WO2019019547A1 - 全自动伐树一体机 - Google Patents

全自动伐树一体机 Download PDF

Info

Publication number
WO2019019547A1
WO2019019547A1 PCT/CN2017/119192 CN2017119192W WO2019019547A1 WO 2019019547 A1 WO2019019547 A1 WO 2019019547A1 CN 2017119192 W CN2017119192 W CN 2017119192W WO 2019019547 A1 WO2019019547 A1 WO 2019019547A1
Authority
WO
WIPO (PCT)
Prior art keywords
assembly
cylinder
oil
cutting
hinged
Prior art date
Application number
PCT/CN2017/119192
Other languages
English (en)
French (fr)
Inventor
李善文
李垒
Original Assignee
江苏省丰垒果蔬特种机械研制有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏省丰垒果蔬特种机械研制有限公司 filed Critical 江苏省丰垒果蔬特种机械研制有限公司
Publication of WO2019019547A1 publication Critical patent/WO2019019547A1/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/02—Transplanting, uprooting, felling or delimbing trees
    • A01G23/08—Felling trees
    • A01G23/093—Combinations of shearing, sawing or milling apparatus specially adapted for felling trees

Definitions

  • the invention relates to a full-automatic tree-cutting machine, in particular to an automatic tree-cutting machine.
  • the felling machinery is the most advanced in Germany, but it is expensive and not suitable for domestic use. Because foreign trees grow relatively straight and the branches are thin, the tree can be cut, cut, and sawed in one step. Most of the domestic afforestation is relatively intensive, and there are many poplar trees in rural areas. The trees next to the road are not straight, and the branches are uneven and varied. In particular, some trees in rural areas are very close to houses. Most nowadays, they rely on artificially cutting trees, which have extremely low power. Improper operation can damage houses. And artificial tree cutting is very dangerous, and there is currently no good solution in China.
  • the present invention provides an automatic cutting tree integrated machine, which is an all-mechanical cutting tree, and can automatically complete the process of logging, sawing branches and breaking wood by one person remote control operation, without danger, speed and function. It is suitable for all kinds of tree types and dense forests. It can also be applied to trees that are not straight and twisted.
  • the invention has good quality, simple structure, low price, high efficiency, wide application, can also be used with a variety of mechanical tractors, excavators and loaders, and is better installed on an unmanned tree digging machine.
  • a fully automatic cutting tree integrated machine comprising a cabinet assembly and a controller, and a circular cutting knife assembly coaxially mounted on the cabinet assembly, Round wood clip assembly and log drive assembly; round cutting knife assembly is placed on the top of the cabinet assembly, the cutting edge is perpendicular to the top surface of the cabinet assembly; the round wood clamp assembly is set at least two groups, sequentially set Below the circular branching knife assembly, the log drive assembly is located between the two log clamp assemblies, the log drive assembly is capable of moving the trunk axially and radially; and includes an oil drama assembly, wherein One is a cut-off oil drama assembly disposed on the outside of the circular branching knife assembly, capable of rotating around the circular cutting blade assembly in at least 90 degrees, and capable of being relative to the circular cutting knife assembly Radial and axial rotation respectively up and down, left and right rotation, and the other two are logging oil drama assemblies, one of which is located between the upper log clamp assembly and the log drive assembly, and the other is located under the lower
  • the lower part, and the two are perpendicular to the axis of the log clamp assembly, and can be phased
  • the axial rotation level, operation of the trunk cut off transversely; said circular cutting knife assembly sticks, logs and logs clip cartridge assembly are driven opening and closing operation can be realized on the same side.
  • the circular branching knife assembly comprises a cutter body, a knife holder, a base and a cylinder; the base, the knife holder and the cutter body are both annular structures, and the base is vertically disposed at the top of the cabinet assembly, the knife holder and The cutter body is sequentially mounted on the base; the cutter body, the knife holder and the base are all divided into five parts in the circumferential direction, and the adjacent knife holder and the base are hinged by a hinge sheet, wherein one base is fixedly connected with the cabinet assembly; Two cylinders are arranged, the cylinder body is hinged with the bracket mounted on the cabinet assembly, and the movable rod is symmetrically hinged to the bracket of the base to control the opening and closing of the cutter body.
  • the log clamp assembly comprises two arm arms and two oil cylinders, and the arm is semi-circular arc shape, and the two sides are combined into a ring body, and one of the adjacent ends of the arm is provided with a base, and is respectively fixedly connected to
  • the rotating shaft of the base is rotatably connected, and the outer side of the arm is provided with a support; the cylinder of the cylinder is hinged to a support fixed to the frame assembly, and the movable rod and the support of the arm are hinged, and the cylinder shrinkage can be controlled.
  • the arms are rotated in opposite or opposite directions to open and close the arms.
  • the log drive assembly includes a swing arm, a cylinder and a driving device, wherein the arm is an arc structure, one end is a movable end, and the other end is a fixed end, and the fixed end is hinged with a rotating shaft mounted on the frame assembly.
  • a driving device is respectively arranged on the movable end of the arm and between the two fixed ends, and the three driving devices are respectively composed of a driving wheel and a swing motor for supplying power thereto, and the three driving wheels are equal in diameter , in the same plane, and distributed circumferentially along the axis of the log drive assembly, the wheel body surface is full of triangular spines;
  • the drive wheel between the two fixed ends of the arm is a movable drive wheel, mounted on the front end of a movable rod of a hydraulic rod
  • the outer side of the arm is respectively connected to the bracket, and the movable rod of the cylinder is hinged with the bracket, and the cylinder of the cylinder is hinged with the bracket fixed to the rack assembly.
  • the logging oil drama assembly comprises a cylinder, a chain saw body, a steering seat and a rotating shaft; the rotating shaft is fixedly mounted on the frame assembly, the middle portion of the steering seat is rotatably connected with the rotating shaft, and one end of the steering seat is hinged with the movable rod of the oil cylinder The other end is fixed to the chain saw body, and the cylinder block is hinged to a support fixedly mounted on the frame assembly.
