CN111972248A

CN111972248A - Automatic tree blocking robot cuts down

Info

Publication number: CN111972248A
Application number: CN202010991254.XA
Authority: CN
Inventors: 王炳
Original assignee: Individual
Current assignee: Quanzhou Cirui Technology Co ltd
Priority date: 2020-09-20
Filing date: 2020-09-20
Publication date: 2020-11-24
Anticipated expiration: 2040-09-20
Also published as: CN111972248B

Abstract

An automatic tree-cutting and blocking robot, comprising: the tree pruning machine comprises a felling vehicle body, a felling knife driving gear, a felling knife, a tree trunk clamp, a clamping mechanism adjusting cylinder, a clamping mechanism rotation driven gear, a clamping mechanism rotation driving gear, a rotation crank rotating shaft, a driving air cylinder, a felling mechanism driving motor, a branch removing knife, a tree trunk conveying belt, an angle adjusting cylinder, a roller wheel, a blocking knife, a tree trunk baffle, a resetting air cylinder mounting plate, a blocking knife motor transmission shaft, a resetting air cylinder, a cross cutting knife lifting air cylinder and a tree trunk blocking blanking pushing air cylinder; the tree cutting device comprises a tree clamp, a main tree trunk cutting knife, a conveying belt, a blocking knife, a cylinder, a cross cutting knife and a cutting pushing cylinder.

Description

Automatic tree blocking robot cuts down

Technical Field

The invention relates to the technical field of processing machinery, in particular to an automatic tree chopping and blocking robot.

Background

The trees are the essential process of modern raw materials processing, the cutting to trees is accomplished to the traditional felling sword of motor direct drive to the general of the felling trees equipment on the present market, though can accomplish and replace artificial function, but go up the design of traditional felling equipment and decided that once only can accomplish simple felling and other functions, lead to output limited and expense expensive, the branch does not obtain the processing after the completion of cutting simultaneously, need handle in addition, and the process that falls down after the cutting trees will take the branch dangerous area of whereabouts together just very big, in case the whereabouts direction has accident certain danger, get rid of simultaneously behind the branch whole root trunk thick again long transport very inconvenient thereby lead to artifical participation can't effectively reduce again.

Therefore, the invention is urgently needed to solve the technical problems by inventing an automatic tree chopping and blocking robot which has high chopping yield and high efficiency and can further process the trunk.

Disclosure of Invention

Aiming at the problems, the invention provides an automatic tree cutting and blocking robot, which clamps a tree to be cut through a tree trunk clamp, then cuts a main tree trunk through a cutting knife, the tree trunk clamp rotates around a shaft after cutting is completed to place the tree trunk on a conveyor belt, the main tree trunk is cut into sections through a blocking knife, a trunk blocking blanking pushing cylinder and a cross cutting knife are matched to complete cutting, the whole process is automatic, and the cut small wood blocks can be guaranteed to be uniform in standard.

The technical scheme adopted by the invention is as follows: an automatic tree-cutting and blocking robot, comprising: a felling vehicle body, a felling mechanism fixing plate, a felling knife mounting frame, a felling knife driving gear, a felling knife, a trunk clamp, a clamping mechanism adjusting cylinder, a clamping mechanism mounting frame, a clamping mechanism rotating shaft, a clamping mechanism rotating driven wheel, a clamping mechanism rotating driving wheel, a rotating crank rotating shaft, a driving cylinder, a felling mechanism driving motor driving shaft, a branch removing knife mounting frame and a branch removing knife, the device comprises a trunk conveyor belt, a partitioning mechanism mounting frame, an angle adjusting cylinder, a roller, a partitioning knife, a trunk baffle, a partitioning knife mounting table, a reset cylinder mounting plate, a partitioning knife motor transmission shaft, a reset cylinder, a partitioning knife motor, a trunk partitioning blanking table, a partitioned trunk, a cross cutter, a finished product blanking table, a cross cutter lifting cylinder, a partitioning mechanism landing support and a trunk partitioning blanking pushing cylinder;

