WO2017121220A1

WO2017121220A1 - Multifunctional unmanned tree digging machine

Info

Publication number: WO2017121220A1
Application number: PCT/CN2016/109606
Authority: WO
Inventors: 李善文; 李垒
Original assignee: 江苏省丰垒果蔬特种机械研制有限公司
Priority date: 2016-01-14
Filing date: 2016-12-13
Publication date: 2017-07-20
Also published as: CN105475089A; CN105475089B

Abstract

Provided is a multifunctional unmanned tree digging machine, comprising a crawler chassis (1), wherein a travel motor (6) is arranged on the crawler chassis (1), and the crawler chassis (1) is controlled by the travel motor (6) to move around; a control cabinet is arranged above the crawler chassis (1), with one side of the control cabinet being fixed on the crawler chassis (1) through a shaft (4) for up-and-down rotation of the complete machine, and with the other side being fixedly connected to the crawler chassis (1) through a tilt angle adjustment cylinder (29); and a top end of the tilt angle adjustment cylinder (29) is connected to the control cabinet, and a telescopic shaft of the tilt angle adjustment cylinder (29) is connected to the crawler chassis (1), such that the tilt angle of the control cabinet relative to the horizontal plane is driven through the telescopic motion of the telescopic shaft of the tilt angle adjustment cylinder (29), so as to drive the change in the tilt angle of a tree digging shovel assembly fixed at the front end of the control cabinet relative to the horizontal plane. A digging assembly can be tilted forward and back at a certain angle, such that it is convenient for same to travel with the tree after same has been dug. This machine makes ingenious use of the force balance principle, in which a balanced force system is formed between a bottom shovel arm (7) and a bucket shovel (10) and between a ground anchor (9) and a bottom shovel as configured, thereby omitting balance weights of the complete machine to save energy.

Description

Multifunctional unmanned tree digging machine

Technical field

The invention relates to a tree digging machine, in particular to a multifunctional unmanned tree digging machine.

Background technique

At present, all kinds of tree-cutting machines in the domestic market have the advantages of various bureaus, but they also have defects: the wheel-type tree-cutting machine has poor off-road capability, and it is difficult to walk on slopes, pits, and muddy grounds. The crawler-type tree-cutting machine adapts to different topography. Walking, but also need weight, whether it is crawler or soft tree digging machine, as long as the driver operates, there is a bad line of sight, the position of the excavated ball is not accurate, causing the soil ball bias, the existing domestic digging The tree machine can only dig trees, but can not plant trees to dig pits. It can only work on the ground, but not on the slopes. The width of the site can not be adjusted. Some tree-cutting machines can only dig up the soil balls, but not the soil balls. Ascension comes up, and the lifting of the soil ball requires a hanging tower.

Summary of the invention

In view of the problems existing in the prior art, the present invention provides a multifunctional unmanned tree digging machine, which can adjust the width of the chassis of the machine to expand the working environment. The excavation assembly can be tilted back and forth at a certain angle to facilitate walking with the trees after digging the tree. The machine cleverly utilizes the balance principle of force, and the balance between the bottom shovel arm and the bucket shovel, the ground anchor and the bottom shovel is formed, and the whole machine does not need a counterweight, which saves energy.

The technical solution of the present invention is: a multifunctional unmanned tree digging machine, comprising a crawler chassis, wherein the crawler chassis is provided with a travel motor, and the crawler chassis is controlled to move back and forth, left and right by a travel motor; and a control cabinet is arranged above the crawler chassis. One side of the control cabinet is fixed on the crawler chassis through the upper and lower rotatable shafts of the whole machine, and the other side is fixedly connected to the crawler chassis through the tilt angle adjusting cylinder, and the top end of the tilt angle adjusting cylinder is connected to the control cabinet, the tilt angle adjusting cylinder The telescopic shaft is connected to the crawler chassis, and the telescopic shaft of the tilting angle adjustment cylinder adjusts the tilt angle of the control cabinet and the horizontal plane, thereby driving the inclination angle of the tree shovel assembly fixed to the front end of the control cabinet and the horizontal plane to change;