  • the cutting oil drama assembly comprises a chain saw body, a steering seat, a rotating shaft, a cylinder, a bracket, a platform, a moving trolley and a cylinder, wherein the rotating shaft is fixedly mounted on the platform, and the middle portion of the steering seat is rotatably connected with the rotating shaft, and the steering seat is One end is hinged to the movable rod of the oil cylinder, and the other end is fixed to the chain saw body, the cylinder block is hinged with a support fixedly mounted on the platform, the platform is disposed on the moving trolley, and the outer end of the platform is moved The support on the trolley is hinged, the other end is supported by the oil cylinder, the control platform is rotated up and down, and the bottom surface of the mobile trolley is provided with wheels.
  • the cutting oil drama assembly is rotated around the circular cutter assembly by a guide rail assembly;
  • the guide rail assembly comprises a guide rail, a chain, a driving gear, a driven gear, a transition gear, a swing motor, and a motor output gear.
  • the guide rail is an arc-shaped structure, and the driving gear and the driven gear are driven by a chain, and a transition gear is arranged in a middle of the chain, and the track is uniformly distributed along the track of the guide rail, so that the chain and the shape of the guide rail are matched, and the output shaft of the swing motor is mounted thereon.
  • the gear meshes with the driving gear to drive the chain to rotate; the cutting oil drama assembly is hung on the chain and rotates along the guide rail; the angle of the guiding rail is 90-180 degrees, thereby achieving a thicker branch around the trunk 360 degree clearance.
  • the fully automatic integrated machine is equipped with a remote controller, and the remote controller is connected with the controller signal.
  • the invention has the beneficial effects that: 1) the general trees can be harvested, and the trees whose trees are not straight and twisted can be harvested, and the applicability is strong; 2) the branches around the trunk are removed by the circular cutting knife assembly; The trunk is fixed by the round clamp assembly, and the felled tree rod is moved up and down and left and right by the log drive assembly, which assists the circular cutting knife to cut the branches, and conveniently adjusts the position of the trunk to cut the section, and can also realize Tightening the finer trees; using the oil drama to cut off the trunk and cleaning the thicker branches around the trunk; 3) being able to use with other institutional equipment to enhance its use function and facilitate the transportation of fallen trees; 4) use control
  • the device controls it and remotely operates with a remote control for automatic operation control.
  • the automatic integrated machine can realize full mechanical felling, automatically complete the process of logging, sawing branches and breaking wood, without danger, fast speed, complete functions, good quality, simple structure, low price, high efficiency and wide application.
  • Figure 1 is a schematic view of the structure of the present invention.
  • Figure 2 is a schematic view showing the structure of a circular branching knife assembly.
  • Figure 3 is a schematic view showing the structure of the log clamp assembly.
  • Figure 4 is a schematic view showing the structure of the log drive assembly.
  • Figure 5 is a schematic view showing the structure of a felling oil drama.
  • Figure 6 is a schematic view showing the structure of a circular branching knife assembly, a cutting oil drama assembly and the same.
  • cabinet assembly 2. circular cutting knife assembly, 2-1. base, 2-2. knife holder, 2-3. cutter body, 2-4. cylinder, 2-5 Loose leaf, 2-6. bracket, 2-7. bracket, 3. cutting oil drama assembly, 3-1. chain saw body, 3-2. steering seat, 3-3. shaft, 3-4. cylinder , 3-5. Bracket, 3-6. Platform, 3-7. Mobile trolley, 3-8. Cylinder, 4. Upper log clamp assembly, 4-1. Cylinder, 4-2. Arm, 4- 3. Support, 4-4. Base, 4-5. Shaft, 4-6. Support, 5. Upper felling oil drama assembly, 5-1. Chain saw body, 5-2. Steering seat, 5- 3. Rotating shaft, 5-4. Cylinder, 5-5. Bracket, 6.
  • an automatic cutting tree integrated machine comprises a cabinet assembly 1 and a controller 10, and a circular cutting knife assembly 2 and a circular coaxially mounted on the cabinet assembly 1.
  • a clamp assembly and a log drive 6 assembly wherein the log clamp assembly is provided with at least two sets, including an upper log clamp total 4 and a lower log clamp assembly 7, which are sequentially disposed in the circular branch cutter assembly 2
  • the log drive assembly 6 is located between the upper and lower log clamp assemblies 4, 7; also includes the oil drama assembly, one of which is the cutting oil drama assembly 3, set in the circular cutting knife total
  • the outer side of the 2 can rotate around the circular cutting knife assembly 2 in at least 90 degrees; the other two are the logging oil drama assembly, wherein the upper felling oil drama assembly 5 is set in the upper round wood clip assembly 4
  • the upper fellwood oil assembly 8 is disposed below the lower log clamp assembly 7, and the two are disposed perpendicular to the axis of the log clamp assembly and are rotatable in a horizontal direction
  • the circular branching knife assembly 2 includes a cutter body 2-3, a knife holder 2-2, a base 2-1, and a cylinder 2-4; the base 2-1 and the tool holder 2 - 2 and the cutter body 2-3 are annular structure, the base 2-1 is vertically disposed at the top of the cabinet assembly 1, the knife holder 2-2 and the cutter body 2-3 are sequentially mounted on the base 2-1;
  • the cutter body 2-3, the tool holder 2-2 and the base 2-1 are all divided into five parts in the circumferential direction, and the adjacent knife holder 2-2 and the base 2-1 are hinged by the leaflet 2-5, wherein a base is 2-1 is fixedly connected to the frame assembly 1; the cylinders 2-4 are disposed two, the cylinder is hinged with the bracket 2-6 mounted on the frame assembly 1, and the movable rod is symmetrically hinged to the base 2-1 On the brackets 2-7, the opening and closing of the cutter body 2-3 are controlled.
  • the upper log clamp assembly 4 includes two arm 4-2 and two cylinders 4-1, and the arm 4-2 has a semicircular arc shape, and the two are combined into a ring body.
