JP2000078934A - Cutting machine and unit for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a machine capable of cutting and delimbing trees without requiring a person climbing onto a high place and self-propellable. SOLUTION: This cutting machine has a cutting part 11, an arm part 13, a linearly transferring part 15, a rotation part 17, a going up and down part 21, a dolly part 23 and remote control part 25. The arm part has joints 13d and 13e. The linearly transferring part transfers the arm part and the cutting part along the first direction (e) crossing to a shaft line (d) of a root part 13c of the arm part. The rotation part rotates the arm part, the cutting part and the linearly transferring part around the shaft line (d) or a shaft (f) parallel to the shaft line as a rotation axis. The going up and down part makes the arm part, the cutting part, the linearly transferring part and the rotation part go up and down in one body. The dolly part loads the arm part, the cutting part, the linearly transferring part, the rotation part and the going up and down part, and itself can rotate or self-propellable. The remote control part remote controls a part necessary in the dolly part, the going up and down part, the rotation part, the linearly transferring part and the joints so as the cutting part to be a position suitable for cutting the trees.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a logging device. In particular, the present invention relates to a logging device which is suitable for use in cutting trees close to an overhead power transmission line or a support of the transmission line, not from the root, but from the middle or cutting off the trees.

[0002]

2. Description of the Related Art Cutting trees close to overhead power transmission lines and their supports (hereinafter referred to as "transmission lines, etc.") is an indispensable operation for stable power supply. In this type of work, in recent years, due to the growing awareness of the rights of landowners on the land where transmission lines are installed and the awareness of environmental protection, a method of cutting trees from the minimum necessary position without cutting trees from the roots , So-called middle section cutting and pruning (hereinafter,
These are referred to as “middle cuts, etc.”).

[0003]

However, conventional logging equipment has been developed mainly for forestry.
For this reason, most logging devices are devices for logging mature trees of large diameter trees from the root. That is, it is a device that is arranged at the root of a tree and cuts the tree from the root (for example, a trade name of Cranav, FGS-28 (Forestry Machinery Catalog of Shingu Shoko), a trade name of Tamaki Machine Industry, Harvester TM-35s etc.).

A device for removing branches is also a device that is mounted on a highly straight tree such as a cedar so as to hold the tree, and removes branches while rising (for example, Seirai Kogyo Co., Ltd.). AB350-R).

[0005] As described above, conventionally, there has been no logging device suitable for middle-stage cutting or the like. For this reason, conventionally, a person has used a ladder to perform a middle cutting or the like, and there has always been a risk of personal injury due to a fall or a fall of the ladder.

[0006] In addition, a place where a middle section is desired is often in a mountain area. For this reason, a logging device that is suitable for middle-stage cutting and the like and that can run on a mountain patrol path is desired. However, such a logging device has not been available.

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and accordingly, it is an object of the present invention to provide a logging device capable of self-propelled on a mountain patrol path and capable of middle cutting and the like without a person climbing a high place. To provide.

[0008]

According to a first aspect of the present invention, there is provided a logging device, comprising: an arm having at least two joints, each having a rotation axis about a separate axis parallel to each other; Trees (including branches) connected to the tip of the arm.
Hereinafter, the same in each invention), a cutting portion having a blade for cutting,
A linear moving unit that integrally moves the arm and the cutting unit along a first direction orthogonal to the axis of the root of the arm, and a rotation axis that is an axis of the root of the arm or an axis parallel to the axis. As a whole, the rotating part that rotates the arm and the cutting part integrally, and the arm, the cutting part, the linear moving part, and the rotating part are united, raised from the ground to the height near the desired cutting position of the tree, and the logging operation is completed. After that, an elevating unit that lowers to the ground,
It is equipped with an arm part, a cutting part, a linear moving part, a rotating part and a lifting part, and a bogie part capable of turning and self-propelling,
Remotely operate the necessary sections of the cart unit, lifting unit, rotating unit, linear moving unit and joints of the arm unit so that the cutting unit is in a position suitable for cutting trees, and when cutting trees, A remote control unit for operating the linear moving unit is provided.

According to the logging device of the first aspect of the invention, since the arm is an arm having a predetermined joint, each of the arms (for example, the first to the first to be described later in the embodiment) is formed by these joints. 3
Only by controlling the bending and extension of the arm), it is possible to both adjust the distance between the cut portion and the tree and make the cut portion go around to an arbitrary position around the tree (see FIG. 2 later).
This will be described in detail with reference to (B) and (C). ). In addition, since a predetermined rotating portion is provided, by operating the rotating portion, the blade of the cutting portion can be directed in the direction of cutting the tree. Then, by operating the linear moving unit, the blade of the cutting unit can be cut into the tree, and the tree can be cut.

[0010] In the first aspect of the present invention, the rotating part is provided closer to the elevating part than the arm part. By providing a rotating part at the tip of the arm part, and further providing a cutting part in this rotating part,
A configuration in which only the cutting portion is rotated to adjust the direction of the blade of the cutting portion is also conceivable (third invention described later).
More members for the rotating part are provided at the tip of the arm. When the number of members provided at the distal end of the arm increases, the load on the arm and the joint increases accordingly, so that the arm and the joint need to be enlarged. On the other hand, in the first invention, as described above, since the rotating portion is provided on the elevating portion side with respect to the arm portion, there is no need to provide a member for rotating the cutting portion on the arm portion. The weight of the arms and joints can be reduced accordingly.

In the first aspect, the cutting section, the arm section, the rotating section, and the linear moving section can be raised and lowered by the lifting section, and the cutting section, the arm section, the rotating section, the linear moving section, and the lifting section can be moved up and down. Since the remote operation can be performed by the remote operation unit, the middle section can be cut without a person going to a high place. In addition, since the bogie includes a bogie capable of turning and self-propelling, the cutting device itself can be easily moved.

