Hydraulic system and control method of a bamboo felling machine head

Abstract

This invention provides a hydraulic system for a bamboo felling machine head, relating to the field of bamboo felling equipment technology. The system includes: a hydraulic oil source, a saw blade motor, a first oil cylinder, a second oil cylinder, a flow divider valve, a first reversing valve, a second reversing valve, and a third reversing valve. The saw blade motor drives the circular saw to rotate and cut bamboo. The first oil cylinder drives the pushing clamp arm. The second oil cylinder drives the collecting clamp arm. The flow divider valve has an oil inlet, a first oil outlet, and a second oil outlet; the oil inlet is connected to the hydraulic oil source via a pipeline. The first reversing valve controls the start and stop of the saw blade motor. The second reversing valve controls the extension and retraction of the first oil cylinder. The third reversing valve is located between the second oil outlet of the flow divider valve and the second oil cylinder to control the extension and retraction of the second oil cylinder. This application provides a mechanized bamboo felling device.

Description

Technical Field

[0001] This application relates to the field of bamboo felling equipment technology, and in particular to a hydraulic system and control method for a bamboo felling machine head. Background Technology

[0002] Currently, bamboo harvesting in China remains relatively primitive. Recent bamboo harvesting equipment mainly consists of hand shears, hand saws, and electric bamboo felling shears, which can only harvest one bamboo stalk at a time. This results in low efficiency, poor harvesting quality, and fails to meet the requirements for bamboo use. Therefore, there is an urgent market need for a mechanized harvesting equipment solution to reduce manual labor intensity and improve labor productivity. Summary of the Invention

[0003] The technical problem to be solved by this application is to propose a hydraulic system and control method for a bamboo cutting machine head, addressing the aforementioned shortcomings of the prior art.

[0004] A hydraulic system for a bamboo felling machine head, the bamboo felling machine head including a machine head frame with a collecting recess, a circular saw for cutting bamboo, a pusher arm, and a collecting arm; the pusher arm is used to push the cut bamboo into the collecting recess; the collecting arm is used to cooperate with the machine head frame to clamp the bamboo pushed into the collecting recess by the pusher arm; the hydraulic system includes:

[0005] Hydraulic oil source;

[0006] Saw blade motor, used to drive the circular saw to rotate and cut bamboo;

[0007] The first hydraulic cylinder is used to drive the pusher arm.

[0008] The second hydraulic cylinder is used to drive the movement of the material clamping arm;

[0009] The flow divider valve has an oil inlet, a first oil outlet, and a second oil outlet; wherein the oil inlet is connected to the hydraulic oil source by a pipeline.

[0010] The first reversing valve is located between the first oil outlet of the diverter valve and the saw blade motor to control the start and stop of the saw blade motor.

[0011] The second directional valve is located between the second oil outlet of the diverter valve and the first oil cylinder to control the extension and retraction of the first oil cylinder.

[0012] The third directional valve is located between the second oil outlet of the diverter valve and the second oil cylinder to control the extension and retraction of the second oil cylinder.

[0013] In one technical solution, the first directional valve has a first oil port, a second oil port, a third oil port, and a fourth oil port; when the valve core of the first directional valve is in the first working position, the first oil port and the third oil port are connected, and the second oil port and the fourth oil port are connected; when the valve core of the first directional valve is in the second working position, the first oil port and the third oil port are not connected, the second oil port and the fourth oil port are not connected, and the first oil port and the second oil port are connected.

[0014] Specifically, the first oil port of the first reversing valve is connected to the first oil outlet pipeline of the diverter valve, the second oil port is connected to the oil tank pipeline, the third oil port is connected to the oil inlet pipeline of the saw blade motor, and the fourth oil port is connected to the oil outlet pipeline of the saw blade motor.

[0015] In one technical solution, the oil inlet of the saw blade motor is also connected to the oil tank via a one-way valve; wherein, the oil inlet of the one-way valve is connected to one end of the oil tank, and the oil outlet is connected to one end of the saw blade motor.

[0016] In one technical solution, the first oil outlet of the diversion valve is also connected to the oil tank through a first overflow valve pipeline;

[0017] The oil outlet of the saw blade motor is also connected to the oil tank via a second overflow valve pipeline.

[0018] In one technical solution, the second directional valve includes: a fifth oil port, a sixth oil port, a seventh oil port, and an eighth oil port; when the valve core of the second directional valve is in the first working position, the fifth oil port and the seventh oil port are connected, and the sixth oil port and the eighth oil port are connected; when the valve core of the second directional valve is in the second working position, the fifth oil port and the eighth oil port are connected, and the sixth oil port and the seventh oil port are connected; when the valve core of the second directional valve is in the third working position, none of the oil ports are connected; wherein, the fifth oil port of the second directional valve is connected to the second oil outlet pipeline of the diverter valve, the sixth oil port is connected to the oil tank pipeline, the seventh oil port is connected to the rod chamber pipeline of the first oil cylinder, and the eighth oil port is connected to the rodless chamber pipeline of the first oil cylinder;

[0019] The third directional valve includes: a ninth port, a tenth port, an eleventh port, and a twelfth port; when the valve core of the third directional valve is in the first working position, the ninth port and the eleventh port are connected, and the tenth port and the twelfth port are connected; when the valve core of the third directional valve is in the second working position, the ninth port and the twelfth port are connected, and the tenth port and the eleventh port are connected; when the valve core of the third directional valve is in the third working position, none of the ports are connected; wherein, the ninth port of the third directional valve is connected to the second outlet pipeline of the diverter valve, the tenth port is connected to the oil tank pipeline, the eleventh port is connected to the rod chamber pipeline of the second cylinder, and the twelfth port is connected to the rodless chamber pipeline of the second cylinder.