  • One of the adjacent ends of the arm 4-2 is provided with a base 4-4, and is respectively rotatably connected to the rotating shaft 4-5 fixed to the base 4-4, and the outer side of the arm 4-2 is provided with a support 4-3;
  • the cylinder of the cylinder 4-1 is hinged to the support 4-6 fixed to the frame assembly 1, and the movable rod is hinged with the support 4-3 of the arm 4-2, and the cylinder 4-1 is contracted.
  • the control arm 4-2 is rotated in opposite or opposite directions to open and close the arm 4-2.
  • the lower log clamp assembly 7 has the same structure as the upper log clamp assembly 4.
  • the log drive assembly 6 includes a boom 6-1, a cylinder 6-4, and a driving device.
  • the arm 6-1 has an arc structure, one end is a movable end, and the other end is fixed.
  • the fixed end is hinged with the rotating shaft 6-3 mounted on the frame assembly 1, and a distance is left between the two fixed ends;
  • a driving device is respectively disposed on the movable end of the arm 6-1 and between the two fixed ends,
  • the driving devices are respectively composed of driving wheels 6-5 and slewing motors 6-6 for supplying power thereto.
  • the three driving wheels 6-5 are equal in diameter, are located in the same plane, and are circumferentially distributed along the axis of the log drive assembly 6.
  • the wheel body surface is full of triangular spines;
  • the driving wheel 6-5 located between the two fixed ends of the arm 6-1 is a movable driving wheel, and is mounted on the front end of the movable rod of a hydraulic rod 6-7, and is capable of radial translation;
  • the outer side of the arm 6-1 is respectively connected to the bracket 6-2, and the movable rod of the oil cylinder 6-4 is hinged with the bracket 6-2, and the cylinder of the cylinder is hinged with the bracket 6-8 fixed to the cabinet assembly 1.
  • the upper felling oil drama assembly 5 includes a cylinder 5-4, a chain saw body 5-1, a steering seat 5-2, and a rotating shaft 5-3; the rotating shaft 5-3 is fixedly mounted on the frame In the assembly 1, the middle portion of the steering base 5-2 is rotatably connected with the rotating shaft 5-3, one end of the steering seat 5-3 is hinged with the movable rod of the oil cylinder 5-4, and the other end is fixed with the chain saw body 5-1.
  • the cylinder 5-4 cylinder is hinged to a bracket 5-5 fixedly mounted on the cabinet assembly 1.
  • the structure of the lower felling oil drama assembly 8 is the same as that of the upper fellwood oil drama assembly 5.
  • the cut oil drama assembly 3 includes a chain saw body 3-1, a steering seat 3-2, a rotating shaft 3-3, a cylinder 3-4, a bracket 3-5, a platform 3-6, and a moving
  • the trolley 3-7 and the cylinder 3-8 are fixedly mounted on the platform 3-6, and the middle portion of the steering seat 3-2 is rotationally coupled with the rotating shaft 3-3, and one end of the steering seat 3-3 and the cylinder 3 -4 the movable rod is hinged, and the other end is fixed with the chain saw body 3-1, the cylinder 3-4 cylinder is hinged with the support 3-5 fixedly mounted on the platform 3-6, and the platform is set to move
  • the outer end of the platform 3-6 is hinged with the support on the moving trolley 3-7, the other end is supported by the oil cylinder 3-7, and the control platform 3-6 is rotated up and down, the mobile trolley 3 Set the wheels on the bottom of the -7.
  • the cut-off oil drama assembly 3 is rotated about a circular cutter assembly 2 by a guide rail assembly 9, which includes a guide rail 9-1, a chain 9-2, a drive gear 9-3, and a follower a gear 9-4, a transition gear 9-5, a swing motor 9-6, a motor output gear 9-7, the guide rail 9-1 is an arc structure, and the drive gear 9-3 and the driven gear 9-4 pass
  • the chain 9-2 is driven, and the middle of the chain 9-2 is provided with a transition gear 9-5.
  • the gears are evenly distributed along the track of the guide rail 9-1, so that the chain 9 matches the shape of the guide rail 9-1, and the output of the swing motor 9-6 is output.
  • a motor output gear 9-7 is mounted on the shaft, and the gear meshes with the driving gear 9-3 to drive the chain 9-2 to rotate; the cutting oil drama assembly 3 is hung on the chain 9-2 and rotates along the guide rail 9-1.
  • the angle of the guide rail 9-1 is 90 to 180 degrees, thereby achieving 360 degree clearance of the thicker branches around the trunk.
  • the fully automatic machine is used in combination with the unmanned tree-cutting machine invented by the applicant, and uses its lifting system to realize fully automatic tree cutting, cutting and breaking.
  • the all-in-one machine includes 11 cylinders mounted on the upper and lower layers in the frame of the rack assembly 1 and connected to the controller 10 respectively.
  • the controller 10 controls the lifting system so that the bottom end of the frame assembly 1 is close to the ground, and the circular cutting knife assembly 2, the upper and lower log clamp assemblies 4, 7 and the log
  • the driver is always open 60%, the upper and lower felling oil drama assemblies 5, 8 and the cutting oil drama assembly 3 are located on the opposite side of the opening side of each assembly, and the cutting edge of the cutting oil drama assembly is lifted up, away from After the center line of the circular branching knife assembly 2, after the trunk enters each assembly, the controller 10 controls each assembly to close and clamp the trunk.
  • the controller 10 first controls the work of the lower felling oil drama assembly 8, and cuts the tree; then controls the lifting device to lift the cabinet assembly 1 upward, while controlling the driving wheel 6-5 to rotate, the trunk is lowered Move, the process of moving the trunk.
  • the circular cutting knife assembly 2 removes the thin branches on the trunk.
  • the remote cutting and cutting oil drama assembly 3 cuts, because the rail assembly 9 is set, the cutting branches
  • the oil drama assembly 3 can be rotated around the trunk to achieve a 360-degree all-round cutting operation; to move to the appropriate length of the trunk, the controller 10 controls the upper felling oil drama assembly 5 to cut off the trunk, at which time the cutting work is completed, the controller 10 Control each assembly to open, and put down the tree section under the valve to achieve automatic cutting, cutting and breaking.
  • Normal trees can generally be harvested by the above methods, but some trees are restricted by the growing environment, the trunk is not straight, the thickness is uneven, and the round clamp assembly cannot hold it. At this time, the hydraulic rods 6-7 are Under the control of the controller 10, the movable driving wheel is pushed forward to clamp the trunk to achieve smooth harvesting.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)
  • Sawing (AREA)