The tree shovel assembly includes a fixing bracket facing the rotatable shaft of the tree shovel assembly rotatably fixed to the front end of the control cabinet on the side of the control cabinet, and the bottom end is connected with the telescopic shaft of the front and rear adjustment cylinders. The top end of the front and rear adjustment cylinder is fixed on the control cabinet; the telescopic shaft of the front and rear adjustment cylinder is controlled to rotate and rotate the fixed bracket along the rotatable shaft of the excavation shovel assembly, thereby driving the tree shovel assembly to rotate forward and backward;

The fixing bracket is internally provided with a tree shovel assembly lifting cylinder, and the telescopic shaft of the lifting shovel assembly lifting cylinder is connected with the shovel assembly lifting rod slidingly matched with the fixing bracket, and the top of the lifting shovel assembly lifting rod is inclined Connecting the top end of the bottom shovel upper and lower oil cylinders, the telescopic shaft of the bottom shovel upper and lower oil cylinders is connected to the rotating end of the bottom shovel arm and the bottom shovel beam, and the fixed end of the bottom shovel beam is rotatably fixed on the control cabinet up and down, and the upper and lower oil cylinders are passed through the bottom shovel Telescopic shaft telescopic control bottom shovel arm cutting root;

The fixing bracket is rotatably fixed to the left and right sides of the control cabinet, and has a forwardly extending split arm, and each of the split arm front ends is fixed with a ground anchor assembly and a bucket assembly; The ground anchor assembly comprises a ground anchor outer frame, a ground anchor upper and lower oil cylinder disposed in the outer ground frame of the ground anchor, the telescopic shaft of the upper and lower oil cylinders of the ground anchor is connected with a ground anchor slidingly matched with the outer frame of the ground anchor; the bucket assembly comprises a barrel a shovel outer frame, a bucket shovel upper and lower oil cylinder disposed in the outer frame of the bucket shovel, the telescopic shaft of the upper and lower oil cylinders of the bucket shovel is connected with the bucket shovel slidingly matched with the outer frame of the bucket shovel; the horizontal connection between the two split arms is one barrel The shovel is divided into the oil cylinders, and the telescopic shaft of the tilting angle adjustment cylinder is telescopically adjusted to adjust the distance between the split arms, thereby controlling the opening and closing of the two bucket shovel;

The control cabinet is internally provided with a solenoid valve line assembly box, and the motor and the cylinder are controlled by the remote controller.

Further, an oil cylinder is disposed in the middle of the connecting shaft between the two crawler belts of the crawler chassis, and the width of the crawler chassis is adjusted by the expansion and contraction of the oil cylinder. Expanded the work environment.

Further, the bottom shovel arm is an arc-shaped plate-like structure.

Further, two ground anchor assemblies are disposed on the back of the control cabinet.

Further, the control cabinet is internally provided with an engine and a plunger oil pump that controls the movement of the traveling motor.

Further, the front end of the split arm is provided with a reinforcing square hole and a square column matched with the reinforcing square hole

Further, the two buckets are spliced into a cylinder.

The utility model has the beneficial effects that the width of the chassis of the machine can be adjusted by itself (the oil cylinder is arranged in the middle of the connecting shaft between the two crawler tracks of the crawler chassis, and the width of the crawler chassis is adjusted by the expansion and contraction of the oil cylinder), thereby expanding the working environment. The excavation assembly can be tilted forward and backward at a certain angle (the telescopic shaft of the front and rear adjustment cylinders is controlled to extend and rotate along the excavating and shovel assembly to rotate the shaft to rotate forward and backward, thereby driving the tree shovel assembly to rotate back and forth), that is, when the soil ball is dug out of the ground Afterwards, the whole tree can be tilted backwards with the adjustment of the excavation assembly, which is convenient for walking with trees after digging trees. The machine cleverly utilizes the balance principle of force, and the balance between the bottom shovel arm and the bucket shovel, the ground anchor and the bottom shovel is formed, and the whole machine does not need a counterweight, which saves energy.

The excavation assembly can be adjusted to a certain angle from front to back, left and right (the telescopic axis of the cylinder is adjusted by the tilt angle to adjust the tilt angle of the control cabinet and the horizontal plane, thereby driving the tilt angle of the tree shovel assembly fixed to the front end of the control cabinet and the horizontal plane) Make sure the bucket shovel is perpendicular to the bottom when working on the slope.

The barrel shovel provided by this machine is a cylinder after splicing, and the excavated ball is a cylinder, thereby overcoming the drawback that the conical shovel can only dig trees and cannot plant trees.