a felling mechanism fixing plate is fixedly arranged on a platform of the felling vehicle body on the left side surface, the felling mechanism fixing plate is in a symmetrical concave shape, and the four felling knife mounting frames are respectively arranged on an upper transverse plate and a lower transverse plate in the felling mechanism fixing plate in a pairwise symmetrical mode; the four felling mechanism driving motors are symmetrically arranged on the corresponding felling knife mounting frames, and each felling mechanism driving motor transmits the rotation motion to the corresponding felling knife driving gear through the transmission shaft of the respective felling mechanism driving motor; the four felling knives are symmetrically arranged on the corresponding felling knife mounting frames and are meshed with the felling knife driving gear, the felling knives are fan-shaped, the inner sides of the felling knives are blades, and the outer sides of the blades are incomplete gears so as to complete the cutting of the trunk in a rotating mode; the tree branch removing knife mounting frames are symmetrically mounted right above the concave part of the fixing plate of the felling mechanism, the tree branch removing knives are mounted on the tree branch removing knife mounting frames, and the tree branch removing knives cut along the direction close to the vehicle body and towards the direction far away from the vehicle body so as to prevent the tree branch from falling on the vehicle body or causing unnecessary damage to the vehicle body;

a clamping mechanism mounting frame is fixedly mounted on a platform at the front end of the felling vehicle body, a bearing seat parallel to a wheel shaft is arranged above the clamping mechanism mounting frame, and a rotating shaft of the clamping mechanism is mounted on the bearing seat; the tree trunk clamps are symmetrically hinged and arranged on the same side surface of the rotating shaft of the clamping mechanism; the clamping mechanism adjusting cylinder is arranged between the two trunk clamps and is close to the position of the rotating shaft of the clamping mechanism, and is used for adjusting the angle between the two trunk clamps to adapt to trunks with different diameters and clamping the cut trunks so as to be safely carried out in the subsequent work; the bottom of the driving air cylinder is fixedly arranged on one side, close to the rear wheel, of the clamping mechanism mounting frame, a rotating crank rotating shaft is arranged at a hinge hole at the other end of the driving air cylinder and used for transmission, and the other part of the rotating crank rotating shaft is arranged on a rotating crank; the clamping mechanism rotating driving wheel is arranged on one side, close to the rear, of the clamping mechanism mounting frame and is fixedly connected with the other end of the rotating crank so as to realize synchronous rotation, and the clamping mechanism rotating driven wheel is fixedly arranged on one side, close to the rear, of the clamping mechanism rotating shaft and is in meshing transmission relation with the clamping mechanism rotating driving wheel; the driving air cylinder extends out to drive the rotating crank to rotate so as to drive the clamping mechanism to rotate and further drive the driven wheel to rotate so as to drive the rotating shaft of the clamping mechanism to rotate, so that the trunk clamp can overturn after clamping the trunk;

a blocking mechanism mounting frame is mounted at a position, close to the right side, of the felling vehicle body, a trunk conveyor belt is mounted in a frame of the blocking mechanism mounting frame for conveying felled trunks, an angle adjusting cylinder is mounted at an upper end support part of the blocking mechanism mounting frame, the angle of the upper end support part of the blocking mechanism mounting frame is adjusted through the expansion and contraction of a cylinder rod to adapt to the fixation of trunks with different thicknesses so as to facilitate subsequent cutting, and a trunk baffle is mounted on the right side of the trunk conveyor belt and used for fixing the trunks in a matching manner; the blocking knife mounting table is mounted on the front side surface of the blocking mechanism mounting frame and is provided with a reset cylinder mounting plate for fixing the piston end of the reset cylinder; the device comprises a reset cylinder, a splitting knife motor shaft, a reset cylinder and a reset cylinder, wherein the cylinder mounting end of the reset cylinder is fixed on the upper surface of the right side of a felling vehicle body, the splitting knife is fixedly mounted on the side surface of a splitting knife mounting table, the splitting knife motor is fixed at the knife handle of the splitting knife and transmits rotation to the splitting knife through the splitting knife motor shaft and drives the splitting knife to cut and chop the trunk along the direction from bottom to top; the trunk blocking and blanking table is arranged on the right side of the blocking mechanism mounting frame and used for supporting the blocked trunks; the finished product blanking table is arranged on the right side of the trunk blocking blanking table, a cross cutting knife is arranged on the finished product blanking table, the cross cutting knife lifting cylinder is arranged between the trunk blocking blanking table and the cross cutting knife and used for adjusting the position height of the central point of the cross cutting knife, and the finished product blanking table is suitable for accurately and uniformly performing cross cutting on blocked trunks with different thicknesses; the trunk blocking blanking pushing cylinder is arranged right below the mounting frame of the blocking mechanism and used for pushing the blocked trunk to a specified position for cross cutting; the floor stand of the block cutting mechanism is arranged on the right side of the felling vehicle body so as to support the block cutting mechanism and avoid safety accidents.