From these facts, according to the first aspect of the present invention, a logging device which can run on a mountain patrol path by itself and can perform middle-stage cutting without climbing a high place is realized.

The logging device according to the first aspect of the present invention comprises a minimum necessary degree of freedom adjusting mechanism including a joint, a rotating part, and a linear moving part. For this reason, the remote operation when performing the logging operation can also be a simple operation, so that an easy-to-use logging device is realized.

In practicing the first invention, preferably, the linear moving section is mounted on the rotating section, and
The first direction with respect to the linear moving portion is a direction parallel to the rotation axis of the joint of the arm portion, and a chain saw is provided as a cutting portion. The arm is preferably attached to the tip of the arm so as to be perpendicular to a plane including the axis of the tip of the arm and the rotation axis of the joint of the arm tip of the at least two joints.

According to this preferred configuration, details will be described later with reference to FIGS. 1 and 2, but when cutting the trunk of a tree, for example, the rotating unit is rotated by 90 degrees and then the linear moving unit is operated. By doing so, the intended cutting can be performed. Also, when cutting a branch, the joint is operated to move the cutting part to a target position around the trunk (including the case on the back side and side), and then the linear moving part is operated. Can be cut. That is, middle section cutting and the like can be performed with a simple operation.

Further, in the first invention, a cutting portion,
By mounting a unit including an arm, a linear moving unit, a rotating unit, and a remote control unit for remotely controlling these units on an arbitrary lifting / lowering device, the logging device of the first invention can be realized. Therefore, the unit is preferable as a unit for realizing the logging device of the first invention.

(2) According to the logging device of the second invention of the present application, an arm having at least two joints whose rotation axes are separate axes parallel to each other is connected to the tip of the arm. A cutting portion having a blade for cutting the tree, a turning movement portion for turning the arm portion and the cutting portion integrally around a predetermined axis orthogonal to an axis of a root portion of the arm portion, and a turning portion of the arm portion. With the axis of the root part or the axis parallel to this axis as the rotation axis, the rotating part that rotates the arm and the cutting part integrally, and the arm, the cutting part, the turning movement part, and the rotating part are integrated, and the tree from the ground An elevating unit that raises the height to the vicinity of the desired cutting position, and lowers it to the ground after cutting is completed.
It is equipped with an arm, a cutting part, a turning movement part, a rotating part and an elevating part, and a bogie part capable of turning and self-propelling,
Remotely operate a required section of the bogie unit, the lifting unit, the rotating unit, the turning unit, and the joint of the arm unit so that the cutting unit is in a position suitable for cutting trees, and when cutting trees. And a remote control unit for operating the turning movement unit.

According to the logging device of the second invention, the first
Since the logging device having the turning moving unit in place of the linear moving unit of the logging device of the invention of the invention is realized, the method of cutting the blade of the cutting unit into the tree is different from that of the first invention (that is, the turning method). ) Is realized.

In practicing the second invention, it is preferable that the turning section is mounted on the rotating section, and
The predetermined axis in the turning portion is an axis perpendicular to a plane including an axis of a root portion of the arm portion and a rotation axis of a joint of the root portion of the at least two joints, and as a cutting portion. , Equipped with a chainsaw,
The blade was attached to the tip of the arm so that the rotation axis of the blade was perpendicular to a plane including the axis of the tip of the arm and the rotation axis of the joint of the tip of the arm of the at least two joints. The configuration is good.

With this preferred configuration, details will be described later with reference to FIG. 3. When cutting the trunk of a tree, for example, the turning unit is operated by rotating the rotating unit by 90 degrees and then operating the turning unit. The desired cutting can be performed. When cutting a branch, the joint is moved to move the cutting section to a target position around the trunk, and then the turning moving section is operated to perform the target cutting. That is, middle section cutting and the like can be performed with a simple operation.

Further, in the second invention, a cutting portion,
By mounting a unit including an arm, a turning movement unit, a rotation unit, and a remote control unit for remotely controlling these units on an arbitrary lifting / lowering device, the logging device of the second invention can be realized. Therefore, this unit is preferable as a unit for realizing the logging device of the second invention.

(3) Further, according to the logging device of the third invention of this application, an arm having at least two joints whose rotation axes are separate axes parallel to each other, and connected to the tip of the arm. A cutting section control section for independently performing an operation of rotating a cutting section for cutting a tree around an axis of a tip portion of an arm section as a rotation axis and an operation of turning about an axis orthogonal to this axis as a rotation center; The cutting section attached to the section control section, the arm section, the cutting section control section and the cutting section are integrally lifted from the ground to a height near the desired cutting position of the tree, and lowered to the ground after cutting work is completed Department and
Equipped with an arm, a cutting part control part, a cutting part and a lifting part, a bogie part capable of turning and self-propelling, and a bogie part, lifting and lowering so that the cutting part is in a position suitable for cutting trees. A remote control unit for remotely controlling a required section among the joints of the unit, the cutting unit control unit and the arm unit, and causing the cutting unit control unit to perform the turning operation when cutting a tree. .

According to the logging device of the third invention, the first
Instead of providing the linear moving part and the turning moving part in the inventions of the second and third aspects, the position of the cutting part and the part for moving the blade at the time of cutting the cutting part (that is, the cutting part control part) are used as arm parts. It is possible to realize a logging device provided at the tip of the tree. For this device,
A cutting device that moves only the cutting part when actually cutting trees and branches, and realizes a cutting device that can run on a mountain patrol road by itself and can cut middle steps without climbing high places it can.

