摘 要

杨树修剪是一种重要的抚育管理措施。修枝修剪的目的是平衡树势，促进树木生长。江苏省的杨树种植面积大，区域广，人工修剪的劳动强度大，而树枝修剪机器人的研究发展缓慢，导致工作效率低，工作难度大等问题，因此树枝修剪机器人的研究设计是一个亟待解决的问题。针对这种情况，本文设计的杨树修剪机器人能够有效的解决这个问题，通过搜集资料研究计算，设计出能够合理适用的机器人。

此文主要对杨树修剪机器人的技术成果及趋势分析，国内外不同的杨树修剪机器人的最新研究进展，各种不同的杨树修剪机的适用范围、修剪效果的对比。并根据江苏省杨树生长的情况设计出来的树枝修剪机器人，主要是对爬树和锯切方式的研究，并对其合理性的有效说明，此机器人能够提高树枝修剪的效率，降低人工修剪的难度。

关键词： 杨树；整枝机； 爬树方式； 锯切方式

The tree pruning robot

summary

Poplar pruning is one of the important measures of tending. Pruning pruning is the purpose of balanced growth, promote the growth of trees. Jiangsu province poplar planting area, wide area, large labor intensity pruning, and Study on the development of tree pruning robot is slow, resulting in low efficiency, difficult problem, so the research design tree pruning robot is an urgent problem to be solved. In this case, poplar pruning robot is designed in this paper can effectively solve this problem, by collecting data of calculation, to design a reasonable analysis of the technology of robot.

The main achievements and trends of poplar pruning robot, the latest research progress of poplar pruning robot the domestic and foreign different, the applicable scope of different poplar pruning machine, comparing pruning effect. And on the basis of the design of Jiangsu province poplar. The pruning robot, mainly is to climb trees and sawing method research and the rationality of effective instruction, the robot can improve the efficiency of pruning branches, reduce the difficulty of artificial pruning. 

Keywords: Poplar; pruning machine; climb; cutting way 

目录

1. 引言.........................................................................1

1.1课题研究目的和意义........................................................1

1.2国内外研究现况............................................................1

1.3研究内容..................................................................3

1.4特色与创新................................................................3

1. 树枝修剪机器人工作方式的研究和确定...........................................4

2.1整体框架的设计 ............................................................4

2.2机械人的工作方式...........................................................5

2.3装置的结构轮胎的布置与夹持方式............................................6

2.4 立木整枝机的切削机构以及锯切机构.........................................7

1. 爬树装置的设计和计算........................................................10

3.1减速的计算和选择.........................................................10

3.2滚子链的研究和设计计算...................................................10

3.2.1滚子链的主要尺寸.....................................................10

3.2.2滚子链传动的设计计算.................................................10

3.2.3润滑方式的选择.......................................................11

3.3链轮的设计...............................................................13

3.3.1链轮的材料...........................................................13

3.3.2链轮基本尺寸的计算...................................................13

3.3.3滚子链的静强度计算...................................................14

3.3.4链轮的张紧...........................................................15

3.3.5链轮的润滑...........................................................15

3.4轴的计算和设计...........................................................15

3.4.1轴的材料选择和设计...................................................15

3.4.2轴的校核.............................................................15

3.5键的选择与键联接强度校核.................................................19

3.6圆柱螺旋拉伸弹簧的设计............... ...................................20

1. 锯切装置的设计和计算........................................................24

4.1切削速度..................................................................24

4.2木材切削阻力..............................................................25

4.3切削功率P1...............................................................26

4.4进给功率P2...............................................................26

4.7锯切系统的摩擦消耗.......................................................27

结论..........................................................................28

展望..........................................................................29

致谢..........................................................................30

参考文献......................................................................31