CN107117219A - One kind become cell type servo-drive stepping climb tree scissors training robot - Google Patents
One kind become cell type servo-drive stepping climb tree scissors training robot Download PDFInfo
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- CN107117219A CN107117219A CN201710182060.3A CN201710182060A CN107117219A CN 107117219 A CN107117219 A CN 107117219A CN 201710182060 A CN201710182060 A CN 201710182060A CN 107117219 A CN107117219 A CN 107117219A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- 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
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- Engineering & Computer Science (AREA)
- Biodiversity & Conservation Biology (AREA)
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- Forests & Forestry (AREA)
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Abstract
One kind becomes cell type servo-drive stepping and climbed tree scissors training robot, including servo-drive pedipulator system, scissors training system and frame bar assembly.When pedipulator servo drive motor is operated alone, it just can realize that complexity is climbed tree and embrace tree motion, driving is simple；Just can be realized using the reaction force of driving force it is locked, climb tree embrace tree it is safe and reliable；During robot climbs tree, the free degree is changed, thus it is possible to vary hold angle tightly, realize robot flexible adaptation different-diameter trees；Animal bodies construction is simulated, makes training robot adaptation different shape trees of climbing tree；Multiple degrees of freedom scissors training system is combined with robot capable of climbing trees, and travelling performance is good, is pruned convenient, flexible, and operating efficiency is high, registration of pruning；Binding phenomenon will not be produced, vibration and noise will not be also produced；Rapid using the response of servomotor servo-drive, control is accurate, and obtaining high level flexibility by programming exports, working stability.
Description
Technical field
It is particularly a kind of to become cell type servo-drive stepping and climb tree scissors training machine the present invention relates to Robot Design field
People.
Background technology
Trees are during growth, and pruning is an essential job, and traditional trees training work is usual
It is that, by manually being completed by hand-held tool, the amount of labour is big and for higher trees, and work has certain risk.
The A of Chinese patent CN 102283026 disclose a kind of fruit tree pruning machine, and the fruit tree pruning machine needs the artificial back of the body
Negative, for high branch trimming, it is necessary to change lengthening aluminum pipe, therefore labor intensity is big, inefficiency.Chinese patent CN
105940975 A disclose a kind of fruit tree pruning machine, and the execution unit of the trimmer is arranged on power vehicle, by machinery
Arm carries out training work, but can not flexibly avoid being distributed limb at random, carries out accurate training work.Chinese patent
ZL2012103468033 discloses a kind of four-footed climbing robot, and the robot utilizes self-weight self-locking, and each holding arm
Three motors are installed, driving is more complicated, overall movement speed is also relatively slow, does not have applicability.
With the continuous improvement of robot technology level, the application of bio-robot is gradually extensive, wherein bionical machine of climbing tree
Applying for device people is also increasing in terms of trees training, disease control, pest control, picking fruit, field detection monitoring,
Therefore bio-robot is applied to training work of climbing tree, the shortcoming of prior art can be overcome.
Saw formula pruning machine occurs that saw blade is jammed at work, causes to damage, and produces vibration and is unfavorable for robot capable of climbing trees
Holding, the problems such as having noise works, seacteur is simple in construction for branch-finishing and pruning, will not produce sawdust, is also not in folder
The phenomenon of saw.
Servomotor uses closed-loop control, and driver directly can sample to motor encoder feedback signal, Ke Yigen
Adjusted in real time according to external world's feedback, realize and speed, position etc. are accurately controlled, and speed responsive is fast, it is stable, therefore will
Servomotor is applied to training robot of climbing tree, and can better meet job requirement.
At present, it there are no driving simple, climb tree reliable and secure, adapt to different thicknesses, shape trees, travelling performance is good,
Training is convenient, flexible, and operating efficiency is high, training accurate positioning, the problems such as will not producing binding, vibration, noise, control accuracy height,
The servo-drive stepping of working stability climb tree scissors training robot.