[0024]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a logging device according to an embodiment of the present invention. Each drawing used in the description merely schematically shows the size, shape, and arrangement of each component so that the present invention can be understood. In each of the drawings, the same components are denoted by the same reference numerals and symbols, and overlapping description may be omitted.

1. First Embodiment FIG. 1A illustrates a logging device 10 according to an embodiment of the first invention.
FIG. 1 is a diagram showing a side view and a top view of a part of the logging device 10. FIG. 1 (B)
It is the figure which expanded a part (P part of FIG. 1 (A)) of the logging device 10. FIG.

The cutting device 10 includes a cutting unit 11 and an arm 1
3, a linear moving unit 15, a rotating unit 17, an angle adjusting unit 19, an elevating unit 21, a bogie unit 23, and a remote control unit 25.

The cutting section 11 can be constituted by any means as long as it can cut a tree trunk or a branch. From a practical point of view, it is preferable that the cutting portion 11 be constituted by a chainsaw. The on / off of the cutting unit 11 is controlled by the remote control unit 25.

The arm 13 is, in this embodiment,
First arm 13a, second arm 13b and third arm 13c
It consists of three parts.

Each of the first to third arms 13a to 13c may be of any length (they may be the same or different), for example, a rod having a circular or polygonal cross section. Of course, each arm may be a hollow rod or a solid rod. Alternatively, instead of a rod-shaped material, a channel material (for example, a rod-shaped material having a cross-section of “U-shaped”) may be used. It is preferable to make each of the first to third arms 13a to 13c hollow or channel-shaped in order to reduce the weight of the arm 13. These first to third arms 13a to 13a
Each of 13c is made of any suitable material, preferably metal.

The arm 13 has a first arm 13a.
And the second arm 13b are connected by a first joint 13d, and the second arm 13b and the third arm 13c are connected by a second joint 1d.
Connected at 3e.

The first joint 13d can rotate the first arm 13a about the axis a1 as a rotation axis, and the second joint 13e can use another axis a2 parallel to the axis a1 as a rotation axis. The second arm 13b can be rotated.

Each of these joints 13d and 13e can be constituted by a conventionally known device. For example, the first joint 13d
With rotating means, for example a motor, preferably a hydraulic motor 1
3f. And this hydraulic motor 13
The rotation direction and the rotation angle of f are configured to be controlled by the remote control unit 25 (see FIG. 2). By doing this,
The first arm 13a can be rotated right or left by an arbitrary angle about the axis a1. The second joint 13e is a device provided with a rotating means, for example, a hydraulic motor 13g. The rotation direction and the rotation angle of the hydraulic motor 13g can be controlled by the remote control unit 25. By doing so, the second arm 13b can be rotated right or left by an arbitrary angle about the axis a2.

Of course, the arm 13 may be composed of four or more portions and the corresponding number of joints. However, arm 1
If 3 is composed of three parts and two joints, the distance between the tree and the cutting part and the movement of the cutting part to an arbitrary position around the tree can be realized with a minimum configuration, which is preferable. .

The tip of this arm 13, in this case the first arm 1
The chain saw 11 as the above-described cutting portion 11 is attached to the tip of 3a. When attaching the chainsaw 11 to the first arm 13a, the blade 11a of the chainsaw 11
The direction in which the (see FIG. 1B) is directed is arbitrary, but preferably, the rotation axis b of the blade 11a of the chainsaw 11 (see FIG. 1B) is The axis c of the first arm 13a in the example of FIG. 1 (FIG. 1B)
) And a rotation axis a1 of the joint 13d of the arm tip portion 13a of the at least two joints 13d and 13e (in the example of FIG. 1, perpendicular to the plane of FIG. 1). The chainsaw 11 is preferably attached to the tip of the arm 13. By doing so, the blade 11a can be fed by moving the arm 13 along the axis a1 or an axis parallel to the axis a1.

In addition, the linear moving section 15 has a first direction e (orthogonal) perpendicular to the axis of the root of the arm 13, that is, the axis d of the third arm 13c (see FIG. 1A) in this case. FIG.
(See (A))) to move the arm portion 13 and the cutting portion 11 integrally. The first direction is the arm 1
Any direction can be used as long as it is a direction orthogonal to the axis d of the root portion of No. However, when the linear moving section 15 is mounted on the rotating section 17, the first direction is preferably parallel to the rotating axes a1 and a2 of the joints 13d and 13e of the arm section 13. That is, it is preferable that the linear moving unit 15 integrally moves the arm 13 and the cutting unit 11 along a direction parallel to the rotation axes a1 and a2 of the joints 13d and 13e of the arm 13. In this case, the direction of the blade of the chainsaw 11 set as described above matches the direction of movement of the arm 13 and the cutting unit 11 by the linear moving unit 15. Therefore, as described later with reference to FIGS. 1 and 2, the intended logging can be performed by a simple operation.

The linear moving section 15 can be constituted by a device having any structure as long as it can move the arm section 13 and the cutting section 11 in the first direction. For example, the linear moving unit 15 may have the following structure.

That is, the first member 15a to which the root portion (the third arm 13c) of the arm 13 is fixed is combined with the first member 15a, and the first member 15a is connected to the first member 15a. Member 15b for guiding movement along the direction of
And a third member 15c that drives the first member 15a along the first direction. As the first member 15a, for example, a slide member made of metal, resin, plastics, or a composite material is used.
As 5b, for example, a rail member combined with the slide member 15a is used, and as the third member 15c,
For example, a hydraulic cylinder in which the tip of a movable shaft is connected to the slide member 15a can be used.
In the case of this linear moving portion, the slide member 15a moves along the rail member 15b by extending and contracting the shaft of the hydraulic cylinder 15c, so that the above-described linear movement can be realized.

