CN221449377U - Felling machine head capable of adjusting felling size and felling machine - Google Patents

Abstract

The utility model discloses a felling machine head and a felling machine with adjustable felling size, wherein the felling machine head comprises: the telescopic main arm is fixedly connected with an adapter seat, the telescopic auxiliary arm is matched with the telescopic main arm to form a telescopic mechanism, and a hydraulic power mechanism for controlling the telescopic auxiliary arm to extend or retract is arranged on the telescopic main arm; the clamping and sawing heads are provided with a plurality of groups and are connected to the outer side wall of the telescopic main arm in an adjustable position; the propelling movement centre gripping head, propelling movement centre gripping head are located flexible end of flexible auxiliary arm and are connected with flexible auxiliary arm through the spring, and propelling movement centre gripping head propelling movement timber is cut out the timber of saw different specification and dimension by multiunit centre gripping cutting saw head, and feller includes running gear, mechanical folding arm and connector, and mechanical folding arm passes through the connector and connects the adapter and then realize the control to cutting the aircraft nose gyration and turn over, the utility model discloses simple structure, it is high-efficient to cut, can cut out the timber of different specification and dimension simultaneously, and does not hinder bark, crooked trees also can use.

Description

Felling machine head capable of adjusting felling size and felling machine

Technical Field

The utility model belongs to the technical field of timber felling and conveying, and particularly relates to a felling machine head and a felling machine capable of adjusting the length and the length of felling and pushing by clamping and stretching.

Background

The felling machine is a multi-working-station machine for felling work, and is mainly used for felling, pruning, piling, collecting, loading and unloading, short-distance transporting and other felling work procedures. The felling area combines single operations and is completed by one or a plurality of machines, so that the production period is shortened, the operation intensity is reduced, the labor productivity is improved, and the existing felling machine needs to install or replace different felling heads according to the needs of customers so as to complete the operations with different functions.

The harvester heads are generally two types, one type can realize harvesting, sawing and stacking; the other harvester head can realize harvesting, branch removing, fixed-length sawing and stacking. However, in practical use, the following problems exist:

Firstly, when a bent tree is cut, the existing machine head cannot adapt to deformation to hurt the bark, so that the subsequent use of the wood is affected; secondly, the existing machine heads are cut at fixed length, wood with different specifications and sizes cannot be cut at the same time, and the working requirement is single; thirdly, when the existing nose wheel conveys the curved trees, the existing nose wheel is blocked and cannot effectively convey the curved trees forwards.

Therefore, how to provide a felling machine head and a felling machine with adjustable felling size is a problem to be solved by those skilled in the art.

Disclosure of utility model

In view of the above, the utility model provides a felling machine head and a felling machine with adjustable felling sizes, which can simultaneously obtain woods with various specifications and can also cut bent trees, solve the problems that the existing felling machine can only cut the bent trees at fixed length and hurt the bark, and the device is more in line with the operation requirements of modern forest areas.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a harvester head of adjustable cut wood size comprising:

The telescopic main arm is fixedly connected with an adapter seat, and the adapter seat can be connected with a mechanical folding arm on the walking equipment;

The telescopic auxiliary arm is matched with the telescopic main arm to form a telescopic mechanism, and a hydraulic power mechanism for controlling the telescopic auxiliary arm to extend or retract is arranged on the telescopic main arm;

The clamping saw heads are provided with a plurality of groups and are connected to the outer side wall of the telescopic main arm in an adjustable interval;

the pushing clamping head is located at the telescopic end of the telescopic auxiliary arm and connected with the telescopic auxiliary arm through a spring, and the pushing clamping head pushes wood and cuts out wood with different specifications and sizes by the multiple groups of clamping cutting saw heads.

The beneficial effects of the utility model are as follows: the telescopic auxiliary arm and the telescopic main arm are matched to form a telescopic mechanism, a plurality of groups of clamping saw heads on the telescopic main arm are used for clamping and sawing timber, and when the telescopic auxiliary arm is specifically installed, the positions of the plurality of groups of clamping saw heads can be adjusted, and the telescopic auxiliary arm and the telescopic main arm are locked after the positions are determined, so that timber with different sizes can be obtained; the pushing clamping head on the telescopic auxiliary arm is used for clamping and pushing wood, when the wood needs to be sawed, the pushing clamping head moves back and forth along with the telescopic auxiliary arm, the pushing clamping head controls the clamping state in the moving process, further wood pushing is achieved, the wood stretches out of the clamping sawing head at the far end for a distance, meanwhile, multiple groups of clamping sawing heads are operated to work, multiple sections of wood with different specifications are obtained, the wood sections between two adjacent groups of clamping sawing heads and the wood sections stretching out of the clamping sawing head at the far end can be sawed out according to the pushing size of the pushing clamping head, modernized operation requirements are met, meanwhile, due to the fact that the pushing clamping head is connected with the telescopic auxiliary arm through springs, the pushing clamping head is not in rigid connection, deformation can be adapted, and the wood pushing clamping head can be suitable for cutting and pushing of bent trees.

Preferably, the telescopic main arm and the telescopic auxiliary arm are box-shaped arms, one end, extending out of the telescopic auxiliary arm, of the telescopic main arm is connected with a roller row in a rotating mode, and the other end, extending out of the telescopic auxiliary arm, of the telescopic auxiliary arm is connected with the roller row in a rotating mode.

The technical effects produced by the method are as follows: the roller row provides a sliding foundation of the telescopic main arm and the telescopic auxiliary arm, so that the telescopic auxiliary arm can reciprocate in the telescopic main arm.

Preferably, the telescopic main arm is rotationally connected with a plurality of groups of roller rows and is respectively positioned at two sides of the telescopic auxiliary arm, the roller row end part corresponding to the telescopic main arm is provided with a limiting block for limiting the telescopic auxiliary arm to shake left and right, the two side walls of the telescopic auxiliary arm are rotationally connected with a plurality of groups of roller rows, and each group of roller row on the telescopic auxiliary arm is in sliding connection with the inner side wall of the telescopic main arm.

The technical effects produced by the method are as follows: the friction between flexible auxiliary arm and flexible main arm can be reduced to multiunit roller row of opposite arrangement, and the roller row tip on the flexible main arm has the stopper, prevents rocking about flexible auxiliary arm when flexible, and under the support rotation of multiunit roller row, can reduce the friction relation between flexible main arm and the flexible auxiliary arm, the resistance when flexible auxiliary arm stretches out and draws back that flexible auxiliary arm also can be stable.

