CN107736223A - A kind of swinging tree mover and its digging tree method - Google Patents

Abstract

The invention discloses a kind of swinging tree mover, including frame head apparatus, rotary support and car body；Including driving frame head apparatus around the first slewing equipment of revolution holder pivots, the second slewing equipment that driving rotary support rotates close and far from thrust device, the driving thrust device of body movement around car body and the lowering or hoisting gear of driving frame head apparatus lifting.Rotary freedom of the present invention by frame head apparatus relative to rotary support, the free degree of thrust device driving rotary support movement, thrust device drives the free degree of frame head apparatus vertical motion to be combined relative to the rotary freedom and lowering or hoisting gear of car body, enable swinging tree mover to adjust path that Tool in Cutting tree root planned under the setting and control of control system operation interface and cutter is deep into the size of soil layer, it is easy to tree mover to variety classes, the trees of different size carry out safety, efficiently, fast, high-quality digging ball transplanting operation, lift the adaptability of tree mover.

Description

A kind of swinging tree mover and its digging tree method

Technical field

The present invention relates to tree grafting growth field, more particularly to a kind of swinging tree mover and its digging tree method.

Background technology

Urban afforestation, highway planting, landscape architecture etc. need substantial amounts of trees every year, and the required trees overwhelming majority comes From in Gardening Nursery, there is tens thousand of families to plant with nursery stock the Gardening Nursery enterprise based on (kind) landscape trees at present in China, wherein The enterprise for having more than 60% is that to reduce cost, reduce expenses cultivated since seedling, the then tree root to having grown up to Sale has been dug according to the requirement of user, cultivation has been mended in time to playing tree vacant lot, is circulating benignly, the tree that this part is transplanted from Seedling Stage The cultivation that akebi crosses 5-15 or so has just grown up to and starts to sell, and this planting system is referred to as " primary (seedling) in the industry Tree ", another part nursery enterprise are supported after being transplanted from the tree grafting growth that the buying of other nurseries grows up to substantially to oneself nursery Shield makes its further growth, and 1-3 time is started selling, and this part trees is referred to as " transplanting (seedling) tree " in the industry.

It is the nearly 5 years transplanting modes just occurred that machinery, which digs tree, and recent decades are always by manually utilizing pick before this The conventional tools such as head, spade go complete, not only labor intensity is big, the activity duration is long, production cost is high, transplanting success also by Different degrees of influence is arrived, China's First " Portable tree digging machine " arose at the historic moment and popularization and application in 2012 for this, several The time in year external big-and-middle-sized tree grafting growth equipment and technology under the influence of this enterprise of family enter Chinese market and manufacture one after another Enterprise, the Market Trend vied each other through forming over one hundred enterprise, and there is one for the digging tree equipment of these enterprises production Individual common weakness, first, volume is big, China nursery enterprise is for many years to reduce expenses, making full use of nursery land used, and general 1.5 Rice or so between high trees spacing be 1.2-1.5 rice, it is 2 meters high more than trees spacing be 1.5-2.5 rice or so, tree crown spacing More narrow, buyer is few in trees sale in addition buys in flakes to western countries, but enters in nursery by a selection And mark is carried out, because trees spacing is too small and gutter is crisscross, big machinery cannot be introduced into and carry out digging tree operation at all, because This utilization rate is extremely low.

Even to this day, at home and abroad dig tree equipment in " portable " although dig tree equipment efficiency it is very high, labor intensity phase To larger, the big-and-middle-sized tree-like formula of mechanical digging mainly has：1st, a kind of in-milling formula of Application No. 201510263464.6 By way of the plum blossom valve promoted 3-4 pieces by hydraulic jack disclosed in tree mover digs the digging tree of knife；2nd, Application No. Disclosed in a kind of 201710027061.0 crawler type tree mover saw chain draw soil pull the digging tree of root by way of；3rd, Application No. In a kind of 201320576770.1 saw chain tree mover by way of the digging tree of semi arch swinging cutting knife；4th, two panels semicircular cylinder Lower cut；Four kinds of modes, in practice it has proved that they dig tree efficiency and quality is all fine, but moving in transplanting transplanting (seedling) tree Plant when primary (seedling) tree digs the tree root diameter usually occurred during tree more than 5 centimetres with regard to helpless, even if hardness operation is not It is soil ball is exactly squeezed off 3-8 centimetres of tree root hardness of diameter by destroying or is laterally broken, the section for being squeezed off or being broken is not The soil on section periphery can also be made and be come off by the fibrous root for undertaking absorption nutrient task of soil entrainment by only ftractureing, and this cracking is disconnected Face is easy to grow germ, not only can have a strong impact on and damage the late growing stage of transplanting trees, and serious also results in trees shifting Fallen leaves after cultivation, be withered or dead, for trees lateral root diameter 8,10,15,20 centimetres or tree root larger can only be keep away without Dig.