It is preferable that the linear moving unit 15 can change the speed at which the arm unit 13 and the cutting unit 11 are moved. In this way, for example, the linear movement speed for bringing the cut portion closer to the tree and the speed of the operation for cutting the cut portion into the tree can be different. Generally, the speed at which the cut portion is cut into the tree is relatively low, while the speed at which the cut portion is brought closer to the tree increases the work efficiency. When the linear moving unit 15 is a moving speed variable type,
The speed can be different for each of the above operations.

The rotating portion 17 is formed by integrating the arm portion 13 and the cutting portion 11 with the axis d of the root portion of the arm portion 13 or the axis f parallel to the axis (see FIG. 1A) as the rotation axis. Is to rotate. However, the linear moving part 15 is mounted on the rotating part 17, and the cutting part 11, the arm part 13, and the straight line are used with the axis d of the root part of the arm 13 or the axis f parallel to the axis as the rotation axis. It is preferable to rotate the moving unit 15 integrally. In this case, the cutting is performed with the axis d of the root portion of the arm 13 or the axis f parallel to the axis as the rotation axis while the moving direction of the linear moving section 15 and the direction of the blade of the cutting section 11 are aligned. The unit 11, the arm unit 13, and the linear moving unit 15 can be integrally rotated.

Since the arm 13 moves on the linear moving portion 15, the axis d of the root portion of the arm 13 and the rotation axis f of the rotating portion 17 may be the same or different. Want to be understood.

The rotating section 17 may include any suitable rotating means,
For example, it can be constituted by a motor, more specifically, a hydraulic motor. By controlling the rotation direction and the rotation angle of the motor by the remote control unit 25, the linear movement unit 15, the arm unit 13 and the cutting unit 11 can be integrated into an axis d at the root of the arm unit 13.
Alternatively, it can be rotated right or left by an arbitrary angle using the axis f parallel to the axis as a rotation axis.

The angle adjusting section 19 adjusts the angle of the axis of the root portion of the arm 13, in this case, the axis d of the third arm 13 c with respect to the ground. The angle adjusting section 19 can have any configuration as long as the above function is obtained (an example will be described in a later embodiment). The angle adjusting section 19 is for making the cut surface of the tree trunk orthogonal to the vertical line as much as possible. If such a purpose is not so important, the angle adjusting unit 19 is not essential. Further, the joint 13d and the joint 13e may be configured to also serve as the angle adjusting unit 19. However, as will be described later with reference to FIG. 6, it is preferable that the angle adjusting unit 19 has a function of changing the attitude of the linear moving unit and the like when the linear moving unit 15 and the like are stored in the bogie unit 23. This can be achieved, for example, by widening the angle change width. This is preferable because, when the linear moving section 15 and the like are stored in the carriage section 23, they can be stored compactly.

The lifting unit 21 includes the cutting unit 11 and the arm 1
3. The linear moving unit 15 and the rotating unit 17 (the angle adjusting unit 19)
Is provided, the angle adjusting section 19) is integrally raised and lowered between the ground and the planned cutting position of the tree. The elevating unit 21 can be constituted by any suitable device such as a crane or a jack.

The bogie section 23 includes the cutting section 11 and the arm section 1.
3. A linear moving unit 15, a rotating unit 17 (when the angle adjusting unit 19 is provided, the angle adjusting unit 19) and an elevating unit 21 are mounted, and the unit itself turns and runs on its own. The cart unit may be either a tire driven type or a caterpillar driven type. However, in consideration of the fact that the logging device 10 is frequently used in mountainous areas, a caterpillar driven type is preferable. If the lifting unit 21 and the bogie unit 23 are composed of caterpillar-driven crane trucks, a suitable logging device that can withstand use in mountainous areas can be easily obtained.

The remote control unit 25 is provided with the bogie unit 23 and the elevating unit 21 (when the adjusting unit 19 is provided, the angle adjusting unit 1 is used) so that the cutting unit 11 is located at a position suitable for cutting trees.
9) Remotely operate necessary sections of the joints of the rotating unit 17, the linear moving unit 15, and the arm 13, and operate the linear moving unit 15 when cutting trees. Of course, the cutting section 11
It also controls its own on / off operation.

The remote control unit 25 includes the components 11 to
23, on (operation) / off (pause) control, movement direction and rotation direction control, movement distance and rotation angle control. The remote control unit 25 may be configured by a known electric circuit including a switch for turning on / off each of the components 11 to 23, a switch for switching a moving direction and a rotation direction of each component, and the like. The remote control unit 25 is connected to the cutting unit 11.
Any of the above-described methods may be used for remote control by connecting the components with a cable, or for remote control wirelessly. The former is considered to be advantageous, for example, in terms of cost. In the latter case, it is considered that the operation of each component can be made smoother because there is no cable.

Next, a logging operation by the above-described logging device 10 will be described with reference to FIGS. 1 and 2 in order to deepen the understanding of the logging device of the first invention. FIG. 2A is a side view showing a state where the trunk 33 of the tree 31 is cut in the middle of the tree 31 in the height direction. Also,
FIG. 2B is an example in which the branch 35 of the tree 31 is cut, and is a diagram (top view) showing how the branch on the back side of the tree is cut as viewed from the logging device. FIG. 2 (C)
After fixing the logging device near the tree, the joints 13d, 13d
FIG. 9 is a diagram illustrating that the distance between the tree and the cutting unit 11 can be adjusted by e.

First, the bogie unit 23 is operated to move the logging device 10 near a tree to be subjected to middle cutting or the like. Then, the cutting unit 11 is positioned near the cutting position of the tree by making full use of the elevating unit 21 and the joints 13d and 13e of the arm unit 13.