Preferably, the hydraulic power mechanism comprises a telescopic auxiliary arm power cylinder, a sliding seat and pull ropes, wherein the telescopic auxiliary arm power cylinder is arranged on the outer side wall of the telescopic main arm in parallel, the sliding seat is correspondingly connected to the outer side wall of the telescopic main arm in a sliding manner in the telescopic direction of the telescopic auxiliary arm, the telescopic end of the telescopic auxiliary arm power cylinder is connected with the sliding seat and drives the sliding seat to reciprocate, two ends of the telescopic main arm are respectively connected with rope pulleys in a rotating manner, two pull ropes are arranged, one ends of the two pull ropes are fixed on the sliding seat, the other ends of the two pull ropes respectively bypass one rope pulley and are fixedly connected with the telescopic auxiliary arm, and the telescopic auxiliary arm stretches out and draws back under the driving of the pull ropes.

The technical effects produced by the method are as follows: the telescopic auxiliary arm power cylinder is a power source for controlling the telescopic auxiliary arm to stretch out and draw back, the sliding seat is slidably connected to the telescopic main arm and provides a connection foundation for the pull ropes, and particularly, the telescopic auxiliary arm realizes reciprocating movement by means of displacement change of the two pull ropes.

Preferably, a transition wheel is rotationally connected to a cylinder seat of the telescopic auxiliary arm power cylinder, a transfer wheel is rotationally connected to the sliding seat, a rope wheel close to the extending end of the telescopic auxiliary arm is a first rope wheel, a rope wheel far away from the extending end of the telescopic auxiliary arm is a second rope wheel, one rope is connected with the telescopic auxiliary arm through the transition wheel, the transfer wheel and the second rope wheel, and the other rope is connected with the telescopic auxiliary arm through the first rope wheel and the transfer wheel;

Under the connection drive of stay cord, flexible auxiliary arm power jar has formed different flexible length ratio with flexible auxiliary arm, two the one end of stay cord is connected respectively on the sliding seat, two the other end of stay cord is connected flexible auxiliary arm's tail end, two stay cord return rings transmission and the flexible removal of control flexible auxiliary arm.

The technical effects produced by the method are as follows: considering that the telescopic travel of the telescopic auxiliary arm power cylinder is limited, the telescopic auxiliary arm power cylinder is connected through two pull ropes, and the telescopic length ratio of the telescopic auxiliary arm power cylinder and the telescopic auxiliary arm is changed, so that the telescopic distance of the telescopic auxiliary arm is prolonged, the two pull ropes are driven in a loop mode, the driving effect that you go back and I go back is achieved, and therefore when one pull rope is displaced, the other pull rope can effectively compensate the displacement, and dynamic balance of the two pull ropes is achieved.

Preferably, a track is arranged at the bottom of the outer side of the telescopic main arm, a plurality of groups of clamping saw heads are connected to the track, and the positions among the clamping saw heads are adjusted by bolts.

The technical effects produced by the method are as follows: the multiple groups of clamping saw heads are connected to the track, and the installation positions can be adjusted according to the requirements to obtain different wood cutting distances.

Preferably, the clamping saw head and the pushing clamping head are both provided with clamping arm mechanisms for clamping wood, each clamping arm mechanism comprises a mounting seat, an arc clamping arm body and a clamping arm oil cylinder, the mounting seat on the clamping saw head is connected to a track on the outer side of the telescopic main arm, the mounting seat on the pushing clamping head is fixedly connected with a spring, the arc clamping arm bodies are connected in groups in pairs, one ends of the arc clamping arm bodies are respectively connected to the mounting seat through shaft rotation, the arc clamping arm bodies are connected through gear transmission and can be synchronously split or synchronously involuted, the cylinder seat of each clamping arm oil cylinder is hinged to the mounting seat, and the working end of each clamping arm oil cylinder is hinged to one end of one arc clamping arm body and controls the opening and closing of the arc clamping arm bodies in groups.

The technical effects produced by the method are as follows: the pushing clamping head is in flexible connection with the telescopic auxiliary arm through the spring connection, so that the pushing clamping head has certain shaking redundancy, can adapt to clamping and pushing bent wood, meanwhile, the arc-shaped clamping arm body can adapt to the cylindrical shape of the wood, bark is not damaged in the pushing process, and the two groups of arc-shaped clamping arm bodies are simultaneously opened or simultaneously buckled under the driving of the clamping arm oil cylinder, so that the effects of clamping and loosening the wood are achieved.

Preferably, a scraper for pruning branches is fixed on the concave side of the arc-shaped clamping arm body, which is close to the wood.

The technical effects produced by the method are as follows: the scraper on the arc-shaped clamping arm body can remove branches on the wood, so that the wood is trimmed.

Preferably, the wood diameter measuring mechanism is arranged on the clamping and cutting head and comprises a middle shaft, a meshing wheel and an encoder, the middle shaft is rotationally connected to the mounting seat, the meshing wheel is fixed on the middle shaft and is in transmission connection with one end of the arc-shaped clamping arm body, and the encoder is fixed on the middle shaft and detects the diameter of the wood according to the opening and closing angle of the arc-shaped clamping arm body.

The technical effects produced by the method are as follows: under the action of the encoder, the diameter size of the wood can be obtained by utilizing the opening and closing angles of the two groups of arc-shaped clamping arm bodies.

Preferably, one side of the mounting seat corresponding to the clamping and sawing head is rotationally connected with a wood length measuring wheel, a wheel frame is mounted on the wood length measuring wheel, the wheel frame is rotationally connected to one side of the mounting seat through a pin shaft, a torsion spring for controlling the wheel frame to swing up and down is arranged on the pin shaft, the torsion spring enables the wood length measuring wheel to be in frictional contact with the surface of the wood, or an oil cylinder for controlling the wheel frame to swing is arranged on the mounting seat, and further the wood length measuring wheel is in frictional contact with the surface of the wood; the wheel shaft of the wood length measuring wheel is provided with an encoder, wood is pushed under the clamping of the telescopic auxiliary arm and the pushing clamping head, and in the wood pushing process, the wood length measuring wheel rotates and calculates the wood length according to the rotation number of the wood length measuring wheel and the circumference of the wood length measuring wheel.

