林木伐根清理机器人设计与试验  

Design and Test of the Tree Stump Excavation Robot

作　　者：陆怀民[1] 

机构地区：[1]东北林业大学

出　　处：《农业工程学报》2002年第6期169-172,共4页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家 8 63计划项目 (863- 51 2 - 960 3- 1 1 )

摘　　要：林木伐根用途很广 ,但采掘相当困难。为了提高采掘伐根的效率 ,减小对地表的破坏 ,研制了林木伐根清理机器人。该机器人采用 SDWY- 60型履带式液压挖掘机底盘作行走机构 ,卸下铲斗换装上伐根清理旋切头 ,构成了具有 6个自由度的伐根清理机械手 ,可对伐根的侧根进行旋切 ,然后夹紧并拔出归堆。机械手采用全液压驱动、单片机系统控制 ,作业半径 4～ 8m ,最大可清理伐根直径 5 5 0 mm。使用表明 ,该机器人每天 (以 6h计 )可清理直径 5 0 0 mm以上落叶松伐根 10 0个左右 ,而人工每天只能清理同样伐根 4～ 5个 (6h) ,机器人的效率约为人工清理的 2 0～ 2Tree stumps can be very useful but they are difficult to dig out. A tree stump excavation robot was developed in order to improve the efficiency of stump removal and to reduce damage to ground surface. The robot mainly consists of the walking mechanism of a caterpillar excavator, a manipulator with 6 freedoms and a numerical program control system of a single chip computer. The side roots of the stump can be removed by the rotary blades at the end of the executive body of the manipulator; then the stump can be clipped and pulled out by the mechanical arm. The operating radius of the manipulator is 4~8 m, and the maximum diameter of stump which can be excavated is 550 mm. The practical test shows that the robot can excavate about 100 stumps per day (6 hours), and that the diameter of stump is over 500 mm. In contrast, a worker can only dig 4~5 similar stumps out by hand in the same time. The efficiency of the robot is about 20~25 times than that of a worker.

关 键 词：林木伐根清理机器人 设计 试验 总体结构 液压驱动系统 控制系统 

分 类 号：S776.21[农业科学—森林工程] TP24[农业科学—林学]