Further, a telescopic cylinder is installed on the surface of the long edge of the trunk baffle plate, the length of the long edge direction of the vehicle body of the trunk baffle plate is adjusted, and normal work is achieved through adjustment of the telescopic cylinder when the trunk conveyor belt is not placed due to the fact that the trunk length is too long.

Furthermore, an adjustable gearbox is arranged between the driving motor of the cutting mechanism and the transmission shaft of the driving motor of the cutting mechanism and used for outputting the rotating speed of the transmission shaft of the driving motor of the cutting mechanism.

Further, the inside of the far end of the trunk clamp is provided with an inwards concave arc-shaped clamping block for completely clamping the trunk.

Due to the adoption of the technical scheme, the invention has the following advantages:

(1) according to the invention, the telescopic cylinder is arranged on the surface of the long edge of the trunk baffle plate, so that the normal work can be realized through the adjustment of the telescopic cylinder under the condition of preventing the trunk from being too long, and the reliability of the equipment is improved.

(2) According to the invention, the floor stand of the block cutting mechanism is arranged on the right side of the felling vehicle body so as to support the block cutting mechanism, thereby avoiding safety accidents and improving the safety of the equipment.

(3) According to the invention, the special branch processing mechanism is arranged above the cutting mechanism so as to ensure the safety of the cutting process and prevent the danger caused by uncertain factors of the branches along with the trunk falling to the ground in the cutting process.

(4) According to the invention, through the arrangement of an overall novel structure and a light-weight design, the mobility of the felling equipment is improved on the premise of uncomplicated structure, the functional diversity of the felling equipment is increased, and the safety of the felling process is greatly improved. Can be used for felling various trees in various occasions.

Drawings

FIG. 1 is a general assembly drawing of the present invention

FIG. 2 is a front view of the present invention

FIG. 3 is a side view of the present invention

FIG. 4 is a top view of the present invention

FIG. 5 is a schematic view of the installation of the block cutting mechanism

FIG. 6 is an installation diagram of a trunk clamping and turning mechanism

FIG. 7 is a schematic view of the installation of the felling mechanism

FIG. 8 is a schematic view of the installation of the branch removing mechanism

Reference numerals: 1-felling vehicle body, 2-felling mechanism fixing plate, 3-felling knife mounting rack, 4-felling knife driving gear, 5-felling knife, 6-tree trunk clamp, 7-clamping mechanism adjusting cylinder, 8-clamping mechanism mounting rack, 9-clamping mechanism rotating shaft, 10-clamping mechanism rotating driven wheel, 11-clamping mechanism rotating driving wheel, 12-rotating crank, 13-rotating crank rotating shaft, 14-driving cylinder, 15-felling mechanism driving motor, 16-felling mechanism driving motor transmission shaft, 17-branch removing knife mounting rack, 18-branch removing knife, 19-tree trunk conveying belt, 20-blocking mechanism mounting rack, 21-angle adjusting cylinder, 22-roller, 23-blocking knife, 24-tree trunk baffle plate, 25-a splitting knife mounting table, 26-a reset cylinder mounting plate, 27-a splitting knife motor transmission shaft, 28-a reset cylinder, 29-a splitting knife motor, 30-a trunk splitting blanking table, 31-a splitting trunk, 32-a cross cutter, 33-a finished product blanking table, 34-a cross cutter lifting cylinder, 35-a splitting mechanism landing support and 36-a trunk splitting blanking pushing cylinder.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in many ways other than those described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit of the invention, and therefore the invention is not limited to the specific embodiments disclosed below.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