The content of the invention
Become cell type servo-drive stepping it is an object of the invention to provide one kind to climb tree scissors training robot, it can overcome existing
Have the deficiency of pruning technique, the stepping climb tree scissors training robot, when servomotor is operated alone, just can realize that complexity is climbed tree
Tree motion is embraced, driving is simple；Just can be realized using the reaction force of driving force it is locked, climb tree embrace tree it is safe and reliable；Machine
During people climbs tree, the free degree is changed, thus it is possible to vary hold angle tightly, realize robot flexible adaptation different-diameter trees；Simulation
Animal bodies are constructed, and make training robot flexible adaptation different shape trees of climbing tree；Multiple degrees of freedom scissors prune system with climbing tree
Robot is combined, and travelling performance is good, is pruned convenient, flexible, and operating efficiency is high, registration of pruning；Binding phenomenon will not be produced,
Also vibration, noise will not be produced；Rapid using the response of servomotor servo-drive, control is accurate, and high level is obtained by programming
Flexibility output, working stability.
The present invention reaches above-mentioned purpose by the following technical programs：One kind become cell type servo-drive stepping climb tree scissors training
Robot, including servo-drive pedipulator system, scissors training system and frame bar assembly, concrete structure and annexation are：
The servo-drive pedipulator system includes the first servo-drive pedipulator system, the second servo-drive pedipulator system
System, the 3rd servo-drive pedipulator system and the 4th servo-drive pedipulator system, the first servo-drive pedipulator system
Including drive rocker, driven rocking bar, connecting rod, pedipulator servo drive motor, link, sliding sleeve, sliding sleeve driving hydraulic cylinder, machinery
Leg driving hydraulic cylinder, pedipulator, fixed claw, arc-shaped limit chute and rolling bearing, drive rocker one end and rod hinge connection, it is another
End is fixedly connected with pedipulator servo drive motor, and pedipulator servo drive motor is connected with the first bar, and drives drive rocker
Rotated relative to the first bar, driven rocking bar one end and rod hinge connection, the other end are hinged with the first bar, link both passed through hinge with connecting rod
Chain is connected, and is connected with sliding sleeve by cylindrical pair, is also connected with pedipulator driving hydraulic cylinder, and the sliding sleeve drives hydraulic pressure with sliding sleeve
Cylinder is connected, and the pedipulator driving hydraulic cylinder is connected with pedipulator, and the sliding sleeve driving hydraulic cylinder is hinged with the first bar, described solid
Determine pawl to be fixedly connected with link, be mounted with rolling bearing below the driven rocking bar, rolling bearing is in arc-shaped limit chute
Motion, arc-shaped limit chute is fixed on below the first bar, the second servo-drive pedipulator system, the 3rd servo-drive pedipulator system
System, the 4th servo-drive pedipulator system are identical with the first servo-drive pedipulator system architecture and annexation；
The scissors training system includes the first scissors training system and the second scissors training system, and first scissors are whole
Branch system includes rotation seat, expansion link, two grades of expansion links, seacteur support, seacteur contiguous block, seacteur, scissors training systems
System first hydraulic cylinder, scissors training system second hydraulic cylinder, the scissors training hydraulic cylinder of system the 3rd and scissors training system the 4th
Hydraulic cylinder, the expansion link is hinged with rotation seat, and two grades of expansion links are slided in expansion link, and one end is hinged with seacteur support,
Seacteur one end is hinged with seacteur support, and the other end is hinged with seacteur contiguous block, and seacteur contiguous block is pruned by scissors
The hydraulic cylinder of system the 4th is connected with seacteur support, and described scissors training system first hydraulic cylinder one end is hinged with rotation seat, separately
One end is hinged with expansion link, and scissors training system second hydraulic cylinder one end is hinged with expansion link, and the other end and two grades stretch
Bar is hinged, and described scissors training hydraulic cylinder one end of system the 3rd is hinged with two grades of expansion links, and the other end is hinged with seacteur support,
Second scissors training system is identical with the first scissors training system architecture and annexation；
The frame bar assembly include the first bar, the second bar, the 3rd bar, the 4th bar, the 5th bar, the 6th bar, the 7th bar and
8th bar, the first bar is hinged with the second bar by the first Hooke, and the second bar is connected with the 3rd bar by second hinge, the 3rd bar
It is connected with the 4th bar by the servo drive motor of side link first, the 4th bar is connected with the 5th bar by third hinge, the 5th bar
It is hinged with the 6th bar by the second Hooke, the 6th bar and the 7th bar are by the 4th hinge connection, and the 7th bar passes through with the 8th bar
The servo drive motor of side link second is connected, and the 8th bar is connected with the first bar by first axle, the driving hydraulic pressure of side link first
Cylinder one end is hinged with the first bar, and the other end is hinged with the second bar by the 3rd Hooke, the second driving hydraulic cylinder of side link one end
It is connected with the 6th bar, the other end is connected with the 5th bar by the 4th Hooke's hinge, driving hydraulic cylinder one end of side link the 3rd and first
Bar is hinged, and the other end is hinged with the 8th bar, and the driving hydraulic cylinder one end of side link the 4th is hinged with the 6th bar, the other end and the 7th bar
It is hinged, the driving hydraulic cylinder one end of side link the 5th is hinged with the 5th bar, the other end is hinged with the 4th bar, the driving liquid of side link the 6th
Cylinder pressure one end is hinged with the second bar, and the other end is hinged with the 3rd bar.
