A lifting and self-storing branch pruning machine

Abstract

This patent provides a liftable self-storing branch pruning machine with a high degree of automation, scientific and accurate branch pruning, and automatic graded recovery of pruned branches. The machine comprises a supporting base, a multi-stage hydraulic telescopic device, a horizontal slide, and a pruning device. A storage box is arranged on the supporting base, and the bottom machine base of the multi-stage hydraulic telescopic device is arranged on the supporting base, and the machine base of the multi-stage hydraulic telescopic device is connected to a steering drive device; the first-stage telescopic rod at the top of the multi-stage hydraulic telescopic device and the horizontal slide, and the pruning device is arranged on the horizontal slide; the pruning device comprises a support, a clamping device, and a circular saw that is driven by a sawing motor to rotate to cut off branches, and a front top plate that can swing relative to the support is arranged on the other side of the support.

Description

Technical Field

[0001] This patent relates to the technical field of tree pruning equipment, especially a tree pruning machine with hydraulic adjustable height, automatic collection of pruned branches, high degree of automation, safety and efficiency. Background Art

[0002] As the national tree greening level increases year by year, manpower is needed to maintain fruit trees, ornamental trees in gardens, street trees, etc. Branch pruning is one of the tree maintenance methods. The more trees that need to be maintained, the more branches that need to be pruned, and the more manpower is invested. Manual pruning has safety hazards for pruning high branches, and the collection of pruned branches is still time-consuming and labor-intensive. For example, how to complete large-scale branch pruning before winter? Investing a large amount of manpower is inefficient and has high economic costs. The existing mechanized pruning equipment has high requirements for operators, is labor-intensive and inefficient, and also has safety hazards. Summary of the invention

[0003] In order to solve the problem that traditional branch pruning devices cannot automatically adjust the height and even require manual operation, and the collection of branches still needs to be completed by manpower again, the purpose of this patent is to provide a liftable and self-collecting branch pruning machine, which has a high degree of automation, scientific and accurate branch pruning, and can automatically grade and recycle the pruned branches, with high efficiency and good results.

[0004] The purpose of this patent is achieved through the following technical solutions:

[0005] A liftable self-storing branch pruning machine comprises a support base, a multi-stage hydraulic telescopic device, a horizontal slide, and a pruning device. A plurality of storage boxes are arranged on the support base. The bottom machine base of the multi-stage hydraulic telescopic device is arranged on the support base. The bottom machine base of the multi-stage hydraulic telescopic device is connected to a steering drive device that rotates the multi-stage hydraulic telescopic device around a vertical axis. The first-stage telescopic rod 1 at the uppermost end of the multi-stage hydraulic telescopic device is connected to one end of the horizontal slide. The horizontal slide has a slide rail 31. The horizontal slide is provided with a pruning device that can slide along the slide rail 31 under the drive of the sliding drive device. The pruning device comprises a support 40. A clamping device for clamping branches is arranged on the upper surface of the support. A circular saw 14 for rotating to cut branches driven by a sawing motor 13 is arranged on one side of the support. A front top plate 11 that can swing relative to the support under the drive of a swing motor 8 is arranged on the other side of the support.

[0006] When the front top plate 11 swings to a basically horizontal position, the clamping device clamps the branches on the front top plate 11, the circular saw 14 operates to cut off the clamped branches, and the multi-stage hydraulic telescopic device contracts to drive the front top plate 11 down to near the support base, and the front top plate 11 is moved to the top of the storage box by the rotation of the multi-stage hydraulic telescopic device around the vertical axis and / or the sliding of the pruning device along the slide rail 31. The clamping device releases the branches, and the front top plate 11 swings to a tilted state, so that the branches slide into the corresponding storage box.

