CN113366987B - Electric standing tree pruning machine based on metamorphic mechanism - Google Patents
Electric standing tree pruning machine based on metamorphic mechanism Download PDFInfo
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- CN113366987B CN113366987B CN202110721706.7A CN202110721706A CN113366987B CN 113366987 B CN113366987 B CN 113366987B CN 202110721706 A CN202110721706 A CN 202110721706A CN 113366987 B CN113366987 B CN 113366987B
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- 238000013138 pruning Methods 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 title claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 238000005520 cutting process Methods 0.000 claims abstract description 9
- 230000009467 reduction Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000003825 pressing Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000002023 wood Substances 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 1
- 235000011609 Pinus massoniana Nutrition 0.000 description 1
- 241000018650 Pinus massoniana Species 0.000 description 1
- 240000002924 Platycladus orientalis Species 0.000 description 1
- 241000219000 Populus Species 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
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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
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
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Abstract
The invention discloses an electric stumpage pruning machine based on a metamorphic mechanism, which comprises a clamping device, a driving device, a cutting device and a fixing device, wherein the clamping device is arranged on the lower part of the pruning machine; the clamping device comprises first to third right rotating frame profiles, first to second left rotating frame profiles, first to fourth left connecting rod profiles, first to second frame profiles, first to eighth profile end plates, first to fourth inner hinging pieces, first to fourth outer hinging pieces, a right connecting rod, an outer connecting block, an outer rotating rod and first to third driving wheel frames; the driving device comprises a first hub motor, a second hub motor, a third hub motor, a fourth hub motor, a fifth hub motor, a sixth hub motor, a worm gear, a reducing direct current motor and a transmission shaft pin; the cutting device comprises first to third circular wedge cutters, first to sixth cutter fixing groove blocks, first to second cutter fixing short plates and first to fourth cutter fixing long plates; the fixing device is provided with a motor fixing frame; the integrated automatic control system has the advantages of high integrated automation degree, high working efficiency, strong adaptability, and greatly improved reliability, portability and safety.
Description
Technical Field
The invention relates to the technical field of forestry engineering equipment, in particular to an electric stumpage pruning machine based on a metamorphic mechanism.
Background
The forest is the land ecosystem with the largest scale and the most perfect functions in nature and is closely related to the survival, the multiplication and the development of human beings. The pruning of the standing wood is an important link for directional tending of high-quality industrial timberwood. The reasonable and timely pruning operation can ensure that the upper layer branches of the tree develop better, and the function of improving the growing environment of the tree is achieved. From the growth result of the trees, the tree pruning operation can accelerate the height and diameter growth of the trees, increase the straight degree, reduce the number of dead knots, further improve the mechanical property of the wood and improve the utilization rate of the wood.
Mechanization of tending operation is an important aspect of forestry development, forest resources can be cultivated and developed, and tending of backup resources is accelerated, so that the method is one of core tasks of forestry development. But the requirements of large-scale equipment on the working environment cannot be met due to the complex terrain conditions, the severe working environment and the like of the forest area. Meanwhile, a great amount of trees need to be pruned within a short specific growth period to obtain a good effect, which is not met by hand tools and hand-held pruning machines. To solve this increasingly urgent problem, the conversion of forestry engineering equipment into mechanized integrated automation is urgently needed to be accelerated.
Disclosure of Invention
The technical problem to be solved by the technology is to provide the electric standing tree pruning machine based on the metamorphic mechanism aiming at the defects of the standing tree pruning technology, the electric standing tree pruning machine based on the metamorphic mechanism can be used for pruning artificial fast-growing industrial timbers such as poplars, chinese arborvitae, fir, chinese red pine and the like, high-speed pruning operation can be realized by matching a fixed wedge with the driving force of a machine, the labor efficiency of forest regions can be obviously improved, the demand on labor force is reduced, and the restriction of labor force shortage on large-scale centralization of forestry production is relieved.
In order to achieve the technical purpose, the technical scheme adopted by the technology is as follows:
an electric stumpage pruning machine based on a metamorphic mechanism comprises a clamping device, a driving device, a cutting device and a fixing device.
The clamping device comprises a first right rotating frame section bar, a second right rotating frame section bar, a third right rotating frame section bar, a first left rotating frame section bar, a second left rotating frame section bar, a first left connecting rod section bar, a second left connecting rod section bar, a third left connecting rod section bar, a fourth left connecting rod section bar, a first machine frame section bar, a second machine frame section bar, a first section bar end plate, a second section bar end plate, a third section bar end plate, a fourth section bar end plate, a fifth section bar end plate, a sixth section bar end plate, a seventh section bar end plate, an eighth section bar end plate, a first inner articulated piece, a second inner articulated piece, a third inner articulated piece, a fourth inner articulated piece, a first outer articulated piece, a second outer articulated piece, a fourth outer articulated piece, a right connecting rod, an outer connecting block, an outer rotating rod, a first driving wheel frame, a second driving wheel frame and a third driving wheel frame; the upper end of a first right rotating frame section bar is fixed with a first section bar end plate, the lower end of the first right rotating frame section bar is fixed with a second section bar end plate, one side of the lower end of the first right rotating frame section bar is fixed with a second right rotating frame section bar, the inner side of the first right rotating frame section bar is fixed with the outer end of a first outer articulated element, the inner side of the second right rotating frame section bar is fixed with the outer end of a first inner articulated element, the other end of the second right rotating frame section bar is fixed with a third right rotating frame section bar, the other end of the third right rotating frame section bar is fixed with a first driving wheel frame, the outer end of the first left rotating frame section bar is fixed with a third section bar end plate, the other end of the first left rotating frame section bar is fixed with the second right rotating frame section bar, the outer end of the inner side of the first left rotating frame section bar is fixed with the outer end of a second inner articulated element, the inner side of the first left rotating frame section bar is fixed with the outer end of the second outer articulated element, the other end of the second left rotating frame section bar is fixed with the first driving wheel frame section bar, the upper end of a first left connecting rod section bar is fixed with a fourth section bar end plate, the lower end of the first left connecting rod section bar is fixed with a fifth section bar end plate, the outer side of the upper end of the first left connecting rod section bar is fixed with a third inner articulated piece, the other side of the lower end of the first left connecting rod section bar is fixed with a second left connecting rod section bar, the other end of the second left connecting rod section bar is fixed with a third left connecting rod section bar, the other end of the third left connecting rod section bar is fixed with a fourth left connecting rod section bar, the other end of the fourth left connecting rod section bar is fixed with a sixth section bar end plate, the other side of the sixth section bar end plate is fixed with the outer end of the fourth inner articulated piece, the inner end of the first frame section bar is fixed with the right side of a third driving wheel frame, the outer end of the first frame section bar is fixed with a seventh section bar end plate, the other side of the seventh section bar end plate is fixed with the outer end of the third outer articulated piece, the inner end of the second frame section bar is fixed with the left side of the third driving wheel frame, the outer end plate is fixed with an eighth section bar end plate, the other side of the eighth section end plate is fixed with the outer end of a fourth outer hinged part, a first inner hinged part is hinged with a third outer hinged part, a second inner hinged part is hinged with a fourth outer hinged part, a third inner hinged part is hinged with a second outer hinged part, a fourth inner hinged part is hinged with the left end of an outer connecting block, one end of a right connecting rod is hinged with the right end of the outer connecting block, the other end of the right connecting rod is hinged with the first outer hinged part, the middle end of the outer connecting block is hinged with one end of an outer rotating rod, and the other end of the outer rotating rod is fixed with a transmission shaft pin.