The technical effects produced by the method are as follows: the timber length measuring wheel relies on the encoder to measure the length dimension that timber saw was broken, and the wheel carrier relies on round pin axle and torsional spring to connect on the mount pad, perhaps the wheel carrier swings under the control of hydro-cylinder for timber length measuring wheel and timber frictional contact avoid skidding and idle running, guarantee to have real measurement data.

Preferably, the sawmilling mechanism is installed to the opposite side of centre gripping saw head corresponding mount pad, sawmilling mechanism includes connecting seat, chain saw and control chain saw work head wobbling hydro-cylinder, the connecting seat is fixed to be located the opposite side of mount pad, chain saw swing joint is in on the connecting seat, the hydro-cylinder is fixed on the connecting seat, the flexible end of hydro-cylinder is connected with link assembly, link assembly is connected with the motor on the chain saw and controls chain saw work head and makes a round trip to swing towards timber cut-off direction.

The technical effects produced by the method are as follows: the chain saw is used for sawing wood, and one end of the chain saw can swing up and down under the control of the oil cylinder, so that the sawing process of the wood is realized.

Preferably, the chain saw comprises a saw motor, a chain wheel, a chain, a guide plate and cutter teeth, wherein the saw motor provides power, the chain wheel drives the chain to rotate, the guide plate is used for supporting and guiding the chain, and the cutter teeth are fixed on the chain and are responsible for cutting wood; the guide plate and the chain form a working head of the chain saw;

The saw motor is connected with the connecting rod assembly, the saw motor rotates under the action of the oil cylinder, and meanwhile, the working head of the chain saw rotates along with the cutting direction of the chain and guides the cutter teeth to cut wood through high-speed rotation of the chain.

The technical effects produced by the method are as follows: the oil cylinder controls the saw motor to rotate, so that the working head of the chain saw rotates along with the saw motor, and in the process, the high-speed rotating chain drives the cutter teeth to cut wood.

Preferably, a control station is arranged on the connecting seat and is respectively connected with the oil cylinder, the clamping arm oil cylinder, the telescopic auxiliary arm power cylinder and the saw motor in a circuit manner, and the control station changes an oil way through a circuit control hydraulic reversing valve so as to control the working states of the clamping arm oil cylinder, the telescopic auxiliary arm power cylinder and the oil cylinder; the control station controls the hydraulic reversing valve through a circuit to adjust an oil way so as to control the working state of the saw motor.

The technical effects produced by the method are as follows: the control station changes the oil circuit state through circuit control hydraulic pressure switching-over valve, and then drives the hydro-cylinder, realizes the swing of chain saw work head, and the saw motor is started to the control station accessible circuit, and saw motor provides rotary power for the chain, accomplishes the saw to timber and breaks, and the control station drives the arm lock hydro-cylinder through control oil circuit, and the action of opening and shutting is realized to two sets of arc arm lock bodies, and the control station drives flexible auxiliary arm power cylinder through control oil circuit for flexible auxiliary arm stretches out or draws back, realizes the reciprocating motion of propelling movement gripping head.

The utility model also discloses a felling machine which is characterized by comprising a felling machine head, walking equipment, a connector, a hydraulic control system and an electric control system, wherein the walking equipment is provided with a multi-joint mechanical folding arm, and the connector is connected with an execution end of the mechanical folding arm; the adapter is connected to the connector and establishes a movable connection relation between the harvester head and the mechanical folding arm; the hydraulic control system is used for controlling the working states of the mechanical folding arm, the connector and the harvester head, and the electric control system is connected with a hydraulic reversing valve assembly in the hydraulic control system through electric signals.

The technical effects produced by the method are as follows: under the cooperation of walking equipment and multi-joint mechanical folding arm, felling machine adaptation forest work, convenient to use, work efficiency is high, under the connected action of mechanical folding arm and connector, felling aircraft nose can reach the preset position and realize the felling and the saw of trees.

Preferably, the connector comprises a transition connector, a rotary gear shaft, an oil circuit shunt, a driving motor and a hydraulic driver, wherein the transition connector is used for transitionally connecting the mechanical folding arm and the rotary gear shaft, and the rotary gear shaft can rotate relative to the mechanical folding arm; the oil way diverter is positioned in the transitional connecting body and realizes node transition of the hydraulic oil way,

The rotary gear shaft is rotationally connected to the bottom of the transition connector, the driving motor is connected with the electric control system, the driving motor is fixed on the transition connector, an output shaft of the driving motor is in transmission connection with the rotary gear shaft, one end of the hydraulic driver is hinged to the outer side wall of the rotary gear shaft, the other end of the hydraulic driver is hinged to the adapter seat, the bottom end of the rotary gear shaft is fixedly connected with the top of the adapter seat, the hydraulic driver, the rotary gear shaft and the adapter seat form a multi-connecting-rod mechanism, the rotary gear shaft is used for rotating the harvester head, and the hydraulic driver is used for turning over the harvester head.

The technical effects produced by the method are as follows: the connector has the functions of turning and folding, and under the action of the hydraulic control system, the harvester head can turn and fold, so that the wood can be laid down and positioned.

Preferably, the walking equipment is wheeled walking equipment or crawler-type walking equipment, the walking equipment is provided with a power motor and an oil pump, the oil pump converts mechanical energy of the power motor into hydraulic energy and drives the harvester head to work through a hydraulic control system, and the control station and the hydraulic driver can be communicated with an oil way in the hydraulic control system through the oil way diverter.

The technical effects produced by the method are as follows: the hydraulic energy is provided by a power motor and an oil pump on the walking equipment, the hydraulic energy is a power source of the whole hydraulic control system, and due to the rotation effect of the connector, the reliable connection of the system oil way and the split flow of the oil way are ensured by using the oil way splitter, so that the oil way communication relation of related hydraulic parts is realized.

Preferably, the top of the rotary gear shaft is fixedly connected with a large gear, an output shaft of the driving motor is connected with a small gear and used for reducing transmission, and the small gear is meshed with the large gear and forms a reducing transmission mechanism.

The technical effects produced by the method are as follows: the rotation of the rotary gear shaft is realized by the meshing of the driving motor and the big and small gears, and the power transmission is reliable.

