CN112956395A - Automatic directional tree cutting device of empting based on agriculture and forestry transformation - Google Patents
Automatic directional tree cutting device of empting based on agriculture and forestry transformation Download PDFInfo
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- CN112956395A CN112956395A CN202110272930.2A CN202110272930A CN112956395A CN 112956395 A CN112956395 A CN 112956395A CN 202110272930 A CN202110272930 A CN 202110272930A CN 112956395 A CN112956395 A CN 112956395A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/08—Felling trees
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/08—Felling trees
- A01G23/091—Sawing apparatus specially adapted for felling trees
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Abstract
The invention discloses an automatic directional dumping tree felling device based on agriculture and forestry transformation, and belongs to the technical field of intelligent agricultural machinery equipment. The device comprises a saw cutting regulation structure, an electric saw structure, a folding position adjusting structure, a foundation positioning structure, a guiding positioning structure, a dumping driving structure, an auxiliary unloading structure and a control box; the device can utilize the control box to control the sawing regulation and control structure, and the sawing regulation and control structure regulates and controls the electric saw structure to complete the sawing of the trunk; the basic positioning structure can be fastened and fixed on a preset pier part of the trunk, the guiding and positioning structure can be fastened and fixed on a preset cutting part of the trunk, and when the corresponding trunk between the basic positioning structure and the guiding and positioning structure is cut off, the guiding and positioning structure can drive the cut trunk to incline towards a determined direction by using the inclining driving structure; in addition, the cut trunk can be easily separated from the whole structure through the auxiliary dismounting structure; the basic positioning structure can be folded on the vehicle body structure through the folding positioning structure.
Description
Technical Field
The invention relates to the technical field of intelligent agricultural machinery equipment, in particular to an automatic directional dumping and tree cutting device based on agriculture and forestry transformation.
Background
At present, when trees are harvested in the field, a special electric saw is usually used manually to cut the trees, in the cutting process, a hand-held part of the electric saw needs to be held manually to control the electric saw to operate stably, the sawn surface of a trunk is kept as flat as possible, and particularly when the trunk with a larger diameter is cut, the whole automation degree is lower, and the labor amount is larger; moreover, in the felling operation of trees, a plurality of workers usually work in a coordinated manner, when one trunk is sawn, the toppling direction of the trunk is difficult to accurately predict, the trunk is difficult to ensure not to topple to one of the workers, the controllability is low, and certain danger exists.
In view of the above-mentioned prior art, the applicant of the present invention has made a lot of repeated and useful researches, and the final products have achieved effective results and have formed the technical solutions to be described below.
Disclosure of Invention
Therefore, the invention provides an automatic directional dumping tree felling device based on agriculture and forestry transformation, and aims to solve the technical problems that in the prior art, when trees are felled, an electric saw needs to be manually held for operation, the labor amount is large, the integral automation degree is low, the dumping direction of the saw-cut trunk is difficult to accurately predict, the controllability is low, the trunk easily crushes operators, and certain dangerousness exists.
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides a felling device is emptyd to automatic orientation based on agriculture and forestry is reformed transform, includes:
a vehicle body structure;
the sawing regulation structure is arranged on the vehicle body structure; the saw cutting regulation structure is provided with a power output end;
the electric saw structure is in transmission connection with the power output end of the saw cutting regulation structure; the electric saw structure can respectively complete displacement and angle adjustment in a first direction and a second direction based on the power output end; the first direction and the second direction are perpendicular to each other;
a base positioning structure provided to the vehicle body structure; the base positioning structure can be detachably fixed below the position to be sawn of the trunk;
a guiding and positioning structure; the guiding and positioning structure can be detachably fixed above the position to be sawn of the trunk; the electric saw structure is located at a height between the height of the base positioning structure and the height of the guide positioning structure;
a tilting drive structure; one end of the dumping driving structure is rotatably connected with the base positioning structure, and the other end of the dumping driving structure is fixedly connected with the guide positioning structure; the guiding and positioning structure can be displaced based on the basic positioning structure under the driving traction action of the dumping driving structure;
the auxiliary unloading structure is arranged on the guide positioning structure; the auxiliary unloading structure and the dumping driving structure are positioned in the same direction; the auxiliary dismounting structure can replace the guiding and positioning structure to support the sawn trunk when the sawn trunk is separated from the guiding and positioning structure;
a control box having a control module; the control output end of the control module is respectively connected with the sawing regulation and control structure, the electric saw structure and the dumping driving structure through circuits.
Furthermore, the vehicle body structure comprises a vehicle frame plate and a plurality of universal supporting wheels which are respectively rotatably arranged at the bottom end of the vehicle frame plate, wherein the universal supporting wheels are provided with stop pins, and the universal supporting wheels can be kept fixed through the stop pins;
the saw cutting adjusting and controlling structure is arranged on the mounting plate.
