一种新型多自由度高枝修剪机械手设计与试验

Design and experiment of a new multi-degree-of-freedom high-branch pruning manipulator

为提高林果业的工作效率,设计了一种修剪较高处树枝的自动装置,该装置内部结构主要包括臂架、末端执行器、升降器、回转系统、动态配重系统和动力系统等,通过控制面板上的视频装置和升降装置结合需修剪树枝的高低程度来控制该机械进行工作。该装置的修剪高度15 m、半径为5 m、修剪树枝最大的直径为12 cm,试验结果表明该机械装置基本上可以满足对高大树枝进行修剪的目的,高枝修建机械手可修剪树枝的高度为16 m,半径在5 m,直径为8 cm,不但满足了最初修剪树枝的目的,还对修剪过的树枝的茬口起到基本的养护作用。

In order to improve the working efficiency of the forest and fruit industry, an automatic device for pruning higher branches is designed. The internal structure of the device mainly includes the boom, the end actuator, the lifter, the rotation system, the dynamic counterweight system and the power system. Through the combination of the video device and the lifting device on the control panel to control the work of the machine. The pruning height of the device is 15 m, the radius is 5 m, and the maximum diameter of pruning branches is 12 cm. The test results show that the device can basically meet the purpose of pruning tall branches. The height of pruning branches of the high branch construction manipulator is 16 m, the radius is 5 m, and the diameter is 8 cm, not only meets the purpose of pruning branches at first, but also plays a basic role in maintaining the stubble of pruned branches.