Preferably, the mechanical folding arm is composed of a plurality of groups of joint arms, the movable connection parts of the joint arms are respectively provided with a transition connecting rod, two ends of each transition connecting rod are respectively hinged to the end parts of the adjacent joint arms, each joint arm is provided with a hydraulic oil cylinder, the working state of each hydraulic oil cylinder is controlled by a hydraulic control system, the working ends of the hydraulic oil cylinders are hinged to the transition connecting rods, the hydraulic oil cylinders and the adjacent joint arms form a multi-connecting-rod mechanism, and the adjacent joint arms can be folded to be in a parallel state.

Drawings

FIG. 1 is a first block diagram of a harvester head of the present utility model with adjustable wood size;

FIG. 2 is a second block diagram of a harvester head of the present utility model with adjustable wood size;

FIG. 3 is a diagram showing a first structure of a clamping and sawing head of a harvester head with adjustable wood cutting size;

FIG. 4 is a second block diagram of a clamping and sawing head of a harvester head with adjustable wood cutting size;

FIG. 5 is a block diagram of a push clamp head of a harvester head with adjustable wood cutting size according to the utility model;

FIG. 6 is a schematic view of a hydraulic power unit of a harvester head with adjustable wood size in the state of no telescopic main arm according to the utility model;

FIG. 7 is a block diagram of a logging machine according to the present utility model;

FIG. 8 is a schematic view of a connector of a logging machine according to the present utility model;

FIG. 9 is a schematic view of a mechanical folding arm of a logging machine according to the present utility model;

Fig. 10 is a schematic diagram of a mechanical folding arm of a logging machine according to the present utility model.

1 Telescopic main arm, 2 adapter, 3 running equipment, 4 mechanical folding arm, 41 transition connecting rod, 5 telescopic auxiliary arm, 6 hydraulic power mechanism, 61 telescopic auxiliary arm power cylinder, 62 sliding seat, 63 stay rope, 64 middle rotating wheel, 65 first rope sheave, 66 second rope sheave, 67 transition wheel, 7 clamping saw head, 8 pushing clamping head, 9 roller row, 10 spring, 11 arm clamping mechanism, 1101 mount pad, 1102 arc arm clamping body, 1103 arm clamping cylinder, 1104 scraper, 12 timber diameter measuring mechanism, 121 jackshaft, 122 meshing wheel, 13 timber length measuring wheel, 14 wheel frame, 15 encoder, 16 saw mechanism, 161 connecting seat, 162, 163 cylinder, 164 connecting rod assembly, 17 control station, 18 connector, 181 transition connector, 182 slewing gear shaft, 183 driving motor, 184 hydraulic driver.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1 to 10 of the drawings, a harvester head for adjusting the size of a cut wood according to an embodiment of the utility model comprises:

The telescopic main arm 1, the telescopic main arm 1 is fixedly connected with the adapter seat 2, the adapter seat 2 can be connected with the mechanical folding arm 4 on the walking equipment 3, and the adapter seat 2 is a connection foundation of the harvester head and the mechanical folding arm 4;

The telescopic auxiliary arm 5 is matched with the telescopic main arm 1 to form a telescopic mechanism, the telescopic auxiliary arm 5 is slidably connected inside the telescopic main arm 1, a hydraulic power mechanism 6 for controlling the telescopic auxiliary arm 5 to extend or retract is arranged on the telescopic main arm 1, the telescopic auxiliary arm is controlled to extend or retract through the hydraulic power mechanism, and a limiting block is arranged on the telescopic auxiliary arm to ensure that the telescopic end of the telescopic auxiliary arm is always positioned outside the telescopic main arm;

The clamping and sawing heads 7 are provided with two groups or three groups or more groups, in the embodiment, two groups of clamping and sawing heads are taken as an example, the clamping and sawing heads 7 are connected to the outer side wall of the telescopic main arm 1 at intervals, and in the actual use process, the plurality of groups of clamping and sawing heads 7 can adjust the installation interval, and the distance is fixed on the telescopic main arm after the interval is adjusted;

The pushing clamping head 8 is positioned at the telescopic end of the telescopic auxiliary arm 5 and is connected with the telescopic auxiliary arm 5 through the spring 10, the pushing clamping head can reciprocate under the action of the telescopic auxiliary arm to realize the feeding process, the spring has the effects that the pushing clamping head and the telescopic auxiliary arm are in flexible connection, have a certain shake redundancy and can adapt to deformation, so that the harvester head can adapt to the harvest of a bent tree, the pushing clamping head 8 pushes the wood and cuts out the wood with different specification sizes by the plurality of groups of clamping sawing heads 7, and the timber can be understood to be simultaneously sawed under the action of the plurality of groups of clamping sawing heads to obtain multiple sections of wood with different specifications, including the wood between two adjacent groups of clamping sawing heads, and the wood far away from the clamping sawing heads, so long as the timber is controlled to extend out of the size of the far-end clamping sawing heads.

In other embodiments, the telescopic main arm 1 and the telescopic auxiliary arm 5 are box-shaped arms, so that the structure is strong, the telescopic main arm is stable and reliable, one end, extending out from the telescopic auxiliary arm 5, of the telescopic main arm 1 is rotationally connected with the roller row 9, and the other end, extending out from the telescopic auxiliary arm 5, of the telescopic auxiliary arm 5 is rotationally connected with the roller row 9.

More specifically, the telescopic main arm 1 is rotationally connected with two groups of roller rows 9 and is respectively positioned at two sides of the telescopic auxiliary arm 5, the roller row end part corresponding to the telescopic main arm 1 is provided with limiting blocks for limiting the left and right shaking of the telescopic auxiliary arm, the two side walls of the telescopic auxiliary arm 5 are rotationally connected with two groups of roller rows 9, each group of roller row on the telescopic auxiliary arm is in sliding connection with the inner side wall of the telescopic main arm 1, and of course, the arrangement of the roller rows is for reducing the friction relationship between the telescopic auxiliary arm and the telescopic main arm, and the arrangement positions and the number of the roller rows can be adapted to be adjusted according to actual needs.