The arc-shaped limit chute circular arc corresponding angle is 110-115 °, and the pedipulator is with link setting angle
55-60°。
The present invention's has the prominent advantages that：
1. servo-drive stepping is climbed tree scissors prune robot during climbing tree, pedipulator can realize two-freedom and
The transformation of single-degree-of-freedom, belong to variable freedom become born of the same parents' structure, with multi-functional phase change, multiple topology change, it is how free
Variation characteristic is spent, pedipulator is completed the action of complexity during climbing tree.During climbing tree, require different according to gait, it is single
The free degree can realize that relative trunk is held tightly or loosened upwards upwards and wait motion when working, when two frees degree work, make machine
Tool leg keeps holding tightly when robot is moved upwards, and can change holding angle, adapts to different-diameter trees.
The scissors training robot 2. servo-drive stepping is climbed tree, driving is simple, and pedipulator servo drive motor is operated alone
When, it just can flexibly imitate animal and climb tree action, pedipulator can realize relative trunk by holding tightly to loosening upwards, then to holding tightly upwards
The compound action of trunk, while realize that pedipulator is locked on trunk by the reaction force of driving force, training work of climbing tree
It is safe and reliable.
3. multivariant scissors training machine is combined with robot capable of climbing trees, it is possible to achieve multi-faceted steering, avoidance, change
Become center of gravity, training is flexible, adapt to trees of different shapes, operating efficiency is high, accurate positioning of pruning is not in simultaneously
Binding phenomenon, will not also produce vibration, noise, responded rapidly, control is accurate, obtained by programming using servomotor servo-drive
Obtain high level flexibility output, working stability.
Brief description of the drawings
Fig. 1 be servo-drive stepping of the present invention climb tree scissors prune robot structural representation.
Fig. 2 is view when drive rocker of the present invention is vertical with the first bar.
Fig. 3 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar is moved upwards.
Fig. 4 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar is moved downward.
Fig. 5 is the schematic diagram of end movement track when pedipulator of the present invention is climbed tree upwards.
Fig. 6 climbs tree gait for the climb tree first step of scissors training robot of change cell type servo-drive stepping of the present invention
Schematic diagram.
Fig. 7 climbs tree gait for the climb tree second step of scissors training robot of change cell type servo-drive stepping of the present invention
Schematic diagram.
Fig. 8 is link schematic diagram of the present invention.
Fig. 9 is arc-shaped limit chute schematic diagram of the present invention.
The representative implication of each mark is in accompanying drawing：
1：First axle；2：8th bar；3：The servo drive motor of side link second；4：7th bar；5：4th hinge；6：The
Six bars；7：Second Hooke's hinge；8：5th bar；9：Third hinge；10：4th bar；11：The servo drive motor of side link first；12：
3rd bar；13：Second hinge；14：Second bar；15：First Hooke's hinge；16：First bar；17：Pedipulator；18：Expansion link；19：
Scissors training system first hydraulic cylinder；20：Rotation seat；21：The driving hydraulic cylinder of side link first；22：3rd Hooke's hinge；23：Even
The driving hydraulic cylinder of hack lever second；24：4th Hooke's hinge；25：The driving hydraulic cylinder of side link the 3rd；26：Side link 4 wheel driven hydrodynamic
Cylinder pressure；27：The driving hydraulic cylinder of side link the 5th；28：The driving hydraulic cylinder of side link the 6th；29：Pedipulator driving hydraulic cylinder；30：
Pedipulator servo drive motor；31：Drive rocker；32：Connecting rod；33：Link；34：Sliding sleeve；35：Driven rocking bar；36：Sliding sleeve
Driving hydraulic cylinder；37：Arc-shaped limit chute；38：Rolling bearing；39：Fixed claw；40：Seacteur；41：Scissors training system the
Four hydraulic cylinders；42：Seacteur contiguous block；43：Seacteur support；44：The scissors training hydraulic cylinder of system the 3rd；45：Two grades are stretched
Bar；46：Scissors training system second hydraulic cylinder；47：Trees.