Abstract

一种全自动伐树一体机，包括柜架总成（1）和控制器（10），以及圆形切枝刀总成（2）、圆木夹总成（4、7）和圆木驱动器总成（6）；还包括油锯总成，其中一个为切枝油锯总成（3），能够围绕圆形切枝刀总成（2）在至少90度范围内旋转，且能够相对于圆形切枝刀总成（2）的径向、轴向分别上下转动、左右转动，另外两个为伐木油锯总成（5、8），两者垂直于圆木夹总成（4、7）的轴线设置，并能够相对于轴向水平转动；所述圆形切枝刀总成（2）、圆木夹总成（4、7）和圆木驱动器总成（6）均能够在同一侧实现打开闭合操作。该全自动伐树一体机既可以对一般的树木进行采伐，还能够对树干不直、歪曲的树木进行采伐，适用性强；能够实现切枝、伐树、截断一体化操作，与其它机构设备配套使用；利用控制器、遥控器实现自动化操作控制。

Description

全自动伐树一体机 技术领域
本发明涉及全自动伐树机，具体涉及一种全自动伐树一体机。
背景技术
目前，伐树机械以德国生产的最为先进，但是其价格昂贵，且不适用于国内使用。因为国外树生长的比较直，树枝细，用伐树机就可以一次性完成伐树、切枝、锯成段。而国内大部分植树造林比较密集，农村城区杨树比较多，道旁的树长的不直，分枝粗细不均，多种多样。特别是农村有的树离房屋非常近，现在全靠人工伐树，功率特别低，操作不当易损坏房屋。并且人工伐树有很大的危险，目前国内还没有很好的解决方法。
发明内容
为了解决上述问题，本发明提供了一种全自动伐树一体机，该机是全机械伐树，一人摇控作业就可以自动完成伐木、锯树枝、断木工序，无危险，速度快、功能齐全，适合各种树型、密集树林使用，对树干不直、歪曲的树木也能够适用。本发明质量好，结构简单，价格低廉、效率高、用途广，还能够和多种机械拖拉机、挖掘机、装载机配套使用，安装于无人驾驶挖树机上效果更好。
本发明解放其技术问题所采用的技术方案是：一种全自动伐树一体机，包括柜架总成和控制器，以及同轴安装在柜架总成上的圆形切枝刀总成、圆木夹总成和圆木驱动器总成；圆形切枝刀总成设置在柜架总成的顶部，刀口垂直于柜架总成顶面；圆木夹总成至少设置两组，顺序设置于圆形切枝刀总成的下方，圆木驱动器总成位于两圆木夹总成之间，圆木驱动器总成能够使树干在轴向和径向上移动；还包括油剧总成，其中一个为切枝油剧总成，设置于圆形切枝刀总成的外侧，能够围绕圆形切枝刀总成在至少90度范围内旋转，且能够相对于圆形切枝刀总成的径向、轴向分别上下转动、左右转动，另外两个为伐木油剧总成，其中一个设于上圆木夹总成和圆木驱动器总成之间，另一下设于下圆木夹总成的下方，且两者垂直于圆木夹总成的轴线设置，并能够相对于轴向水平转动，对树干进行横向截断作业；所述圆形切枝刀总成、圆木夹总成和圆木驱动器总成均能够在同一侧实现打开闭合操作。
所述圆形切枝刀总成包括切刀本体、刀架、底座和油缸；所述底座、刀架和切刀本体均为环形结构，底座垂直设置于柜架总成的顶部，刀架和切刀本体依次安装于底座上；所述切刀本体、刀架以及底座均沿周向均分成五份，相邻刀架、底座之间通过活页铰接，其中一底座与柜架总成固连；所述油缸设置两个，缸体与安装于柜架总成上的支架铰接，活动杆 对称铰接于底座的支架上，控制切刀本体的打开与闭合。
所述圆木夹总成包括两个抱臂和两个油缸，抱臂为半圆弧形，两者围合成一个环形夹体，抱臂的其中一相邻端设置底座，并分别与固连于底座上的转轴转动连接，抱臂的外侧设置支座；所述油缸的缸体与固连于柜架总成上的支座铰接，其活动杆与抱臂的支座铰接，油缸收缩能够控制抱臂相向或反向转动，实现抱臂的打开和闭合。
所述圆木驱动器总成包括抱臂、油缸和驱动装置，所述抱臂为弧形结构，一端为活动端，另一端为固定端，固定端与安装于柜架总成上的转轴铰接，两固定端之间留有距离；抱臂的活动端上以及两固定端之间分别设置驱动装置，三个驱动装置分别由驱动轮和为其提供动力的回转马达组成，三个驱动轮直径相等，位于同一平面，且沿圆木驱动总成的轴线周向均布，轮体表面满布三角形棘刺；位于抱臂两固定端之间的驱动轮为活动驱动轮，安装于一液压杆的活动杆前端，能够径向平移；所述抱臂的外侧分别连接支架，油缸的活动杆与支架铰接，油缸的缸体与固连于柜架总成上的支架铰接。
所述伐木油剧总成包括油缸、油锯本体、转向座和转轴；所述转轴固定安装于柜架总成上，转向座的中部与转轴转动连接，转向座的一端与油缸的活动杆铰接，另一端上固连油锯本体，所述油缸缸体与固定安装于柜架总成上的支座铰接。
