| With the constant progress of science and technology, robot has been increasingly widely used in industrial production, agricultural production and daily life. With the increasing of economy and the continuous development of returning farmland to forest, towns,mountains and forest farm in the suburbs of trees can be seen everywhere all kinds of mill,especially in the fast-growing poplar trees. With the continuous increase of mill, it is necessary to how to green environmental protection, high efficiency and low cost solutions to these tall, fast-growing trees trimmed the problems, solve the pruning efficiency is low,workers labor intensity, low degree of automation, and pruning machine repair, maintenance,maintenance and other issues, has always been a hot topic in the field of environmental protection workers. Currently on the market all kinds of trimming machines, low efficiency of the low degree of automation, workers labor intensity to operate. Therefore, to develop a simple and practical, high degree of automation, simple operation, convenient maintenance of fast-growing trees pruning robot, has the vital significance.This design in a large number of research and reference, on the basis of reading literature, we design a tyred crawling robot automatic pruning. Climb a tree pruning crawl robot mechanical system mainly includes the clamping system, power transmission system,saw cutting system. The machine by electric putter tires on the clamping of the trunk. The machine is powered by small gasoline engine, the engine output power through reducer reducer runnin belt transmission, to crawl wheel, and then through the chain connect crawl the rest of the wheel, thereby to crawl all wheel drive power. Engine output shaft through the chain transfer of high-speed rotating engine to sawing the shaft, to drive the cutting wheel rotation, cutting. The machine by a motor to realize two different speeds of the output,reduced the power supply, improve the utilization efficiency of the engine.The main content of this paper include: climb a tree pruning robot mechanical system scheme of the whole machine, mainly including gasoline engine, clutch, electric putter,reducer, compression spring, and the selection and design of the tire; Using three dimensional modeling software Solidworks to climb a tree pruning robot of the overall design, assembly and optimization; Use of kinematics simulation software ADAMS for pruning robot kinematics simulation, including the analysis of the clamping force, efficiency analysis and tires and an analysis of the contact force of the trunk. Test all movement parameters of the moving parts and the size of the force and optimize the model parameters.According to the design, drawings, and a lot of theoretical analysis, has carried on the processing manufacture, to prototype overall prototype processing after the completion of a series of performance test and analysis was carried out on the prototype. The test results show that the climb a tree pruning robot can realize the trunk in 10 cm to 30 cm in diameter of fast-growing trees climb, the whole system is simple structure, structure, no redundant mechanism, and can realize 6 cm in diameter of lateral branch pruning. After debugging in the process of prototype testing, test of robot can be very good to complete the desired action,can be in different trunk diameter of tree trunk stable creep. After a lot of design optimization and test improvement, part of pruning robot structure improvement, enhanced climb a tree pruning robot pruning function and practicability, which laid a foundation for pruning robot fast-growing forestry promotion. |
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