Embodiment
Below in conjunction with the accompanying drawings and technical scheme is clearly and completely described embodiment, it is clear that this is only
Only it is a part of embodiment of the invention, rather than whole embodiments.Based on embodiments of the present invention, art technology
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the model that the present invention is protected
Enclose.
Compares figure 1, Fig. 2, Fig. 8 and Fig. 9, change cell type servo-drive stepping of the present invention climb tree scissors training machine
People, including servo-drive pedipulator system, scissors training system and frame bar assembly, concrete structure and annexation are：
The servo-drive pedipulator system includes the first servo-drive pedipulator system, the second servo-drive pedipulator system
System, the 3rd servo-drive pedipulator system and the 4th servo-drive pedipulator system, the first servo-drive pedipulator system
Driven including drive rocker 31, driven rocking bar 35, connecting rod 32, pedipulator servo drive motor 30, link 33, sliding sleeve 34, sliding sleeve
Hydrodynamic cylinder pressure 36, pedipulator driving hydraulic cylinder 29, pedipulator 17, fixed claw 39, rolling bearing 38 and arc-shaped limit chute 37, drive
Shake the one end of bar 31 to be hinged with connecting rod 32, the other end is fixedly connected with pedipulator servo drive motor 30, pedipulator servo-drive
Motor 30 is connected with the first bar 16, and drives drive rocker 31 to be rotated relative to the first bar 16, driven one end of rocking bar 35 and connecting rod 32
It is hinged, the other end is hinged with the first bar 16, link 33 is both connected through the hinge with connecting rod 32, and passes through cylindrical pair with sliding sleeve 34
Connection, is also connected, the sliding sleeve 34 is connected with sliding sleeve driving hydraulic cylinder 36 with pedipulator driving hydraulic cylinder 29, and the pedipulator drives
Hydrodynamic cylinder pressure 29 is connected with pedipulator 17, and the sliding sleeve driving hydraulic cylinder 36 is hinged with the first bar 16, and the fixed claw 39 is with connecting
Connect frame 33 to be fixedly connected, the driven lower section of rocking bar 35 is mounted with rolling bearing 38, and rolling bearing 38 is in arc-shaped limit chute 37
Interior motion, arc-shaped limit chute 37 is fixed on the lower section of the first bar 16, the second servo-drive pedipulator system, the 3rd servo-drive machine
Tool leg system and the 4th servo-drive pedipulator system are identical with the first servo-drive pedipulator system architecture and annexation；
The scissors training system includes the first scissors training system and the second scissors training system, and first scissors are whole
Branch system includes rotation seat 20, expansion link 18, two grades of expansion links 45, seacteur support 43, seacteur contiguous block 42, seacteurs
40th, scissors training system first hydraulic cylinder 19, scissors training system second hydraulic cylinder 46, the scissors training hydraulic cylinder of system the 3rd
44th, the scissors training hydraulic cylinder 41 of system the 4th, the expansion link 18 is hinged with rotation seat 20, and two grades of one end of expansion link 45 are flexible
Slide in bar 18, the other end is hinged with seacteur support 43, and the one end of seacteur 40 is hinged with seacteur support 43, the other end with it is whole
Secateurs contiguous block 42 is hinged, and seacteur contiguous block 42 passes through the scissors training hydraulic cylinder 41 of system the 4th and the phase of seacteur support 43
Even, described one end of scissors training system first hydraulic cylinder 19 is hinged with rotation seat 20, and the other end is hinged with expansion link 18, described to cut
The one end of formula training system second hydraulic cylinder 46 is hinged with expansion link 18, and the other end is hinged with two grades of expansion links 45, and the scissors are whole
The one end of the 3rd hydraulic cylinder of branch system 44 is hinged with two grades of expansion links 45, and the other end is hinged with seacteur support 43, and the second scissors are whole
Branch system is identical with the first scissors training system architecture and annexation, passes through rotation seat 20, the scissors training hydraulic pressure of system first
The driving of cylinder 19, scissors training system second hydraulic cylinder 46 and the scissors training hydraulic cylinder 44 of system the 3rd, it is possible to achieve robot
Multiple degrees of freedom flexibly carries out training work；