Furthermore, the sawing regulation and control structure comprises a servo motor, a coupler, a screw shaft, a nut block, a first motor push rod and a second motor push rod;
the servo motor is fixed on the bearing frame of the mounting plate, and an output rotating shaft of the servo motor is assembled with the screw rod shaft in a transmission way through the coupler; the two ends of the screw shaft along the axial direction are respectively matched with a fixed seat in a rotating way, and the fixed seats are fixedly connected with the mounting plate;
two sets of nut blocks are arranged, the two sets of nut blocks are screwed on the screw shaft, and when the screw shaft rotates back and forth along with an output rotating shaft of the servo motor, the nut blocks perform reciprocating displacement along the screw shaft in the first direction; the first motor push rod and the second motor push rod are fixedly arranged on the two groups of nut blocks in a one-to-one correspondence mode respectively, and both the first motor push rod and the second motor push rod can perform reciprocating displacement along with the nut blocks in a first direction;
the output rod ends of the first motor push rod and the second motor push rod face in a second direction, and the output rod ends of the first motor push rod and the second motor push rod are respectively matched with the electric saw structure in a rotating mode.
Further, the electric saw structure comprises a hand-held portion and a blade portion;
the built-in electric drive structure of handheld portion can drive saw bit portion operation, handheld portion respectively with the output pole looks normal running fit of first motor push rod with second motor push rod, through first motor push rod with alternate flexible between the second motor push rod can adjust the angle of saw bit portion.
Further, the automatic directional dumping tree felling device further comprises a folding position adjusting structure, and the folding position adjusting structure comprises a sliding seat and a folding lifting frame;
the top end face of the other side of the frame plate is provided with a slide rail groove; the sliding seat with slide rail groove looks sliding fit, folding bottom rigid coupling of folding crane is located the sliding seat, the folding top of folding crane with foundation location structure looks rigid coupling, through the sliding seat with folding crane can correspond the adjustment respectively foundation location structure's level is to position and vertical height.
Further, the foundation positioning structure comprises a first foundation hoop, a second foundation hoop and a foundation positioning hanging buckle;
the first basic hoop and the second basic hoop jointly form a hoop structure, one end of the first basic hoop is in rotating fit with one end of the second basic hoop, and the basic positioning hanging buckle is arranged between the other end of the first basic hoop and the other end of the second basic hoop;
the lower part of the position to be sawed off of the trunk is hooped by the hoop structure formed by the first basic hoop and the second basic hoop, and when the trunk is sawed off, the hoop structure formed by the first basic hoop and the second basic hoop is always positioned at the stump part after the trunk is sawed off and keeps positioned.
Furthermore, the guiding and positioning structure comprises a first guiding hoop, a second guiding hoop and a guiding and positioning hanging buckle;
the first guide hoop and the second guide hoop jointly form a hoop structure, one end of the first guide hoop is in rotating fit with one end of the second guide hoop, and the guide positioning hanging buckle is arranged between the other end of the first guide hoop and the other end of the second guide hoop;
through first direction hoop with the staple bolt structure that the second direction hoop constitutes jointly cramps the trunk and treats the top of sawing the position, when the trunk saw cuts off, first direction hoop with the staple bolt structure that the second direction hoop constitutes jointly can drive the trunk portion after sawing and cut off and keep fixing a position or directional toppling over.
Further, the dumping driving structure comprises a first connecting arm, a second connecting arm and a driving cylinder;
one end of the first connecting arm is connected with a second basic hoop in the basic positioning structure in a switching mode, the other end of the first connecting arm is connected with one end of the second connecting arm in a switching mode, and the other end of the second connecting arm is fixedly connected with a first guide hoop of the guide positioning structure;
the fixed end of the driving cylinder is connected with the second basic hoop in a switching manner, and the free end of the driving cylinder is connected with the second connecting arm in a switching manner;
when the driving cylinder keeps contracting, the first connecting arm and the second connecting arm are fixed with the base positioning structure, so that the guide positioning structure and the base positioning structure are fixed; when the driving cylinder keeps extending, the free end of the driving cylinder can drive the second connecting arm to rotate based on the first connecting arm, so that the guiding and positioning structure fixedly connected with the first connecting arm drives the tree part to tilt towards the direction of the tilting driving structure, and meanwhile, the first connecting arm and the second connecting arm synchronously rotate based on the basic positioning structure.
Further, the auxiliary unloading structure comprises a supporting arc plate and an adaptive supporting wheel;
the supporting arc plate is fixedly connected to the first guiding hoop, and the arc-direction concave side of the supporting arc plate corresponds to the center of the guiding and positioning structure; the self-adaptive supporting wheels are uniformly arranged on the end surface of one side of the supporting arc plate, which is concave towards the arc direction.
Further, the self-adaptive supporting wheel comprises a mounting base, a sliding roller seat and a supporting roller;
the mounting base is fixedly connected with the end surface of one side of the arc concave of the supporting arc plate, the sliding roller seat is slidably arranged in the mounting base, and a plurality of self-adaptive springs are arranged between the sliding roller seat and the bottom of the inner side of the mounting base; the supporting roller is rotatably assembled on the sliding roller seat;
when the self-adaptive spring is in an initial natural state, the outer end extending position of the supporting roller protrudes out of the end surface of the inner side of the first guide hoop in the guide positioning structure.
The invention has the following advantages:
the device can drive the whole body to flexibly move along with the tree cutting position through the vehicle body structure; meanwhile, the control box can be used for controlling the sawing regulation and control structure, and the sawing of the trunk is completed by the regulation and control function of the sawing regulation and control structure on the electric saw structure, so that the integral automation degree is improved, and the labor amount is reduced; the base positioning structure can be fastened and fixed on a preset pier part of the trunk, the guide positioning structure can be fastened and fixed on a preset cutting part of the trunk, and when the corresponding trunk between the base positioning structure and the guide positioning structure is cut, the guide positioning structure can drive the cut trunk to incline towards a determined direction by using the inclining driving structure, so that the controllability is strong, and the danger is reduced; in addition, the cut trunk can be easily separated from the whole structure through the auxiliary dismounting structure, so that the functional practicability of the structure is improved; still can fold in body construction with basic location structure, direction location structure and empty the drive structure through folding positioning structure, reduce transportation occupation space, further promote functional practicality.