The driving device comprises a first hub motor, a second hub motor, a third hub motor, a fourth hub motor, a fifth hub motor, a sixth hub motor, a worm and gear speed-reducing direct current motor and a transmission shaft pin; the central shafts of the first and second wheel hub motors are fixed on the upper and lower sides of the first driving wheel frame, the central shafts of the third and fourth wheel hub motors are fixed on the upper and lower sides of the second driving wheel frame, the central shafts of the fifth and sixth wheel hub motors are fixed on the upper and lower sides of the third driving wheel frame, the worm and gear speed reduction direct current motor is fixed on the upper side of the upper end plate of the motor fixing frame, the worm and gear speed reduction direct current motor is circumferentially fixed with the D-shaped hole of the transmission shaft pin, and the transmission shaft pin is hinged with the lower end plate of the motor fixing frame.
The cutting device comprises a first arc wedge cutter, a second arc wedge cutter, a third arc wedge cutter, a first cutter fixing groove block, a second cutter fixing groove block, a third cutter fixing groove block, a fourth cutter fixing groove block, a fifth cutter fixing groove block, a sixth cutter fixing groove block, a first cutter fixing short plate, a second cutter fixing short plate, a first cutter fixing long plate, a second cutter fixing long plate, a third cutter fixing long plate and a fourth cutter fixing long plate; the bottom end of a first cutter fixing long plate is fixed with the inner wall of the left side of a first driving wheel carrier, the bottom end of a second cutter fixing long plate is fixed with the inner wall of the right side of the first driving wheel carrier, the bottom end of a first cutter fixing short plate is fixed with the inner wall of the left side of a second driving wheel carrier, the bottom end of a second cutter fixing short plate is fixed with the inner wall of the right side of the second driving wheel carrier, the bottom end of a third cutter fixing long plate is fixed with the inner wall of the left side of a third driving wheel carrier, the bottom end of a fourth cutter fixing long plate is fixed with the inner wall of the right side of the third driving wheel carrier, the bottom end of a first cutter fixing groove block is fixed with the top end of the first cutter fixing long plate, the bottom end of the second cutter fixing groove block is fixed with the top end of the second cutter fixing long plate, the bottom end of a third cutter fixing groove block is fixed with the top end of a first cutter fixing short plate, the bottom end of a fourth cutter fixing groove block is fixed with the top end of a second cutter fixing short plate, the bottom end of a fifth cutter fixing groove block is fixed with the top end of a third cutter fixing long plate, the bottom end of a sixth cutter fixing groove block is fixed with the top end of a fourth cutter fixing long plate, a first arc wedge cutter is fixed with an inner groove of the first cutter fixing groove block and an inner groove of the second cutter fixing groove block, a second arc wedge cutter is fixed with an inner groove of the third cutter fixing groove block and an inner groove of the fourth cutter fixing groove block, and a third arc wedge cutter is fixed with an inner groove of the fifth cutter fixing groove block and an inner groove of the sixth cutter fixing groove block.
The fixing device is provided with a motor fixing frame; the vertical plate of the motor fixing frame is fixed with the outer side of the lower end of the third driving wheel frame.
As a further improved technical scheme of the technology, the first right-turning frame profile, the second right-turning frame profile, the third right-turning frame profile, the first left-turning frame profile, the second left-turning frame profile, the first left connecting rod profile, the second left connecting rod profile, the third left connecting rod profile, the fourth left connecting rod profile, the first frame profile and the second frame profile are of the same profile specification, and the first frame profile and the second frame profile are of the same structure; the first section end plate, the second section end plate, the third section end plate, the fourth section end plate, the fifth section end plate, the sixth section end plate, the seventh section end plate and the eighth section end plate are of the same structure and are rectangular plates; the first inner hinge part, the second inner hinge part, the third inner hinge part and the fourth inner hinge part have the same structure and are hinge parts with inner hinge holes and contact surfaces at the upper side and the lower side of the middle extending block; the first outer hinge part, the second outer hinge part, the third outer hinge part and the fourth outer hinge part have the same structure and are hinge parts with inner hinge holes, and the lower surfaces of the upper side outer extending blocks and the upper surfaces of the lower side outer extending blocks are contact surfaces; the first driving wheel frame, the second driving wheel frame and the third driving wheel frame are the same in structure and are all sheet metal parts with punched holes.
As a further improved technical scheme of the technology, the parts of the right connecting rod and the outer rotating rod are the same in height and equal to the distance between the outer extending blocks on the upper side and the lower side of the outer connecting block.
As a further improved technical scheme of the present technology, the first in-wheel motor, the second in-wheel motor, the third in-wheel motor, the fourth in-wheel motor, the fifth in-wheel motor and the sixth in-wheel motor have the same structure and are all inner rotor type in-wheel motors with built-in planetary reducers.
As a further improved technical scheme of the technology, the first arc wedge knife, the second arc wedge knife and the third arc wedge knife have the same structure, are all arc wedge knives with 180-degree circumferential angles and 30-degree wedge angles; the first cutter fixing groove block, the second cutter fixing groove block, the third cutter fixing groove block, the fourth cutter fixing groove block, the fifth cutter fixing groove block and the sixth cutter fixing groove block are of the same structure and are all strip-shaped parts with radian, and the upper ends of the strip-shaped parts are provided with grooves; the first cutter fixing short plate and the second cutter fixing short plate have the same structure and are both cut strip-shaped plates; the first cutter fixing long plate, the second cutter fixing long plate, the third cutter fixing long plate and the fourth cutter fixing long plate are identical in structure and are all cut strip-shaped plates.