[0007] The above-mentioned liftable self-storing branch pruning machine, the steering drive device includes a steering motor 21, a steering main gear 19, a steering movable gear 28, and a brake gear 29; the upper part of the steering main gear 19 is connected to the base 41 of the multi-stage hydraulic extension and retraction device, and is circumferentially meshed with the brake gear 29. The steering movable gear 28 is driven by the steering motor 21, and the steering movable gear 28 is meshed with the brake gear 29. The steering movable gear 28 is driven by the steering motor 21 to drive the brake gear 29 and then drive the steering main gear 19 to rotate the multi-stage hydraulic extension and retraction device.

[0008] The above-mentioned liftable and self-storing branch pruning machine has a laser displacement sensor 16 and a scanner 17 on the top of one end of the horizontal slide, and a slide rail 31 on the upper part of the other end; the laser displacement sensor 16 and the scanner 17 are both electrically connected to the industrial computer 4, and the industrial computer 4 is electrically connected to the steering drive device, the sliding drive device, the clamping device, etc. to control their actions.

[0009] The above-mentioned liftable and self-storing branch trimmer, the sliding drive device includes a horizontal transmission wheel 12 which is rotatably set on the support 40 and located on both sides of the slide rail 31 opposite to each other. The horizontal transmission wheel 12 is connected to the output shaft of the sliding motor 7, and the base of the sliding motor 7 is fixed on the support.

[0010] The above-mentioned liftable self-storing branch pruner, the clamping device includes a clamping claw 42 fixed on the support, a clamping knife 10 on the support slidingly arranged relative to the clamping claw, the clamping knife 10 and the lead screw 6 are matched with a spiral pair, and the lead screw 6 is driven by a clamping motor 9 that drives it to rotate.

[0011] The above-mentioned liftable self-storing tree branch pruning machine has a protruding sharp edge knife on the inner side surface of the clamp knife 10 opposite to the clamping claw 42, which is used for pruning tender branches.

[0012] The above-mentioned liftable self-storing tree branch pruning machine has a circular saw horizontal slide rail 2 on the support, and a sawing motor 13 is slidably arranged in the circular saw horizontal slide rail 2. The sawing motor 13 is connected to an electric push rod 15 that drives the sawing motor to move along the circular saw horizontal slide rail 2. The plane where the circular saw blade is located, the circular saw horizontal slide rail 2, and the lead screw 6 are parallel.

[0013] The beneficial effects of this patent are as follows: when working, a multi-stage hydraulic telescopic device belonging to the prior art is used to drive the horizontal slideway, the pruning device, etc. to rise to the vicinity of the pre-pruned branches, and the pruning device is driven to move to the bottom of the branches through the slideway driving device, the front top plate 11 swings to a substantially horizontal position to support the branches, the clamping device clamps the branches on the front top plate 11, the circular saw 14 is actuated to cut the clamped branches, the multi-stage hydraulic telescopic device shrinks, and drives the front top plate 11 to descend to a position close to the supporting base, and at the same time, the multi-stage hydraulic telescopic device rotates around the vertical axis or / and the pruning device slides along the slide rail 31, so that the front top plate moves to the upper part of a storage box, which corresponds to the length, diameter, etc. of the branches on the front top plate, and then the clamping device releases the branches, and the front top plate 11 swings to a tilted state, so that the branches slide into the corresponding storage boxes. In this way, branches of different lengths, diameters, etc. are stored in different storage boxes.

[0014] The scanner 17 can collect data from the tree crown scan. The industrial computer analyzes the branches to be pruned based on the collected data or transmits it to the cloud for artificial intelligence analysis. It also uses the ranging of the laser displacement sensor 16 to coordinate the steering drive device, the multi-stage hydraulic telescopic device and the pruning device on the horizontal slide to adjust the bottom of the branch to be pruned to be lifted up by the front top plate 11, and the clamp 42 and the clamp knife 10 clamp the branch, and the circular saw 14 moves along the horizontal track 2 of the circular saw to complete the cutting operation, which can further improve the degree of automation.

[0015] The clamping motor 9 drives the lead screw 6 to roll, driving the clamping knife 10 to move and clamp the branch. The clamping motor 9 is electrically connected to the industrial computer 4. The industrial computer 4 can analyze the distance of the clamping knife 10 from the initial position, and then obtain the diameter of the clamped branch.