The frame bar assembly includes the first bar 16, the second bar 14, the 3rd bar 12, the 4th bar 10, the 5th bar 8, the 6th bar
6th, the 7th bar 4 and the 8th bar 2, the first bar 16 are connected with the second bar 14 by the first Hooke's hinge 15, the second bar 14 and the 3rd bar 12
Connected by second hinge 13, the 3rd bar 12 is connected with the 4th bar 10 by the first servo drive motor of side link 11, the 4th bar
10 are connected with the 5th bar 8 by third hinge 9, and the 5th bar 8 is connected with the 6th bar 6 by the second Hooke's hinge 7, the 6th bar 6 and
Seven bars 4 are connected by the 4th hinge 5, and the 7th bar 4 is connected with the 8th bar 2 by the second servo drive motor of side link 3, the 8th bar
2 are connected with the first bar 16 by first axle 1, and the one end of the first driving hydraulic cylinder of side link 21 is hinged with the first bar 16, the other end
It is connected with the second bar 14 by the 3rd Hooke's hinge 22, the one end of the second driving hydraulic cylinder of side link 23 is connected with the 6th bar 6, the other end
It is connected with the 5th bar 8 by the 4th Hooke's hinge 24, the one end of the 3rd driving hydraulic cylinder of side link 25 is hinged with the first bar 16, the other end
It is hinged with the 8th bar 2, the one end of the 4th driving hydraulic cylinder of side link 26 is hinged with the 6th bar 6, the other end is hinged with the 7th bar 4, even
The one end of the 5th driving hydraulic cylinder of hack lever 27 is hinged with the 5th bar 8, and the other end is hinged with the 4th bar 10, the driving hydraulic pressure of side link the 6th
The one end of cylinder 28 is hinged with the second bar 14, and the other end is hinged with the 3rd bar 12.
The circular arc corresponding angle of arc-shaped limit chute 37 is 110-115 °, the pedipulator 17 and the established angle of link 33
Spend for 55-60 °.
Operation principle and process：
Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, when drive rocker 31 is vertical with connecting rod 32, sliding sleeve 34 slides into link 33
It is middle；The independent role effect of pedipulator servo drive motor 30, as state is changed into state shown in Fig. 3, Ke Yishi as shown in Figure 2
The upward motion for holding trunk tightly simultaneously of existing relative first bar 16 of pedipulator 17, such as state is changed into Fig. 2 to action effect as shown in Figure 4
Shown state, it is possible to achieve relative first bar 16 of pedipulator 17 loosens the motion of trunk simultaneously upwards, i.e. action effect is turned by Fig. 4
When being changed into Fig. 2 and being changed into state shown in Fig. 3 again, pedipulator 17 does upward relaxing exercise relative to the first bar 16, by holding and done again
Hold motion tightly upwards, action effect on the contrary is changed into Fig. 2 and is changed into state shown in Fig. 4 again as shown in Figure 3, realizes pedipulator 17
It is also that pedipulator 17 drives training of climbing tree relative to the first bar 16 by holding state to loosening downwards again to the motion held tightly downwards
The process that robot is moved upwards, and sliding sleeve driving hydraulic cylinder 36 participates in being changed into Fig. 2 as shown in Figure 3 and being again changed into shown in Fig. 4
Process, it is ensured that when robot is moved upwards, pedipulator 17 is always maintained at the holding to trunk, the drive of sliding sleeve driving hydraulic cylinder 36
Dynamic process is, when state is changed into state shown in Fig. 2 as shown in Figure 3, and sliding sleeve driving hydraulic cylinder 36 is gradually stretched out, and in Fig. 2 institutes
Show state up to range, when state is changed into state shown in Fig. 4 as shown in Figure 2, sliding sleeve driving hydraulic cylinder 36 gradually bounces back,
And reset condition is reduced in state shown in Fig. 4, pedipulator servo drive motor 30 and sliding sleeve driving hydraulic cylinder during this
36 cooperate, and realize the automatic conversion of one degree of freedom and two frees degree, realize robot during upward motion,
Pedipulator 17 is always maintained at holding tightly.
Compares figure 5, when pedipulator 17 is moved upwards, can be realized under the independent role of pedipulator servo drive motor 30
The range of motion for holding of climbing tree, imitates animal and climbs tree process leg action, i.e. pedipulator 17 by holding trunk, to upwards gradually
Loosen, then to the process gradually held tightly upwards, θ in Fig. 51、θ2The size of value reflects the holding journey of pedipulator 17 and trees 47
Degree.
Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, pedipulator 17 constitute a pin with fixed claw 39 and climb instrument, and incline with trunk
Oblique certain angle, therefore the driving force of pedipulator servo drive motor 30 can not only realize that upward climb tree of pedipulator 17 is held tightly simultaneously
The motion of trunk, moreover it is possible to realize that pedipulator 17, to the locked of trunk, meets reliable and stable requirement of climbing tree, at the same pedipulator 17 with
Pedipulator driving hydraulic cylinder 29 is connected, and the collapsing length of pedipulator driving hydraulic cylinder 29 can be adjusted automatically according to trunk diameter,
Realize and be generally applicable function.
Compares figure 6, Fig. 7 and Fig. 8, pedipulator 17 are identical with the pedipulator action in the 3rd servo-drive pedipulator system,
And with the pedipulator in the second servo-drive pedipulator system on the contrary, pedipulator in the second servo-drive pedipulator system with
Pedipulator action in 4th servo-drive pedipulator system is identical, therefore during climbing tree, the first step, as shown in fig. 6, machine
Pedipulator in the servo-drive pedipulator system of tool leg 17 and the 3rd is moved upwards with respect to body, and the second servo-drive pedipulator
The pedipulator in pedipulator and the 4th servo-drive pedipulator system in system is moved downward with respect to body, i.e. the second servo is driven
The pedipulator in pedipulator and the 4th servo-drive pedipulator system in dynamic pedipulator system is held tightly, drive robot body to
Upper motion, second step is identical with the first step, pedipulator and the 4th servo-drive machinery in the second servo-drive pedipulator system
Pedipulator in leg system is moved upwards with respect to body, the pedipulator phase in the servo-drive pedipulator system of pedipulator 17 and the 3rd
Body is moved downward, i.e., the pedipulator in the servo-drive pedipulator system of pedipulator 17 and the 3rd drives robot body upward
Motion, the two steps are just realized training robot of climbing tree and quickly climbed tree successively.
When climbing tree, training robot needs the remains stationary on trunk, to complete such as training, monitoring, insect pest preventing and controlling work
When, driven rocking bar 35 connects rolling bearing 38, and to move to upper extreme position in arc-shaped limit chute 37 locked, only by sliding sleeve
Driving hydraulic cylinder 36 drives, and realizes pedipulator, the 3rd liquid in the complete holding to trunk, the second fro hydraulic driving machinery leg system
The pedipulator state in pedipulator and the 4th fro hydraulic driving machinery leg system in pressure driving pedipulator system is driven with the first hydraulic pressure
The state of pedipulator 17 is identical in dynamic pedipulator system, and training robot of now climbing tree just firmly is held tightly on trunk.
The driving hydraulic cylinder 25 of side link the 3rd and the driving hydraulic cylinder 26 of side link the 4th are driven simultaneously, or driving connects simultaneously
The driving hydraulic cylinder 27 of hack lever the 5th and the driving hydraulic cylinder 28 of side link the 6th, it is possible to achieve left and right turn, while driving side link
First driving hydraulic cylinder 21 and the second driving hydraulic cylinder of side link 23 can be realized and bent over upwards, while driving side link first to watch
Taking motor 11 and the second servo drive motor of side link 3 can realize that the change of center of gravity is realized in left and right doubling, flexibly suitable
Answer various operating modes.