Drawings
In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly introduced, and the structures, the proportions, the sizes, and the like shown in the specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the modifications of any structures, the changes of the proportion relationships, or the adjustments of the sizes, without affecting the functions and the achievable purposes of the present invention, and still fall within the scope of the technical contents disclosed in the present invention.
Fig. 1 is one of schematic overall axial-view structural diagrams of an automatic directional-dumping tree felling device based on agriculture and forestry transformation provided by an embodiment of the present invention.
Fig. 2 is a second schematic view of an overall axial structure of an automatic directional dumping tree felling device based on agriculture and forestry transformation according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a saw cutting regulation structure in an automatic directional dumping tree felling device based on agriculture and forestry improvement provided by the embodiment of the invention.
Fig. 4 is a schematic view of a position structure of a base positioning structure, a guiding positioning structure and a dumping driving structure in the automatic directional dumping tree felling device based on agriculture and forestry transformation provided by the embodiment of the invention.
Fig. 5 is one of schematic working state diagrams of a base positioning structure, a guiding positioning structure and a dumping driving structure in the automatic directional dumping tree felling device based on agriculture and forestry transformation provided by the embodiment of the present invention.
Fig. 6 is a second schematic view of the working states of the base positioning structure, the guiding positioning structure and the dumping driving structure of the automatic directional dumping tree felling device based on agriculture and forestry transformation provided by the embodiment of the present invention.
Fig. 7 is a schematic structural diagram of an auxiliary unloading structure in an automatic directional dumping tree felling device based on agriculture and forestry improvement provided by the embodiment of the invention.
Fig. 8 is a schematic control principle diagram of an automatic directional dumping tree felling device based on agriculture and forestry transformation provided by the embodiment of the invention.
In the drawings, the components represented by the respective reference numerals are listed below:
vehicle body structure 1: the device comprises a frame plate 11, universal supporting wheels 12, stop pins 13, mounting plates 14 and a slide rail groove 15;
saw cut regulation and control structure 2: the device comprises a servo motor 21, a coupler 22, a screw shaft 23, a fixed seat 24, a nut block 25, a first motor push rod 26, a second motor push rod 27 and an adapter 28;
electric saw structure 3: a hand-held portion 31, a blade portion 32;
folding positioning structure 4: a sliding seat 41 and a folding lifting frame 42;
foundation positioning structure 5: a first basic hoop 51, a second basic hoop 52 and a basic positioning hanging buckle 53;
guiding and positioning structure 6: a first guide hoop 61, a second guide hoop 62 and a guide positioning hanging buckle 63;
the dumping driving structure 7: a first link arm 71, a second link arm 72, a drive cylinder 73;
auxiliary unloading structure 8: the supporting arc plate 81, the self-adaptive supporting wheel 82, the mounting base 821, the sliding roller seat 822, the supporting roller 823 and the self-adaptive spring 824;
and a control box 9.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the present specification, the terms "upper", "lower", "left", "right" and "middle" are used for clarity of description only, and are not used to limit the scope of the present invention, and the relative relationship between the terms and the relative positions may be changed or adjusted without substantial technical change.
The embodiment of the invention provides an automatic directional dumping tree felling device based on agriculture and forestry transformation, which comprises a vehicle body structure 1, a saw cutting regulation and control structure 2, an electric saw structure 3, a folding positioning structure 4, a basic positioning structure 5, a guiding positioning structure 6, a dumping driving structure 7, an auxiliary unloading structure 8 and a control box 9, wherein the saw cutting regulation and control structure 2, the electric saw structure 3, the folding positioning structure 4, the basic positioning structure 5, the guiding positioning structure 6, the dumping driving structure 7, the auxiliary unloading structure 8 and the control box 9 are respectively arranged; the device is used for driving the whole device to flexibly move along with the tree cutting position through the vehicle body structure 1; meanwhile, the control box 9 can be used for controlling the sawing control structure 2, and the sawing control structure 2 can be used for controlling the electric saw structure 3 to saw the trunk, so that the integral automation degree is improved, and the labor amount is reduced; the basic positioning structure 5 can be tightly fixed on a preset pier part of the trunk, the guiding and positioning structure 6 can be tightly fixed on a preset cutting part of the trunk, when the corresponding trunk between the basic positioning structure 5 and the guiding and positioning structure 6 is cut, the toppling driving structure 7 is utilized to enable the guiding and positioning structure 6 to drive the cut trunk to topple towards a determined direction, the controllability is strong, and the danger is reduced; in addition, the cut trunk can be easily separated from the whole structure through the auxiliary dismounting structure 8, and the functional practicability of the structure is improved; still can fold in body construction 1 with basic location structure 5, guiding orientation structure 6 and empty drive structure 7 through folding positioning structure 4, reduce transportation occupation space, further promote functional practicality. The specific settings are as follows:
as shown in fig. 1 to 2, the vehicle body structure 1 includes a frame plate 11 and a plurality of universal support wheels 12 respectively rotatably disposed at a bottom end of the frame plate 11, the universal support wheels 12 are provided with stop pins 13 for effectively carrying the whole device to flexibly displace through the frame plate 11 with the universal support wheels 12, and at the same time, the universal support wheels 12 can be kept fixed through the stop pins 13 after reaching a predetermined position, so as to improve the stability of the device during the tree sawing operation.