[0016] The industrial computer can classify the pruned branches into multiple grades according to the length of the pruned branches measured by the scanner 17 on the top of the horizontal slide, the diameter of the branches measured by the clamp knife 10, the species of the pruned trees, etc. The pruned branches are placed in different storage boxes according to the grades, which reduces the subsequent unreasonable manual processing, accurately classifies, and reduces the waste of wood.

[0017] This patent has a high degree of automation, and the pruning of branches is scientific and accurate. The pruned branches can be automatically graded and recycled. It is safe and efficient, reduces the unreasonable use of pruning materials, and meets environmental protection requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a liftable and self-storing tree branch pruning machine;

[0019] Figure 2 This is a right side view of the liftable self-storing tree branch pruner;

[0020] Figure 3 for Figure 2 AA section view;

[0021] Figure 4 for Figure 3 A partial enlarged view of the

[0022] Figure 5 for Figure 2 BB cross-sectional view;

[0023] Figure 6 for Figure 5 A partial enlarged view of the

[0024] Figure 7 is a partial schematic diagram of a horizontal slide;

[0025] Figure 8 is a partial cross-sectional view of a horizontal slide;

[0026] Fig. 9 It is a schematic diagram of a trimming device, etc.;

[0027] Fig.10 It is an overall schematic diagram of the trimming device;

[0028] Fig.11 for Fig.10 A partial enlarged view of the

[0029] Fig.12 This is the front view of the trimming device;

[0030] Fig.13 It is a right side view of the trimming device;

[0031] Fig.14 It is a top view of the trimming device;

[0032] Fig.15 for Fig.13 CC profile of ;

[0033] Fig.16 for Fig.14 DD profile diagram;

[0034] Fig.17 for Fig.13 EE profile diagram;

[0035] Fig.18 This is a schematic diagram of the branch pruning working state;

[0036] Fig.19 This is a schematic diagram of the branch recovery working status;

[0037] Fig. 20 Schematic diagram of the branch pruning working state (top view).

[0038] In the figure: first-stage telescopic rod 1, circular saw horizontal slide rail 2, battery 3, industrial computer 4, battery 5, screw 6, sliding motor 7, swing motor 8, clamping motor 9, fixture knife 10, front top plate 11, horizontal transmission small wheel 12, sawing motor 13, circular saw 14, electric push rod 15, laser displacement sensor 16, scanner 17, third-stage telescopic rod 18, steering main gear 19, hydraulic pump 20, steering motor 21, fourth-class storage box 22, third-class storage box 23, second-class storage box 24, first-class storage box 25, second-stage telescopic rod 26, branch 27, steering gear 28, brake gear 29, battery 30, slide rail 31, screw protection cover 32, support 40, machine base 41, clamping claw 42. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solution in the embodiment of this patent in conjunction with the drawings in the embodiment of this patent.

[0040] See also Figure 1 The lifting and self-storing branch pruning machine shown is an automatic tree pruning device that can lift and prune branches, self-storing branches, and has clean energy, including a support base, and the support base has a hydraulic pump 20 of a multi-stage hydraulic telescopic device, a steering motor 21, a battery 30, a steering main gear 19, a steering dynamic gear 28, a brake gear 29, etc. The support base has four levels of storage boxes outside: a fourth-class storage box 22, a third-class storage box 23, a second-class storage box 24, and a first-class storage box 25.

[0041] The steering main gear is connected upward to the base 41 of the multi-stage hydraulic telescopic device, the hydraulic pump 20 is fixed on the base 41, the steering main gear is meshed with the brake gear, the third-stage hydraulic rod is connected to the hydraulic pump, the steering moving gear is driven by the steering motor, the brake gear is meshed with the steering moving gear, and the steering moving gear driven by the steering motor drives the brake gear and then drives the steering main gear to rotate the multi-stage hydraulic telescopic device.

