一种树枝修剪机器人机械结构设计  

Mechanical Structure Design for a Branch Pruning Robot

作　　者：王秀云 蒋东霖(指导) 邵丽颖 WANG Xiuyun;JIANG Donglin;SHAO Liying(College of Engineering,Changchun Normal University,Changchun 130032,China)

机构地区：[1]长春师范大学工程学院,吉林长春130032

出　　处：《长春师范大学学报》2025年第2期179-184,共6页Journal of Changchun Normal University

基　　金：国家级大学生创新创业训练计划项目“树枝修剪机器人”(202410205023);吉林省教育科学“十四五”规划2023年度课题“新工科背景下新能源汽车产业学院实践教学体系构建研究与实践”(GH23789);吉林省教育学会“十四五”教育科研规划课题“生成式人工智能赋能职业教育数字化转型研究”(LG242543);吉林省教育学会“十四五”教育科研规划课题“SPOC精准教学模式下中职电工电子技术与技能课程教学改革研究”(LG231754)。

摘　　要：探讨一种专门用于修剪树木和植物枝条的园艺机器人,机器人总体分为固定、修剪和夹取三部分。机器人的固定主要依靠前进支架上的弹簧,弹簧将上下两个前进腿拉紧,使其贴合到树干上。机器人的环形基座上连接两条机械臂分别用于修剪和夹取,既能保证设备修剪树木时的稳定性,也能防止被锯断的树枝随意掉落造成安全事故。根据机器人的设计原理确定了机器人的控制方案,并对承重结构进行有限元分析。根据机器人在实际作业中的受力情况,计算出所需的驱动功率,从而确定驱动电机类型。This paper explores a gardening robot specifically designed for pruning branches of trees and plants,which is divided into three parts:fixation,pruning,and clamping modules.The fixation of the robot mainly relies on the spring on the forward support,which tightens the upper and lower forward legs to fit against the tree trunk.Two robotic arms are connected to the circular base of the robot for pruning and gripping,which not only ensures the stability of the equipment during operation,but also prevents safety hazards caused by the uncontrolled falling of severed branches.The control scheme of the robot was based on its design principles,and finite element analysis was conducted on the load-bearing structure.Through the force analysis during robot s operation,calculate the required driving power to determine the type of driving motor was calculated.

关 键 词：树枝修剪 机器人 结构设计 

分 类 号：TU986.32[建筑科学—城市规划与设计]