Referring to fig. 2, a vertical mounting plate 14 perpendicular to the frame plate 11 is fixedly disposed on one side of the top end of the frame plate 11; saw cut regulation and control structure 2 and locate mounting panel 14 for carry out motion control to electric saw structure 3 through saw cutting regulation and control structure 2, and then accomplish the automated control saw cutting to the trunk.
Specifically, referring to fig. 2 to 3, the sawing control structure 2 includes a servo motor 21, a coupler 22, a screw shaft 23, a fixing seat 24, a nut block 25, a first motor push rod 26, a second motor push rod 27, and an adapter 28; the servo motor 21 is fixed on the bearing frame of the mounting plate 14, and an output rotating shaft of the servo motor 21 is in transmission assembly with the screw shaft 23 through the coupler 22 so as to ensure transmission precision; the fixing seats 24 are rotatably matched at two axial ends of the screw shaft 23, and the fixing seats 24 are fixedly connected to the mounting plate 14 to ensure the bearing stability of the screw shaft 23 during rotation. Two sets of the nut blocks 25 are provided, and the two sets of the nut blocks 25 are each screwed to the screw shaft 23, and when the screw shaft 23 is rotated reciprocally along the output rotation shaft of the servo motor 21, the nut blocks 25 are displaced reciprocally along the screw shaft 23.
The first motor push rod 26 and the second motor push rod 27 are fixedly connected to the two sets of nut blocks 25 in a one-to-one correspondence manner respectively, so that the first motor push rod 26 and the second motor push rod 27 can perform reciprocating displacement perpendicular to the end directions of the output rods of the nut blocks 25; the output rod ends of the first motor push rod 26 and the second motor push rod 27 are fixedly connected with an adapter 28.
With continued reference to fig. 2, the electric saw structure 3 includes a handle portion 31 and a blade portion 32; the built-in electric drive structure of handheld portion 31 can drive the operation of saw piece portion 32, the shell body of handheld portion 31 respectively with two adapter 28 looks normal running fit for through the flexible orientation and the cutting position of screw piece portion 32 of reciprocating displacement effective adjustment between first motor push rod 26 and the second motor push rod 27 and nut piece 25 in turn, thereby realize being applicable to different natural condition's trunk better.
Referring to fig. 1 to 2, two slide rail grooves 15 are formed on the top end surface of the other side of the frame plate 11; the folding position adjusting structure 4 is slidably arranged in the two slide rail grooves 15; specifically, the folding positioning structure 4 comprises a sliding seat 41 and a folding lifting frame 42; slide holder 41 with slide rail groove 15 looks sliding fit, folding crane 42's folding bottom rigid coupling is located slide holder 41, folding crane 42's folding top with basic location structure 5 looks rigid coupling for with the help of slide holder 41 and folding crane 42 correspond the level to position and the vertical height of adjustment basic location structure 5 respectively, can accomodate basic location structure 5 and its even belt structure in frame board 11 when not using, can adjust basic location structure 5 and even belt structure operating position again in a flexible way during the use, promoted the functional suitability of structure.
Referring to fig. 2, 4 to 6, the base positioning structure 5 includes a first base hoop 51, a second base hoop 52 and a base positioning buckle 53; first basic hoop 51 with a staple bolt structure is constituteed jointly to second basic hoop 52, just the one end of first basic hoop 51 with the one end normal running fit of second basic hoop 52, basic location is hung and is detained 53 and locate the other end of first basic hoop 51 with between the other end of second basic hoop 52, be used for can cramping the below that the trunk waited to saw off the position through the staple bolt structure that first basic hoop 51 and second basic hoop 52 are constituteed jointly, when the trunk saw cuts off, basic location structure 5 is located the stump portion after sawing off all the time and keeps the location.
The saw blade part 32 of the electric saw structure 3 is correspondingly positioned between the heights of the basic positioning structure 5 and the guiding positioning structure 6. The guiding and positioning structure 6 comprises a first guiding hoop 61, a second guiding hoop 62 and a guiding and positioning hanging buckle 63; wherein, first direction hoop 61 with a staple bolt structure is constituteed jointly to second direction hoop 62, just the one end of first direction hoop 61 with the one end looks normal running fit of second direction hoop 62, the direction location is hung and is detained 63 and locate the other end of first direction hoop 61 with between the other end of second direction hoop 62 for the staple bolt structure that constitutes jointly through first direction hoop 61 and second direction hoop 62 grips the trunk and treats the top of sawing off the position, and when the trunk saw was disconnected, direction location structure 6 can drive the trunk portion after sawing off and keep the location or the orientation is emptyd.
It locates to empty drive structure 7 basic location structure 5 with between the direction location structure 6 for on basic location structure 5's location basis, connect through the transmission of empting drive structure 7 and make direction location structure 6 can drive the trunk portion after the saw cuts off and keep the location or the orientation is emptyd.