Existing tree mover is usually the one or more excavation paths and digging just set when Machine Design manufactures Dig depth and digging operation is carried out to trees, however, the operating type is difficult to meet in different regions, different soil properties and geographical conditions Trees with different tree species, different size to the actual requirement of soil ball specification and again can not be according to the different life of various regions trees The actual job place in long situation and nursery exist limitation etc. effectively adjusted, make the function of the tree mover it is single, to tree The different excavation demands of wood and the adaptability of digging tree constraint based on sites are inadequate, and the digging tree demand for excavating path and trees mismatches and shadow Ring and dig tree efficiency, increase digging tree difficulty, and influence the transport and transplanting of follow-up trees, more seriously to larger primary tree It is helpless.Therefore, it is necessary to design it is a kind of can be had differences according to the excavation demand of variety classes trees, the growth of trees Situation is not quite similar, the actual job place in nursery has the reasons such as limitation and is adjusted flexibly and excavates path and excavating depth and right Transplanting tree, primary tree can high-quality, high-efficient homework swinging tree mover structures.

The content of the invention

Present invention seek to address that the awkward situation that above-mentioned digging tree equipment faces, there is provided it is a kind of can be according to the digging of variety classes trees Pick demand has differences, the growing state of trees is not quite similar, the actual job place in nursery exist limitation and it is primary tree not The reason such as limitation that can be excavated, can be adjusted flexibly excavate path and excavating depth, to transplanting tree, primary tree can operation return Rotatable tree mover structure and its digging tree method.

What the present invention can be realized by following technical scheme：A kind of swinging tree mover, including frame head apparatus, revolution Support and car body；It is close around the first slewing equipment, the driving rotary support of revolution holder pivots that it also includes driving frame head apparatus And the second slewing equipment and driving frame head apparatus that thrust device, the driving thrust device away from body movement rotate around car body The lowering or hoisting gear of lifting.

Preferably, frame head apparatus includes the tool rest around revolution holder pivots, is equipped with vertical shaft on tool rest, is also set up on tool rest The first force piece of vertical shaft rotating can be driven by having, and the bottom driving of vertical shaft is connected with dismountable cutter.

Preferably, the connecting hole that accommodating vertical shaft passes through is offered on tool rest, is divided between the inwall and vertical shaft at connecting hole both ends Be not provided with upper bearing (metal) and lower bearing, the both ends of connecting hole be also equipped with fixing respectively upper bearing (metal) and lower bearing upper keeper and Lower keeper.

Preferably, upper keeper includes the first ladder hole wall of support upper bearing (metal) and up abuts the upper pressure of upper bearing (metal) Lid and standby tight nut, lower keeper include the lower cover of support lower bearing and up abut the second ladder hole wall of lower bearing With standby tight nut, the mode of upper press cover and lower cover through mode connects for screw and/or threaded connection is fixed on the axial both ends of tool rest, standby Tight mode of the nut through threaded connection is set on vertical shaft.

Preferably, the first force piece includes the first hydraulic motor, percutaneous of motor belt pulley, drive motor pulley rotation The spindle pulley that band is connected with motor belt pulley；The motor branch for fixing the first hydraulic motor is provided with tool rest Frame, spindle pulley and vertical shaft drive connection.

Preferably, the bottom of vertical shaft and the top of cutter are connected through engagement thread.

Preferably, the first slewing equipment includes being located in gyroaxis on rotary support, second that driving gyroaxis rotates Force piece；Second force piece is arranged on rotary support, gyroaxis and frame head apparatus drive connection.

Preferably, the second hydraulic motor and driving tooth that the second force piece includes driving gear, driving driving gear rotates Take turns the driven gear being meshed, driven gear and gyroaxis drive connection.

Preferably, thrust device and lowering or hoisting gear are made up of same mechanical arm, and the mechanical arm includes at least three rotations and closed Section and the 3rd force piece that can drive the rotary joint angle of arrival change, mechanical arm are closed by the rotation positioned at both ends Section is respectively articulated with rotary support and car body.

Preferably, mechanical arm includes the first link arm, the second link arm, the first rotation for being hinged the first link arm and rotary support Turn joint, the second rotary joint for being hinged the first link arm and the second link arm and for being hinged the second link arm and car body Three rotary joints.

Preferably, the 3rd force piece includes the first hydraulic oil that both ends are respectively hinged on the first link arm and rotary support The second hydraulic jack that cylinder, both ends are respectively hinged on the first link arm and the second link arm, both ends be respectively hinged at the second link arm and The 3rd hydraulic jack on car body.

Preferably, car body includes vehicle frame and drives vehicle frame with respect to the chassis of ground moving, and the second slewing equipment is to set The 4th force piece between vehicle frame and chassis, vehicle frame are rotated by the 4th force piece relative to chassis.

Preferably, the 3rd hydraulic motor and the first tooth that the 4th force piece includes first gear, driving first gear rotates The second gear being meshed is taken turns, the 3rd hydraulic motor is fixed on chassis, second gear and vehicle frame drive connection.

