康积龙　侯卫萍　李晨颖　傅业琳　李志远　丁在兴

摘 要：针对国内修枝机械作业方式比较原始，修枝劳动强度大，效率低的问题，对传统修枝机械的结构和功能进行优化，设计一款具有多功能的园艺修枝机械臂。多功能园艺修枝臂的研究主要從作业原理、结构设计与优化和模型构建等方面进行分析。通过对多功能园艺修枝臂的三维模型构建和力学的受力分析，保证所设计的多功能园艺修枝机械臂结构的自由度、结构强度和刚度符合要求，满足机械在实际作业中的工作要求。多功能园艺修枝机械臂集修枝和集材于一体，可实现修枝作业的机械化，提高作业效率。修枝机械臂在工作时，能够一步实现枝条的修剪和收集，解决采用人工修枝费时费力的问题，弥补传统修枝工艺的不足，推动园艺修枝机械的发展。该机械臂功能齐全，结构简单，便于操作，能够适应复杂的林业机械作业的环境。

关键词：修枝机械;结构设计与优化;模型构建

中图分类号：S776 文献标识码：A   文章编号：1006-8023（2019）04-0082-07

Design and Characteristic Analysis of Multifunctional Gardening

Pruning Mechanical Arm

KANG Jilong， HOU Weiping*， LI Chenying， FU Yelin， LI Zhiyuan， DING Zaixing

（College of Engineering and Technology， Northeast Forest University， Harbin 150040）

Abstract：In view of the fact that the domestic pruning machinery operation mode is relatively primitive， the pruning labor intensity is high， and the efficiency is low， the structure and function of the traditional pruning machine are optimized， and a multifunctional gardening pruning robot arm is designed. The research of multifunctional gardening pruning arm is mainly analyzed from the aspects of operation principle， structural design and optimization， and model construction. Through the three-dimensional model construction and mechanical force analysis of the multi-functional gardening pruning arm， the freedom， structural strength and rigidity of the designed multi-functional gardening pruning arm structure are guaranteed to meet the requirements， and the mechanical work in the actual operation can be satisfied. The multi-functional gardening and pruning robotic arm integrates pruning and collecting functions， which can realize mechanization of pruning operations and improve work efficiency. When the pruning arm is working， it can realize the pruning and collecting of the branches in one step， solve the problem of time and laborious use of artificial pruning， make up for the deficiency of the traditional pruning process， and promote the development of the gardening pruning machine. The mechanical arm is fully functional， simple in structure， easy to operate， and can adapt to complex forestry machinery operations.

Keywords：Pruning machinery; structure design and optimization; model construction

0 引言

树木修枝是森林抚育的主要措施，对树木生长、成材有非常积极的意义[1]。行道树的合理修枝可以促进树木的成长，提高树木的通直度、抗弯强度，增强上部光合作用;同时对行道树修枝可以提高道路通行的安全，对于行道树中冠幅大、重心偏、枝条低的树枝进行修剪，使其尽可能的减少树木在恶劣天气发生倒伏的现象。国外机械化修枝技术起步较早，配套齐全[2]，低于8 m的树枝可直接采用修枝钳和伸缩臂完成修枝作业，但8 m 以上侧枝修剪缺乏适用机械[3]。……