Specifically, with continued reference to fig. 5 to 6, the tilting drive mechanism 7 includes a first connecting arm 71, a second connecting arm 72 and a drive cylinder 73; one end of the first connecting arm 71 is connected to the second base band 52 in the base positioning structure 5, the other end of the first connecting arm 71 is connected to one end of the second connecting arm 72, and the other end of the second connecting arm 72 is fixedly connected to the first guide band 61 of the guide positioning structure 6; the fixed end of the driving cylinder 73 is connected to the second base hoop 52 in a switching manner, and the free end of the driving cylinder 73 is connected to the second connecting arm 72 in a switching manner; when the driving cylinder 73 keeps contracting, the first connecting arm 71 and the second connecting arm 72 are fixed with the base positioning structure 5, so that the guide positioning structure 6 is fixed with the base positioning structure 5; when driving actuating cylinder 73 and keeping extending, the free end that drives actuating cylinder 73 can drive second linking arm 72 and take place to rotate based on first linking arm 71, make the direction location structure 6 with first linking arm 71 looks rigid coupling drive trunk and empty towards the direction of empting drive structure 7, first linking arm 71 and second linking arm 72 are based on basic location structure 5 synchronous rotation simultaneously, fall to ground until the trunk, effectively realize toppling over the trunk portion orientation after sawing with this, the controllability and the prejudgement nature that the trunk toppled over have been promoted, and then the security has been improved.
As a preferred scheme of this embodiment, please refer to fig. 1 to 2 and 5 to 6, the auxiliary removing structure 8 is fixedly connected to the first guiding hoop 61, so that after the sawed trunk is toppled over, the auxiliary removing structure 8 can be located below the trunk to support the trunk, and after the guiding and positioning structure 6 is released from the trunk, the guiding and positioning structure 6 gradually returns to the initial position by driving the cylinder 73 to contract, and the auxiliary removing structure 8 can make the trunk more easily separate from the guiding and positioning structure 6, so as to prevent the trunk from generating a large friction force between its surface and the guiding and positioning structure 6 due to its own gravity, thereby reducing the possibility of the trunk moving back along with the guiding and positioning structure 6, and improving the practicability of the device.
Specifically, the auxiliary unloading structure 8 comprises a supporting arc plate 81 and an adaptive supporting wheel 82; the supporting arc plate 81 is fixedly connected to the first guiding hoop 61, and the arc-concave side of the supporting arc plate 81 corresponds to the center of the guiding and positioning structure 6 and is used for corresponding to the shape of the trunk; the self-adaptive supporting wheels 82 are provided with a plurality of self-adaptive supporting wheels 82, the self-adaptive supporting wheels 82 are uniformly arranged on the end surface of one side of the arc concave of the supporting arc plate 81, and are used for supporting the sawn trunk part by means of the self-adaptive supporting wheels 82, so that the friction between the trunk part and the guiding and positioning structure 6 is remarkably reduced, and the trunk part is prevented from moving back.
More preferably, referring to fig. 7, the adaptive support wheel 82 includes a mounting base 821, a sliding roller mount 822, a support roller 823, and an adaptive spring 824; the installation base 821 is fixedly connected to an end surface of the supporting arc plate 81 on one side of the arc recess, the sliding roller seat 822 is slidably arranged inside the installation base 821, and a plurality of adaptive springs 824 are arranged between the sliding roller seat 822 and the bottom of the inner side of the installation base 821; the supporting roller 823 is rotatably assembled on the sliding roller seat 822; when the adaptive spring 824 is in an initial natural state, the outer end of the supporting roller 823 protrudes from the inner end surface of the first guiding band 61 in the guiding and positioning structure 6; when the guiding and positioning structure 6 is used for clamping the trunk part to be sawed, the supporting roller 823 can be pressed by the clamping force to naturally compress the adaptive spring 824, and when the clamping action of the guiding and positioning structure 6 is released for dismounting the trunk part, the supporting roller 823 is supported by the resilience action of the adaptive spring 824, so that the friction force between the trunk part and the inner side end face of the first guiding hoop 61 is effectively reduced.
With continued reference to fig. 1 to 2, a control box 9 is further fixedly disposed on the frame plate 11 of the vehicle body structure 1; specifically, referring to fig. 8, a control module, a mobile power supply, a relay and a WIFI module are arranged in the control box 9, the control module is respectively connected with the mobile power supply and the WIFI module through a circuit, a control output end of the control module is electrically connected with an input end of the relay, an output end of the relay is respectively connected with the servo motor 21, the first motor push rod 26, the second motor push rod 27, a built-in electric driving structure of the handheld portion 31 in the electric saw structure 3 and the driving cylinder 73 through a circuit, the control module is further connected with an external mobile phone control end remote signal through the WIFI module, so that automatic control operation of the whole device is realized through control of the mobile phone control end and the control module, and the whole automation degree is effectively improved.
The control module can adopt but not limited to a microcontroller of model STM32, AT89S51 singlechip.
An application method of an automatic directional tree-dumping and felling device based on agriculture and forestry transformation comprises the following steps:
first, the vehicle body structure 1 is moved to the tree sawing position.
The specific process is that the carriage plate 11 is pulled through the rolling supporting function of the universal supporting wheels 12, so that the carriage plate 11 and the bearing structure thereof reach the preset tree sawing position.