1-7, an automatic tree cutting and blocking robot, comprising: a felling vehicle body 1, a felling mechanism fixing plate 2, a felling knife mounting frame 3, a felling knife driving gear 4, a felling knife 5, a trunk clamp 6, a clamping mechanism adjusting cylinder 7, a clamping mechanism mounting frame 8, a clamping mechanism rotating shaft 9, a clamping mechanism rotating driven wheel 10, a clamping mechanism rotating driving wheel 11, a rotating crank 12, a rotating crank rotating shaft 13, a driving cylinder 14, a felling mechanism driving motor 15, a felling mechanism driving motor transmission shaft 16, a branch removing knife mounting frame 17, a branch removing knife 18, a trunk conveyor belt 19, a blocking mechanism mounting frame 20, an angle adjusting cylinder 21, a roller 22, a blocking knife 23, a trunk baffle 24, a blocking knife mounting table 25, a resetting cylinder mounting plate 26, a blocking knife motor transmission shaft 27, a resetting cylinder 28, a blocking knife motor 29, a trunk blocking blanking table 30, a blocking trunk 31, a cross-shaped cutting knife 32, a finished product blanking table 33, A cross cutter lifting cylinder 34, a block mechanism landing bracket 35 and a trunk block blanking pushing cylinder 36;

a felling mechanism fixing plate 2 is fixedly arranged on a vehicle body platform on the left side surface of the felling vehicle body 1, the felling mechanism fixing plate 2 is in a symmetrical concave shape, and the four felling knife mounting frames 3 are respectively arranged on an upper transverse plate and a lower transverse plate inside the felling mechanism fixing plate 2 in a pairwise symmetrical mode; the four felling mechanism driving motors 15 are symmetrically arranged on the corresponding felling knife mounting frames 3, and each felling mechanism driving motor 15 transmits the rotation motion to the corresponding felling knife driving gear 4 through the driving shaft 16 of the respective felling mechanism driving motor; the four felling knives 5 are symmetrically arranged on the corresponding felling knife mounting frames 3 and are meshed with the felling knife driving gear 4, the felling knives 5 are fan-shaped, the inner sides of the felling knives are blades, and the outer sides of the blades are incomplete gears so as to complete the cutting of the trunk in a rotating mode; the branch removing knife mounting frames 17 are symmetrically arranged right above the concave part of the cutting mechanism fixing plate 2, are provided with branch removing knives 18, cut along the direction close to the vehicle body and towards the direction far away from the vehicle body to flap branches so as to prevent the branches from falling on the vehicle body or causing unnecessary damage to the vehicle body;