What the present invention can also be realized by following technical scheme：A kind of digging tree method of swinging tree mover, including Following steps：

A, fixed point is goed deep into；Tree mover moves on the ground through car body, finds the datum mark of setting, the drive through the first force piece Dynamic to rotate cutter, lowering or hoisting gear enables the cutter of rotation to pierce soil layer；

B, swinging digs tree；After cutter gos deep into soil layer to setting position, rotary freedom, thrust through the first slewing equipment The rotary freedom of the one-movement-freedom-degree of device and the second slewing equipment, which is engaged, enables cutter along clockwise direction, counterclockwise Either run clockwise with combined direction counterclockwise centered on trees and by operator's setpoint distance around trees in direction.

Beneficial effect is：Compared with prior art, a kind of swinging tree mover of the invention, it is relative by frame head apparatus Rotary freedom, thrust device in rotary support drive the free degree of rotary support movement, thrust device relative to car body The free degree of rotary freedom and lowering or hoisting gear driving frame head apparatus vertical motion is combined so that swinging tree mover can Path and cutter that adjustment Tool in Cutting tree root is planned are deep into the size of soil layer, are easy to tree mover to different types of tree Seedling is transplanted, and lifts the adaptability of tree mover.Separately include advantages below：

1st, rational in infrastructure, maneuverability, there is small volume, be average weight, flexible, 1 can be more than in trees spacing Rice any Gardening Nursery in carry out dig tree operation, especially in the nursery of mountain region dig tree operation advantage it is more obvious, less than 40 degree of mountain region can normally dig tree operation.

2nd, simple in construction, easy to operate, operator is mostly common laborer or peasant in tree operation is dug, and is this this programme In make every effort to simplify device structure, operation sequence summary, as long as illustrating operation handle and operation to operator in production The function in each orientation in interface and effect, operator can also compare handle and the word of interface each position mark and can carry out digging tree work Industry, when transplanting larger trees in order to which the remote control long-distance remote control of random arrangement can be used to operate for safety, operator.

3rd, efficiency high, quality are good, and for the machine using vertical milling formula cutting mode, cutting efficiency is very high, such as：Selection is to dig The mud ball that 1 meter of diameter is only needed 1 minute or so, and cleavable tree root maximum gauge cut surface flat smooth, is not easy up to 30 centimetres Germ is grown, promotes fibrous root growth, because cutting does not shake steadily, so ensureing that mud ball surface is smooth complete, even if containing sand The higher nursery of amount is also not in that mud ball is scattered phenomenon, ensure that digging tree efficiency and quality.

4th, safe and reliable, most important tree grafting growth operation is exactly safety, to ensure personal safety the machine of operating personnel Equipped with safety alarm device and safety device, once breaking down, mechanical alarm device voluntarily starts and sends report machinery Alert warning, trees ' root occurs that megalith etc. can not cut object or resistance exceeds design standard Times alarm device meeting when digging tree operation Give a warning, when trees are higher, larger operator can long-distance remote control operation ensure personal safety, keep during to make mechanical work It is stable, four locating cones are also provided with addition to by mechanical own wt, effect of the locating cone in hydraulic jack when digging tree operation Lower insertion ground, ensure that stability during mechanical arm stress.

5th, it is applied widely：Although the machine is a kind of special equipment of tree grafting growth, have in tree operation is dug inadvisable The advantage in generation and effect, it is also with the obvious advantage in operation of digging pit, if change the different instruments such as saw blade, scraper bowl also can be used as forklift, Brush cutter uses, and fact proved that the equipment is also a multipurpose, the superior product of high usage.

6th, wide market：The large, medium and small type tree grafting growth sold every year in the domestic market at present digs tree equipment ten thousand Remaining platform, raising, urban afforestation with the national environmental protection meaning in China can further develop, and the market space can further expand, but They have the weak point of itself with these machines, such as：Also there is certain labor intensity for portable small-sized tree mover Skill is set with digging, it is big-and-middle-sized not only expensive and hardly enter operation in thick forest, and to slightly larger primary tree root not It the weakness such as can effectively cut；The machine not only small volume, efficiency high but also low cost, while be to the deficiency of the said equipment again One, place perfectly makes up, and the regeneration product of the said equipment, therefore its market prospects is boundless.

Brief description of the drawings

The embodiment of the present invention is described in further detail below in conjunction with accompanying drawing, wherein：

Fig. 1 is the overall structure diagram of tree mover；

Fig. 2 is the schematic diagram of tree mover fore-end structure；

Fig. 3 is the structural representation of Section A-A in Fig. 2；

Fig. 4 is the structural representation of frame head apparatus；

Fig. 5 is the structural representation of the first slewing equipment；

Fig. 6 is the structural representation of mechanical arm；

Fig. 7 is the structural representation of car body；

Fig. 8 is structural representation when tree mover finds starting point；

Fig. 9 is structural representation when tree mover pierces soil layer；

Figure 10 is the structural representation that tree mover is advanced around trees clockwise；

Figure 11 is the structural representation that tree mover is advanced around trees clockwise；

Figure 12 is the structural representation that tree mover is advanced around trees counterclockwise；

Figure 13 is the structural representation that tree mover is advanced around trees counterclockwise；

The schematic diagram at the vertical view visual angle that Figure 14 is Figure 10；

The schematic diagram at the vertical view visual angle that Figure 15 is Figure 11；

The schematic diagram at the vertical view visual angle that Figure 16 is Figure 12；

The schematic diagram at the vertical view visual angle that Figure 17 is Figure 13.