Next, the base positioning structure 5 and the guiding positioning structure 6 are unfolded from the vehicle body structure 1, and the base positioning structure 5 and the guiding positioning structure 6 are respectively made to correspond to the established positions of the trunk to be sawn.
The specific process is that the sliding seat 41 in the folding positioning structure 4 is slid outwards along the sliding rail groove 15 at the top end of the frame plate 11, and the folding lifting frame 42 in the folding positioning structure 4 is unfolded, so that the heights of the base positioning structure 5 and the guide positioning structure 6 are raised until the base positioning structure 5 is positioned below the height of the electric saw structure 3, and the guide positioning structure 6 is positioned above the height of the electric saw structure 3.
Thirdly, the basic positioning structure 5 and the guiding positioning structure 6 are respectively clamped and fixed at the set position of the trunk to be sawed, and the toppling direction of the trunk after sawing is determined.
The concrete process is that the foundation positioning hanging buckle 53 in the foundation positioning structure 5 and the guiding positioning hanging buckle 63 in the guiding positioning structure 6 are respectively disassembled, and the second base hoop 52 in the base positioning structure 5 and the second guide hoop 62 in the guide positioning structure 6 are respectively opened, the first base hoop 51 in the base positioning structure 5 and the second guide hoop 62 in the guide positioning structure 6 are simultaneously abutted against the periphery of one side of the trunk, during which the position of the frame plate 11 is moved by the universal support wheels 12, thereby rotating the second base hoop 52 in the base location structure 5 and the first guide hoop 61 in the guide location structure 6 against the other periphery of the trunk at the same time, and sequentially locking a base positioning hanging buckle 53 between the first base hoop 51 and the second base hoop 52 and a guiding positioning hanging buckle 63 between the first guiding hoop 61 and the second guiding hoop 62.
The tilting drive 7 moves synchronously with the second base band 52 and the first guide band 61, and the tilting direction of the sawn trunk is determined by the orientation of the tilting drive 7.
The stop pin 13 of the universal supporting wheel 12 is locked, so that the whole frame plate 11 is kept stable.
And then, the sawing control structure 2 is controlled to drive the electric saw structure 3 to saw the trunk.
The specific process is that the mobile phone control end sends an instruction to the control module through the WIFI module, the control module controls the built-in electric driving structure of the handheld part 31 in the electric saw structure 3 through the relay to start, so that the saw blade part 32 starts to saw and operate, and the control module controls the servo motor 21, the first motor push rod 26 and the second motor push rod 27 in the saw control structure 2 to work through the relay continuously.
When the servo motor 21 works, the output rotating shaft of the servo motor 21 rotates to drive the screw shaft 23 to rotate, the nut block 25 performs reciprocating displacement based on the screw shaft 23 under the ball screw principle, and meanwhile, the nut block 25 drives the first motor push rod 26 and the second motor push rod 27 to perform reciprocating displacement respectively, so that the electric saw structure 3 integrally performs synchronous displacement along with the first motor push rod 26 and the second motor push rod 27.
When the first motor push rod 26 and the second motor push rod 27 work, the first motor push rod 26 and the second motor push rod 27 are controlled to synchronously extend at a constant speed, so that the handheld portion 31 in the electric saw structure 3 drives the saw blade portion 32 to directly move to complete the sawing of the trunk.
According to the actual trunk cutting condition, if the trunk diameter is too large, the first motor push rod 26 and the second motor push rod 27 are controlled to alternately stretch and retract to drive the handheld portion 31 in the electric saw structure 3 to generate different-angle inclinations, and the saw blade portion 32 is enabled to synchronously generate different sawing angles relative to the trunk, so that the trunk is sawed by coordinating operations from different angles.
Furthermore, the guide positioning structure 6 is driven by the tilting driving structure 7 to directionally tilt the sawn trunk.
The specific process is that the mobile phone control end sends an instruction to the control module through the WIFI module, the control module controls the driving cylinder 73 to extend through the relay, the free end of the driving cylinder 73 gradually drives the second connecting arm 72 to rotate based on the first connecting arm 71, so that the guiding and positioning structure 6 fixedly connected with the first connecting arm 71 drives the sawn trunk part to topple towards one side of the toppling and driving structure 7, and meanwhile, the first connecting arm 71 and the second connecting arm 72 synchronously rotate based on the second basic hoop 52 in the basic positioning structure 5 until the sawn trunk part falls to the ground, and controllable directional toppling is completed.
Then, the sawn trunk part is separated from the guiding and positioning structure 6 by the auxiliary dismounting structure 8.
The specific process is that the guide positioning hanging buckle 63 in the guide positioning structure 6 is detached to relieve the clamping effect on the sawn tree trunk between the first guide hoop 61 and the second guide hoop 62, and the second guide hoop 62 is rotated and opened based on the first guide hoop 61, so that the upward opening of the first guide hoop 61 is completely exposed.
The control end of the mobile phone sends an instruction to the control module through the WIFI module again, the control module controls the driving cylinder 73 to contract through the relay, referring to fig. 6, at this time, the free end of the driving cylinder 73 gradually drives the second connecting arm 72 to rotate based on the first connecting arm 71, and meanwhile, the first guiding hoop 61 rotates and displaces towards the initial position by an angle along with the first connecting arm 71.