Claims (3)
- The scissors training robot 1. one kind change cell type servo-drive stepping is climbed tree, including servo-drive pedipulator system, scissors are whole Branch system and frame bar assembly, it is characterised in that concrete structure and annexation are：The servo-drive pedipulator system include the first servo-drive pedipulator system, the second servo-drive pedipulator system, 3rd servo-drive pedipulator system and the 4th servo-drive pedipulator system, the first servo-drive pedipulator system include Drive rocker, driven rocking bar, connecting rod, pedipulator servo drive motor, link, sliding sleeve, sliding sleeve driving hydraulic cylinder, pedipulator drive Hydrodynamic cylinder pressure, pedipulator, fixed claw, arc-shaped limit chute and rolling bearing, drive rocker one end and rod hinge connection, the other end with Pedipulator servo drive motor is fixedly connected, driven rocking bar and rod hinge connection, link both with rod hinge connection, and pass through with sliding sleeve Cylindrical pair is connected, and is also fixedly connected with pedipulator driving hydraulic cylinder, the sliding sleeve is connected through a screw thread with sliding sleeve driving hydraulic cylinder, The pedipulator driving hydraulic cylinder is connected through a screw thread with pedipulator, and the fixed claw is fixedly connected with link, described to roll Bearing is arranged on below driven rocking bar, and rolling bearing moves in arc-shaped limit chute, the second servo-drive pedipulator system, the Three servo-drive pedipulator systems, the 4th servo-drive pedipulator system and the first servo-drive pedipulator system architecture and it is connected Relation is identical；The scissors training system includes the first scissors training system and the second scissors training system, the first scissors training system System includes rotation seat, expansion link, two grades of expansion links, seacteur support, seacteur contiguous block, seacteur, scissors and pruned system the One hydraulic cylinder, scissors training system second hydraulic cylinder, the scissors training hydraulic cylinder of system the 3rd and the scissors training hydraulic pressure of system the 4th Cylinder, the expansion link is hinged with rotation seat, and two grades of expansion links are slided in expansion link, and one end is hinged with seacteur support, training Cut one end to be hinged with seacteur support, the other end is hinged with seacteur contiguous block, seacteur contiguous block is pruned system by scissors 4th hydraulic cylinder is connected with seacteur support, and described scissors training system first hydraulic cylinder one end is hinged with rotation seat, the other end It is hinged with expansion link, described scissors training system second hydraulic cylinder one end is hinged with expansion link, the other end and two grades of expansion links are cut with scissors Connect, described scissors training hydraulic cylinder one end of system the 3rd is hinged with two grades of expansion links, and the other end is hinged with seacteur support, second Scissors training system is identical with the first scissors training system architecture and annexation.
- The scissors training robot 2. change cell type servo-drive stepping according to claim 1 is climbed tree, it is characterised in that described Arc-shaped limit chute circular arc corresponding angle is 110-115 °.
- The scissors training robot 3. change cell type servo-drive stepping according to claim 1 is climbed tree, it is characterised in that described Pedipulator is 55-60 ° with link setting angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182060.3A CN107117219A (en) | 2017-03-24 | 2017-03-24 | One kind become cell type servo-drive stepping climb tree scissors training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182060.3A CN107117219A (en) | 2017-03-24 | 2017-03-24 | One kind become cell type servo-drive stepping climb tree scissors training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107117219A true CN107117219A (en) | 2017-09-01 |
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| CN201710182060.3A Pending CN107117219A (en) | 2017-03-24 | 2017-03-24 | One kind become cell type servo-drive stepping climb tree scissors training robot |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| WO2009118409A1 (en) * | 2008-03-28 | 2009-10-01 | Thales | Robot for climbing posts |
| CN102745276A (en) * | 2011-04-22 | 2012-10-24 | 长春理工大学 | Walking type climbing pole robot |
| CN202847865U (en) * | 2012-09-18 | 2013-04-03 | 西北工业大学 | Four-footed climbing robot |
| CN105109571A (en) * | 2015-09-18 | 2015-12-02 | 北京理工大学 | Folding type retractable tree climbing robot |
| CN105818882A (en) * | 2016-05-30 | 2016-08-03 | 天津大学 | Four-foot bionic robot with planar four-bar metamorphic mechanism used on waist |
| CN105947008A (en) * | 2016-05-13 | 2016-09-21 | 福建省泉州市第七中学 | Tree climbing robot |
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2017
- 2017-03-24 CN CN201710182060.3A patent/CN107117219A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| WO2009118409A1 (en) * | 2008-03-28 | 2009-10-01 | Thales | Robot for climbing posts |
| CN102745276A (en) * | 2011-04-22 | 2012-10-24 | 长春理工大学 | Walking type climbing pole robot |
| CN202847865U (en) * | 2012-09-18 | 2013-04-03 | 西北工业大学 | Four-footed climbing robot |
| CN105109571A (en) * | 2015-09-18 | 2015-12-02 | 北京理工大学 | Folding type retractable tree climbing robot |
| CN105947008A (en) * | 2016-05-13 | 2016-09-21 | 福建省泉州市第七中学 | Tree climbing robot |
| CN105818882A (en) * | 2016-05-30 | 2016-08-03 | 天津大学 | Four-foot bionic robot with planar four-bar metamorphic mechanism used on waist |
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