In other specific embodiments, the hydraulic power mechanism 6 includes a telescopic auxiliary arm power cylinder 61, a sliding seat 62 and pull ropes 63, the telescopic auxiliary arm power cylinder 61 is arranged on the outer side wall of the telescopic main arm 1 in parallel, the sliding seat 62 is correspondingly connected on the outer side wall of the telescopic main arm 1 in a sliding manner in the telescopic direction of the telescopic auxiliary arm 5, specifically, a rail groove adapted to sliding of the sliding seat is formed in the telescopic main arm, the telescopic end of the telescopic auxiliary arm power cylinder 61 is connected with the sliding seat 62 and drives the sliding seat 62 to reciprocate, two ends of the telescopic main arm 1 are respectively connected with rope pulleys in a rotating manner, one ends of the two pull ropes 63 are fixed on the sliding seat 62, the other ends of the two pull ropes 63 are respectively fixedly connected with the telescopic auxiliary arm 5 by bypassing one rope pulley, the telescopic auxiliary arm 5 is driven by the pull ropes to move in a telescopic manner, the product transmits power by virtue of the pull ropes, on the one hand, the structure based on the connection of the pull ropes is simpler, the installation is convenient, and on the other hand, the influence of the telescopic stroke of the telescopic auxiliary arm power cylinder on the telescopic auxiliary arm is considered.

In other embodiments, a transition wheel 67 is rotatably connected to a cylinder seat of the telescopic auxiliary arm power cylinder 61, a transfer wheel 64 is rotatably connected to a sliding seat 62, a rope wheel close to the extending end of the telescopic auxiliary arm 5 is a first rope wheel 65, a rope wheel far away from the extending end of the telescopic auxiliary arm 5 is a second rope wheel 66, one rope passes through the transition wheel 67, the transfer wheel 64 and the second rope wheel 66 first and then is connected with the telescopic auxiliary arm 5, the other rope passes through the first rope wheel, the telescopic auxiliary arm is connected after the rope passes through the transfer wheel and winds the first rope wheel, and the two ropes enable the telescopic auxiliary arm power cylinder and the telescopic auxiliary arm to have a telescopic length ratio of 1:3, that is, the telescopic stroke of the telescopic auxiliary arm power cylinder can be enlarged by 3 times under the action of the rope, and the telescopic stroke of the telescopic auxiliary arm is improved;

In the actual use process, based on the wiring relation of the pull rope, the telescopic auxiliary arm power cylinder and the telescopic auxiliary arm can also have different telescopic length ratios; one end of two stay wires 63 is connected respectively on sliding seat 62, the other end of two stay wires 63 is connected respectively and is kept away from the one end of propelling movement gripping head 8 at flexible auxiliary arm 5, two stay wires loop transmission has the same displacement volume, form "you come me, you move back me into" effect, effectively guarantee that the other end displacement volume of two stay wires is dynamic balance, in addition, the other end of two stay wires is close to the tail end arrangement of flexible auxiliary arm, guarantee the extension length of flexible auxiliary arm as far as, otherwise another stay wire can influence the extension stroke of flexible auxiliary arm, because the reciprocal winding relation of stay wire, consider to use the multirow wheel.

In other embodiments, a track is arranged at the bottom of the outer side of the telescopic main arm 1, a plurality of groups of clamping saw heads 7 are connected to the track, and the positions among the groups of clamping saw heads 7 are adjusted by using bolts.

In other specific embodiments, the clamping saw head 7 and the pushing clamping head 8 are both provided with a clamping arm mechanism 11 for clamping wood, the clamping arm mechanism 11 comprises a mounting seat 1101, an arc-shaped clamping arm body 1102 and a clamping arm oil cylinder 1103, the mounting seat on the clamping saw head 7 is connected to a track on the outer side of a telescopic main arm, the mounting seat on the pushing clamping head 8 is fixedly connected with a spring 10, the arc-shaped clamping arm bodies 1102 are in groups, one ends of the arc-shaped clamping arm bodies are respectively connected to the mounting seat 1101 in a rotating way, the two groups of arc-shaped clamping arm bodies 1102 are connected through a gear transmission way and can be synchronously split or synchronously involuted, in particular, one ends of the two arc-shaped clamping arm bodies are respectively fixed with shafts which are respectively connected to the mounting seat in a rotating way, and the gear transmission way is adopted between the two shafts;

The cylinder seat of the arm clamping cylinder 1103 is hinged with the mounting seat 1101, and the working end of the arm clamping cylinder 1103 is hinged at one end of one arc-shaped arm clamping body and controls the opening and closing of the two groups of arc-shaped arm clamping bodies 1102. In addition, the rotation of the end shaft of the arc-shaped clamping arm body can be controlled, and the opening and closing of the two groups of arc-shaped clamping arm bodies can be realized;

the bottom of mount pad is equipped with the clamp plate, can cooperate two arc arm-lock bodies to hold around timber, does not hinder the bark in the propelling movement in-process.

In other embodiments, the curved clamping arm 1102 has a blade 1104 secured to the concave side of the wood for trimming the branches. The pushing clamping head can remove branches and trim wood in the reciprocating movement process.

In other embodiments, the wood diameter measuring mechanism 12 is mounted on the clamping and sawing head 7, the wood diameter measuring mechanism 12 comprises a middle shaft 121, an engaging wheel 122 and an encoder, the middle shaft 121 is rotatably connected to the mounting seat 1101, the engaging wheel 122 is fixed on the middle shaft 121, the engaging wheel 122 is in transmission connection with a shaft at one end of the arc-shaped clamping arm body 1102, and the encoder is fixed on the middle shaft and detects the diameter of the wood according to the opening and closing angle of the arc-shaped clamping arm body 1102.

In other embodiments, a wood length measuring wheel 13 is rotatably connected to one side of a mounting seat 1101 corresponding to the clamping and sawing head 7, a wheel frame 14 is mounted on the wood length measuring wheel 13, the wheel frame 14 is rotatably connected to one side of the mounting seat 1101 through a pin shaft, a torsion spring for controlling the wheel frame to swing up and down is arranged on the pin shaft, so that the wood length measuring wheel can be adaptively abutted against the wood surface, or an oil cylinder for controlling the wheel frame to swing is arranged on the mounting seat 1101, and further, the wood length measuring wheel 13 is in friction contact with the wood surface; an encoder 15 is connected to the axle of the wood length measuring wheel 13. The timber realizes the propelling movement under flexible auxiliary arm and propelling movement gripping head's centre gripping, and in timber propelling movement in-process, timber length measurement wheel 13 rotates and calculates timber length according to timber length measurement wheel's rotation week number and its girth.