The invention is provided with a solenoid valve line assembly box, that is, manual driving, and the motor and the cylinder are controlled by the remote controller. When using the remote control to direct the mechanical work, the person can stand near the tree being dug, the commander has a good view of the work, and can accurately command the tree-cutting machine.

This machine can not only dig the ball of the earth ball, but also raise the earth ball to a certain height on the bottom surface, saving the cost of the crane.

DRAWINGS

Figure 1 is a schematic view of the structure of the present invention.

In the figure: 1 is the crawler chassis, 2 is the engine, 3 is the plunger oil pump, 4 is the upper and lower rotatable shaft, 5 is the front and rear adjustment cylinder, 6 is the walking motor, 7 is the bottom shovel arm, 9 is the ground anchor, 10 For the bucket shovel, 11 is the bottom shovel beam, 12 is, 13 is the split arm, 14 is the ground anchor upper and lower oil cylinder, 15 is the bucket shovel upper and lower oil cylinder, 16 is the bucket shovel assembly, 17 is the ground anchor assembly, 18 is the bottom shovel up and down Cylinder, 20 is the shovel assembly lifting cylinder, 21 is the fixed bracket, 22 is the shovel assembly rotating shaft, 23 is the solenoid valve line assembly box, 29 is the inclination angle adjustment cylinder, 30 is the shovel assembly lifting rod .

detailed description

The invention will be further described below in conjunction with the accompanying drawings.

As shown in FIG. 1 , the multifunctional unmanned tree digging machine includes a crawler chassis 1 , and an oil cylinder is disposed between the connecting shafts between the two crawler belts of the crawler chassis 1 , and the width of the crawler chassis is adjusted by the expansion and contraction of the oil cylinder to expand the width of the crawler chassis. working environment. The crawler chassis 1 is provided with a travel motor 6 for controlling the crawler chassis to move forward and backward and left and right by a travel motor; a control cabinet is disposed above the crawler chassis 1 , and the control cabinet side is fixed to the crawler shaft by the upper and lower rotatable shafts 4 On the chassis, the other side is fixedly connected to the crawler chassis by the tilt angle adjusting cylinder 29, the top end of the tilt angle adjusting cylinder 29 is connected to the control cabinet, the telescopic shaft of the tilt angle adjusting cylinder 29 is connected to the crawler chassis, and the cylinder is adjusted by the tilt angle. The telescopic shaft telescopic adjusts the inclination angle of the control cabinet and the horizontal plane, thereby driving the inclination angle of the tree shovel assembly fixed to the front end of the control cabinet and the horizontal plane.

The tree shovel assembly includes a fixing bracket 21 facing the rotatable shaft 22 of the shovel assembly front and rear rotatably fixed to the front end of the control cabinet on the side of the control cabinet, and the bottom end is connected to the front and rear adjustment cylinder 5 The top end of the front and rear adjustment cylinders 5 is fixed on the control cabinet; the telescopic shaft of the front and rear adjustment cylinders is telescopically controlled to rotate the fixed bracket along the rotatable shaft of the tree shovel assembly, thereby driving the tree shovel assembly to rotate forward and backward.

The fixing bracket 21 is internally provided with a tree shovel assembly lifting cylinder 20, and the telescopic shaft of the tree shovel assembly lifting cylinder 20 is connected with a shovel assembly lifting rod 30 which is slidably engaged with the fixing bracket, and the shovel assembly is lifted and lowered The top end of the rod is obliquely protruded and connected to the top end of the bottom shovel upper and lower oil cylinder 18, and the telescopic shaft of the bottom shovel upper and lower oil cylinder 18 is connected to the rotating end of the bottom shovel arm 7 and the bottom shovel beam 11, and the fixed end of the bottom shovel beam 11 is rotatably fixed up and down On the control cabinet, the bottom shovel arm is cut and cut by the telescopic shaft of the bottom shovel upper and lower oil cylinders; the bottom shovel arm 7 is a curved plate-like structure.