When the first guiding hoop 61 is changed in angle, the clamping action on the sawn trunk part is released, and the rebounding action after the clamping force is released by the adaptive spring 824 is added, so that the supporting roller 823 in the auxiliary dismounting structure 8 gradually props up the sawn trunk part based on the supporting arc plate 81, and the friction force between the sawn trunk part and the first guiding hoop 61 is gradually reduced to 0.
When the first guide band 61 continues to be displaced, the cut trunk part can be easily separated from the support roller 823 due to the rolling characteristics of the support roller 823, and finally the cut trunk part is dropped to the ground.
Finally, the tightening of the basic positioning structure 5 is released and the device is readjusted.
The specific process is to disassemble the base positioning hanging buckle 53 in the base positioning structure 5 to release the clamping effect between the first base hoop 51 and the second base hoop 52 on the stump part.
The control module respectively controls the first motor push rod 26 and the second motor push rod 27 to contract through a relay and controls the servo motor 21 to rotate, so that the electric saw structure 3 returns to the initial position.
The base positioning hook 53 of the base positioning structure 5 is fastened to the first base hoop 51 and the second base hoop 52, and the guiding positioning hook 63 of the guiding and positioning structure 6 is fastened to the first guiding hoop 61 and the second guiding hoop 62.
The basic positioning structure 5, the guiding positioning structure 6 and the dumping driving structure 7 are positioned at the preset position and the height of the frame plate 11 by adjusting the sliding seat 41 and the folding lifting frame 42 in the folding positioning structure 4 respectively; finally, the stop pin 13 of the universal support wheel 12 is released, and the frame plate 11 is continuously moved to the next tree sawing position.
Therefore, the application method of the automatic directional tree-dumping device based on agriculture and forestry transformation is completed.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The utility model provides an automatic directional felling device of empting based on agriculture and forestry are reformed transform which characterized in that includes:
a vehicle body structure;
the sawing regulation structure is arranged on the vehicle body structure; the saw cutting regulation structure is provided with a power output end;
the electric saw structure is in transmission connection with the power output end of the saw cutting regulation structure; the electric saw structure can respectively complete displacement and angle adjustment in a first direction and a second direction based on the power output end; the first direction and the second direction are perpendicular to each other;
a base positioning structure provided to the vehicle body structure; the base positioning structure can be detachably fixed below the position to be sawn of the trunk;
a guiding and positioning structure; the guiding and positioning structure can be detachably fixed above the position to be sawn of the trunk; the electric saw structure is located at a height between the height of the base positioning structure and the height of the guide positioning structure;
a tilting drive structure; one end of the dumping driving structure is rotatably connected with the base positioning structure, and the other end of the dumping driving structure is fixedly connected with the guide positioning structure; the guiding and positioning structure can be displaced based on the basic positioning structure under the driving traction action of the dumping driving structure;
the auxiliary unloading structure is arranged on the guide positioning structure; the auxiliary unloading structure and the dumping driving structure are positioned in the same direction; the auxiliary dismounting structure can replace the guiding and positioning structure to support the sawn trunk when the sawn trunk is separated from the guiding and positioning structure;
a control box having a control module; the control output end of the control module is respectively connected with the sawing regulation and control structure, the electric saw structure and the dumping driving structure through circuits.
2. The automatic directional dumping tree felling device based on agriculture and forestry improvement according to claim 1, wherein the vehicle body structure comprises a vehicle frame plate and a plurality of universal support wheels respectively rotatably arranged at the bottom end of the vehicle frame plate, the universal support wheels are provided with stop pins, and the universal support wheels can be kept fixed through the stop pins;
the saw cutting adjusting and controlling structure is arranged on the mounting plate.
3. The automatic directional dumping tree felling device based on agriculture and forestry improvement of claim 2, wherein the sawing control structure comprises a servo motor, a coupler, a screw shaft, a nut block, a first motor push rod and a second motor push rod;
the servo motor is fixed on the bearing frame of the mounting plate, and an output rotating shaft of the servo motor is assembled with the screw rod shaft in a transmission way through the coupler; the two ends of the screw shaft along the axial direction are respectively matched with a fixed seat in a rotating way, and the fixed seats are fixedly connected with the mounting plate;
two sets of nut blocks are arranged, the two sets of nut blocks are screwed on the screw shaft, and when the screw shaft rotates back and forth along with an output rotating shaft of the servo motor, the nut blocks perform reciprocating displacement along the screw shaft in the first direction; the first motor push rod and the second motor push rod are fixedly arranged on the two groups of nut blocks in a one-to-one correspondence mode respectively, and both the first motor push rod and the second motor push rod can perform reciprocating displacement along with the nut blocks in a first direction;
the output rod ends of the first motor push rod and the second motor push rod face in a second direction, and the output rod ends of the first motor push rod and the second motor push rod are respectively matched with the electric saw structure in a rotating mode.
4. The automatic directional dumping tree felling device based on agriculture and forestry improvement of claim 3, wherein the electric saw structure comprises a hand-held part and a saw blade part;
the built-in electric drive structure of handheld portion can drive saw bit portion operation, handheld portion respectively with the output pole looks normal running fit of first motor push rod with second motor push rod, through first motor push rod with alternate flexible between the second motor push rod can adjust the angle of saw bit portion.