所述切枝油剧总成包括油锯本体、转向座、转轴、油缸、支架、平台、移动小车和油缸，所述转轴固定安装于平台上，转向座的中部与转轴转动连接，转向座的一端与油缸的活动杆铰接，另一端上固连油锯本体，所述油缸缸体与固定安装于平台上的支座铰接，所述平台设置于移动小车上，所述平台的外端与移动小车上的支座铰接，另一端的由油缸支撑，控制平台上下转动，所述移动小车的底面设置轮子。
所述切枝油剧总成通过导轨总成实现围绕圆形切刀总成转动；所述导轨总成包括导轨、链条、主动齿轮、从动齿轮、过渡齿轮、回转马达、马达输出齿轮，所述导轨为弧形结构，所述主动齿轮和从动齿轮通过链条传动，链条的中部设置过渡齿轮，齿轮沿导轨的轨迹均布，使链条与导轨的形状吻合，回转马达的输出轴上安装有马达输出齿轮，该齿轮与主动齿轮啮合，带动链条转动；所述切枝油剧总成挂在链条上沿导轨转动；所述导轨的角度为90～180度，从而实现对树干周围较粗树枝的360度清除。
所述全自动一体机配备遥控器，摇控器与控制器信号连接。
本发明的有益效果是：1)既可以对一般的树木进行采伐，还能够对树干不直、歪曲的树木进行采伐，适用性强；2)利用圆形切枝刀总成清除树干周边树枝；利用圆木夹总成固定树干，利用圆木驱动器总成将伐下的树杆上下左右移动，既辅助圆形切枝刀切割树枝， 又方便调节树干位置对其进行截段操作，还能够实现对较细树木进行抓紧；利用油剧截断树干，以及对树干周围较粗树枝进行清理；3)能够同其它机构设备配套使用，增强其使用功能，方便对伐下树木的运输；4)利用控制器对其进行控制，用遥控器远程操作，实现自动化操作控制。该自动化一体机能够实现全机械伐树，自动完成伐木、锯树枝、断木工序，无危险，速度快、功能齐全，且质量好，结构简单，价格低廉、效率高、用途广。
附图说明
附图1为本发明的结构示意图。
附图2为圆形切枝刀总成的结构示意图。
附图3为圆木夹总成的结构示意图。
附图4为圆木驱动器总成的结构示意图。
附图5为伐木油剧的结构示意图。
附图6为圆形切枝刀总成、切枝油剧总成和的结构示意图。
图中，1.柜架总成，2.圆形切枝刀总成，2-1.底座，2-2.刀架，2-3.切刀本体，2-4.油缸，2-5.活页，2-6.支架，2-7.支架，3.切枝油剧总成，3-1.油锯本体，3-2.转向座，3-3.转轴，3-4.油缸，3-5.支架，3-6.平台，3-7.移动小车，3-8.油缸，4.上圆木夹总成，4-1.油缸，4-2.抱臂，4-3.支座，4-4.底座，4-5.转轴，4-6.支座，5.上伐木油剧总成，5-1.油锯本体，5-2.转向座，5-3.转轴，5-4.油缸，5-5.支架，6.圆木驱动器总成，6-1.抱臂，，6-2.支架，6-3.转轴，6-4.油缸，6-5.驱动轮，6-6.回转马达，6-7.液压杆，6-8.支架，7.下圆木夹总成，8.下伐木油剧总成，9.导轨总成，9-1.导轨，9-2.链条，9-3.主动齿轮，9-4.从动齿轮，9-5.过渡齿轮，9-6.回转马达，9-7.马达输出齿轮，10.控制器，
具体实施方式
如附图1所示，一种全自动伐树一体机，包括柜架总成1和控制器10，以及同轴安装在柜架总成1上的圆形切枝刀总成2、圆木夹总成和圆木驱动器6总成；其中圆木夹总成至少设置两组，包括上圆木夹总4和下圆木夹总成7，顺序设置于圆形切枝刀总成2的下方，圆木驱动器总成6位于上、下两圆木夹总成4、7之间；还包括油剧总成，其中一个为切枝油剧总成3，设置于圆形切枝刀总成2的外侧，能够围绕圆形切枝刀总成2在至少90度范围内旋转；另外两个为伐木油剧总成，其中上伐木油剧总成5设于上圆木夹总成4和圆木驱动器总成6之间，上伐木油剧总成8设于下圆木夹总成7的下方，且两者垂直于圆木夹总成的轴线设置，并能够在水平方向转动；所述圆形切枝刀总成2、圆木夹总成和圆木驱动器总成6均能够在同一侧实现打开闭合操作。
如图2所示，所述圆形切枝刀总成2包括切刀本体2-3、刀架2-2、底座2-1和油缸2-4；所述底座2-1、刀架2-2和切刀本体2-3均为环形结构，底座2-1垂直设置于柜架总成1的顶部，刀架2-2和切刀本体2-3依次安装于底座2-1上；所述切刀本体2-3、刀架2-2以及底座2-1均沿周向均分成五份，相邻刀架2-2、底座2-1之间通过活页2-5铰接，其中一底座2-1与柜架总成1固连；所述油缸2-4设置两个，缸体与安装于柜架总成1上的支架2-6铰接，活动杆对称铰接于底座2-1的支架2-7上，控制切刀本体2-3的打开与闭合。