As a further improved technical scheme of the technology, the motor fixing frame comprises a left vertical plate, a right vertical plate, an upper end plate and a lower end plate; two side surfaces of the upper end plate and the lower end plate are welded between the left vertical plate and the right vertical plate.
As a further improved technical scheme of the technology, among the fixing modes among all the parts, the circumferential fixing of the outer connecting rod and the transmission shaft pin adopts flat key connection, the worm and gear speed reduction direct current motor and the motor fixing frame adopt screw fixing, the central shaft of each hub motor and the corresponding driving wheel frame adopt bolt fixing, each circular wedge cutter and the corresponding cutter fixing groove block inner groove adopt bolt fixing, and the others adopt welding fixing.
As a further improved technical scheme of the technology, the installation heights of the first right-turning frame profile, the second right-turning frame profile, the third right-turning frame profile, the first left-turning frame profile, the second left-turning frame profile, the first frame profile and the second frame profile are consistent, and the installation heights of the second left connecting rod profile, the third left connecting rod profile and the fourth left connecting rod profile are consistent; the mounting heights of the first inner hinge piece, the second inner hinge piece, the third inner hinge piece, the second outer hinge piece, the third outer hinge piece and the fourth outer hinge piece are consistent; the installation center height of the first outer hinge part, the right connecting rod, the outer connecting block, the outer rotating rod and the fourth inner hinge part is consistent.
As a further improved technical scheme of the technology, each section end plate can just completely close the hollow end surface of the section.
As a further improved technical scheme of the technology, all the hinged parts except the rotating pair where the transmission shaft pin is located adopt shaft pins and split pins.
As a further improved technical scheme of the technology, the top end face of the first driving wheel frame is flush with the top end face of the third right rotating frame section bar, the outer side face of the first driving wheel frame is flush with the outer side face of the third right rotating frame section bar, the bottom end face of the second driving wheel frame is flush with the bottom end face of the second left rotating frame section bar, the outer side face of the second driving wheel frame is flush with the outer side face of the second left rotating frame section bar, the bottom end face of the third driving wheel frame is flush with the bottom end faces of the first frame section bar and the second frame section bar, and the outer side face of the third driving wheel frame is flush with the outer side lines of the first frame section bar and the second frame section bar.
As a further improved technical scheme of the technology, the top end face of the first inner hinge piece and the top end face of the second right rotating frame section bar, the top end face of the second inner hinge piece and the top end face of the first left rotating frame section bar, the side face of the second inner hinge piece and the side face of the port of the first left rotating frame section bar, the top end face of the third inner hinge piece and the top end face of the first left connecting rod section bar, the outer side face of the third inner hinge piece and the outer side face of the first left connecting rod section bar, the top end face of the fourth inner hinge piece and the top end face of the fourth left connecting rod section bar, and the outer side face of the fourth inner hinge piece and the outer side face of the fourth left connecting rod section bar are flush; the bottom end face of the first outer hinge part and the bottom end face of the first right rotating frame section bar, the inner side face of the first outer hinge part and the inner side face of the port of the first right rotating frame section bar, the top end face of the second outer hinge part and the top end face of the first left rotating frame section bar, the top end face of the third outer hinge part and the top end face of the first right rotating frame section bar, the inner side face of the third outer hinge part and the inner side face of the port of the first frame section bar, the top end face of the fourth outer hinge part and the top end face of the second right rotating frame section bar, and the inner side face of the fourth outer hinge part and the inner side face of the port of the second frame section bar are flush.
As a further improvement of the present technology, the left side surface of the bottom end of the first tool fixed long plate coincides with the inner wall of the left side of the first driving wheel carrier, the bottom end surface of the first tool fixed long plate coincides with the inner wall of the left side of the first driving wheel carrier, the bottom end of the second tool fixed long plate coincides with the inner wall of the right side of the first driving wheel carrier, the left side surface of the bottom end of the third tool fixed long plate coincides with the inner wall of the left side of the second driving wheel carrier, the bottom end surface of the third tool fixed long plate coincides with the inner wall of the second driving wheel carrier, the bottom end of the fourth tool fixed long plate coincides with the inner wall of the right side of the second driving wheel carrier, the left side surface of the bottom end of the fifth tool fixed long plate coincides with the inner wall of the left side of the third driving wheel carrier, the bottom end surface of the fifth tool fixed long plate coincides with the inner wall of the right side of the third driving wheel carrier, the bottom end of the sixth tool fixed long plate coincides with the inner wall of the right side of the third driving wheel carrier, and the bottom end surface of the sixth tool fixed long plate coincides with the inner wall of the right side of the third driving wheel carrier.
As a further improved technical scheme of the technology, the installation heights of the first cutter fixing long plate and the second cutter fixing long plate, the third cutter fixing long plate and the fourth cutter fixing long plate, and the first cutter fixing short plate and the second cutter fixing short plate are consistent.
As a further improved technical scheme of the technology, two end faces of the first circular wedge knife are parallel to the inner wall of the first driving wheel frame, two end faces of the second circular wedge knife are parallel to the inner wall of the second driving wheel frame, and two end faces of the third circular wedge knife are parallel to the inner wall of the third driving wheel frame.
Drawings
FIG. 1 is an overall structure diagram of an electric stumpage pruning machine based on a metamorphic mechanism in the invention;
FIG. 2 is an overall rear view of an electric stumpage pruning machine based on a metamorphic mechanism according to the present invention;
FIG. 3 is an overall plan view of an electric stumpage pruning machine based on a metamorphic mechanism according to the present invention;
FIG. 4 is a structural diagram 1 of a clamping device of an electric stumpage pruning machine based on a metamorphic mechanism in the invention;
FIG. 5 is a block diagram of a clamping device of an electric stumpage pruning machine based on a metamorphic mechanism in FIG. 2;
FIG. 6 is a structural diagram of a driving device of an electric stumpage pruning machine based on a metamorphic mechanism in the invention;
FIG. 7 is a structural diagram of a cutting device of an electric stumpage pruning machine based on a metamorphic mechanism in the invention;
FIG. 8 is a structural diagram of a fixing device of an electric stumpage pruning machine based on a metamorphic mechanism in the invention;
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly defined.
Referring to fig. 1 and 2, an electric stumpage pruning machine based on a metamorphic mechanism comprises a clamping device 1, a driving device 2, a cutting device 3 and a fixing device 4.