[0042] The multi-stage hydraulic telescopic device mainly includes a hydraulic pump and three-stage telescopic rods: a first-stage telescopic rod 1, a second-stage telescopic rod 26, and a third-stage telescopic rod 18. The third-stage telescopic rod is connected to the hydraulic pump, and the first-stage telescopic rod is connected to the horizontal slide.

[0043] The horizontal slide includes a laser displacement sensor 16 and a scanner 17 at the top of one end, an industrial computer 4 and a battery 5 for supplying power to the laser displacement sensor 16 and the scanner 17 are arranged inside, and a slide rail 31 is at the upper part of the other end, and a trimming device slidably connected to the slide rail.

[0044] The trimming device includes a support 40, a horizontal transfer wheel 12 is rotatably arranged at the center position of the top of the support 40 to cooperate with the horizontal slide rail 31, a clamping device including a clamp knife is arranged at the front end of the top of the support 40, a sawing device including a circular saw is arranged at the rear side of the support, and a front top plate 11 is arranged at the front side of the support 40.

[0045] The clamping device includes a clamping claw 42 fixed on a support, a clamping knife 10 on a support slidably arranged relative to the clamping claw, the clamping knife 10 and the lead screw 6 are matched with a screw pair, and the lead screw 6 is driven by a clamping motor 9 that drives it to rotate. The lead screw 6 rotates to drive the clamping knife 10 forward or backward, and a lead screw protection cover 32 is provided at the upper end of the groove where the lead screw 6 is located, and the clamping knife 10 passes through the lead screw protection cover 32 upward. The clamping knife 10 is driven by the clamping motor 9 to drive the lead screw 6 forward, and the clamping knife 10 clamps the branch when the clamping motor 9 is adaptively measured. The clamping motor 9 stops driving, and the industrial computer 4 obtains the diameter of the branch according to the distance of the clamping knife 10 from the initial position.

[0046] The inner side surface of the clamp knife 10 opposite to the clamping jaw 42 has a protruding sharp edge knife for pruning young branches.

[0047] The support is provided with a circular saw horizontal slide rail 2, and a sawing motor 13 is slidably arranged in the circular saw horizontal slide rail 2. The sawing motor 13 is connected to an electric push rod 15 that drives the sawing motor to move along the circular saw horizontal slide rail 2. The plane where the circular saw blade is located, the circular saw horizontal slide rail 2, and the lead screw 6 are parallel. The circular saw 14 is horizontally moved on the circular saw horizontal slide rail 2 by the electric push rod 15, and the front top plate 11 is driven by the swing motor 8. The swing motor 8, the clamping motor 9, the sawing motor 13, and the electric push rod 15 are powered by the battery 3 inside the support.

[0048] The steering main gear 19 in the support base is meshed with the brake gear 29. The multi-stage hydraulic telescopic device is driven by the steering dynamic gear 28 and can rotate in the angle range of 0° to 360°. The brake gear 29 is used to slow down or stop immediately, so that the multi-stage hydraulic telescopic device can rotate to the specified position more accurately. The multi-stage hydraulic telescopic device is composed of a three-stage telescopic rod to meet the needs of high branch pruning operations.

[0049] There are mainly four storage boxes of different sizes, which are divided into four grades according to the branch length measured by the scanner 17 on the top of the horizontal slide, the branch diameter measured by the clamp knife 10, and the species of the pruned trees. The pruned wood is processed according to the four grades, which reduces the subsequent unreasonable processing by manual labor, accurately classifies, and reduces the waste of wood.

[0050] The front top plate 11 and the clamp knife 10 work together to keep the pruned branches supported at both ends and balanced. The correct placement of the pruned branches is achieved by adjusting the angle of the front top plate 11 and the height of the multi-stage hydraulic telescopic device.

