuration metamorphic pruning and cutting robot for trees comprises servo motors, pruning and cutting saw assembly, a crawler-type walking device, a rack, a driving arm, a transmission arm, a working arm, a hinge, a hydraulic cylinder and a hooke joint, wherein the driving arm comprises three connecting rods, and the transmission arm comprises five connecting rods; the working arm is used as an output component and connected with the pruning and cutting saw assembly, and the pruning and cutting saw assembly comprises a knife and saw mechanism, a lower clamping mechanism, a roller, an upper clamping mechanism and a pruning knife. Because the driving arm is subjected to programmable servo controls by the three servo motors, combining with dual configurations of the robot capable of achieving flexible metamorphism, the robot can flexibly complete tasks of pruning, cutting or sectional cutting out within large space. The robot has the prominent advantages of being controllable through the programmable servo controls, big in working space, high and dynamic in stability and low in manufacturing cost.

Description

technical field [0001] The invention relates to the field of robots, in particular to a servo-driven large-space two-configuration metamorphic tree pruning and felling robot. Background technique [0002] Chinese patent 201610396453.X discloses a logging robot. As described in the document (CN106003071A), the patent realizes the positioning of cutting through the movement of four driving wheels. The working accuracy and flexibility are low, and the movement space is small, so it can only realize logging Task; Chinese patent 201610419380.1 discloses a fully hydraulic automatic logging device for logging machines. This logging device is composed of full hydraulic components. The hydraulic components require high precision, and the hydraulic system has high manufacturing costs. The working life is not long and oil leakage is easy , and can only achieve logging tasks; Chinese patent 201210335835.3 discloses a tree felling and cutting machine. It can be used in conjunction with ...

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Problems solved by technology

[0002] Chinese patent 201610396453.X discloses a logging robot. As described in the document (CN106003071A), the patent realizes the positioning of cutting through the movement of four driving wheels. The working accuracy and flexibility are low, and the movement space is small, so it can only realize logging Task; Chinese patent 201610419380.1 discloses a fully hydraulic automatic logging device for logging machines. This logging device is composed of full hydraulic components. The hydraulic components require high precision, and the hydraulic system has high manufacturing costs. The working life is not long and oil leakage is easy , and can only achieve logging tasks; Chinese patent 201210335835.3 discloses a tree felling and cutting machine. Can be used in conjunction with construction machinery; Chinese patent 201310427637.4 discloses an electric plant pruning machine, this plant pruning machine is only used for plant pruning, and cannot be used for logging or cutting wood

The existing designs of tree-cutting robots all have a single function, low controllability, small working space, insufficient stability, low precision, and cannot flexibly change the configuration according to functional requirements or changes in the environment to adapt to different tasks and occasions. low flexibility

[0003] At present, there is no one that can be programmed for servo control and can realize two-configuration transformation, with stable output, flexibility, large movement space, low manufacturing cost, long working life, simple maintenance, light arm weight, and easy work. The innovative design of a servo-driven large-space two-configuration metamorphic tree pruning and felling robot that is characterized by high efficiency and can realize the functions of tree pruning and trimming, whole tree felling and sawing, and wood section cutting

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