As shown in fig. 4 and 5, the clamping device of the present embodiment includes a first right-turning frame section 5, a second right-turning frame section 6, a third right-turning frame section 7, a first left-turning frame section 8, a second left-turning frame section 9, a first left-connecting rod section 10, a second left-connecting rod section 11, a third left-connecting rod section 12, a fourth left-connecting rod section 13, a first frame section 14, a second frame section 15, a first section end plate 16, a second section end plate 17, a third section end plate 18, a fourth section end plate 19, a fifth section end plate 20, a sixth section end plate 21, a seventh section end plate 22, an eighth section end plate 23, a first inner hinge 24, a second inner hinge 25, a third inner hinge 26, a fourth inner hinge 27, a first outer hinge 28, a second outer hinge 29, a third outer hinge 30, a fourth outer hinge 31, a right connecting rod 32, an outer connecting block 33, an outer hinge 34, a first driving wheel frame 35, a second driving wheel frame 36, and a third driving wheel frame 37; the upper end of a first right revolving frame section bar 5 is fixed with a first section bar end plate 16, the lower end of the first right revolving frame section bar 5 is fixed with a second section bar end plate 17, one side of the lower end of the first right revolving frame section bar 5 is fixed with a second right revolving frame section bar 6, the inner side of the first right revolving frame section bar 5 is fixed with the outer end of a first outer hinge element 28, the inner side of the second right revolving frame section bar 6 is fixed with the outer end of a first inner hinge element 24, the other end of the second right revolving frame section bar 6 is fixed with a third right revolving frame section bar 7, the other end of the third right revolving frame section bar 7 is fixed with a first driving wheel frame 35, the outer end of the first left revolving frame section bar 8 is fixed with a third section bar end plate 18, the other end of the first left revolving frame section bar 8 is fixed with the second right revolving frame section bar 6, the inner side outer end of the first left revolving frame section bar 8 is fixed with the outer end of a second inner hinge element 25, the inner side of the first left revolving frame section bar 8 is fixed with the outer end of a second outer hinge element 29, the inner side of the first left revolving frame section bar 8 is fixed with the outer end plate, the other side of the first left connecting bar 13, the other end plate is fixed with a left section bar 21, the left connecting bar 10, the other end plate 12 is fixed with the left connecting bar 12, the left connecting bar 21 connecting bar, the left connecting bar 13, the left connecting bar fixed with the left connecting bar 13, the left connecting bar 12, the left connecting bar 13, the left connecting bar fixed with the left connecting bar 13 and the left connecting bar fixed with the left connecting bar 13, the inner end of the second frame section 15 is fixed with the left side of the third driving wheel frame 37, the outer end of the second frame section 15 is fixed with the eighth section end plate 23, the other side of the eighth section end plate 23 is fixed with the outer end of the fourth outer hinge part 31, the first inner hinge part 24 is hinged with the third outer hinge part 30, the second inner hinge part 25 is hinged with the fourth outer hinge part 31, the third inner hinge part 26 is hinged with the second outer hinge part 29, the fourth inner hinge part 27 is hinged with the left end of the outer connecting block 33, one end of the right connecting rod 32 is hinged with the right end of the outer connecting block 33, the other end of the right connecting rod 32 is hinged with the first outer hinge part 28, the middle end of the outer connecting block 33 is hinged with one end of the outer rotating rod 34, and the other end of the outer rotating rod 34 is fixed with the transmission shaft pin 45.
As shown in fig. 6, the driving device of the present embodiment includes a first in-wheel motor 38, a second in-wheel motor 39, a third in-wheel motor 40, a fourth in-wheel motor 41, a fifth in-wheel motor 42, a sixth in-wheel motor 43, a worm gear speed reduction dc motor 44, and a transmission shaft pin 45; the central shafts of the first and second in-wheel motors 39 are fixed on the upper and lower sides of the first driving wheel frame 35, the central shafts of the third and fourth in-wheel motors 41 are fixed on the upper and lower sides of the second driving wheel frame 36, the central shafts of the fifth and sixth in-wheel motors 43 are fixed on the upper and lower sides of the third driving wheel frame 37, the worm gear speed-reducing direct current motor 44 is fixed on the upper side of the upper end plate of the motor fixing frame 61, the worm gear speed-reducing direct current motor 44 is circumferentially fixed with the D-shaped hole of the transmission shaft pin 45, and the transmission shaft pin 45 is hinged with the lower end plate of the motor fixing frame 61.
As shown in fig. 7, the cutting apparatus of the present embodiment includes a first circular wedge 46, a second circular wedge 47, a third circular wedge 48, a first tool fixing groove block 49, a second tool fixing groove block 50, a third tool fixing groove block 51, a fourth tool fixing groove block 52, a fifth tool fixing groove block 53, a sixth tool fixing groove block 54, a first tool fixing short plate 55, a second tool fixing short plate 56, a first tool fixing long plate 57, a second tool fixing long plate 58, a third tool fixing long plate 59, a fourth tool fixing long plate 60; the bottom end of a first tool fixing long plate 57 is fixed to the left inner wall of a first driving wheel frame 35, the bottom end of a second tool fixing long plate 58 is fixed to the right inner wall of the first driving wheel frame 35, the bottom end of a first tool fixing short plate 55 is fixed to the left inner wall of a second driving wheel frame 36, the bottom end of a second tool fixing short plate 56 is fixed to the right inner wall of the second driving wheel frame 36, the bottom end of a third tool fixing long plate 59 is fixed to the left inner wall of a third driving wheel frame 37, the bottom end of a fourth tool fixing long plate 60 is fixed to the right inner wall of the third driving wheel frame 37, the bottom end of the first tool fixing slot block 49 is fixed to the top end of the first tool fixing long plate 57, the bottom end of the second tool fixing slot block 50 is fixed to the top end of the second tool fixing long plate 58, the bottom end of the third tool fixing slot block 51 is fixed to the top end of the first tool fixing short plate 55, the bottom end of the fourth tool fixing slot block 52 is fixed to the top end of the second tool fixing short plate 56, the bottom end of the fifth tool fixing slot block 53 is fixed to the top end of the third tool fixing long plate 59, the bottom end of the sixth tool fixing slot block 54 is fixed to the fourth tool fixing slot block 54, the first tool fixing wedge block 54 is fixed to the first tool fixing slot block 46, the third tool fixing wedge block 48 is fixed to the first tool fixing slot block 46, and the third tool fixing inner slot block 48.
As shown in fig. 8, the fixing device of the present embodiment has a motor fixing frame 61; the vertical plate of the motor fixing frame 61 is fixed with the outer side of the lower end of the third driving wheel frame 37.