a clamping mechanism mounting rack 8 is fixedly mounted on a platform at the front end of the felling vehicle body 1, a bearing seat parallel to a wheel shaft is arranged above the clamping mechanism mounting rack 8, and a clamping mechanism rotating shaft 9 is mounted on the bearing seat; the tree trunk clamps 6 are symmetrically hinged and arranged on the same side surface of the rotating shaft 9 of the clamping mechanism; the clamping mechanism adjusting cylinder 7 is arranged between the two trunk clamps 6 and close to the position of the clamping mechanism rotating shaft 9, and is used for adjusting the angle between the two trunk clamps 6 to adapt to trunks with different diameters and clamping the cut trunks so as to safely carry out subsequent work; the bottom of the driving air cylinder 14 is fixedly arranged on one side of the clamping mechanism mounting frame 8, which is close to the rear wheel, a rotating crank rotating shaft 13 is arranged at a hinge hole at the other end of the driving air cylinder 14 for transmission, and the other part of the rotating crank rotating shaft 13 is arranged on the rotating crank 12; the clamping mechanism rotating driving wheel 11 is arranged on one side, close to the rear wheel, of the clamping mechanism mounting frame 8 and is fixedly connected with the other end of the rotating crank 12 to realize synchronous rotation, and the clamping mechanism rotating driven wheel 10 is fixedly arranged on one side, close to the rear wheel, of the clamping mechanism rotating shaft 9 and is in meshing transmission relation with the clamping mechanism rotating driving wheel 11; the driving air cylinder 14 extends out to drive the rotating crank 12 to rotate so as to drive the clamping mechanism to rotate the driven wheel 10 and further drive the rotating shaft 9 of the clamping mechanism to rotate, so that the trunk clamp 6 can overturn after clamping the trunk;

a blocking mechanism mounting rack 20 is mounted at a position, close to the right side, of the felling vehicle body 1, a trunk conveyor belt 19 is mounted in a frame of the blocking mechanism mounting rack 20 for conveying felled trunks, an angle adjusting cylinder 21 is mounted at an upper end support part of the blocking mechanism mounting rack 20, the angle of the upper end support part of the blocking mechanism mounting rack 20 is adjusted through stretching of a cylinder rod to adapt to fixing of trunks with different thicknesses so as to facilitate subsequent cutting, and a trunk baffle 24 is mounted at the right side of the trunk conveyor belt 19 and used for fixing the trunks in a matching manner; the blocking knife mounting table 25 is mounted on the front side surface of the blocking mechanism mounting frame 20 and is provided with a reset cylinder mounting plate 26 for fixing the piston end of a reset cylinder 28; the cylinder mounting end of the reset cylinder 28 is fixed on the upper surface of the right side of the felling vehicle body 1, the blocking knife 23 is fixedly mounted on the side surface of the blocking knife mounting table 25, the blocking knife motor 29 is fixed at the knife handle of the blocking knife 23 and transmits rotation to the blocking knife 23 through the blocking knife motor transmission shaft 27 to drive the blocking knife 23 to cut and chop the trunk along the direction from bottom to top, and the blocking knife 23 is reset by extending out of the reset cylinder 28 after cutting and chopping are finished; the trunk blocking blanking table 30 is mounted on the right side of the blocking mechanism mounting frame 20 for supporting the blocked trunk 31; the finished product blanking table 33 is installed on the right side of the trunk blocking blanking table 30, a cross cutting knife 32 is installed on the finished product blanking table, and a cross cutting knife lifting cylinder 34 is installed between the trunk blocking blanking table 30 and the cross cutting knife 32 and used for adjusting the height of the central point position of the cross cutting knife 32, so that accurate and uniform cross cutting of blocked trunks 31 with different thicknesses is adapted; the trunk blocking blanking pushing cylinder 36 is installed right below the blocking mechanism installation frame 20 and used for pushing the blocked trunk 31 to a specified position for cross cutting; the block mechanism floor stand 35 is installed on the right side of the felling vehicle body 1 to support the block cutting mechanism so as to avoid safety accidents.

In an optional implementation manner of the embodiment of the present invention, a telescopic cylinder for adjusting the trunk baffle 24 in the long side direction of the vehicle body is installed on the trunk baffle 24, so that the trunk can be normally operated by adjusting the telescopic cylinder when the trunk length is too long and the trunk conveyor belt 19 cannot be simultaneously placed.

In an optional implementation manner of the embodiment of the present invention, an adjustable transmission case is disposed between the felling mechanism driving motor 15 and the felling mechanism driving motor transmission shaft 16, and is used for outputting the rotation speed of the felling mechanism driving motor transmission shaft 16; the inside of the far end of the trunk clamp 6 is provided with an inwards concave arc-shaped clamping block for completely clamping the trunk.