When the trunk 33 is to be cut, the cutting section 11, the arm section 13 and the linear moving section 15 are moved by the rotating section 17 (see FIG. 1) of the felling apparatus 10 to the axis f.
Rotate 90 degrees around. The distance between the tree and the cutting unit 11 is adjusted by the first joints 13d and 13e as shown in FIG. 2C, for example, when the cutting device is too close to the tree.
This can be performed by appropriately bending the third arms 13a to 13c. In particular, as described later with reference to FIG.
After the bogie unit 23 is fixed to the ground with the stabilizing legs 23a, the distance between the tree and the cutting part cannot be adjusted by moving the bogie unit 23, and thus the distance adjusting function by the joints 13d and 13e is useful. . When the cut surface is desired to be perpendicular to the vertical line, the angle adjuster 19 and / or the joint 13 are required.
d and 13e can be adjusted appropriately. Then, the trunk 33 is cut by operating the linear moving unit 15 to cut the cutting unit 11 into the trunk.

When cutting the branch 35, the joint 13
The cutting unit 11 is moved to the position of the branch 35 desired to be cut using d and 13e. Then, the linear moving section 15 is operated to cut the cutting section 11 into the branch 35, so that the branch 35
Disconnect.

The example of the cutting operation described with reference to FIG. 2 is merely an example.

2. Second Embodiment Next, an embodiment of a logging device according to a second invention will be described. FIG. 3 shows a logging device 40 according to an embodiment of the second invention.
And a top view of a part of the felling device 40.

The logging device 40 includes a turning portion 41 instead of the linear moving portion 15 (see FIG. 1) provided in the logging device 10. Otherwise, the logging device 10
It is the same as. Therefore, this difference will be mainly described.

The pivoting movement part 41 has a predetermined axis g orthogonal to the axis of the root of the arm (the axis d of the third arm 13c in this embodiment) as the center of rotation, and the arm 13 and the cutting part 11 Is swiveled together. The turning movement section 41 is constituted by turning means, for example, a motor, more specifically, a hydraulic motor. A third arm 13 is attached to the rotating shaft of this hydraulic motor.
c is connected such that the axis d is perpendicular to the rotating shaft. The turning movement unit 41 is configured to be able to freely switch between right turning and left turning, and to have any turning angle. The turning direction and the turning angle of the turning moving unit are controlled by the remote control unit 47.

Also, by rotating the rotating unit 17 with the turning unit 41 mounted on the rotating unit 17, the axis of the third arm 13 c or an axis parallel thereto is set as a rotating axis.
It is preferable that the cutting unit 11, the arm unit 13, and the turning unit 41 rotate integrally. This is for the same purpose as in the first invention.

Further, it is preferable that the turning movement section 41 can change the speed at which the arm section 13 and the cutting section 11 are turned. In this way, for example, the speed of the turning operation for bringing the cut portion closer to the tree and the speed of the turning operation for cutting the cut portion into the tree can be different.
Generally, the speed at which the cutting portion 11 is cut into a tree is relatively low, while the speed at which the cutting portion is brought closer to the tree increases the work efficiency. If the turning operation section 41 is of a variable turning speed type, the speed can be changed for each of the above operations.

Each of the lifting / lowering unit 43, the carriage unit 45, and the remote control unit 47 may have basically the same configuration as the lifting / lowering unit 21, the carriage unit 23, and the remote control unit 25 of the first invention. However, the linear moving unit 1 used in the first invention
The fifth embodiment is different from the first embodiment in that a turning movement unit 41 is added to an ascending / descending object, a bogie mounting object, and a remote operation object instead of the fifth embodiment.

In the logging device 40 of the second invention, the same operation as the logging device 10 of the first invention (except that the turning operation part 41 is used in the actual cutting operation of the tree ( For example, middle cutting can be performed by an operation similar to the operation described with reference to FIG. 2), and thus the description of the operation of the logging device 40 is omitted.

3. Third Embodiment Next, an embodiment of the third invention will be described. FIG.
FIG. 7 is a side view illustrating a logging device 50 according to an embodiment of the third invention and a top view of a part of the logging device 50.

The logging device 50 includes a linear moving portion 15 and a rotating portion 17 provided in the logging device 10 (see FIG. 1).
And instead, the third arm 13c of the arm 13
The (root part) is directly attached to the angle adjusting unit 19. However, when the angle adjuster 19 is not provided, the third arm 13c
Is directly attached to the elevating unit 53. Also, a cutting unit 11,
The cutting unit control unit 51 is provided between the first arm 13a of the arm unit 13 and the first arm 13a.
Equipped. Other configurations are the same as those of the logging device 10. Therefore, this difference will be mainly described.

The cutting section control section 51 is provided at the tip of the arm section (the first section).
The operation of rotating the cutting portion 11 about the axis h of the distal end portion of the arm portion as a rotation axis, and the operation of rotating the cutting portion 11 about an axis i orthogonal to the axis h as a center of rotation, This is done independently.

The cutting control unit 51 includes a first portion 51 a for rotating the cutting unit 11 as described above, and a cutting unit 1.
It is preferable that the first part 51 and the second part 51b for performing the above-mentioned turning operation are formed, and the second part 51b is mounted on the first part 51a. In this case, the rotation of the first portion 51a allows the second portion 51b and the cut portion 11 to be integrally rotated about the axis h as the rotation axis.

A first portion 51a and a second portion 51b
Each can be constituted by suitable rotating means, for example a motor, more specifically a hydraulic motor. For example, the second hydraulic motor may be attached to the rotating shaft of the first hydraulic motor such that the rotating shaft of the second hydraulic motor is orthogonal to the rotating shaft of the first hydraulic motor.