As shown in fig. 4 and 5, the first right-turn frame profile 5, the second right-turn frame profile 6, the third right-turn frame profile 7, the first left-turn frame profile 8, the second left-turn frame profile 9, the first left connecting rod profile 10, the second left connecting rod profile 11, the third left connecting rod profile 12, the fourth left connecting rod profile 13, the first frame profile 14 and the second frame profile 15 are of the same profile specification, and the first frame profile 14 and the second frame profile 15 are of the same structure; the first section end plate 16, the second section end plate 17, the third section end plate 18, the fourth section end plate 19, the fifth section end plate 20, the sixth section end plate 21, the seventh section end plate 22 and the eighth section end plate 23 have the same structure and are all rectangular plates; the first inner hinge 24, the second inner hinge 25, the third inner hinge 26 and the fourth inner hinge 27 have the same structure and are hinges with inner hinge holes and contact surfaces at the upper side and the lower side of the middle extending block; the first outer hinge 28, the second outer hinge 29, the third outer hinge 30 and the fourth outer hinge 31 have the same structure and are hinges with inner hinge holes, and the lower surfaces of the upper side outer extending blocks and the upper surfaces of the lower side outer extending blocks are contact surfaces; the first driving wheel frame 35, the second driving wheel frame 36 and the third driving wheel frame 37 have the same structure and are all sheet metal parts with punched holes.
As shown in FIG. 4, the right connecting rod 32 and the outer rotating rod 34 have the same height and are equal to the distance between the upper and lower overhanging blocks of the outer connecting block 33.
As shown in fig. 6, the first in-wheel motor 38, the second in-wheel motor 39, the third in-wheel motor 40, the fourth in-wheel motor 41, the fifth in-wheel motor 42, and the sixth in-wheel motor 43 have the same structure, and are inner rotor type in-wheel motors with a planetary gear set therein.
As shown in fig. 7, the first circular wedge 46, the second circular wedge 47 and the third circular wedge 48 have the same structure, and are all circular wedge type with a circumferential angle of 180 degrees and a wedge angle of 30 degrees; the first cutter fixing groove block 49, the second cutter fixing groove block 50, the third cutter fixing groove block 51, the fourth cutter fixing groove block 52, the fifth cutter fixing groove block 53 and the sixth cutter fixing groove block 54 are the same in structure and are all strip-shaped parts with grooves at the upper ends and radian; the first cutter fixing short plate 55 and the second cutter fixing short plate 56 have the same structure and are both cut strip-shaped plates; the first tool fixing long plate 57, the second tool fixing long plate 58, the third tool fixing long plate 59 and the fourth tool fixing long plate 60 are identical in structure and are all cut strip-shaped plates.
As shown in fig. 8, the motor fixing frame 61 includes a left vertical plate, a right vertical plate, an upper end plate and a lower end plate; two side surfaces of the upper end plate and the lower end plate are welded between the left vertical plate and the right vertical plate.
As shown in fig. 6, in the fixing manner of all the parts, the outer connecting rod is connected with the transmission shaft pin 45 in a flat key manner in the circumferential direction, the worm gear speed reduction direct current motor 44 is fixed with the motor fixing frame 61 by screws, the central shaft of each hub motor is fixed with the corresponding driving wheel frame by bolts, each circular wedge knife is fixed with the corresponding inner groove of the knife fixing groove block by bolts, and the other parts are fixed by welding.
As shown in fig. 4, the installation heights of the first right-turn frame profile 5, the second right-turn frame profile 6, the third right-turn frame profile 7, the first left-turn frame profile 8, the second left-turn frame profile 9, the first frame profile 14 and the second frame profile 15 are consistent, and the installation heights of the second left connecting rod profile 11, the third left connecting rod profile 12 and the fourth left connecting rod profile 13 are consistent; the first inner hinge 24, the second inner hinge 25, the third inner hinge 26, the second outer hinge 29, the third outer hinge 30 and the fourth outer hinge 31 are installed at the same height; the installation center heights of the first outer hinge 28, the right connecting rod 32, the outer connecting block 33, the outer rotating rod 34 and the fourth inner hinge 27 are consistent.
As shown in fig. 4 and 5, each profile end plate can just completely close the hollow end surface of the profile.
As shown in fig. 4, in each hinge joint, except the revolute pair where the transmission shaft pin 45 is located, the other hinge joints adopt a shaft pin and a cotter pin.
As shown in fig. 4, the top end face of the first driving wheel frame 35 is aligned with the top end face of the third right revolving frame section bar 7, the outer side face of the first driving wheel frame 35 is aligned with the outer side face of the third right revolving frame section bar 7, the bottom end face of the second driving wheel frame 36 is aligned with the bottom end face of the second left revolving frame section bar 9, the outer side face of the second driving wheel frame 36 is aligned with the outer side face of the second left revolving frame section bar 9, the bottom end face of the third driving wheel frame 37 is aligned with the bottom end faces of the first and second frame section bars 15, and the outer side face of the third driving wheel frame 37 is aligned with the outer side lines of the first and second frame section bars 15.
As shown in fig. 4, the top end face of the first inner hinge 24 is flush with the top end face of the second right rotating frame section 6, the top end face of the second inner hinge 25 is flush with the top end face of the first left rotating frame section 8, the side face of the second inner hinge 25 is flush with the side face of the port of the first left rotating frame section 8, the top end face of the third inner hinge 26 is flush with the top end face of the first left connecting rod section 10, the outer side face of the third inner hinge 26 is flush with the outer side face of the first left connecting rod section 10, the top end face of the fourth inner hinge 27 is flush with the top end face of the fourth left connecting rod section 13, and the outer side face of the fourth inner hinge 27 is flush with the outer side face of the fourth left connecting rod section 13; the bottom end face of the first outer hinge 28 and the bottom end face of the first right revolving frame section bar 5, the inner side face of the first outer hinge 28 and the inner side face of the port of the first right revolving frame section bar 5, the top end face of the second outer hinge 29 and the top end face of the first left revolving frame section bar 8, the top end face of the third outer hinge 30 and the top end face of the first right revolving frame section bar 5, the inner side face of the third outer hinge 30 and the inner side face of the port of the first frame section bar 14, the top end face of the fourth outer hinge 31 and the top end face of the second right revolving frame section bar 6, and the inner side face of the fourth outer hinge 31 and the inner side face of the port of the second frame section bar 15 are flush.