In other embodiments, the saw mechanism 16 is installed on the other side of the clamping saw head 7 corresponding to the installation seat, the saw mechanism 16 comprises a connecting seat 161, a chain saw 162 and an oil cylinder 163 for controlling the swing of the working head of the chain saw, the connecting seat 161 is fixedly arranged on the other side of the installation seat 1101, the chain saw 162 is movably connected to the connecting seat 161, the oil cylinder 163 is fixedly arranged on the connecting seat 161, the telescopic end of the oil cylinder 163 is connected with a connecting rod assembly 164, and the other end of the connecting rod assembly 164 is connected with a motor on the chain saw and drives the working head of the chain saw 162 to swing back and forth towards the timber cutting direction so as to complete the sawing of timber.

Specifically, the chain saw 162 includes a saw motor, a sprocket, a chain, a guide plate, and a cutter tooth, the saw motor providing power, the sprocket driving the chain to rotate, the guide plate supporting and guiding the chain, the cutter tooth being fixed to the chain and responsible for cutting wood, the guide plate and the chain forming a working head of the chain saw;

The saw motor is connected with the connecting rod assembly 164, and under the action of the oil cylinder 163, the saw motor rotates, the working head of the chain saw rotates along with the saw motor and guides the cutting direction of the chain, and the high-speed rotation of the chain drives the cutter teeth to cut wood.

In other embodiments, the connecting seat 161 is provided with a control station 17, the control station 17 is respectively connected with the oil cylinder 163, the arm clamping oil cylinder 1103, the telescopic auxiliary arm power cylinder 61 and the saw motor line, and the control station 17 changes an oil way by controlling a hydraulic reversing valve through the line so as to control the working states of the arm clamping oil cylinder, the telescopic auxiliary arm power cylinder and the oil cylinder; the control station 17 controls the hydraulic directional valve through a circuit to adjust the oil path so as to control the working state of the saw motor.

The utility model also discloses a felling machine, which comprises the felling machine head, a traveling device 3, a connector 18, a hydraulic control system and an electric control system, wherein the traveling device 3 is chain traveling device or wheel traveling device, the traveling device is provided with a multi-joint mechanical folding arm, and the connector 18 is connected with the execution end of the mechanical folding arm 4; the adapter seat 2 is connected to the connector 18 and establishes a movable connection relation between the harvester head and the mechanical folding arm; the hydraulic control system is used for controlling the working states of the mechanical folding arm 4, the connector 18 and the harvester head, and the electric control system is connected with valve components in the hydraulic control system through electric signals.

In other embodiments, the connection head 18 includes a transitional connection body 181, a revolving gear shaft 182, an oil circuit diverter, a driving motor 183, and a hydraulic driver 184, where the transitional connection body 181 is used to transitional connect the mechanical folding arm 4 and the revolving gear shaft 182, and the revolving gear shaft 182 can rotate relative to the mechanical folding arm 4; the oil circuit diverter is positioned in the transitional connecting body 181 and realizes the node transition of the hydraulic oil circuit,

The rotary gear shaft 182 rotates to be connected in the bottom of transition connector 181, driving motor 183 is connected with electrical system, driving motor 183 is fixed on transition connector 181 and driving motor's output shaft is connected with rotary gear shaft 182 transmission, the one end of hydraulic driver 184 articulates on rotary gear shaft 182's lateral wall, hydraulic driver 184's the other end articulates on adapter seat 2, rotary gear shaft 182's bottom links firmly with adapter seat 2's top, hydraulic driver 184, rotary gear shaft 182 and adapter seat 2 form many link mechanisms, rotary gear shaft 182 is used for the rotary harvester head, hydraulic driver 184 is used for turning over the harvester head.

The walking equipment 3 is provided with a power motor and an oil pump, the oil pump converts the mechanical energy of the power motor into hydraulic energy and drives the harvester head to work through a hydraulic control system, and the control station and the hydraulic driver can be communicated with an oil way in the hydraulic control system through an oil way shunt.

In other embodiments, a large gear is fixedly connected to the top of the slewing gear shaft 182, and a small gear is connected to the output shaft of the driving motor 183 and is used for reduction transmission, and the small gear and the large gear are meshed to form a reduction transmission mechanism.

The mechanical folding arm 4 is composed of a plurality of groups of joint arms, the movable connection parts of the joint arms are respectively provided with a transition connecting rod 41, two ends of each transition connecting rod 41 are respectively hinged to the end parts of the adjacent joint arms, each joint arm is provided with a hydraulic oil cylinder, the working state of each hydraulic oil cylinder is controlled by a hydraulic control system, the working ends of the hydraulic oil cylinders are hinged to the transition connecting rods 41, the hydraulic oil cylinders and the adjacent joint arms form a multi-connecting-rod mechanism, and the adjacent joint arms can be folded to be in a parallel state.

The specific using process comprises the following steps:

When a tree is cut, the walking equipment walks to a preset position, the mechanical folding arm firstly controls the position of the cutting machine head close to the root, the clamping saw head close to the root cuts the tree, then the tree is laid down under the action of the mechanical folding arm and the connector, at the moment, a plurality of groups of clamping saw heads clamp the wood together, the pushing clamping head moves towards one end of the crown, the clamping arm mechanism pushing the clamping head is slightly loosened in the moving process, branches can be removed in the process, then the pushing clamping head is controlled to tighten, when the wood needs to be pushed, the pushing clamping head clamps, the clamping saw head is slightly loosened, the clamping saw head is pushed back by a certain distance under the driving of the telescopic auxiliary arm, the wood stretches out of the clamping saw head at the far end, after the wood is pushed in place, the clamping saw head clamps the cut wood, and then the process is circulated;

When determining the required cut-off size of wood according to needs, the pull-back distance of the pushing clamping heads can be controlled, the interval distance between the clamping saw heads can be controlled to obtain the wood with different specifications at the same time, so that the method is suitable for the operation requirement of modern forest areas, the bark is complete in the process, the wood size is accurately measured, the cut-off efficiency is high, and the method is suitable for being popularized and used in the forest areas on a large scale.