In the chainsaw as the cutting unit 11, the rotation axis of the blade (axis b in FIG. 1B) is parallel to the turning center axis i (see FIG. 4) of the cutting unit control unit. In this manner, it may be attached to the second portion 51b of the cutting section controller 51. When the chainsaw 11 is attached to the cutting unit control unit 51 in this manner, when the cutting unit control unit 51 performs a turning operation, the direction of the blade of the cutting unit 11 matches the turning direction.

Incidentally, each of the elevating unit 53, the trolley unit 55, and the remote control unit 57 may have basically the same configuration as the elevating unit 21, the trolley unit 23, and the remote control unit 25 of the first invention. However, the linear moving unit 1 used in the first invention
The present invention is different from the first aspect in that a cutting unit control unit 51 is added to the ascending / descending object, the bogie mounting object, and the remote operation object instead of the rotating unit 17 and the rotating unit 17.

In the logging device 50 of the third aspect of the present invention, the same operation as that of the first aspect of the present invention is performed except that the cutting section control section 51 is used in the actual cutting operation of trees. Therefore, the description of the operation of the logging device 50 is omitted.

[0067]

Next, an embodiment of the logging device of the first invention will be described. FIG. 5 shows a logging device 60 according to an embodiment of the first invention.
FIG. 4 is a side view showing one state when the device is used. FIG. 6 is a side view showing the logging device 60 of the embodiment, in which the lifting unit 19 and the like are stored. However, in both FIGS. 5 and 6, illustration of the remote control unit is omitted.

The logging device 60 of this embodiment includes a lifting unit 21
The bogie unit 23 is formed by a caterpillar driven small crane truck. In this embodiment, a cart crane manufactured by Shin Tore Co., Ltd. is used as the small crane vehicle.

In the logging device 60 of this embodiment, the angle adjusting section 19 has the following configuration. That is,
A mounting part 19 a for mounting the rotating part 17 is connected to the tip of the elevating part 21. Then, a part of the rotating portion 17 is attached to the attaching portion 19a by the hinge mechanism 19b. Further, the main body of the hydraulic cylinder 19c is mounted on the mounting portion 19a at a position away from the portion where the rotating portion 17 is mounted, and the tip of the movable shaft of the hydraulic cylinder is a part of the rotating portion 17, and 19a is connected to a part different from the fixed part. According to the angle adjusting unit 19, when the movable shaft of the hydraulic cylinder is expanded and contracted, the rotating unit moves about the hinge mechanism 19b as a center axis, so that the angle of the arm 13c with respect to the ground can be adjusted. Further, the angle adjusting unit 19 referred to in the present invention.
In addition to the above-described angle adjustment function, when storing the elevating unit 21 and the linear moving unit 15 and the like in the bogie unit 23 after the cutting operation, the linear moving unit 15 and the like can be compactly stored in the bogie unit 23. In addition, it has a function of changing the angle of the linear moving unit 15 and the like (see FIG. 6).

In this logging device 60, when not using the logging device 60 or when moving to the logging site, the arms 13a to 13c of the arm 13 are folded to the minimum size using the joints, and The linear moving unit 15 and the like are folded in a compact posture by using the angle adjusting unit 19, and the elevating unit 21 is folded toward the bogie unit 23 side.
21 can be stored in the carriage 23 (FIG. 6).

In the felling operation, the bogie unit 23 is operated to move the felling device 60 near the tree to be felled. Then, in order to stabilize the felling device 60 with respect to the ground, the stabilizing legs 23a are extended to the ground (FIG. 5).
Further, the direction of the logging device 60 with respect to the tree can be adjusted using the turning function of the bogie unit 23. Next, the cutting unit 11 is moved to the vicinity of the tree cutting position by making full use of the joints 13d and 13e of the lifting unit 21 and the arm unit 13 (FIG. 5).
Then, the trunk and the branches are cut by the procedure described in the embodiment.

When the logging operation is completed, the storage state is set as described above (FIG. 6).

[0073]

As is apparent from the above description, according to the logging device of the first invention of this application, a predetermined cutting section, arm section, linear moving section, rotating section, lifting section, bogie section, It has a remote control. According to the logging device of the second invention, the cutting device includes a predetermined cutting section, arm section, turning section, rotating section, lifting section, bogie section, and remote control section. Further, according to the logging device of the third invention, the predetermined cutting section,
It has a cutting section control section, arm section, lifting section, bogie section, and remote control section.

Therefore, according to the first to third aspects of the present invention, it is possible to provide a logging device capable of self-propelling on a mountain patrol route and capable of middle-stage cutting without climbing a high place.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a logging device according to an embodiment of the first invention.

FIG. 2 is a diagram illustrating an example of a logging operation of the logging device according to the embodiment of the first invention.

FIG. 3 is a diagram illustrating a logging device according to an embodiment of the second invention.

FIG. 4 is a diagram illustrating a logging device according to an embodiment of the third invention.

FIG. 5 is a diagram showing one state when the logging device of the embodiment is used.

FIG. 6 is a diagram showing a state where a lifting unit and the like are stored in the logging device of the embodiment.