[0051] The scanner 17 collects the crown scanning data, transmits it to the industrial computer itself or to the cloud for artificial intelligence analysis, and scientifically selects the branches to be pruned. The laser displacement sensor 16 in the pruning device measures the distance, and cooperates with the steering gear group composed of the steering dynamic gear 28, the brake gear 29, the steering main gear 19, etc., the multi-stage hydraulic telescopic device and the pruning device on the horizontal slide to adjust the pruning device to the bottom of the branch to be pruned. It is supported by the front top plate 11 and clamped by the clamp and the fixture knife 10, and the circular saw 14 moves along the circular saw horizontal track 2 to complete the cutting operation.

[0052] See also Figure 1 , 4 , 6, 7, a self-storing clean energy automatic tree pruning device that can be raised and lowered to prune branches. The device automatically moves to the selected tree, scientifically selects the branches to be pruned through scanning recognition and artificial intelligence analysis, and measures the location through a laser displacement sensor 16. The battery 30 inside the support base drives the steering motor 21 to drive the steering gear 28. The steering gear 28 engages with the brake gear 29 to transmit the steering main gear 19 engaged with the brake gear 29, thereby driving the multi-stage hydraulic telescopic device connected to the steering main gear 19. The hydraulic pump 20 drives the multi-stage hydraulic telescopic device to adjust the height.

[0053] See also Figure 8 , 9 The industrial computer 4 at one end of the horizontal slideway adjusts and sends instructions to the pruning device at the other end, and the pruning device is moved along the horizontal slideway by the transmission wheel 12 to the lower end of the dead branch 27.

[0054] See also Fig.10 , 11, 15, 16, 17, 18, 19, 20, the clamp knife 10 located at the front of the top of the support is pulled toward the other side due to the rotation of the lead screw 6 driven by the clamping motor 9, and a lead screw protection cover 32 is provided at the upper end of the groove where the lead screw 6 is located, and penetrates the clamp knife 10. The lead screw protection cover 32 is for preventing branches or flying debris on the dead branches 27 from being drawn in and causing damage to the lead screw 6. The clamp knife 10 adaptively tightens the dead branch 27, measures the distance between the two clamp knives, and transmits it to the industrial computer 4 at one end of the horizontal slide. The front top plate 11 adjusts the angle and rises to resist the dead branch 27. The clamp knife 10 and the front top plate 11 form a double-end support to ensure that the cut dead branch 27 remains balanced. After the fixation is completed, the industrial computer 4 sends a cutting command to the circular saw 14. The circular saw 14 moves horizontally along the horizontal slide rail 2 of the circular saw through the electric push rod 15 until the branch 27 is cut off from the trunk, and then the steering motor 21 driven by the battery inside the support base drives the steering gear 28 and the brake gear The wheel 29 then drives the steering main gear 19 meshing with the brake gear 29, so that the multi-stage hydraulic telescopic device rotates to the specified position, and then the brake gear 29 brakes and stops immediately, so that the front top plate 11 is aligned with the corresponding third-class storage box 23 (such as the industrial computer 4 determines that the pruned branches are of the third class according to the length and diameter of the branches combined with the tree type), and the hydraulic pump 20 drives the hydraulic telescopic mechanism to adjust the height down, adjust the angle of the front top plate 11 to a certain angle, and the clamping knife 10 is driven by the clamping motor 9 to drive the lead screw 6 to rotate and loosen the branch 27, so that the branch 27 slides into the third-class storage box 23. This patent achieves the correct delivery of pruned branches by adjusting the angle of the front top plate, the height of the multi-stage hydraulic telescopic device, and the horizontal angle of the steering gear set.

[0055] Refer to above to complete the trimming work.

[0056] This patented device automatically adjusts the pruning height through scanning hydraulics, and can prune both high and low branches. The pruned branches are automatically collected and stored through the coordinated operation of the mechanism, and the pruned branches are classified and recycled. Clean energy is used to drive the motor to complete the work, freeing up manpower and complying with the concepts of safety, environmental protection and high efficiency.