Embodiment

Embodiment one

Existing tree mover is usually under the one or more excavation paths set and excavating depth, and trees are carried out Digging operation, however, the operating type is difficult to have differences in the excavation demand of variety classes trees, the growing state of trees not Identical, nursery actual job place is adjusted when limitation being present to the greatest extent, make the function of the tree mover it is single, to trees Different excavation demands and the adaptability of digging tree constraint based on sites are inadequate, and the digging tree demand for excavating path and trees is mismatched and influenceed Dig tree efficiency, increase digs tree difficulty, and influences the transport and plant of follow-up trees.

As shown in Figure 1-Figure 3, it is intended to solve the awkward situation that above-mentioned digging tree equipment faces.A kind of swinging of the present embodiment digs tree Machine, including frame head apparatus 1, rotary support 3 and car body 5；It also includes first that driving frame head apparatus 1 rotates around rotary support 3 Slewing equipment 2, the thrust device, the driving thrust device that drive rotary support 3 to be moved close and far from car body 5 rotate around car body 5 The second slewing equipment 6 and driving frame head apparatus 1 lift lowering or hoisting gear.

As shown in figure 4, in the present embodiment, frame head apparatus 1 can include the tool rest 101 rotated around rotary support 3, tool rest Vertical shaft 102 is equipped with 101, the first force piece 103 that vertical shaft 102 can be driven to rotate, vertical shaft are additionally provided with tool rest 101 102 bottom driving is connected with dismountable cutter 104.First force piece 103 driving vertical shaft 102 rotates, and vertical shaft 102 is with moving knife Tool 104 is rotated, and the first force piece 103 can be fixed by the setting of tool rest 101, and can provide vertical shaft 102 with respect to tool rest 101 The limitation of the radial direction of vertical shaft 102 is given during rotation, stabilizes it rotation.

As shown in figure 4, further having, the connecting hole that accommodating vertical shaft 102 passes through can be offered on tool rest 101, is connected Upper bearing (metal) 105 and lower bearing 106 are respectively arranged between the inwall and vertical shaft 102 at hole both ends, the both ends of connecting hole are also equipped with Upper keeper and the lower keeper of upper bearing (metal) 105 and lower bearing 106 are fixed respectively.Upper bearing (metal) 105 and lower bearing 106 are used to coordinate Vertical shaft 102 makes the stable rotation of vertical shaft 102 with respect to the rotation connection of tool rest 101；Upper keeper and lower keeper are then respectively used to solid Determine upper bearing (metal) 105 and lower bearing 106 in the both ends of connecting hole, make vertical shaft 102, upper bearing (metal) 105, lower bearing 106 and tool rest 101 it Between be fitted close.

Wherein, upper keeper can include the first ladder hole wall of support upper bearing (metal) 105 and up abut upper bearing (metal) 105 upper press cover 107 and standby tight nut 109；Lower keeper then can include support lower bearing 106 lower cover 108 and Top abuts the second ladder hole wall of lower bearing 106 and standby tight nut 109, and upper press cover 107 and lower cover 108 are through mode connects for screw And/or the mode of threaded connection is fixed on the axial both ends of tool rest 101.First, second ladder hole wall sets up the upper end of connecting hole separately Inner hole wall and lower end inner hole wall；Upper and lower gland 107,108 be used for connecting hole both ends abut stop upper and lower bearing 105, 106, so as to prevent it from being dropped from the connecting hole both ends of tool rest 101, upper and lower gland 107,108 is respectively cooperating with first, second ladder Hole wall, which also functions to, makes close-connected effect between upper and lower bearing 105,106, tool rest 101 and vertical shaft 102.Due to assembling process In, the connection of upper and lower gland 107,108 and tool rest 101 may there are axial gap, and the axial gap may result in The inner ring of upper and lower bearing 105,106 is dropped out from the gap or shaken in the gap, causes upper and lower bearing 105,106 and Coordinate not close between tool rest 101, influence its service life, the setting of standby tight nut 109 is to the axial gap be present When, by the standby tight nut 109 matched with the axial gap size, the mode through threaded connection, which is arranged, to be screwed on vertical shaft 102 It is that upper and lower bearing 105,106 is fitted close with tool rest 101；Upper and lower gland 107,108 meet enough upper and lower bearing 105, In the case that 106 fix requirement, standby tight nut 109 can be not provided with.

