Tilting-type servo hybrid-drive three-configuration metamorphic pruning and tree-felling robot

Abstract

The invention relates to a tilting-type servo hybrid-drive three-configuration metamorphic pruning and tree-felling robot, which comprises a lifting hydraulic cylinder, a high-power conventional motor, a low-power servo motor, a running system, a chassis, a rack, a connecting rod mechanism, a pin shaft, a hydraulic cylinder, a hooke joint and a saw head device. The robot can be adjusted all-directionally in a three-dimensional work space, is flexibly hybrid driven and controlled, has the characteristics of stability in output, flexibility in operation, large motion space, high working accuracy, low manufacturing cost and simplicity in maintenance, and can realize the functions of tree pruning, clipping, tree felling and segmental wood cutting for trees with any growth morphology under any complex growing environment.

Description

technical field [0001] The invention relates to the field of robots, in particular to a tilting hybrid driving three-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 working accuracy and flexibility are low, the movement space is small, and only the logging task can be realized; Chinese patent 201610419380.1 discloses a robot for The full hydraulic automatic logging device of the logging machine. This logging device is composed of full hydraulic components. The hydraulic components require high precision, the hydraulic system has high manufacturing costs, the working life is not long, oil leakage is easy, and the logging task can only be realized; Chinese patent 201210335835.3 Disclosed is an all-in-one tree felling and cutting machine, which is only used for felling and cutting trees, and can...

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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 working accuracy and flexibility are low, the movement space is small, and only the logging task can be realized; Chinese patent 201610419380.1 discloses a robot for The full hydraulic automatic logging device of the logging machine. This logging device is composed of full hydraulic components. The hydraulic components require high precision, the hydraulic system has high manufacturing costs, the working life is not long, oil leakage is easy, and the logging task can only be realized; Chinese patent 201210335835.3 Disclosed is an all-in-one tree felling and cutting machine, which is only used for felling and cutting trees, and cannot be used for tree pruning and pruning, and this logging machine can only 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, not for logging, cutting wood

[0004] At present, there is no one that can be fully adjusted in the three-dimensional working space, flexible hybrid drive control, and has the characteristics of stable output and flexible operation, large movement space, high working precision, low manufacturing cost, and simple maintenance. The innovative invention design of the tree pruning and felling robot that completes the functions of tree pruning, pruning, tree felling and wood section interception

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