The fixing bracket 21 is rotatably fixed to the left and right sides of the control cabinet 21 with a forwardly extending split arm 13 , and each of the split arms 13 is fixed with a ground anchor assembly 17 and a bucket shovel The ground anchor assembly includes a ground anchor outer frame, a ground anchor upper and lower oil cylinder 14 disposed in the outer ground frame of the ground anchor, and the ground anchor 9 of the ground anchor upper and lower oil cylinder 14 is coupled with the ground anchor of the ground anchor outer frame. The bucket assembly 16 includes a bucket outer frame, a bucket upper and lower cylinder 15 disposed in the outer frame of the bucket, the telescopic shaft of the bucket upper and lower cylinders 15 is coupled to the bucket 10 of the bucket frame outer frame sliding fit; The two split arms 13 are laterally connected to a bucket shovel split cylinder, and the telescopic shaft of the tilting angle adjustment cylinder is telescopically adjusted between the split arms The distance thus controls the opening and closing of the two bucket shovel.

The control cabinet is internally provided with a solenoid valve line assembly box 23, which can be manually driven, and the motor and the cylinder are controlled by the remote controller. When using the remote control to direct the mechanical work, the person can stand near the tree being dug, the commander has a good view of the work, and can accurately command the tree-cutting machine.

The control cabinet is internally provided with an engine 2 and a plunger oil pump 3 that controls the movement of the traveling motor. Two ground anchor assemblies 17 are disposed on the back of the control cabinet. The machine cleverly utilizes the balance principle of force, and the balance between the bottom shovel arm and the bucket shovel, the ground anchor and the bottom shovel is formed, and the whole machine does not need a counterweight, which saves energy.

The front end of the split arm 13 is provided with a reinforcing square hole 12 and a square column 配对 paired with the reinforcing square hole. The bucket 10 is spliced into a cylinder. The excavated ball is a cylinder, thus overcoming the drawback that the conical shovel can only dig trees and not plant trees.

The chassis width of the machine can be adjusted by itself. The connecting shaft between the two tracks of the track chassis is provided with a cylinder. The expansion of the cylinder adjusts the width of the track chassis to expand the working environment. The excavation assembly can be tilted forward and backward by a certain angle. The telescopic shaft telescopic control fixing bracket of the front and rear adjustment cylinders rotates back and forth along the rotatable shaft of the excavating tree shovel assembly, thereby driving the tree shovel assembly to rotate back and forth, that is, when the soil ball is dug out of the ground, The whole tree can be tilted backwards with the adjustment of the excavation assembly, which is convenient for walking with trees after digging trees. The excavation assembly can adjust a certain angle from front to back, left and right, and adjust the tilt angle of the control cabinet to the horizontal plane by adjusting the telescopic shaft of the tilting angle, thereby driving the inclination angle of the tree shovel assembly fixed to the front end of the control cabinet and the horizontal plane to ensure the slope position. Make sure the bucket shovel is perpendicular to the bottom when working. This machine can not only dig the ball of the earth ball, but also raise the earth ball to a certain height on the bottom surface, saving the cost of the crane.

The specific working process of the machine: the remote control gives instructions, starts the engine, moves the machine back and forth, left and right, so that the digging tree is at the center of the bucket shovel, then the bucket shovel is closed and falls to the ground plane, and the square column is automatically inserted and strengthened. Inside the square hole. If working on the slope, adjust the tilt angle of the control cabinet and the horizontal plane by the telescopic shaft of the tilt angle adjustment cylinder, thereby driving the inclination angle of the tree shovel assembly fixed to the front end of the control cabinet and the horizontal plane to ensure the barrel is ensured when working on the slope. The shovel is perpendicular to the bottom surface. The front and rear anchors are simultaneously pressed to the horizon, and then the bottom shovel arm is cut into the bottom of the tree root through the bottom shovel. The bucket shovel pushes the roots around the tree through the bucket shovel up and down the cylinder. After the bottom shovel has been cut to a certain depth, the tree shovel assembly lifting rod moves upwards and the tree is above the ground. Move the whole machine to the position where the tree is placed. Pull the bottom shovel arm out of the soil ball through the bottom shovel up and down cylinder, and then separate the bucket shovel by the bucket shovel up and down cylinder.

The machine can dig the ball from 0.4m to 1.6m in diameter, and use different bottom shovel arms depending on the size of the soil ball. Since the excavation equipment scientifically adopts the balance principle of utilizing force, no configuration is required.