如图3所示，所述上圆木夹总成4包括两个抱臂4-2和两个油缸4-1，抱臂4-2为半圆弧形，两者围合成一个环形夹体，抱臂4-2的其中一相邻端设置底座4-4，并分别与固连于底座4-4上的转轴4-5转动连接，抱臂4-2的外侧设置支座4-3；所述油缸4-1的缸体与固连于柜架总成1上的支座4-6铰接，其活动杆与抱臂4-2的支座4-3铰接，油缸4-1收缩能够控制抱臂4-2相向或反向转动，实现抱臂4-2的打开和闭合。所述下圆木夹总成7与上圆木夹总成4结构相同。
如图4所示，所述圆木驱动器总成6包括抱臂6-1、油缸6-4和驱动装置，所述抱臂6-1为弧形结构，一端为活动端，另一端为固定端，固定端与安装于柜架总成1上的转轴6-3铰接，两固定端之间留有距离；抱臂6-1的活动端上以及两固定端之间分别设置驱动装置，三个驱动装置分别由驱动轮6-5和为其提供动力的回转马达6-6组成，三个驱动轮6-5直径相等，位于同一平面，且沿圆木驱动总成6的轴线周向均布，轮体表面满布三角形棘刺；位于抱臂6-1两固定端之间的驱动轮6-5为活动驱动轮，安装于一液压杆6-7的活动杆前端，能够径向平移；所述抱臂6-1的外侧分别连接支架6-2，油缸6-4的活动杆与支架6-2铰接，油缸的缸体与固连于柜架总成1上的支架6-8铰接。
如图5所示，所述上伐木油剧总成5包括油缸5-4、油锯本体5-1、转向座5-2和转轴5-3；所述转轴5-3固定安装于柜架总成1上，转向座5-2的中部与转轴5-3转动连接，转向座5-3的一端与油缸5-4的活动杆铰接，另一端上固连油锯本体5-1，所述油缸5-4缸体与固定安装于柜架总成1上的支座5-5铰接。所述下伐木油剧总成8的结构与上伐木油剧总成5的结构相同。
如图6所示，所述切枝油剧总成3包括油锯本体3-1、转向座3-2、转轴3-3、油缸3-4、支架3-5、平台3-6、移动小车3-7和油缸3-8，所述转轴3-3固定安装于平台3-6上，转向座3-2的中部与转轴3-3转动连接，转向座3-3的一端与油缸3-4的活动杆铰接，另一端上固连油锯本体3-1，所述油缸3-4缸体与固定安装于平台3-6上的支座3-5铰接，所述平台设置于移动小车3-7上，所述平台3-6的外端与移动小车3-7上的支座铰接，另一端的由油 缸3-7支撑，控制平台3-6上下转动，所述移动小车3-7的底面设置轮子。
所述切枝油剧总成3通过导轨总成9实现围绕圆形切刀总成2转动，所述导轨总成9包括导轨9-1、链条9-2、主动齿轮9-3、从动齿轮9-4、过渡齿轮9-5、回转马达9-6、马达输出齿轮9-7，所述导轨9-1为弧形结构，所述主动齿轮9-3和从动齿轮9-4通过链条9-2传动，链条9-2的中部设置过渡齿轮9-5，齿轮沿导轨9-1的轨迹均布，，使链条9与导轨9-1的形状吻合，回转马达9-6的输出轴上安装有马达输出齿轮9-7，该齿轮与主动齿轮9-3啮合，带动链条9-2转动；所述切枝油剧总成3挂在链条9-2上沿导轨9-1转动；所述导轨9-1的角度为90～180度，从而实现对树干周围较粗树枝的360度清除。
实施例
全自动一体机，与申请人发明的无人驾驶制挖树机结合使用，利用其提升系统，实现全自动的伐树、切枝和断木。该一体机包括有11个油缸上下分层安装在柜架总成1的框架内，并分别与控制器10连接。当需要伐树时，控制器10控制提升系统，使柜架总成1的底端接近地面，并将圆形切枝刀总成2、上、下圆木夹总成4、7和圆木驱动器总6成打开，上、下伐木油剧总成5、8以及切枝油剧总成3位于各总成开口一侧的相反侧，且切枝油剧总成的刀具前端仰起，远离圆形切枝刀总成2的中心线，树干进入各总成后，控制器10控制各总成闭合将树干夹紧。在此状态下，控制器10首先控制下伐木油剧总成8工作，将树伐下；再控制提升装置将柜架总成1向上提升，同时控制驱动轮6-5转动，将树干向下移动，树干移动的过程中圆形切枝刀总成2清除树干上较细的枝条，如果遇到较粗枝条，遥控切枝油剧总成3进行切割，由于导轨总成9设置，切枝油剧总成3可以围绕树干转动，实现360度全方位切枝作业；至移动到树干合适长度，控制器10控制上伐木油剧总成5将树干截断，此时伐树工作完成，控制器10控制各总成打开，将阀下的树段放下，实现全自动的伐树、切枝和断木。
正常的树木一般都可以采用上述方法完成采伐，但是有的树木受生长环境限制，树干不直，粗细不均，圆木夹总成无法将其夹持固定，此时，液压杆6-7在控制器10的控制下将活动驱动轮向前推动，夹紧树干，实现其顺利采伐。

