Tilting-type automatic pruning and tree-felling robot capable of transforming between two degrees of freedom and a single degree of freedom

Abstract

The invention discloses a tilting-type automatic pruning and tree-felling robot capable of transforming between two degrees of freedom and a single degree of freedom. The tilting-type automatic pruning and tree-felling robot comprises a sensor, a lifting hydraulic cylinder, a drive motor, a pruning and tree-felling saw component, a traveling gear, a base plate, a rack, a drive connecting rod, a transmission connecting rod, a triangular support, an output connecting rod, a pin roll, a hydraulic cylinder and a Hooke joint. The pruning and tree-felling robot is capable of carrying out automatic intelligent operation and omnibearing adjustment, flexibly transforming among three different structure states of two double degrees of freedom and the single degree of freedom, has the characteristics of a large work space, high accuracy and high dynamic stability, and is capable of achieving automatic operation of tree pruning, trimming, tree felling and dimensioned segmental cutting in a complicated environment.

Description

technical field [0001] The invention relates to the field of robots, in particular to a tiltable double-two and single-degree-of-freedom transformation automatic pruning and tree cutting 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 cut...

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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 t

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