5. The automatic directional-dumping tree felling device based on agriculture and forestry improvement of claim 2, wherein the automatic directional-dumping tree felling device further comprises a folding positioning structure, and the folding positioning structure comprises a sliding seat and a folding lifting frame;
the top end face of the other side of the frame plate is provided with a slide rail groove; the sliding seat with slide rail groove looks sliding fit, folding bottom rigid coupling of folding crane is located the sliding seat, the folding top of folding crane with foundation location structure looks rigid coupling, through the sliding seat with folding crane can correspond the adjustment respectively foundation location structure's level is to position and vertical height.
6. The automatic directional dumping tree felling device based on agriculture and forestry improvement as claimed in claim 1, wherein the base positioning structure comprises a first base hoop, a second base hoop and a base positioning hanging buckle;
the first basic hoop and the second basic hoop jointly form a hoop structure, one end of the first basic hoop is in rotating fit with one end of the second basic hoop, and the basic positioning hanging buckle is arranged between the other end of the first basic hoop and the other end of the second basic hoop;
the lower part of the position to be sawed off of the trunk is hooped by the hoop structure formed by the first basic hoop and the second basic hoop, and when the trunk is sawed off, the hoop structure formed by the first basic hoop and the second basic hoop is always positioned at the stump part after the trunk is sawed off and keeps positioned.
7. The automatic directional dumping tree felling device based on agriculture and forestry improvement according to claim 6, wherein the guiding and positioning structure comprises a first guiding hoop, a second guiding hoop and a guiding and positioning hanging buckle;
the first guide hoop and the second guide hoop jointly form a hoop structure, one end of the first guide hoop is in rotating fit with one end of the second guide hoop, and the guide positioning hanging buckle is arranged between the other end of the first guide hoop and the other end of the second guide hoop;
through first direction hoop with the staple bolt structure that the second direction hoop constitutes jointly cramps the trunk and treats the top of sawing the position, when the trunk saw cuts off, first direction hoop with the staple bolt structure that the second direction hoop constitutes jointly can drive the trunk portion after sawing and cut off and keep fixing a position or directional toppling over.
8. The automatic directional dumping tree felling device based on agriculture and forestry improvement of claim 7, wherein the dumping driving structure comprises a first connecting arm, a second connecting arm and a driving cylinder;
one end of the first connecting arm is connected with a second basic hoop in the basic positioning structure in a switching mode, the other end of the first connecting arm is connected with one end of the second connecting arm in a switching mode, and the other end of the second connecting arm is fixedly connected with a first guide hoop of the guide positioning structure;
the fixed end of the driving cylinder is connected with the second basic hoop in a switching manner, and the free end of the driving cylinder is connected with the second connecting arm in a switching manner;
when the driving cylinder keeps contracting, the first connecting arm and the second connecting arm are fixed with the base positioning structure, so that the guide positioning structure and the base positioning structure are fixed; when the driving cylinder keeps extending, the free end of the driving cylinder can drive the second connecting arm to rotate based on the first connecting arm, so that the guiding and positioning structure fixedly connected with the first connecting arm drives the tree part to tilt towards the direction of the tilting driving structure, and meanwhile, the first connecting arm and the second connecting arm synchronously rotate based on the basic positioning structure.
9. The automatic directional dumping tree felling device based on agriculture and forestry improvement of claim 7, wherein the auxiliary unloading structure comprises a supporting arc plate and an adaptive supporting wheel;
the supporting arc plate is fixedly connected to the first guiding hoop, and the arc-direction concave side of the supporting arc plate corresponds to the center of the guiding and positioning structure; the self-adaptive supporting wheels are uniformly arranged on the end surface of one side of the supporting arc plate, which is concave towards the arc direction.
10. An agricultural and forestry transformation-based automatic directional dumping tree felling device according to claim 9, wherein the adaptive support wheel comprises a mounting base, a sliding roller seat and a support roller;
the mounting base is fixedly connected with the end surface of one side of the arc concave of the supporting arc plate, the sliding roller seat is slidably arranged in the mounting base, and a plurality of self-adaptive springs are arranged between the sliding roller seat and the bottom of the inner side of the mounting base; the supporting roller is rotatably assembled on the sliding roller seat;
when the self-adaptive spring is in an initial natural state, the outer end extending position of the supporting roller protrudes out of the end surface of the inner side of the first guide hoop in the guide positioning structure.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110272930.2A CN112956395B (en) | 2021-03-12 | 2021-03-12 | Automatic directional tree cutting device of empting based on agriculture and forestry transformation |
| CN202110351705.8A CN112997840B (en) | 2021-03-12 | 2021-03-12 | Automatic directional tree dumping and felling method based on agriculture and forestry improvement |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110272930.2A CN112956395B (en) | 2021-03-12 | 2021-03-12 | Automatic directional tree cutting device of empting based on agriculture and forestry transformation |
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| CN202110351705.8A Division CN112997840B (en) | 2021-03-12 | 2021-03-12 | Automatic directional tree dumping and felling method based on agriculture and forestry improvement |
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| CN202110351705.8A Active CN112997840B (en) | 2021-03-12 | 2021-03-12 | Automatic directional tree dumping and felling method based on agriculture and forestry improvement |
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| AT501737A4 (en) * | 2005-12-01 | 2006-11-15 | Gupper Clemens Ing | DEVICE FOR TREE FALLING |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112956395B (en) | 2022-06-21 |
| CN112997840A (en) | 2021-06-22 |
| CN112997840B (en) | 2022-06-24 |
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