Claims (9)

  1. 一种全自动伐树一体机，包括柜架总成和控制器，以及同轴安装在柜架总成上的圆形切枝刀总成、圆木夹总成和圆木驱动器总成；其特征在于，圆形切枝刀总成设置在柜架总成的顶部，刀口垂直于柜架总成顶面；圆木夹总成至少设置两组，顺序设置于圆形切枝刀总成的下方，圆木驱动器总成位于两圆木夹总成之间，圆木驱动器总成能够使树干在轴向和径向上移动；还包括油剧总成，其中一个为切枝油剧总成，设置于圆形切枝刀总成的外侧，能够围绕圆形切枝刀总成在至少90度范围内旋转，且能够相对于圆形切枝刀总成的径向、轴向分别上下转动、左右转动，另外两个为伐木油剧总成，其中一个设于上圆木夹总成和圆木驱动器总成之间，另一下设于下圆木夹总成的下方，且两者垂直于圆木夹总成的轴线设置，并能够相对于轴向水平转动，对树干进行横向截断作业；所述圆形切枝刀总成、圆木夹总成和圆木驱动器总成均能够在同一侧实现打开闭合操作。
  2. 根据权利要求1所述的一种全自动伐树一体机，其特征在于，所述圆形切枝刀总成包括切刀本体、刀架、底座和油缸；所述底座、刀架和切刀本体均为环形结构，底座垂直设置于柜架总成的顶部，刀架和切刀本体依次安装于底座上；所述切刀本体、刀架以及底座均沿周向均分成五份，相邻刀架、底座之间通过活页铰接，其中一底座与柜架总成固连；所述油缸设置两个，缸体与安装于柜架总成上的支架铰接，活动杆对称铰接于底座的支架上，控制切刀本体的打开与闭合。
  3. 根据权利要求1所述的一种全自动伐树一体机，其特征在于，所述圆木夹总成包括两个抱臂和两个油缸，抱臂为半圆弧形，两者围合成一个环形夹体，抱臂的其中一相邻端设置底座，并分别与固连于底座上的转轴转动连接，抱臂的外侧设置支座；所述油缸的缸体与固连于柜架总成上的支座铰接，其活动杆与抱臂的支座铰接，油缸收缩能够控制抱臂相向或反向转动，实现抱臂的打开和闭合。
  4. 根据权利要求1所述的一种全自动伐树一体机，其特征在于，所述圆木驱动器总成包括抱臂、油缸和驱动装置，所述抱臂为弧形结构，一端为活动端，另一端为固定端，固定端与安装于柜架总成上的转轴铰接，两固定端之间留有距离；抱臂的活动端上以及两固定端之间分别设置驱动装置，三个驱动装置分别由驱动轮和为其提供动力的回转马达组成，三个驱动轮直径相等，位于同一平面，且沿圆木驱动总成的轴线周向均布，轮体表面满布三角形棘刺；位于抱臂两固定端之间的驱动轮为活动驱动轮，安装于一液压杆的活动杆前端，能够径向平移；所述抱臂的外侧分别连接支架，油缸的活动杆与支架铰接，油缸的缸体与固连于柜架总成上的支架铰接。
  5. 根据权利要求1所述的一种全自动伐树一体机，其特征在于，所述伐木油剧总成包括油 缸、油锯本体、转向座和转轴；所述转轴固定安装于柜架总成上，转向座的中部与转轴转动连接，转向座的一端与油缸的活动杆铰接，另一端上固连油锯本体，所述油缸缸体与固定安装于柜架总成上的支座铰接。
  6. 根据权利要求5所述的一种全自动伐树一体机，其特征在于，所述圆形切枝刀总成的外周设置导轨，所述导轨为弧形结构，其角度为90～180度，使切枝油剧总成能够围绕圆形切枝刀总成转动；所述切枝油剧总成在伐木油剧总成的结构的基础上，又设置了能够使油剧本体的前端上下转动的油缸，以及使切枝油剧总成沿导轨转动的回转马达，从而实现对树干周围较粗树枝的360度清除。
  7. 根据权利要求1所述的一种全自动伐树一体机，其特征在于，所述切枝油剧总成包括油锯本体、转向座、转轴、油缸、支架、平台、移动小车和油缸，所述转轴固定安装于平台上，转向座的中部与转轴转动连接，转向座的一端与油缸的活动杆铰接，另一端上固连油锯本体，所述油缸缸体与固定安装于平台上的支座铰接，所述平台设置于移动小车上，所述平台的外端与移动小车上的支座铰接，另一端的由油缸支撑，控制平台上下转动，所述移动小车的底面设置轮子。
  8. 根据权利要求7所述的一种全自动伐树一体机，其特征在于，所述切枝油剧总成通过导轨总成实现围绕圆形切刀总成转动；所述导轨总成包括导轨、链条、主动齿轮、从动齿轮、过渡齿轮、回转马达、马达输出齿轮，所述导轨为弧形结构，所述主动齿轮和从动齿轮通过链条传动，链条的中部设置过渡齿轮，齿轮沿导轨的轨迹均布，使链条与导轨的形状吻合，回转马达的输出轴上安装有马达输出齿轮，该齿轮与主动齿轮啮合，带动链条转动；所述切枝油剧总成挂在链条上沿导轨转动；所述导轨的角度为90～180度，从而实现对树干周围较粗树枝的360度清除。
  9. 根据权利要求1所述的一种全自动伐树一体机，其特征在于，所述全自动一体机配备遥控器，摇控器与控制器信号连接。
PCT/CN2017/119192 2017-07-28 2017-12-28 全自动伐树一体机 WO2019019547A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710627084.5A CN107347582B (zh) 2017-07-28 2017-07-28 全自动伐树一体机
CN201710627084.5 2017-07-28