As shown in fig. 4 and 7, the left side surface of the bottom end of the first tool fixing long plate 57 coincides with the left inner wall of the first driving wheel carrier 35, the bottom end surface of the first tool fixing long plate 57 coincides with the inner wall of the first driving wheel carrier 35, the bottom end of the second tool fixing long plate 58 coincides with the right inner wall of the first driving wheel carrier 35, the left side surface of the bottom end of the third tool fixing long plate 59 coincides with the left inner wall of the second driving wheel carrier 36, the bottom end surface of the third tool fixing long plate 59 coincides with the inner wall of the second driving wheel carrier 36, the bottom end surface of the fourth tool fixing long plate 60 coincides with the right inner wall of the second driving wheel carrier 36, the bottom end surface of the fifth tool fixing long plate coincides with the left inner wall of the third driving wheel carrier 37, the bottom end surface of the fifth tool fixing long plate coincides with the inner wall of the third driving wheel carrier 37, and the bottom end surface of the sixth tool fixing long plate coincides with the inner wall of the third driving wheel carrier 37.
As shown in fig. 7, the first and second tool fixing long plates 57 and 58, the third and fourth tool fixing long plates 59 and 60, and the first and second tool fixing short plates 55 and 56 are installed at the same height.
As shown in fig. 4 and 7, two end surfaces of the first circular wedge 46 and the inner wall of the first driving wheel frame 35, two end surfaces of the second circular wedge 47 and the inner wall of the second driving wheel frame 36, and two end surfaces of the third circular wedge 48 and the inner wall of the third driving wheel frame 37 are parallel.
The working process of the embodiment is as follows: a worker holds the first rack profile 14 and the second rack profile 15 by hand, the machine is placed at the root of a tree trunk, the clamping device 1 and the driving device 2 start to work, the worm and gear speed reduction direct current motor 4 starts to rotate forwards to drive the transmission shaft pin 45 to rotate, further the outer rotating rod 34 is driven to rotate anticlockwise around the transmission shaft pin (the view angle of the top view is 3), the outer connecting block 33 hinged with the outer rotating rod 34 also moves along with the worm and gear speed reduction direct current motor 4 to drive the whole metamorphic mechanism to move, so that the first driving wheel frame 35 and the second driving wheel frame 36 rotate towards the tree trunk until the first wheel hub motor 38, the second wheel hub motor 39, the third wheel hub motor 40, the fourth wheel hub motor 41, the fifth wheel hub motor 42 and the sixth wheel hub motor 43 which are fixedly connected with the tree trunk are in tight contact, the pressing force meeting the design requirements is generated on the tree trunk, and meanwhile, the first arc wedge 46, the second arc wedge 47 and the third arc wedge 48 on the first driving wheel frame 35, the second driving wheel frame 36 and the third driving wheel frame 37 are driven to the position to be jointed with the bark to be worked. The first in-wheel motor 38, the second in-wheel motor 39, the third in-wheel motor 40, the fourth in-wheel motor 41, the fifth in-wheel motor 42 and the sixth in-wheel motor 43 in the driving device 2 start to rotate forward, and the in-wheel motors drive the machine to ascend under the condition that the clamping device 1 provides enough pressing force for each in-wheel motor. And all the side branches are cut by the arc wedge knives in the ascending process. When the machine reaches a predetermined position, the in-wheel motor starts to rotate in reverse, and the machine starts to descend until the initial position and stops. When the worker goes onto the first frame section 14 and the second frame section 15 again, the worm and gear speed reduction direct current motor 4 starts to rotate reversely, so that the first driving wheel frame 35 and the second driving wheel frame 36 rotate far away from the trunk until the initial positions, and pruning of one tree is completed.
The invention can control the pruning time of a tree within 15 seconds, can adapt to the artificial fast-growing industrial timber forest with the trunk diameter of 15-25 cm, and has the maximum pruning diameter of 2 cm. The clamping device based on the metamorphic mechanism can realize the self-adaptive limiting function so as to ensure that the trees with different trunk diameters can generate pressing force meeting the requirements, and the grouped hub motors arranged in a dispersed mode can meet the most compact size limitation on the premise of providing enough torque. The whole machine has high working efficiency, strong adaptability, greatly improved reliability and portability and great utilization value.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (15)
1. An electric standing tree pruning machine based on a metamorphic mechanism is characterized by comprising a clamping device, a driving device, a cutting device and a fixing device;
the clamping device comprises a first right rotating frame section, a second right rotating frame section, a third right rotating frame section, a first left rotating frame section, a second left rotating frame section, a first left connecting rod section, a second left connecting rod section, a third left connecting rod section, a fourth left connecting rod section, a first machine frame section, a second machine frame section, a first section end plate, a second section end plate, a third section end plate, a fourth section end plate, a fifth section end plate, a sixth section end plate, a seventh section end plate, an eighth section end plate, a first inner hinge part, a second inner hinge part, a third inner hinge part, a fourth inner hinge part, a first outer hinge part, a second outer hinge part, a third outer hinge part, a fourth outer hinge part, a right connecting rod, an outer connecting block, an outer rotating rod, a first driving wheel frame, a second driving wheel frame and a third driving wheel frame; the upper end of a first right rotating frame section bar is fixed with a first section bar end plate, the lower end of the first right rotating frame section bar is fixed with a second section bar end plate, one side of the upper end of the first right rotating frame section bar is fixed with a second right rotating frame section bar, the inner side of the lower end of the first right rotating frame section bar is fixed with the outer end of a first outer articulated element, the inner side of the second right rotating frame section bar is fixed with the outer end of a first inner articulated element, the other end of the second right rotating frame section bar is fixed with a third right rotating frame section bar, the other end of the third right rotating frame section bar is fixed with a first driving wheel frame, the outer end of the first left rotating frame section bar is fixed with a third section bar end plate, the other end of the first left rotating frame section bar is fixed with a second left rotating frame section bar, the outer end of the inner side of the first left rotating frame section bar is fixed with the outer end of a second inner articulated element, the inner side of the first left rotating frame section bar is fixed with the outer end of a second outer articulated element, the inner side of the first left rotating frame section bar is fixed with a second driving wheel frame section bar, the upper end of a first left connecting rod section bar is fixed with a fourth section bar end plate, the lower end of the first left connecting rod section bar is fixed with a fifth section bar end plate, the outer side of the upper end of the first left connecting rod section bar is fixed with a third inner articulated piece, the other side of the lower end of the first left connecting rod section bar is fixed with a second left connecting rod section bar, the other end of the second left connecting rod section bar is fixed with a third left connecting rod section bar, the other end of the third left connecting rod section bar is fixed with a fourth left connecting rod section bar, the other end of the fourth left connecting rod section bar is fixed with a sixth section bar end plate, the other side of the sixth section bar end plate is fixed with the