As shown in figure 4, the first force piece 103 in frame head apparatus 1 can include motor belt pulley 1031, drive motor skin The first hydraulic motor 1032 that belt wheel 1031 rotates, the spindle pulley through belt 1033 and the drive connection of motor belt pulley 1031 1034；It is provided with the motor bracket 1011 for fixing the first hydraulic motor 1032 on tool rest 101, spindle pulley 1034 and vertical Axle 102 is connected.The rotary power of first hydraulic motor 1032 is successively by motor belt pulley 1031, belt 1033, main shaft The transmission of belt pulley 1034 and vertical shaft 102, being rotated eventually through cutter 104 makes the spiral edge of a knife on cutter 104 produce deeply soil Layer and brill milling and the cutting power for blocking tree root.Motor belt pulley 1031, belt 1033 and spindle pulley 1034 are preferable Protection is wrapped up by the first protective cover 1035.Wherein, the first force piece 103 can also by the use of reducing motor as power source, The selection of first force piece 103 can provide the power source for the larger driving torque for going deep into soil layer and blocking tree root；First is dynamic Running part between power part 103 and vertical shaft 102 can also use the modes such as gear drive, Chain conveyer, harmonic drive to complete.

As shown in figure 4, the bottom of vertical shaft 102 and the top of cutter 104 in frame head apparatus 1 can be driven through engagement thread Connection.Certainly, can also be connected between vertical shaft 102 and cutter 104 by snap or latch mode, the upper end of cutter 104 Installation positioning boss can be provided with, the bottom of vertical shaft 102 opens up installation endoporus；Can also be between vertical shaft 102 and cutter 104 Threadedly and snap or latch mode it is combined and be connected, the bottom of vertical shaft 102 can also add fastening Screw aids in the fixation of vertical shaft 102 and cutter 104.

Cutter 104 in frame head apparatus 1 is preferably milling cutter, and the frame head apparatus 1 in the present embodiment is mainly and for coordinating The fixation of milling cutter, the relatively fat tree root of trees can be effectively cut off by the high-efficient cutting ability of milling cutter, improves the digging of tree mover Set efficiency and adaptability.Cutter 104 on frame head apparatus 1 can also be selected as the different instruments such as saw blade, scraper bowl, and this causes this reality The tree mover for applying example is alternatively arranged as forklift, brush cutter uses.

As shown in figure 5, in the present embodiment, the first slewing equipment 2 can include the gyroaxis being located on rotary support 3 201st, the second force piece 202 for driving gyroaxis 201 to rotate；Second force piece 202 is arranged on rotary support 3, gyroaxis 201 It is connected with frame head apparatus 1.The setting of first slewing equipment 2 is to provide for the energy that frame head apparatus 1 rotates around rotary support 3 Power, the second force piece 202 drive gyroaxis 201 to rotate as power source, and gyroaxis 201 then drives frame head apparatus 1 to turn therewith It is dynamic.

As shown in figure 5, the second force piece 202 can include driving gear 2021, that driving driving gear 2021 rotates Two hydraulic motors 2022, the driven gear 2023 being meshed with driving gear 2021, driven gear 2023 and gyroaxis 201 are driven Connection.Second force piece 202 can also be that preferably the second hydraulic motor 2022 is due to pass through using power sources such as reducing motors The hydraulic fluid flow rate control of second hydraulic motor 2022, frame head apparatus 1 point-device can be controlled relative to rotary support 3 The anglec of rotation, it is easy to the equipment operator remote control angle.Driving section between second force piece 202 and gyroaxis 201 Part can certainly be using the mode such as V belt translation, Chain conveyer, harmonic drive, the preferably gear-driven mode of the present embodiment be by In which cost, relatively low and transmission efficiency, stability, corner control accuracy are higher, the gearratio model of harmonic drive mode Enclose, stability is better than gear drive, its operating cost is then higher.Driving gear 2021 and driven gear 2023 are preferably by second Protective cover 2024 wraps up protection.Rotary support 3, which houses the part that gyroaxis 201 passes through, to be included being located at turn around the both ends of axle 201 End plate, part of the gyroaxis 201 between the end plate of both sides are connected with frame head apparatus 1, and gyroaxis 201 connects the mode of end plate Can be identical by way of connecting tool rest 101 with vertical shaft 102.

As shown in fig. 6, in the present embodiment, thrust device and lowering or hoisting gear can be made up of same mechanical arm 4, i.e. the machine Tool arm 4 has the ability that driving rotary support 3 lifts close and far from car body 5, driving frame head apparatus 1 simultaneously.Certain thrust dress Put with lowering or hoisting gear can also split settings, if thrust device is can to drive transverse direction of the rotary support 3 close and far from car body 5 Hydraulic jack, lowering or hoisting gear are the vertical hydraulic jacks that frame head apparatus 1 can be driven to lift；Transverse hydraulic oil cylinder and vertical hydraulic pressure Oil cylinder can be arranged in series between rotary support 3 and car body 5；Can also be that transverse hydraulic oil cylinder both ends connect revolution respectively The output end of support 3 and vertical hydraulic jack, the body of vertical hydraulic jack are arranged on car body 5；It can also be transverse hydraulic Oil cylinder both ends connect rotary support 3 and car body 5 respectively, and vertical hydraulic jack, which is arranged on frame head apparatus 1, to be divided frame head apparatus 1 to be The two parts that can vertically relatively move, a portion connect rotary support 3 by the first slewing equipment 2, and another part is used In setting the miscellaneous part in frame head apparatus 1.