Publications (1)

Publication Number Publication Date
WO2019019547A1 true WO2019019547A1 (zh) 2019-01-31

Family

ID=60285673

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/119192 WO2019019547A1 (zh) 2017-07-28 2017-12-28 全自动伐树一体机

Country Status (2)

Country Link
CN (1) CN107347582B (zh)
WO (1) WO2019019547A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107347582B (zh) * 2017-07-28 2024-05-31 南京兴晴奥信息科技有限公司 全自动伐树一体机
CN112075207B (zh) * 2020-10-26 2023-03-07 中南林业科技大学 环抱式振动采收机

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3902538A (en) * 1974-06-10 1975-09-02 Muirhead Machinery Ltd Tree falling apparatus
CN201022289Y (zh) * 2007-04-30 2008-02-20 国家林业局哈尔滨林业机械研究所 林木伐打造联合作业机
CN201282679Y (zh) * 2008-10-24 2009-08-05 北京林业大学 多功能林木采伐机
CN102845273A (zh) * 2012-09-12 2013-01-02 广西大学 一种伐树截木一体机
CN107347582A (zh) * 2017-07-28 2017-11-17 江苏省丰垒果蔬特种机械研制有限公司 全自动伐树一体机

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070181217A1 (en) * 2006-02-03 2007-08-09 Ned Ahdoot Tree climbing and cutting apparatus
EP2074881A4 (en) * 2006-10-20 2012-07-04 Sumitomo S H I Construction Machinery Mfg Co Ltd WOOD HARVESTING MACHINE AND METHOD OF SLAUGHTERING AND WOOD PRODUCTION
US8002004B2 (en) * 2009-06-12 2011-08-23 Waratah Nz Limited Delimb arm cam stop
US7938154B2 (en) * 2009-06-12 2011-05-10 Waratah Nz Limited Timber-working head with feed wheel adaptor plate
FI126146B (fi) * 2010-12-30 2016-07-15 Meclimb Oy Menetelmä ja laitteisto puun käsittelemiseksi
CA2931940C (en) * 2013-11-29 2020-11-03 Waratah Nz Limited A timber-working device and timing link for same
CN104351012A (zh) * 2014-08-29 2015-02-18 广西玉柴重工有限公司 一种伐木机传送除枝装置
NZ629666A (en) * 2014-08-29 2016-03-31 Waratah Nz Ltd A timber-working device and method of operation
CN205511283U (zh) * 2016-04-19 2016-08-31 东北林业大学 一种伐木机工作装置
CN106954476A (zh) * 2017-03-24 2017-07-18 广西大学 一种具有三种自由度变换的三构态变胞式树木整枝伐树机
CN207355103U (zh) * 2017-07-28 2018-05-15 江苏省丰垒果蔬特种机械研制有限公司 全自动伐树一体机

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3902538A (en) * 1974-06-10 1975-09-02 Muirhead Machinery Ltd Tree falling apparatus
CN201022289Y (zh) * 2007-04-30 2008-02-20 国家林业局哈尔滨林业机械研究所 林木伐打造联合作业机
CN201282679Y (zh) * 2008-10-24 2009-08-05 北京林业大学 多功能林木采伐机
CN102845273A (zh) * 2012-09-12 2013-01-02 广西大学 一种伐树截木一体机
CN107347582A (zh) * 2017-07-28 2017-11-17 江苏省丰垒果蔬特种机械研制有限公司 全自动伐树一体机

Also Published As

Publication number Publication date
CN107347582A (zh) 2017-11-17
CN107347582B (zh) 2024-05-31

Similar Documents

Publication Publication Date Title
US7562682B1 (en) Hydraulic pruning attachment
US6474377B1 (en) Self-propelled climbing tree trimmer
CN207355103U (zh) 全自动伐树一体机
US20070181217A1 (en) Tree climbing and cutting apparatus
US6135175A (en) Tree harvester provided with a rotatable worktable
EP0428530B1 (en) Forest harvester
AU2011200196C1 (en) Tree Felling And Grappling Head
CN107826998B (zh) 随车吊剪枝机、随车吊和随车吊剪枝机的工作方法
US6374877B1 (en) Bar saw feller buncher and method of felling trees
US20140261890A1 (en) Tree Felling and Grappling Head
US3720246A (en) Method and apparatus for handling trees
DK3197268T3 (en) DEVICE FOR REMOVAL OF LIVING TREES
CN111602573B (zh) 一种智能采伐修枝机器人
WO2019019547A1 (zh) 全自动伐树一体机
CN207713309U (zh) 随车吊剪枝机和随车吊
CN208128943U (zh) 一种林业树木修剪装置
CN209330796U (zh) 一种橡胶幼树环割锯
CN105875221A (zh) 果树修剪机
US4416311A (en) Tree harvester
CN205623363U (zh) 一种果树修剪机
KR101184463B1 (ko) 고지톱 회전 작업대
CN216906238U (zh) 一种自动树木砍伐机
CN210746196U (zh) 一种用于配电线路的树木修剪器
CN215269595U (zh) 一种便于使用的园林绿化用修剪器
CN111758418B (zh) 一种垂直定长式树木修剪器

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17919543

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17919543

Country of ref document: EP

Kind code of ref document: A1