[Explanation of symbols]

 10: Cutting device according to an embodiment of the first invention 11: Cutting part (chain saw) 11a: Blade of cutting part b: Rotary axis of blade 13: Arm part 13a: First arm (tip part of arm part) 13b : Second arm 13c: third arm (base of arm) 13d: joint (joint of base of arm) 13e: joint (joint of base of arm) 13f, 13g: rotating means 15: Linear moving part 15a: First member (slide member) 15b: Second member (rail member) 15c: Third member (hydraulic cylinder) 17: Rotating part 19: Angle adjusting part 21: Lifting part 23: Dolly 25 : Remote control unit 31: Tree 33: Trunk 35: Branch 40: Logging device according to the second embodiment of the present invention 41: Turning unit 43: Lifting unit 45: Dolly unit 47: Remote control unit 50: Third invention Logging device 51 of the embodiment: cutting section control section 1a: the first portion 51b: second portion 53: supporting portion 55: carriage 57: the remote control unit 60: felling embodiment device 23a: stabilizer legs

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yuki Watanabe 680-10 Toasa, Yakurai-cho, Yufutsu-gun, Hokkaido Hokkaido Electric Power Co., Inc. Muroran Branch Electric Power Department (72) Inventor Shuichiro Fukuzawa 2-1 vs. Goose, Ebetsu, Hokkaido Hokkaido Electric Power Company (72) Inventor Masahiro Endo 3-3-1, Sachimachi, Takigawa-shi, Hokkaido Circle Iron Works Co., Ltd. (72) Kuniyoshi Kawai 3-3-1, Sachimachi, Takigawa-shi, Hokkaido Co., Ltd. Circle Iron Works

Claims (26)