When the tree pruning machine works, the felling mechanism driving motor 15 arranged on the corresponding felling knife mounting rack 3 transmits the rotating motion to the felling knife driving gear 4 through the felling mechanism driving motor transmission shaft 16, because the felling knife 5 arranged on the felling knife mounting rack 3 is meshed with the felling knife driving gear 4 and the inner side of the felling knife 5 is an incomplete gear, the tree trunk is cut in a rotating mode through a motor driving and gear transmission mode, a pair of branch removing knife mounting racks 17 are arranged right above the concave part in the felling mechanism fixing plate 2 in consideration of the existence of branches on the tree and in order to reduce the danger in the felling process, the branch removing knives 18 are arranged on the branch removing knife mounting racks and cut the branches in the direction close to the vehicle body and towards the direction far away from the vehicle body so as to prevent the branches from falling on the vehicle body or cause unnecessary damage to the vehicle body, the danger caused by uncertain factors of branches accompanying the process of falling down the ground of the trunk in the cutting process is prevented by arranging a special branch processing mechanism so as to ensure the safety of the cutting process; after felling is finished, the trunk clamps 6 are arranged on the side surfaces of the rotating shafts 9 of the clamping mechanisms and close to the felling mechanism, and a clamping mechanism adjusting cylinder 7 is arranged between the positions, close to the roots, of the two trunk clamps 6 and used for adjusting the angle between the two trunk clamps 6 to adapt to trunks with different diameters and clamping the cut trunks so as to safely conduct subsequent work, and at the moment, the clamping of the whole trunk is finished; after the clamping operation is completed, a piston rod of a driving air cylinder 14 fixedly installed on one side of a wheel close to the rear on the clamping mechanism installation frame 8 extends out to further drive a rotating crank rotating shaft 13 to rotate, so as to drive a rotating crank 12 to rotate, thereby driving one side of the wheel close to the rear on the clamping mechanism installation frame 8, fixedly connected with the other end of the rotating crank 12 and realizing the rotation of a clamping mechanism rotating driving wheel 11 which synchronously rotates, and driving a clamping mechanism rotating driven wheel 10 to rotate according to the meshing transmission principle so as to drive a clamping mechanism rotating shaft 9 to rotate, thereby realizing the turning of the trunk clamp 6 after clamping the trunk; after the upset work to the trunk finishes, send the trunk conveyer belt 19 to be used for transporting the trunk that fell down with the trunk, rely on the upper end support part of piecemeal mechanism mounting bracket 20 to install angle modulation cylinder 21 and can also realize the regulation of the upper end support part angle of piecemeal mechanism mounting bracket 20 through the flexible of jar pole and adapt to the trunk fixed so that follow-up cutting to the thickness degree difference, when the trunk transports trunk baffle 24 department, cooperate in order to realize the fixed to the trunk jointly with trunk conveyer belt 19, be provided with a regulation trunk baffle 24 on trunk baffle 24 and follow the flexible cylinder of automobile body long edge direction in order to prevent that trunk length overlength and trunk conveyer belt from putting simultaneously under the circumstances can realize normal work with improve equipment's reliability through the regulation of this flexible cylinder. After the trunk is fixed, the block cutter motor 29 transmits the rotation to the block cutter 23 through the block cutter motor transmission shaft 27 and drives the block cutter 23 to cut the trunk from bottom to top, and the block cutter is reset through the extension of the reset cylinder 28; after the blocking is finished, the blocked trunk 31 is generated, falls into the trunk blocking blanking table 30 and pushes the blocked trunk 31 to a specified cross cutting position through the trunk blocking blanking push cylinder 36; after reaching the cutting position, the cross cutter lifting cylinder 34 extends out to adjust the height of the center point position of the cross cutter 32 so as to adapt to accurate and uniform cross cutting of the partitioned tree trunk 31 with different thickness degrees, and then cutting of the partitioned tree trunk 31 is completed under the pushing of the trunk partitioning blanking pushing cylinder 36.

