Automatic large-space two-structure-state metamorphic tree pruning and lumbering robot

Abstract

The invention discloses an automatic large-space two-structure-state metamorphic tree pruning and lumbering robot. The robot comprises sensors, a driving motor, a travelling device, a machine frame, a link mechanism, a hinge, a hydraulic cylinder, a hooke joint and a lumbering combination mechanism. The sensors are composed of three angular displacement sensors, one range sensor and one displacement sensor and are arranged at different positions of an actuating arm and the lumbering combination mechanism, so that automatic information acquiring, processing, storage and output are implemented, and digital and intelligent automation operation with the functions of tree pruning, trimming, lumbering and fixed-size timber cutting is realized. The automatic large-space two-structure-state metamorphic tree pruning and lumbering robot has the outstanding advantages of being automatic, intelligent, large in working space, high in dynamic stability, low in manufacturing cost and diversified in function.

Description

technical field [0001] The invention relates to the field of robots, in particular to an automatic large-space two-configuration metamorphic tree pruning and felling robot. Background technique [0002] Chinese patent 201610396453.X discloses a logging robot, through the movement of four driving wheels, the positioning of cutting is realized, the work flexibility is low, the movement space is small, and only the logging task can be realized; Chinese patent 201610419380.1 discloses a logging machine for The full-hydraulic automatic logging device, the logging device is composed of full-hydraulic components, the hydraulic components require high precision, the hydraulic system manufacturing cost is high, the working life is not long, oil leakage is easy, and the logging task can only be achieved; Chinese patent 201210335835.3 discloses An all-in-one tree felling and cutting machine, this tree cutting and cutting machine is only used for felling and cutting trees, not for tree ...

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Problems solved by technology

[0002] Chinese patent 201610396453.X discloses a logging robot, through the movement of four driving wheels, the positioning of cutting is realized, the work flexibility is low, the movement space is small, and only the logging task can be realized; Chinese patent 201610419380.1 discloses a logging machine for The full-hydraulic automatic logging device, the logging device is composed of full-hydraulic components, the hydraulic components require high precision, the hydraulic system manufacturing cost is high, the working life is not long, oil leakage is easy, and the logging task can only be achieved; Chinese patent 201210335835.3 discloses An all-in-one tree felling and cutting machine, this tree cutting and cutting machine is only used for felling and cutting trees, not for tree pruning and pruning, and this logging machine can only be used in conjunction with construction machinery; Chinese patent 201310427637.4 discloses a An electric plant pruning machine, this plant pruning machine is only used for plant pruning, not for logging, cutting wood

[0003] At present, there is no one that can fully automate operations, realize flexible and flexible transformation of two configurations, large movement space, high working precision, low manufacturing cost, simple maintenance, and flexible control, and has the functions of tree pruning, tree felling and wood cutting. An innovative invention design of an automated large-space two-configuration metamorphic tree pruning and tree cutting robot with segmental interception function

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