When thrust device and lowering or hoisting gear are made up of same mechanical arm 4, mechanical arm 4 include at least three rotary joints with And the 3rd force piece 401 of the rotary joint angle of arrival change can be driven, mechanical arm 4 is closed by the rotation positioned at both ends Section is respectively articulated with rotary support 3 and car body 5.The axis of each rotary joint is preferably parallel to each other, and such rotary support 3 being capable of phase Horizontal and vertical movement is carried out in a vertical plane to car body 5.Thrust device and lowering or hoisting gear are formed by mechanical arm 4 The advantages of be that power source is more, power is abundant, the driving for the larger part of the front end weight of support mechanical arm 4 that can stablize, And space orientation is accurate, it is easy to fold, reduces the space-consuming of whole equipment.

As shown in fig. 6, mechanical arm 4 can include the first link arm 402, the second link arm 403, for being hinged the first link arm 402 The first rotary joint 404 with rotary support 3, the second rotary joint for being hinged the first link arm 402 and the second link arm 403 405 and for being hinged the 3rd rotary joint 406 of the second link arm 403 and car body 5.The cooperation of three rotary joints has been able to Meet the needs of rotary support 3 lifts close and far from car body 5, driving frame head apparatus 1, simplify structure, enable the operator to more The fast skilled control method for grasping mechanical arm 4.

As shown in fig. 6, the 3rd force piece 401 can be respectively hinged on the first link arm 402 and rotary support 3 including both ends The first hydraulic jack 4011, both ends be respectively hinged at the second hydraulic jack on the first link arm 402 and the second link arm 403 4012nd, both ends are respectively hinged at the 3rd hydraulic jack 4013 on the second link arm 403 and car body 5.First hydraulic jack 4011, Two hydraulic jacks 4012 and the 3rd hydraulic jack 4013 are all connected with the centrifugation end in corresponding rotation joint.First hydraulic jack 4011 is controlled What is made is the relative rotation between the first link arm 402 and rotary support 3, and the control of the second hydraulic jack 4012 is the first link arm 402 and the second relative rotation between link arm 403, the control of the 3rd hydraulic jack 4013 is the second link arm 403 and car body 5 phase To corner.3rd force piece 401 can also use the power sources such as rack-and-pinion, be using the advantages of hydraulic jack, and it is exported It is stable, and the operator of this equipment can control corresponding close to rotate by the hydraulic fluid flow rate of remote control hydraulic jack come accurate The operation angle in joint, so as to the frame head apparatus 1 at the accurate both ends of control machinery arm 4 and the relative level distance and height of car body 5.

As shown in fig. 7, in the present embodiment, car body 5 includes vehicle frame 501 and drives vehicle frame 501 with respect to the bottom of ground moving Disk 502.Chassis 502 can be type of drive more than caterpillar type of drive or four-wheel and four-wheel；Its power part Part can be diesel engine, petrol engine or motor；Transmission parts can be automatic transmission or manual transmission；From Part is closed depending on the type of transmission parts, fluid torque-converter can be used if fluid drive, shift fork is used if hand gear Formula clutch；Brake component can be with drum brake or disk brake.Seat, safety belt, car can be set on vehicle frame 501 Lid, control panel, wherein, control panel can be installed on vehicle frame 501 or operator is hand-held in front of the seat Formula.Connecting plate 5011 can be fixedly installed on vehicle frame 501, the connecting plate 5011 passes through the 3rd rotary joint 406 be hinged second Link arm 403, the body of the 3rd hydraulic jack 4013 can partly be penetrated and be hinged in vehicle frame 501, and its output end extends car Frame 501 is hinged the second link arm 403, and the output end of the 3rd hydraulic jack 4013 is hinged position and the first link arm of the second link arm 403 The position of 402 be hinged second link arms 403 is located at the both sides of the second link arm 403 respectively, and the 3rd rotary joint 406 is in the second link arm The position of output end be hinged second link arm 403 of the position between the both ends and close to the 3rd hydraulic jack 4013 on 403；This Sample sets the space for being easy to mechanical arm 4 to fold occupancy smaller so that tree mover flexibly can be run in nursery, trees purchase Person can arbitrarily select trees according to itself hobby in nursery, and the tree mover of the present embodiment can be sequentially completed institute in nursery Select the excavation of trees.

As shown in fig. 7, in the present embodiment, the second slewing equipment 6 is provided in the 4th between vehicle frame 501 and chassis 502 Force piece, vehicle frame 501 are rotated by the 4th force piece relative to chassis 502.The vehicle frame 501 that 4th force piece provides is with respect to chassis 502 rotary freedoms rotated, coordinate frame head apparatus 1 with respect to possessed by the rotary freedom and mechanical arm 4 of rotary support 3 Rotary support 3 is relative to the horizontal and vertically movable free degree between vehicle frame 501 so that the cutter 104 on frame head apparatus 1 can Complete to dig tree operation in any rotary path set as needed according to operator in the range of trees, the scope is by the Single-revolution device 2, the range of operation of the slewing equipment 6 of mechanical arm 4 and second determine.