For the device and the use method disclosed in the embodiments, since the device and the use method correspond to the method disclosed in the embodiments, the description is relatively simple, and the relevant places refer to the description of the method section.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (18)

1. A harvester head of adjustable wood size, characterized by comprising:

The telescopic main arm (1), the telescopic main arm (1) is fixedly connected with an adapter seat (2), and the adapter seat (2) can be connected with a mechanical folding arm (4) on the walking equipment (3);

The telescopic auxiliary arm (5), the telescopic auxiliary arm (5) is matched with the telescopic main arm (1) to form a telescopic mechanism, and a hydraulic power mechanism (6) for controlling the telescopic auxiliary arm (5) to extend or retract is arranged on the telescopic main arm (1);

the clamping and cutting heads (7) are provided with a plurality of groups and are connected to the outer side wall of the telescopic main arm (1) in an adjustable interval distance;

The pushing clamping head (8), pushing clamping head (8) are located flexible end of flexible auxiliary arm (5) and through spring (10) with flexible auxiliary arm (5) are connected, timber is cut out by multiunit centre gripping cutting saw head (7) cutting saw to the timber of different specification sizes to pushing clamping head (8) propelling movement timber.

2. The harvester head with adjustable wood cutting size according to claim 1, wherein the telescopic main arm (1) and the telescopic auxiliary arm (5) are box-shaped arms, one end, extending out of the telescopic main arm (1), of the telescopic auxiliary arm (5) is rotationally connected with a roller row (9), and the other end, extending out of the telescopic auxiliary arm (5), of the telescopic auxiliary arm (5) is rotationally connected with the roller row (9).

3. The harvester head with adjustable wood cutting size according to claim 2, wherein a plurality of groups of roller rows (9) are rotatably connected to the telescopic main arm (1) and are respectively located at two sides of the telescopic auxiliary arm (5), limiting blocks for limiting left and right shaking of the telescopic auxiliary arm are arranged at the ends of the roller rows corresponding to the telescopic main arm (1), a plurality of groups of roller rows (9) are rotatably connected to two side walls of the telescopic auxiliary arm (5), and each group of roller rows on the telescopic auxiliary arm are slidably connected with the inner side wall of the telescopic main arm (1).

4. The harvester head with adjustable wood cutting size according to claim 1, wherein the hydraulic power mechanism (6) comprises a telescopic auxiliary arm power cylinder (61), a sliding seat (62) and pull ropes (63), the telescopic auxiliary arm power cylinder (61) is arranged on the outer side wall of the telescopic main arm (1) in parallel, the sliding seat (62) is correspondingly connected to the telescopic auxiliary arm (5) in a sliding manner on the outer side wall of the telescopic main arm (1), the telescopic end of the telescopic auxiliary arm power cylinder (61) is connected with the sliding seat (62) and drives the sliding seat (62) to reciprocate, two ends of the telescopic main arm (1) are respectively connected with rope pulleys in a rotating manner, two pull ropes (63) are respectively fixed on the sliding seat (62), the other ends of the two pull ropes (63) respectively bypass one rope pulley to be fixedly connected with the telescopic auxiliary arm (5), and the telescopic auxiliary arm (5) is driven by the two pull ropes (63) to move in a sliding manner.

5. The harvester head with adjustable wood cutting size according to claim 4, wherein a transition wheel (67) is rotatably connected to a cylinder seat of the telescopic auxiliary arm power cylinder (61), a middle rotating wheel (64) is rotatably connected to the sliding seat (62), a rope wheel close to the extending end of the telescopic auxiliary arm (5) is a first rope wheel (65), a rope wheel far away from the extending end of the telescopic auxiliary arm (5) is a second rope wheel (66), one rope is connected with the telescopic auxiliary arm (5) through the transition wheel (67), the transition wheel (64) and the second rope wheel (66), and the other rope is connected with the telescopic auxiliary arm (5) through the first rope wheel (65) and the middle rotating wheel (64);

Under the connection drive of stay cord, flexible auxiliary arm power jar (61) has formed different flexible length ratio with flexible auxiliary arm (5), and two one end of stay cord (63) is connected respectively on sliding seat (62), two the other end of stay cord (63) is connected the tail end of flexible auxiliary arm (5), two stay cord return ring transmission and the flexible removal of control flexible auxiliary arm (5).

6. A harvester head with adjustable wood cutting size according to claim 1, characterized in that the outer bottom of the telescopic main arm (1) is provided with a track, a plurality of groups of clamping saw heads (7) are connected to the track, and the positions among the plurality of groups of clamping saw heads (7) are adjusted by bolts.

7. A harvester head with adjustable wood cutting size according to claim 6, characterized in that the clamping saw head (7) and the pushing clamping head (8) are both provided with a clamping arm mechanism (11) for clamping wood;

the clamping arm mechanism (11) comprises mounting seats (1101), arc-shaped clamping arm bodies (1102) and clamping arm oil cylinders (1103), the mounting seats on the clamping cutting saw head (7) are connected to the tracks on the outer side of the telescopic main arm, the mounting seats on the pushing clamping head (8) are fixedly connected with springs (10), the arc-shaped clamping arm bodies (1102) are connected to the corresponding mounting seats (1101) in groups in a pair mode, one ends of the arc-shaped clamping arm bodies (1102) are connected to the corresponding mounting seats (1101) in a rotating mode through shafts, the two groups of the arc-shaped clamping arm bodies (1102) are connected through gear transmission and can be synchronously split or synchronously involuted, the cylinder seats of the clamping arm oil cylinders (1103) are hinged to the mounting seats (1101), and the working ends of the clamping arm oil cylinders (1103) are hinged to one ends of one arc-shaped clamping arm bodies and are controlled to be combined in groups so that the arc-shaped clamping arm bodies (1102) are opened and closed.

8. A harvester head with adjustable wood dimensions according to claim 7, characterized in that the curved clamping arm body (1102) is fixed with a scraper (1104) for trimming branches close to the concave side of the wood.

9. The harvesting machine head with adjustable wood cutting size according to claim 7, wherein a wood diameter measuring mechanism (12) is installed on the clamping and cutting head (7), the wood diameter measuring mechanism (12) comprises an intermediate shaft (121), a meshing wheel (122) and an encoder, the intermediate shaft (121) is rotatably connected to the mounting seat (1101), the meshing wheel (122) is fixed on the intermediate shaft (121), the meshing wheel (122) is in transmission connection with one end of the arc-shaped clamping arm body (1102), and the encoder is fixed on the intermediate shaft and detects the diameter of the wood according to the opening and closing angle of the arc-shaped clamping arm body (1102).