The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims

The multifunctional unmanned tree digging machine is characterized in that it comprises a crawler chassis (1), and the crawler chassis (1) is provided with a travel motor (6) for controlling the crawler chassis to move back and forth, left and right by a travel motor; the crawler chassis (1) A control cabinet is arranged above, and one side of the control cabinet is fixed on the crawler chassis through the upper and lower rotatable shafts (4) of the whole machine, and the other side is fixedly connected to the crawler chassis through the tilt angle adjusting cylinder (29). The top end of the tilt angle adjusting cylinder (29) is connected to the control cabinet, the telescopic shaft of the tilt angle adjusting cylinder (29) is connected to the crawler chassis, and the tilting angle of the tilting angle adjustment cylinder adjusts the tilt angle of the control cabinet and the horizontal plane, thereby driving and fixing The angle of inclination of the tree shovel assembly at the front end of the control cabinet and the horizontal plane changes;

The tree shovel assembly includes a fixing bracket (21) facing the rotatable shaft (22) of the shovel assembly front and rear rotatably fixed to the front end of the control cabinet on the side of the control cabinet, and the bottom end A front and rear adjustment cylinder (5) is connected to the telescopic shaft, and the top end of the front and rear adjustment cylinders (5) is fixed on the control cabinet; the telescopic shaft of the front and rear adjustment cylinders is used to control the fixed bracket to rotate forward and backward along the rotatable shaft of the tree shovel assembly, thereby driving The tree shovel assembly rotates back and forth;

The fixing bracket (21) is internally provided with a tree shovel assembly lifting cylinder (20), and the telescopic shaft of the tree shovel assembly lifting cylinder (20) is connected with the shovel assembly lifting rod (30) which is slidably engaged with the fixing bracket. The top end of the lifting shovel assembly lifting rod is obliquely connected to the top end of the bottom shovel upper and lower oil cylinders (18), and the telescopic shaft of the bottom shovel upper and lower oil cylinders (18) is connected to the rotating end of the bottom shovel arm (7) and the bottom shovel beam (11) The fixed end of the bottom shovel beam (11) is rotatably fixed on the control cabinet up and down, and the bottom shovel arm is cut and cut by the telescopic shaft of the upper and lower oil cylinders of the bottom shovel;

The fixing bracket (21) is rotatably fixed to the left and right sides of the control cabinet, and has a forwardly extending split arm (13), and each of the split arms (13) has a ground anchor fixed at the front end thereof. An assembly (17) and a bucket assembly (16); the ground anchor assembly includes a ground anchor outer frame, a ground anchor upper and lower oil cylinder (14) disposed within the ground anchor outer frame, and the ground anchor upper and lower oil cylinders (14) The telescopic shaft is coupled to a ground anchor (9) that is slidingly engaged with the ground anchor outer frame; the bucket assembly (16) includes a bucket outer frame, and a bucket upper and lower oil cylinder (15) disposed in the outer frame of the bucket The telescopic shaft of the shovel upper and lower oil cylinders (15) is connected with the bucket shovel (10) which is slidingly matched with the outer frame of the bucket shovel; the two split arms (13) are laterally connected with a bucket shovel splitting cylinder, and the cylinder is adjusted by the tilt angle The telescopic shaft telescopically adjusts the distance between the split arms, thereby controlling the opening and closing of the two bucket shovel;

A solenoid valve line assembly box (23) is disposed inside the control cabinet, and the motor and the cylinder are controlled by the remote controller.
The multifunctional unmanned tree digging machine according to claim 1, characterized in that an oil cylinder is disposed in the middle of the connecting shaft between the two crawler belts of the crawler chassis (1), and the width of the crawler chassis is adjusted by the expansion and contraction of the oil cylinder.
The multifunctional unmanned tree digging machine according to claim 1, characterized in that the bottom shovel arm (7) is an arc-shaped plate-like structure.
The multifunctional unmanned tree digging machine according to claim 1, wherein two ground anchor assemblies (17) are disposed on the back of the control cabinet.
The multifunctional unmanned tree digging machine according to claim 1, wherein the control cabinet is internally provided with An engine (2) and a plunger oil pump (3) that controls the movement of the traveling motor.
The multifunctional unmanned tree digging machine according to claim 1, characterized in that the front end of the split arm (13) is provided with a reinforcing square hole (12) and a square column 配对 paired with the reinforcing square hole.
The multifunctional unmanned tree digging machine according to claim 1, characterized in that the bucket shovel (10) is spliced into a cylinder.