Wherein, the 3rd hydraulic motor and first that the 4th force piece can include first gear, driving first gear rotates The second gear that gear is meshed, the 3rd hydraulic motor are fixed on chassis 502, and second gear and vehicle frame 501 are connected.The Four force pieces can also be arranged on vehicle frame 501, and its mode for driving mechanical arm 4 to rotate can drive with the second force piece 202 Frame head apparatus 1 is identical relative to the mode that rotary support 3 rotates.

First hydraulic motor 1032, the second hydraulic motor 2022, the 3rd hydraulic motor, the first hydraulic jack of the present embodiment 4011st, the opening and closing of the second hydraulic jack 4012 and the 3rd hydraulic jack 4013 and wherein the flow of hydraulic oil can be by behaviour Primary control program control in vertical panel, the primary control program are after programing out control program by PLC, are set according to operator Excavating depth determines the open and close of the first hydraulic motor 1032, the second hydraulic motor 2022, the 3rd liquid with path is excavated Pressure motor, the first hydraulic jack 4011, the second hydraulic jack 4012 and the 3rd hydraulic jack 4013 are separately operable distance and speed A kind of mode of degree, so that cutter 104 can be completed to dig tree according to the excavating depth and excavation path that operator selectes Operation, whole process operator is without close to operation field, ensure that the safety of operator.To ensure the person peace of operating personnel Entirely, safety alarm device and safety device are also equipped with this tree mover, equipment is once break down, and mechanical alarm device is certainly Row, which starts, simultaneously sends alarm warning, and trees ' root admant etc. occurs and is difficult to cut or cut by cutter 104 when digging tree operation Object or resistance can give a warning beyond design standard Times alarm device, the warning can be by being arranged on fixed mount Crash sensor measurement is realized, when impact strength is more than setting value, is then given a warning.

Embodiment two

On a kind of architecture basics of swinging tree mover of embodiment one, this tree mover also includes a kind of swinging and dug The digging tree method of tree machine, it comprises the following steps：

A, fixed point is goed deep into；Tree mover moves on the ground through car body 5, finds the datum mark of setting, through the first force piece 103 Driving rotate cutter 104, lowering or hoisting gear enables the cutter 104 of rotation to pierce soil layer；

B, swinging digs tree；After cutter 104 gos deep into soil layer to setting position, the rotary freedom through the first slewing equipment 2, The rotary freedom of the one-movement-freedom-degree of thrust device and the second slewing equipment 6, which is engaged, enables cutter 104 along side clockwise To, counterclockwise either run clockwise with combined direction counterclockwise around trees.

The digging tree method can be specifically：

As shown in figure 8, under power drive of the tree mover through the top bottom-disc 502 of car body 5, the starting that tree operation is dug in revolution is found Point.

As shown in figure 9, tree mover, after starting point is searched out, located cone causes chassis 502 and vehicle frame 501 with respect to ground It is fixed, by the rotation of driving cutter 104 of the first hydraulic motor 1032, then pass through the power cutter of mechanical arm 4 104 vertically can be drilled into soil layer, and the depth that cutter 104 gos deep into soil layer can control according to the setting of operator.

Next, running orbit of the cutter 104 in soil layer can control according to operator in the setting of operation interface, In the floor area that the first slewing equipment 2, the slewing equipment 6 of mechanical arm 4 and second can cover, operator can arbitrarily advise Scribing cutter 104 surrounds the cutting path of trees, can be circular, square etc.；The present embodiment can be such as Figure 10-Figure 11 and figure Shown in 14- Figure 15, advanced since the starting point of digging tree operation in the way of trees are surrounded clockwise；The present embodiment also may be used To be as shown in Figure 12-Figure 13 and Figure 16-Figure 17, according to counterclockwise around trees since being dug the starting point of tree operation Mode is advanced；Certainly, since the present embodiment can also be digging the starting point of tree operation according to first counterclockwise around trees, rear suitable Hour hands are advanced around the mode of trees, and vice versa；No matter cutter 104 advances by which kind of mode, and purpose can surround trees Untill the circle of rotation at least one；Then cutter 104 can reset, and finally carry out follow-up trees transfer step.

Above example is not limited to the embodiment technical scheme of itself, can be incorporated between embodiment new Embodiment.The above embodiments are merely illustrative of the technical solutions of the present invention and is not limited, all without departing from the present invention Any modification of spirit and scope or equivalent substitution, it all should cover in the range of technical solution of the present invention.

Claims (14)

1. a kind of swinging tree mover, it is characterised in that including frame head apparatus (1), rotary support (3) and car body (5)；It is also wrapped Include driving frame head apparatus (1) is rotated around rotary support (3) the first slewing equipment (2), drive rotary support (3) close and far from The second slewing equipment (6) and driving head that thrust device, the driving thrust device of car body (5) motion rotate around car body (5) The lowering or hoisting gear of device (1) lifting.

2. a kind of swinging tree mover according to claim 1, it is characterised in that the frame head apparatus (1) includes wraparound Turn the tool rest (101) of support (3) rotation, be equipped with vertical shaft (102) on tool rest (101), being additionally provided with tool rest (101) to drive The first force piece (103) that dynamic vertical shaft (102) rotates, the bottom driving of vertical shaft (102) are connected with dismountable cutter (104).