10. The felling machine head with the adjustable wood cutting size according to claim 7, wherein one side of a mounting seat (1101) corresponding to the clamping and sawing head (7) is rotationally connected with a wood length measuring wheel (13), a wheel frame (14) is mounted on the wood length measuring wheel (13), the wheel frame (14) is rotationally connected to one side of the mounting seat (1101) through a pin shaft, a torsion spring for controlling the wheel frame to swing up and down is arranged on the pin shaft, the torsion spring enables the wood length measuring wheel (13) to be in frictional contact with the surface of the wood, or an oil cylinder for controlling the wheel frame to swing is arranged on the mounting seat (1101), so that the wood length measuring wheel (13) is in frictional contact with the surface of the wood; the wheel shaft of the wood length measuring wheel (13) is provided with an encoder (15), wood is pushed under the clamping of the telescopic auxiliary arm and the pushing clamping head, and in the wood pushing process, the wood length measuring wheel (13) rotates and calculates the wood length according to the rotation number of the wood length measuring wheel and the circumference of the wood length measuring wheel.

11. The felling head with adjustable wood cutting size according to claim 10, wherein the clamping cutting head (7) is provided with a wood sawing mechanism (16) corresponding to the other side of the mounting seat, the wood sawing mechanism (16) comprises a connecting seat (161), a chain saw (162) and an oil cylinder (163) for controlling the swinging of a working head of the chain saw, the connecting seat (161) is fixedly arranged on the other side of the mounting seat (1101), the chain saw (162) is movably connected to the connecting seat (161), the oil cylinder (163) is fixedly arranged on the connecting seat (161), a telescopic end of the oil cylinder (163) is connected with a connecting rod assembly (164), and the connecting rod assembly (164) is connected with a motor on the chain saw (162) and controls the working head of the chain saw (162) to swing back and forth towards the wood cutting direction.

12. A harvester head of adjustable cut wood size according to claim 11, characterized in that the chain saw (162) comprises a saw motor, a sprocket, a chain, a guide plate and a cutter tooth, the saw motor providing power, the sprocket driving the chain in rotation, the guide plate being adapted to support and guide the chain, the cutter tooth being fixed to the chain and being responsible for cutting wood, the guide plate and the chain constituting a working head of the chain saw;

the saw motor is connected with the connecting rod assembly (164), and driven by the oil cylinder (163), the saw motor rotates, the working head of the chain saw rotates along with the saw motor and guides the cutting direction of the chain, and the high-speed rotation of the chain drives the cutter teeth to cut wood.

13. The harvesting machine head with adjustable wood cutting size according to claim 12, wherein a control station (17) is arranged on the connecting seat (161), the control station (17) is respectively connected with an oil cylinder (163), a clamping arm oil cylinder (1103), a telescopic auxiliary arm power cylinder (61) and a saw motor line, and the control station (17) changes an oil way through a line control hydraulic reversing valve so as to control the working states of the clamping arm oil cylinder, the telescopic auxiliary arm power cylinder and the oil cylinder; the control station (17) controls the hydraulic reversing valve through a circuit to adjust an oil way so as to control the working state of the saw motor.

14. A felling machine, characterized by comprising a felling machine head, a travelling device (3), a connector (18), a hydraulic control system and an electric control system according to any one of claims 1-13, wherein the travelling device (3) is provided with a multi-joint mechanical folding arm, and the connector (18) is connected with an execution end of the mechanical folding arm (4); the adapter seat (2) is connected to the connector (18) and establishes a movable connection relation between the harvester head and the mechanical folding arm; the hydraulic control system is used for controlling the working states of the mechanical folding arm (4), the connector (18) and the harvester head, and the electric control system is connected with a hydraulic reversing valve assembly in the hydraulic control system through electric signals.

15. A logging machine according to claim 14, characterized in that the connection head (18) comprises a transitional connection body (181), a swivel gear shaft (182), an oil circuit diverter, a drive motor (183) and a hydraulic drive (184), the transitional connection body (181) being used for transitional connection of the mechanical folding arm (4) and the swivel gear shaft (182), the swivel gear shaft (182) being rotatable relative to the mechanical folding arm (4); the oil circuit diverter is positioned in the transition connector (181) and realizes node transition of a hydraulic oil circuit;

The rotary gear shaft (182) is rotationally connected to the bottom of the transition connector (181), the driving motor (183) is connected with an electric control system, the driving motor (183) is fixed on the transition connector (181) and an output shaft of the driving motor is in transmission connection with the rotary gear shaft (182), one end of the hydraulic driver (184) is hinged to the outer side wall of the rotary gear shaft (182), the other end of the hydraulic driver (184) is hinged to the adapter seat (2), the bottom end of the rotary gear shaft (182) is fixedly connected with the top of the adapter seat (2), the hydraulic driver (184), the rotary gear shaft (182) and the adapter seat (2) form a multi-link mechanism, the rotary gear shaft (182) is used for rotating the harvester head, and the hydraulic driver (184) is used for turning over the harvester head.

16. A logging machine according to claim 15, characterized in that the travelling equipment (3) is a wheeled travelling equipment or a crawler-type travelling equipment, the travelling equipment (3) is provided with a power motor and an oil pump, the oil pump converts the mechanical energy of the power motor into hydraulic energy and drives the logging machine head to work through a hydraulic control system, and the arranged oil path diverter enables the control station and the hydraulic driver to be communicated with an oil path in the hydraulic control system.

17. A logging machine according to claim 16, characterized in that the top of the rotary gear shaft (182) is fixedly connected with a gearwheel, the output shaft of the drive motor (183) being connected with a pinion for the reduction transmission, the pinion engaging with the gearwheel and forming a reduction transmission.

18. The felling machine according to claim 17, wherein the mechanical folding arm (4) is composed of a plurality of groups of joint arms, the movable joints of the joint arms are respectively provided with a transition connecting rod (41), two ends of each transition connecting rod (41) are respectively hinged to the end parts of the adjacent joint arms, each joint arm is provided with a hydraulic cylinder, the working state of each hydraulic cylinder is controlled by a hydraulic control system, the working ends of the hydraulic cylinders are hinged to the transition connecting rods (41), the hydraulic cylinders and the adjacent joint arms form a multi-connecting-rod mechanism, and the adjacent joint arms can be folded to a parallel state.