outer end of the fourth inner articulated piece, the inner end of the first frame section bar is fixed with the right side of a third driving wheel frame, the outer end of the first frame section bar is fixed with a seventh section bar end plate, the other side of the seventh section bar end plate is fixed with the outer end of the third outer articulated piece, the inner end of the second frame section bar is fixed with the left side of the third driving wheel frame, the outer end plate is fixed with an eighth section bar end plate, the other side of the eighth section end plate is fixed with the outer end of a fourth outer hinge element, a first inner hinge element is hinged with a third outer hinge element, a second inner hinge element is hinged with a fourth outer hinge element, a third inner hinge element is hinged with a second outer hinge element, a fourth inner hinge element is hinged with the left end of an outer connecting block, one end of a right connecting rod is hinged with the right end of the outer connecting block, the other end of the right connecting rod is hinged with the first outer hinge element, the middle end of the outer connecting block is hinged with one end of an outer rotating rod, and the other end of the outer rotating rod is fixed with a transmission shaft pin;
the driving device comprises a first hub motor, a second hub motor, a third hub motor, a fourth hub motor, a fifth hub motor, a sixth hub motor, a worm and gear speed reduction direct current motor and a transmission shaft pin; the central shafts of the first and second wheel hub motors are fixed on the upper and lower sides of the first driving wheel frame, the central shafts of the third and fourth wheel hub motors are fixed on the upper and lower sides of the second driving wheel frame, the central shafts of the fifth and sixth wheel hub motors are fixed on the upper and lower sides of the third driving wheel frame, the worm and gear speed reduction direct current motor is fixed on the upper side of the upper end plate of the motor fixing frame, the worm and gear speed reduction direct current motor is circumferentially fixed with a D-shaped hole of a transmission shaft pin, and the transmission shaft pin is hinged with the lower end plate of the motor fixing frame;
the cutting device comprises a first arc wedge cutter, a second arc wedge cutter, a third arc wedge cutter, a first cutter fixing groove block, a second cutter fixing groove block, a third cutter fixing groove block, a fourth cutter fixing groove block, a fifth cutter fixing groove block, a sixth cutter fixing groove block, a first cutter fixing short plate, a second cutter fixing short plate, a first cutter fixing long plate, a second cutter fixing long plate, a third cutter fixing long plate and a fourth cutter fixing long plate; the bottom end of a first cutter fixing long plate is fixed with the inner wall of the left side of a first driving wheel carrier, the bottom end of a second cutter fixing long plate is fixed with the inner wall of the right side of the first driving wheel carrier, the bottom end of a first cutter fixing short plate is fixed with the inner wall of the left side of a second driving wheel carrier, the bottom end of a second cutter fixing short plate is fixed with the inner wall of the right side of the second driving wheel carrier, the bottom end of a third cutter fixing long plate is fixed with the inner wall of the left side of a third driving wheel carrier, the bottom end of a fourth cutter fixing long plate is fixed with the inner wall of the right side of the third driving wheel carrier, the bottom end of a first cutter fixing groove block is fixed with the top end of the first cutter fixing long plate, the bottom end of the second cutter fixing groove block is fixed with the top end of the second cutter fixing long plate, the bottom end of a third cutter fixing groove block is fixed with the top end of a first cutter fixing short plate, the bottom end of a fourth cutter fixing groove block is fixed with the top end of a second cutter fixing short plate, the bottom end of a fifth cutter fixing groove block is fixed with the top end of a third cutter fixing long plate, the bottom end of a sixth cutter fixing groove block is fixed with the top end of a fourth cutter fixing long plate, a first arc wedge cutter is fixed with an inner groove of the first cutter fixing groove block and an inner groove of the second cutter fixing groove block, a second arc wedge cutter is fixed with an inner groove of the third cutter fixing groove block and an inner groove of the fourth cutter fixing groove block, and a third arc wedge cutter is fixed with the inner groove of the fifth cutter fixing groove block and the inner groove of the sixth cutter fixing groove block;
the fixing device is provided with a motor fixing frame; the motor fixing frame vertical plate is fixed with the outer side of the lower end of the third driving wheel frame.
2. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: the first right-turning frame profile, the second right-turning frame profile, the third right-turning frame profile, the first left-turning frame profile, the second left-turning frame profile, the first left connecting rod profile, the second left connecting rod profile, the third left connecting rod profile, the fourth left connecting rod profile, the first frame profile and the second frame profile are identical in specification, and the first frame profile and the second frame profile are identical in structure; the first section end plate, the second section end plate, the third section end plate, the fourth section end plate, the fifth section end plate, the sixth section end plate, the seventh section end plate and the eighth section end plate are of the same structure and are all rectangular plates; the first inner hinge part, the second inner hinge part, the third inner hinge part and the fourth inner hinge part have the same structure and are hinge parts with inner hinge holes and contact surfaces at the upper side and the lower side of the middle extending block; the first outer hinge part, the second outer hinge part, the third outer hinge part and the fourth outer hinge part have the same structure and are hinge parts with inner hinge holes, and the lower surfaces of the upper side outer extending blocks and the upper surfaces of the lower side outer extending blocks are contact surfaces; the first driving wheel carrier, the second driving wheel carrier and the third driving wheel carrier are identical in structure and are sheet metal parts with punched holes.
3. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: the right connecting rod and the outer rotating rod are identical in height and equal to the distance between the outer extending blocks on the upper side and the lower side of the outer connecting block.
4. The electric stumpage pruning machine based on metamorphic mechanism according to claim 1, characterized in that: the first hub motor, the second hub motor, the third hub motor, the fourth hub motor, the fifth hub motor and the sixth hub motor have the same structure and are all inner rotor type hub motors with built-in planetary reducers.
5. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: the first arc wedge knife, the second arc wedge knife and the third arc wedge knife have the same structure, and are all arc wedge knives with 180-degree circumferential angles and 30-degree wedge angles; the first cutter fixing groove block, the second cutter fixing groove block, the third cutter fixing groove block, the fourth cutter fixing groove block, the fifth cutter fixing groove block and the sixth cutter fixing groove block are of the same structure and are all strip-shaped parts with radian, and the upper ends of the strip-shaped parts are provided with grooves; the first cutter fixing short plate and the second cutter fixing short plate have the same structure and are both cut strip-shaped plates; the first cutter fixing long plate, the second cutter fixing long plate, the third cutter fixing long plate and the fourth cutter fixing long plate are identical in structure and are all cut strip-shaped plates.
6. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: the motor fixing frame comprises a left vertical plate, a right vertical plate, an upper end plate and a lower end plate; two side surfaces of the upper end plate and the lower end plate are welded between the left vertical plate and the right vertical plate.
7. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: among all the fixing modes of the parts, the outer rotating rod is connected with the transmission shaft pin in a flat key mode in the circumferential direction, the worm and gear speed reduction direct current motor is fixed with the motor fixing frame through screws, the central shaft of each hub motor is fixed with the corresponding driving wheel frame through bolts, each arc wedge cutter is fixed with the corresponding cutter fixing groove block inner groove through bolts, and the other parts are fixed through welding.
8. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: the top end surfaces of the first right-turning frame section bar, the second right-turning frame section bar and the third right-turning frame section bar are parallel and level, the mounting heights of the first left-turning frame section bar, the second left-turning frame section bar, the first frame section bar and the second frame section bar are consistent, and the mounting heights of the second left connecting rod section bar, the third left connecting rod section bar and the fourth left connecting rod section bar are consistent; the mounting heights of the first inner hinge piece, the second inner hinge piece, the third inner hinge piece, the second outer hinge piece, the third outer hinge piece and the fourth outer hinge piece are consistent; the installation center height of the first outer hinge part, the right connecting rod, the outer connecting block, the outer rotating rod and the fourth inner hinge part is consistent.
9. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: and each section end plate can just completely close the hollow end surface of the section.
10. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: in each hinged part, except the rotating pair where the transmission shaft pin is located, the other hinged parts all adopt shaft pins and split pins.
11. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: the top end face of the first driving wheel frame is aligned with the top end face of a third right rotating frame section bar, the outer side face of the first driving wheel frame is aligned with the outer side face of the third right rotating frame section bar, the bottom end face of the second driving wheel frame is aligned with the bottom end face of the second left rotating frame section bar, the outer side face of the second driving wheel frame is aligned with the outer side face of the second left rotating frame section bar, the bottom end face of the third driving wheel frame is aligned with the bottom end faces of the first frame section bar and the second frame section bar, and the outer side face of the third driving wheel frame is aligned with the outer side lines of the first frame section bar and the second frame section bar.
12. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: the bottom end face of the first inner hinge part and the bottom end face of the second right rotating frame section bar, the top end face of the second inner hinge part and the top end face of the first left rotating frame section bar, the side face of the second inner hinge part and the side face of the port of the first left rotating frame section bar, the top end face of the third inner hinge part and the top end face of the first left connecting rod section bar, the outer side face of the third inner hinge part and the outer side face of the first left connecting rod section bar, the top end face of the fourth inner hinge part and the top end face of the fourth left connecting rod section bar, and the outer side face of the fourth inner hinge part and the outer side face of the fourth left connecting rod section bar are flush; the bottom end face of the first outer hinge part and the bottom end face of the first right rotating frame section bar, the inner side face of the first outer hinge part and the inner side face of the port of the first right rotating frame section bar, the top end face of the second outer hinge part and the top end face of the first left rotating frame section bar, the top end face of the third outer hinge part and the top end face of the first frame section bar, the inner side face of the third outer hinge part and the inner side face of the port of the first frame section bar, the top end face of the fourth outer hinge part and the top end face of the second frame section bar, and the inner side face of the fourth outer hinge part and the inner side face of the port of the second frame section bar are parallel and level.
13. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: the left side surface of the bottom end of the first cutter fixed long plate is superposed with the inner wall surface of the left side of the first driving wheel carrier, the bottom end surface of the first cutter fixed long plate is superposed with the inner wall surface of the middle of the first driving wheel carrier, the right side surface of the bottom end of the second cutter fixed long plate is superposed with the inner wall surface of the right side of the first driving wheel carrier, the bottom end surface of the second cutter fixed short plate is superposed with the inner wall surface of the left side of the second driving wheel carrier, the bottom end surface of the first cutter fixed short plate is superposed with the inner wall surface of the middle of the second driving wheel carrier, the right side surface of the bottom end of the second cutter fixed short plate is superposed with the inner wall surface of the middle of the second driving wheel carrier, the left side surface of the bottom end of the third cutter fixed long plate is superposed with the inner wall surface of the left side of the third driving wheel carrier, the bottom end surface of the third cutter fixed long plate is superposed with the inner wall surface of the middle of the third driving wheel carrier, the right side surface of the bottom end of the fourth cutter fixed long plate is superposed with the inner wall of the right side of the third driving wheel carrier, and the bottom end surface of the fourth cutter fixed long plate is superposed with the inner wall of the middle of the third driving wheel carrier.
14. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: the installation heights of the first cutter fixing long plate and the second cutter fixing long plate, the third cutter fixing long plate and the fourth cutter fixing long plate, and the installation heights of the first cutter fixing short plate and the second cutter fixing short plate are consistent.
15. The electric stumpage pruning machine based on metamorphic mechanism as claimed in claim 1, wherein: two end faces of the first circular wedge knife are parallel to the inner wall surface of the middle of the first driving wheel carrier, two end faces of the second circular wedge knife are parallel to the inner wall surface of the middle of the second driving wheel carrier, and two end faces of the third circular wedge knife are parallel to the inner wall surface of the middle of the third driving wheel carrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110721706.7A CN113366987B (en) | 2021-06-28 | 2021-06-28 | Electric standing tree pruning machine based on metamorphic mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110721706.7A CN113366987B (en) | 2021-06-28 | 2021-06-28 | Electric standing tree pruning machine based on metamorphic mechanism |
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| CN113366987A CN113366987A (en) | 2021-09-10 |
| CN113366987B true CN113366987B (en) | 2023-03-17 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6188823A (en) * | 1984-10-08 | 1986-05-07 | 開成工業株式会社 | Pruning method and machine |
| JPH10191811A (en) * | 1997-01-10 | 1998-07-28 | Mitsubishi Heavy Ind Ltd | Rotary tooth elevating type automatic pruning machine |
| ITTO20060261A1 (en) * | 2006-04-07 | 2007-10-08 | Torino Politecnico | PRUNING MACHINE |
| CN106602461B (en) * | 2016-12-05 | 2018-06-26 | 东北大学 | Convertible Bian Bao mobile mechanisms |
| CN107128387B (en) * | 2017-03-24 | 2018-12-04 | 广西大学 | A kind of automation stepping is climbed tree saw formula training robot |
| CN109819798B (en) * | 2019-03-15 | 2021-03-30 | 广西大学 | Eucalyptus pruning machine for increasing climbing force by utilizing self gravity |
| CN110122102B (en) * | 2019-06-30 | 2024-04-26 | 南京林业大学 | Tree climbing pruning robot based on flexible cutter |
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