3. a kind of swinging tree mover according to claim 2, it is characterised in that offer appearance on the tool rest (101) The connecting hole that vertical shaft (102) passes through is put, upper bearing (metal) (105) is respectively arranged between the inwall and vertical shaft (102) at connecting hole both ends With lower bearing (106), the both ends of connecting hole are also equipped with fixing the upper keeper of upper bearing (metal) (105) and lower bearing (106) respectively With lower keeper.

4. a kind of swinging tree mover according to claim 3, it is characterised in that the upper keeper includes axle in support The the first ladder hole wall for holding (105) and the upper press cover (107) for up abutting upper bearing (metal) (105) and standby tight nut (109), under Keeper includes the lower cover (108) of support lower bearing (106) and up abuts the second ladder hole wall of lower bearing (106) With standby tight nut (109), upper press cover (107) and lower cover (108) are fixed on knife through mode connects for screw and/or the mode of threaded connection The axial both ends of seat (101), the standby mode of tight nut (109) through threaded connection are set on vertical shaft (102).

5. a kind of swinging tree mover according to claim 2, it is characterised in that first force piece (103) includes Motor belt pulley (1031), drive motor belt pulley (1031) rotate the first hydraulic motor (1032), through belt (1033) with The spindle pulley (1034) of motor belt pulley (1031) drive connection；It is provided with tool rest (101) for fixing the first hydraulic pressure The motor bracket (1011) of motor (1032), spindle pulley (1034) and vertical shaft (102) drive connection.

6. a kind of swinging tree mover according to claim 2, it is characterised in that the bottom of the vertical shaft (102) and knife The top of tool (104) is connected through engagement thread.

7. a kind of swinging tree mover according to claim 1, it is characterised in that first slewing equipment (2) includes The second force piece (202) that gyroaxis (201), the driving gyroaxis (201) being located on rotary support (3) rotate；Second is dynamic Power part (202) is arranged on rotary support (3), gyroaxis (201) and frame head apparatus (1) drive connection.

8. a kind of swinging tree mover according to claim 7, it is characterised in that second force piece (202) includes Driving gear (2021), driving driving gear (2021) rotate the second hydraulic motor (2022), with driving gear (2021) phase The driven gear (2023) of engagement, driven gear (2023) and gyroaxis (201) drive connection.

A kind of 9. swinging tree mover according to claim 1, it is characterised in that the thrust device and lowering or hoisting gear by Same mechanical arm (4) is formed, and the mechanical arm (4) includes at least three rotary joints and the rotary joint can be driven to occur 3rd force piece (401) of angle change, mechanical arm (4) are respectively articulated with rotary support (3) by the rotary joint positioned at both ends With car body (5).

10. a kind of swinging tree mover according to claim 9, it is characterised in that the mechanical arm (4) includes first and connected Arm (402), the second link arm (403), the first rotary joint (404) for being hinged the first link arm (402) and rotary support (3), For being hinged the second rotary joint (405) of the first link arm (402) and the second link arm (403) and for being hinged the second link arm (403) and car body (5) the 3rd rotary joint (406).

A kind of 11. swinging tree mover according to claim 10, it is characterised in that the 3rd force piece (401) bag The first hydraulic jack (4011), both ends that both ends are respectively hinged on the first link arm (402) and rotary support (3) is included to be respectively articulated with The second hydraulic jack (4012) on the first link arm (402) and the second link arm (403), both ends are respectively hinged at the second link arm (403) the 3rd hydraulic jack (4013) and on car body (5).

12. a kind of swinging tree mover according to claim 1, it is characterised in that the car body (5) includes vehicle frame (501) and vehicle frame (501) is driven to be provided in vehicle frame with respect to the chassis (502) of ground moving, the second slewing equipment (6) (501) the 4th force piece between chassis (502), vehicle frame (501) are rotated by the 4th force piece relative to chassis (502).

13. a kind of swinging tree mover according to claim 12, it is characterised in that the 4th force piece includes first Gear, the 3rd hydraulic motor that driving first gear rotates, the second gear being meshed with first gear, the 3rd hydraulic motor are consolidated It is scheduled on chassis (502), second gear and vehicle frame (501) drive connection.

14. a kind of digging tree method of swinging tree mover, it is characterised in that comprise the following steps：

A, fixed point is goed deep into；Tree mover moves on the ground through car body (5), finds the datum mark of setting, through the first force piece (103) Driving rotate cutter (104), lowering or hoisting gear makes the cutter (104) of rotation to pierce soil layer；

B, swinging digs tree；After cutter (104) gos deep into soil layer to setting position, the rotary freedom through the first slewing equipment (2), The rotary freedom of the one-movement-freedom-degree of thrust device and the second slewing equipment (6), which is engaged, makes cutter (104) can be along up time Pin direction, counterclockwise either clockwise with combined direction counterclockwise centered on trees and by operator's setting away from Run from around trees.