[Claims] 1. An arm having at least two joints, each of which has a rotation axis about a separate axis parallel to each other, a cutting part connected to a tip of the arm and having a blade for cutting a tree, and a root of the arm. A linear moving unit that integrally moves the arm and the cutting unit along a first direction orthogonal to the axis of the part; and an axis of a root part of the arm or an axis parallel to the axis as a rotation axis. A rotating unit that integrally rotates the arm and the cutting unit; and the arm, the cutting unit, the linear moving unit and the rotating unit,
Raise from the ground to a height near the desired cutting position of the tree,
In addition, after the logging operation is completed, the lifting unit that lowers to the ground, the arm unit, the cutting unit, the linear moving unit, the rotating unit, and the lifting unit are mounted, and the bogie unit that can turn and move on its own, In order to allow the part to be in a position suitable for tree felling, the truck, the elevating part, the rotating part, the linearly moving part and the necessary part of the joint of the arm part are remotely controlled, and when cutting the tree, A logging device comprising: a remote operation unit that operates the linear moving unit. 2. An arm having at least two joints having rotation axes about separate axes parallel to each other, a cutting portion connected to a tip of the arm and having a blade for cutting a tree, A turning movement unit that turns the arm unit and the cutting unit together with a predetermined axis orthogonal to the axis of the base unit as a center of rotation; and a rotation axis that is an axis of the base unit of the arm unit or an axis parallel to the axis. A rotating unit that integrally rotates the arm unit and the cutting unit; and the arm unit, the cutting unit, the turning unit, and the rotating unit,
Raise from the ground to a height near the desired cutting position of the tree,
In addition, after the logging operation is completed, the lifting unit that lowers to the ground, the arm unit, the cutting unit, the turning unit, the rotating unit, and the lifting unit are mounted, and a bogie unit that can turn and move on its own, The truck, the lifting unit, the rotating unit, the turning unit, and the required unit of the joints of the arms are remotely controlled so that the unit is in a position suitable for cutting trees, and when cutting trees, A logging device, comprising: a remote control unit that operates the turning unit. 3. The logging device according to claim 1, further comprising an angle adjusting unit that adjusts an angle of an axis of a root portion of the arm with respect to the ground. 4. The logging device according to claim 1, wherein the linear moving unit is mounted on the rotating unit, and when the rotating unit operates, the cutting unit, the arm unit, and the linear moving unit. A logging device characterized in that the device is configured to rotate integrally. 5. The logging device according to claim 1, wherein the linear moving unit is capable of changing a moving speed of the arm and the cutting unit. 6. The logging device according to claim 1, wherein the linear moving section is mounted on the rotating section, and when the rotating section operates, the cutting section, the arm section, and the straight line. The moving unit is configured to rotate integrally, and the first direction of the linear moving unit is a direction parallel to a rotation axis of the joint of the arm unit. The cutting unit includes a chainsaw, The blade is attached to the tip of the arm so that the rotation axis of the blade is perpendicular to a plane including the axis of the tip of the arm and the rotation axis of the joint of the tip of the at least two joints. A logging device, characterized in that: 7. The logging device according to claim 2, wherein the turning unit is mounted on the rotating unit, and when the rotating unit operates, the cutting unit, the arm unit, and the turning unit. A logging device characterized in that the device is configured to rotate integrally. 8. The logging device according to claim 2, wherein the turning unit is capable of changing a speed at which the arm and the cutting unit are turned. 9. The logging device according to claim 2, wherein the turning unit is mounted on the rotating unit, and when the rotating unit operates, the cutting unit, the arm unit, and the turning unit. The moving unit is configured to rotate integrally, and the predetermined axis in the turning moving unit includes an axis of a root portion of the arm portion and a rotation axis of a joint of the root portion of the at least two joints. A chain saw as the cutting section, wherein the rotation axis of the blade of the chain saw is the axis of the tip of the arm and the axis of the tip of the at least two joints. A logging device, which is attached to the tip of the arm portion so as to be perpendicular to a plane including a rotation axis of a joint. 10. The logging device according to claim 1, wherein the lifting unit and the bogie unit include a caterpillar-driven small crane truck. 11. A unit for a logging device attached to an arbitrary lifting / lowering device, comprising: an arm having at least two joints whose rotation axes are separate axes parallel to each other; and a tree connected to the tip of the arm. A cutting part having a blade for cutting the arm part, a linear moving part that integrally moves the arm part and the cutting part along a first direction orthogonal to an axis of a root part of the arm part, A rotating part that integrally rotates the arm and the cutting part with the axis of the root part or an axis parallel to the axis as a rotation axis, and the rotation so that the cutting part is in a position suitable for cutting trees. Part, a linear moving part and a remote control part for remotely operating a necessary part of the joints of the arm parts, and a remote control part for operating the linear moving part at the time of cutting a tree. unit. 12. A unit for a logging device attached to an arbitrary lifting device, comprising: an arm having at least two joints having rotation axes about mutually parallel separate axes; and a tree connected to the tip of the arm. A cutting part having a blade for cutting the arm part, a turning part for turning the arm part and the cutting part integrally around a predetermined axis orthogonal to an axis of a root part of the arm part, and the arm part. A rotating part that integrally rotates the arm and the cutting part with the axis of the root part or an axis parallel to the axis as a rotation axis, so that the cutting part is in a position suitable for cutting trees. A remote control unit for remotely controlling a necessary part of the joints of the rotating unit, the turning unit and the arm unit, and operating the turning unit when cutting a tree. Equipment unit. 13. The logging unit according to claim 11, further comprising an angle adjusting unit that adjusts an angle of an axis of a root portion of the arm with respect to the ground. Unit. 14. The unit for a logging device according to claim 11, wherein the linear moving unit is mounted on the rotating unit, and when the rotating unit operates, the cutting unit, the arm unit, and the straight line. A unit for a logging device, wherein the moving unit is configured to rotate integrally. 15. The unit for a logging device according to claim 11, wherein the linear moving unit is capable of changing a moving speed of the arm unit and the cutting unit. . 16. The unit for a logging device according to claim 11, 13 or 15, wherein the linear moving unit is mounted on the rotating unit, and when the rotating unit operates, the cutting unit, the arm unit and The linear moving unit is configured to rotate integrally, the first direction of the linear moving unit is a direction parallel to a rotation axis of a joint of the arm, and a chain saw is provided as the cutting unit. The arm tip so that the rotation axis of the blade is perpendicular to a plane including the axis of the tip of the arm and the rotation axis of the joint of the tip of the at least two joints. A unit for a logging device, which is attached to the unit. 17. The unit for a logging device according to claim 12, wherein the turning unit is mounted on the rotating unit, and when the rotating unit operates, the cutting unit, the arm unit, and the turning unit. A unit for a logging device, wherein the moving unit is configured to rotate integrally. 18. The unit for a logging device according to claim 12, wherein the turning unit is capable of changing a speed at which the arm and the cutting unit are turned. . 19. The felling unit according to claim 12, 13 or 18, wherein the turning unit is mounted on the rotating unit, and when the rotating unit operates, the cutting unit, the arm unit and The turning movement unit is configured to rotate integrally, and the predetermined axis in the turning movement unit is defined as an axis of a root portion of the arm portion and a rotation axis of a joint of the root portion of the at least two joints. A chain saw as the cutting portion, wherein the cutting axis of the chainsaw is such that the rotation axis of the blade is the axis of the tip of the arm and the tip of the at least two joints. A unit for a logging device, wherein the unit is attached to the tip of the arm so as to be perpendicular to a plane including a rotation axis of a joint of a part. 20. An arm portion having at least two joints each having a rotation axis about a separate axis parallel to each other, and a cutting portion connected to the tip of the arm portion and cutting a tree, comprising: A cutting unit control unit that independently performs an operation of rotating about an axis as a rotation axis and an operation of turning about an axis orthogonal to the axis as a center of rotation, the cutting unit attached to the cutting unit control unit, and the arm unit , The cutting unit control unit and the cutting unit are integrally raised from the ground to a height near the desired cutting position of the tree,
After the felling operation is completed, the elevating unit that lowers to the ground, the arm unit, the cutting unit control unit, the cutting unit and the elevating unit are mounted, and the bogie unit that can turn and move on its own, and the cutting unit is a tree. In order to be in a position suitable for logging, the cart, the elevating unit, the cutting unit control unit and the necessary section of the joint of the arm unit are remotely operated, and at the time of tree cutting, the cutting unit control unit A logging device, comprising: a remote control unit for performing the turning operation. 21. The logging device according to claim 20, wherein the cutting unit controller is configured to rotate the cutting unit in a first part and to rotate the cutting unit in a second part. And a logging device comprising the first portion and the second portion mounted on the first portion. 22. The logging device according to claim 20, further comprising a chainsaw as the cutting unit, wherein the rotation axis of the blade of the chainsaw is parallel to the turning center axis of the cutting unit control unit. The cutting device is attached to the cutting unit control unit as described above. 23. The logging device according to claim 20, wherein the lifting unit and the bogie unit include a caterpillar-driven small crane truck. 24. A unit for a logging device attached to an arbitrary lifting device, comprising: an arm having at least two joints having rotation axes about separate axes parallel to each other; A cutting section control section for independently performing an operation of rotating a cutting section for cutting a tree around an axis of a tip portion of the arm section as a rotation axis and an operation of turning about an axis orthogonal to the axis as a rotation center; The cutting section attached to the section control section, so that the cutting section is at a suitable position for cutting trees, remotely controlling the necessary section of the cutting section control section and the joints of the arms, And a remote control unit for causing the cutting unit control unit to perform the turning operation when cutting the tree. 25. The unit for a logging device according to claim 24, wherein the cutting unit control unit includes a first part for rotating the cutting unit and a second unit for rotating the cutting unit. Characterized in that the unit has a structure in which the second part is mounted on the first part. 26. The unit for a logging device according to claim 24, further comprising a chainsaw as the cutting unit, wherein the rotation axis of the blade of the chainsaw is parallel to the turning center axis of the cutting unit control unit. A unit for a logging device, wherein the unit is attached to the cutting unit controller.