According to the invention, through the arrangement of an overall novel structure and a light-weight design, the mobility of the felling equipment is improved on the premise of uncomplicated structure, the functional diversity of the felling equipment is increased, and the safety of the felling process is greatly improved. Can be used for felling various trees in various occasions.

Claims

1. An automatic tree blocking robot fells, which characterized in that includes: lumbering vehicle body (1), felling mechanism fixing plate (2), felling knife mounting bracket (3), felling knife drive gear (4), felling knife (5), trunk clamp (6), clamping mechanism adjusting cylinder (7), clamping mechanism mounting bracket (8), clamping mechanism axis of rotation (9), clamping mechanism rotates from driving wheel (10), clamping mechanism rotates action wheel (11), crank handle (12), crank handle pivot (13), cylinder for drive (14), felling mechanism driving motor (15), felling mechanism driving motor transmission shaft (16), branch is got rid of sword mounting bracket (17), branch is got rid of sword (18), trunk conveyer belt (19), blocking mechanism mounting bracket (20), angle adjusting cylinder (21), gyro wheel (22), blocking sword (23), trunk baffle (24), blocking sword mount table (25), reset cylinder mounting panel (26), A motor transmission shaft (27) of a blocking knife, a reset cylinder (28), a motor (29) of the blocking knife, a trunk blocking blanking platform (30), a blocking trunk (31), a cross cutter (32), a finished product blanking platform (33), a cross cutter lifting cylinder (34), a blocking mechanism landing bracket (35) and a trunk blocking blanking pushing cylinder (36);

a felling mechanism fixing plate (2) is fixedly arranged on a vehicle body platform on the left side surface of the felling vehicle body (1), the felling mechanism fixing plate (2) is symmetrically concave, and the four felling knife mounting frames (3) are respectively arranged on an upper transverse plate and a lower transverse plate inside the felling mechanism fixing plate (2) in a pairwise symmetrical mode; the four felling mechanism driving motors (15) are symmetrically arranged on the corresponding felling knife mounting frames (3), and each felling mechanism driving motor (15) transmits the rotation motion to the corresponding felling knife driving gear (4) through the driving shaft (16) of the respective felling mechanism driving motor; the four felling knives (5) are symmetrically arranged on the corresponding felling knife mounting frames (3) and are meshed with the felling knife driving gear (4), the felling knives (5) are fan-shaped, the inner sides of the felling knives are blades, and the outer sides of the blades are incomplete gears so as to complete the cutting of the trunk in a rotating mode; the tree branch removing knife mounting frames (17) are symmetrically arranged right above the concave part of the felling mechanism fixing plate (2) in two, are provided with tree branch removing knives (18), cut along the direction close to the vehicle body and towards the direction far away from the vehicle body and flap the tree branches to prevent the tree branches from falling on the vehicle body or causing unnecessary damage to the vehicle body;

a clamping mechanism mounting rack (8) is fixedly mounted on a platform at the front end of the felling vehicle body (1), a bearing seat parallel to a wheel shaft is arranged above the clamping mechanism mounting rack (8), and a clamping mechanism rotating shaft (9) is mounted on the bearing seat; the tree trunk clamps (6) are symmetrically hinged and arranged on the same side surface of the rotating shaft (9) of the clamping mechanism; the clamping mechanism adjusting cylinder (7) is arranged between the two trunk clamps (6) and is close to the position of the clamping mechanism rotating shaft (9), is used for adjusting the angle between the two trunk clamps (6) to adapt to trunks with different diameters, and can clamp the cut trunks so as to safely carry out subsequent work; the bottom of the driving air cylinder (14) is fixedly arranged on one side, close to a rear wheel, of the clamping mechanism mounting frame (8), a rotating crank rotating shaft (13) is arranged at a hinge hole at the other end of the driving air cylinder (14) and used for transmission, and a rotating crank (12) is arranged at the other part of the rotating crank rotating shaft (13); the clamping mechanism rotating driving wheel (11) is arranged on one side, close to the rear, of the clamping mechanism mounting frame (8) and is fixedly connected with the other end of the rotating crank (12) to realize synchronous rotation, and the clamping mechanism rotating driven wheel (10) is fixedly arranged on one side, close to the rear, of the clamping mechanism rotating shaft (9) and is in meshing transmission relation with the clamping mechanism rotating driving wheel (11); the driving air cylinder (14) extends out to drive the rotating crank (12) to rotate so as to drive the clamping mechanism to rotate the driven wheel (10) and further drive the rotating shaft (9) of the clamping mechanism to rotate, so that the trunk clamp (6) can overturn after clamping the trunk;