Claims

1. A liftable self-storing branch pruning machine, comprising a support base, a multi-stage hydraulic telescopic device, a horizontal slide, and a pruning device, characterized in that: A plurality of storage boxes are arranged on the support base, a bottom machine base of the multi-stage hydraulic telescopic device is arranged on the support base, and the bottom machine base of the multi-stage hydraulic telescopic device is connected to a steering drive device that causes the multi-stage hydraulic telescopic device to rotate around a vertical axis; a first-stage telescopic rod (1) at the uppermost end of the multi-stage hydraulic telescopic device is connected to one end of a horizontal slide, the horizontal slide has a slide rail (31), and a pruning device that can slide along the slide rail (31) under the drive of the sliding drive device is arranged on the horizontal slide; the pruning device comprises a support (40), a clamping device for clamping branches is arranged on the upper surface of the support, a circular saw (14) that rotates under the drive of a sawing motor (13) to cut branches is arranged on one side of the support, and a front top plate (11) that can swing relative to the support under the drive of a swing motor (8) is arranged on the other side of the support; The steering drive device comprises a steering motor (21), a steering main gear (19), a steering movable gear (28), and a brake gear (29); the upper portion of the steering main gear (19) is connected to a base (41) of the multi-stage hydraulic telescopic device; the steering main gear (19) is circumferentially meshed with the brake gear (29); the steering movable gear (28) is driven by the steering motor (21); the steering movable gear (28) is meshed with the brake gear (29); the steering movable gear (28) is driven by the steering motor (21) to drive the brake gear (29) and then drive the steering main gear (19), thereby rotating the multi-stage hydraulic telescopic device; The sliding drive device comprises a horizontal transmission wheel (12) rotatably mounted on a support (40) and located on both sides of the slide rail (31) opposite to each other, the horizontal transmission wheel (12) being connected to an output shaft of a sliding motor (7), and a base of the sliding motor (7) being fixed on the support; The clamping device comprises a clamping claw (42) fixed on a support, and a clamping knife (10) slidably arranged on the support relative to the clamping claw, the clamping knife (10) and the lead screw (6) being matched with each other in a spiral pair, and the lead screw (6) is driven by a clamping motor (9) for driving the lead screw (6) to rotate; A laser displacement sensor (16) and a scanner (17) are provided at the top of one end of the horizontal slideway, and a slide rail (31) is provided at the top of the other end; the laser displacement sensor (16) and the scanner (17) are both electrically connected to an industrial control computer (4), and the industrial control computer (4) is electrically connected to the steering drive device, the sliding drive device, and the clamping device to control their movements; The scanner (17) collects the scan data of the tree crown, and through the intelligent analysis of the industrial control computer itself, scientifically selects the branches to be pruned, and measures the distance through the laser displacement sensor (16) in the pruning device, and cooperates with the steering gear group composed of the steering dynamic gear (28), the brake gear (29), and the steering main gear (19), the multi-stage hydraulic telescopic device and the pruning device on the horizontal slide, and adjusts the pruning device to the bottom of the branch to be pruned. When the front top plate (11) swings to a basic level, the clamping device clamps the branch on the front top plate (11), the circular saw (14) is actuated to cut the clamped branch, and the multi-stage hydraulic telescopic device contracts to drive the front top plate (11) down to a position close to the support base. The front top plate (11) is moved to the top of the storage box by the rotation of the multi-stage hydraulic telescopic device around the vertical axis or / and the sliding of the pruning device along the slide rail (31). The clamping device releases the branch, and the front top plate (11) swings to a tilted state, so that the branch slides into the corresponding storage box.

2. The liftable self-storing tree branch pruner according to claim 1 is characterized in that: The inner side surface of the clamp knife (10) opposite to the clamp claw (42) is provided with a protruding sharp edge knife for pruning tender branches.

3. The liftable self-storing tree branch pruner according to claim 1, characterized in that: superior A circular saw horizontal slide rail (2) is provided, a sawing motor (13) is slidably provided in the circular saw horizontal slide rail (2), the sawing motor (13) is connected to an electric push rod (15) that drives the sawing motor to move along the circular saw horizontal slide rail (2), and the plane where the saw blade of the circular saw is located, the circular saw horizontal slide rail (2), and the lead screw (6) are parallel.

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