a blocking mechanism mounting frame (20) is mounted at a position, close to the right side, of the felling vehicle body (1), a trunk conveyor belt (19) is mounted in a frame of the blocking mechanism mounting frame (20) for conveying felled trunks, an angle adjusting cylinder (21) is mounted at an upper end support part of the blocking mechanism mounting frame (20), the angle of the upper end support part of the blocking mechanism mounting frame (20) is adjusted through stretching of a cylinder rod to adapt to fixing of trunks with different thicknesses so as to facilitate subsequent cutting, and a trunk baffle (24) is mounted on the right side of the trunk conveyor belt (19) and used for fixing the trunks in a matching mode; the blocking knife mounting table (25) is mounted on the front side surface of the blocking mechanism mounting frame (20) and is provided with a reset cylinder mounting plate (26) for fixing the piston end of a reset cylinder (28); the device comprises a reset cylinder (28), a blocking knife (23), a blocking knife motor (29), a blocking knife motor transmission shaft (27), a blocking knife motor transmission shaft (23), a blocking knife motor transmission shaft (28) and a control system, wherein the cylinder mounting end of the reset cylinder (28) is fixed on the upper surface of the right side of a felling vehicle body (1), the blocking knife motor (23) is fixedly mounted on the side surface of the blocking knife mounting table (25), the blocking knife motor transmission shaft (29) transmits rotation to the blocking knife (23) and drives the blocking knife (23) to cut and chop the trunk along the direction; the trunk blocking blanking table (30) is arranged on the right side of the blocking mechanism mounting frame (20) and used for supporting the blocked trunk (31); the finished product blanking platform (33) is installed on the right side of the trunk blocking blanking platform (30), a cross cutter (32) is installed on the finished product blanking platform, and a cross cutter lifting cylinder (34) is installed between the trunk blocking blanking platform (30) and the cross cutter (32) and used for adjusting the position height of the central point of the cross cutter (32) to adapt to accurate and uniform character cutting of blocked trunks (31) with different thicknesses; the trunk blocking blanking pushing cylinder (36) is arranged right below the blocking mechanism mounting frame (20) and used for pushing the blocked trunk (31) to a specified position for cross cutting; the block mechanism floor stand (35) is installed on the right side of the felling vehicle body (1) to support the block cutting mechanism so as to avoid safety accidents.

2. The automatic tree-chopping robot as claimed in claim 1, wherein a telescopic cylinder is installed on the surface of the long side of the trunk baffle (24) for adjusting the length of the trunk baffle (24) in the long side direction of the vehicle body, so as to prevent the trunk from being too long and realize normal operation through the adjustment of the telescopic cylinder when the trunk conveyor belt (19) is not placed down.

3. The automatic tree-chopping block-dividing robot as claimed in claim 1, wherein an adjustable gearbox is arranged between the driving motor (15) of the chopping mechanism and the driving motor shaft (16) of the chopping mechanism for outputting the rotation speed of the driving motor shaft (16) of the chopping mechanism.

4. An automatic tree-chopping block-dividing robot as claimed in any one of claims 1-3, characterized in that the inside of the distal end of the trunk clamp (6) is provided with an inwardly concave circular-arc-shaped clamping block for achieving complete clamping of the trunk.