[0020] In one technical solution, the second oil outlet of the diverter valve is also connected to the oil tank via a fourth directional valve; when the fourth directional valve is in the first working position, the second oil outlet of the diverter valve is connected to the oil tank; when the fourth directional valve is in the second working position, the second oil outlet of the diverter valve is not connected to the oil tank.

[0021] The second outlet of the diverter valve is also connected to the oil tank via a third overflow valve pipeline.

[0022] One technical solution also includes: a first pressure sensor, a second pressure sensor, a speed sensor, a first limit switch, and a second limit switch; wherein, the first pressure sensor is used to measure the working pressure of the saw blade motor; the second pressure sensor is used to measure the working pressure of the first hydraulic cylinder and the second hydraulic cylinder; the speed sensor is used to measure the speed of the saw blade motor; the first limit switch is used to measure whether the first hydraulic cylinder has retracted to the correct position; and the second limit switch is used to measure whether the second hydraulic cylinder has retracted to the correct position.

[0023] On the other hand, this application also provides a control method for a bamboo harvester head, the control method being applied to the hydraulic system provided in the above section, the control method including the step of automating timber harvesting:

[0024] Adjust the second reversing valve to retract the first oil cylinder and drive the pusher arm to the open state; adjust the third reversing valve to extend the second oil cylinder and drive the material clamping arm to the clamping state.

[0025] Adjust the first reversing valve to make the saw blade motor rotate, thereby driving the circular saw to rotate and cut the bamboo;

[0026] Adjust the second reversing valve to extend the first oil cylinder, thereby driving the pusher arm to push the sawn bamboo into the material collection notch.

[0027] Adjust the third directional valve to retract the second cylinder, thereby driving the material clamping arm to the open state. Then adjust the third directional valve again to extend the second cylinder, thereby driving the material clamping arm to the clamping state.

[0028] Adjust the second directional valve again to retract the first cylinder and drive the pusher arm to the open state.

[0029] In one technical solution, the control method includes the step of automated unloading:

[0030] Adjust the first directional valve to stop the saw blade motor from rotating;

[0031] Adjust the second reversing valve to retract the first oil cylinder and drive the pusher arm to the open state;

[0032] Adjust the third directional valve to retract the second cylinder, thereby driving the material clamping arm to the open state.

[0033] In one technical solution, the process of the circular saw being driven by the saw blade motor to cut bamboo specifically includes:

[0034] When the load pressure of the saw blade motor is detected to increase, the engine speed of the control oil source is increased, thereby increasing the oil flow rate driving the saw blade motor.

[0035] When a decrease in load pressure is detected in the saw blade motor, the engine speed controlling the oil source is reduced, thereby reducing the oil flow rate driving the saw blade motor.

[0036] This application provides a hydraulic system for a bamboo felling machine head. A first directional valve controls the start and stop of the saw blade motor, a second directional valve controls the extension and retraction of the first hydraulic cylinder, and a third directional valve controls the extension and retraction of the second hydraulic cylinder. These systems, in turn, control the circular saw, the pusher arm, and the collecting arm to perform coordinated actions. Through the coordinated movements of the circular saw, the pusher arm, and the collecting arm, automated bamboo felling is achieved. Therefore, this application provides a mechanized felling equipment solution that reduces manual labor intensity and improves labor productivity. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the hydraulic system of the bamboo-cutting machine head in an embodiment of this application.

[0038] Figure 2 This is a schematic diagram of the bamboo-cutting machine head in an embodiment of this application.

[0039] Figure 3 This is another structural schematic diagram of the bamboo-cutting machine head in the embodiments of this application.

[0040] Figure 4 This is a schematic diagram of the bamboo-cutting equipment in an embodiment of this application.

[0041] Figure 5 This is one of the flowcharts of the control method for the bamboo-cutting machine head in the embodiments of this application.

[0042] Figure 6 This is the second flowchart of the control method for the bamboo-cutting machine head in the embodiments of this application.

[0043] Figure 7 This is the third flowchart of the control method for the bamboo-cutting machine head in the embodiments of this application. Detailed Implementation

[0044] The following are specific embodiments of this application, described in conjunction with the accompanying drawings, to further illustrate the technical solutions of this application. However, this application is not limited to these embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0045] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0046] This application provides a hydraulic system for a bamboo-cutting machine head. (Reference) Figures 2 to 4 The bamboo-cutting machine head includes a machine head frame 10 with a collecting recess 11, a circular saw 40 for cutting bamboo, a pushing clamp arm 20, and a collecting clamp arm 30; the pushing clamp arm 20 is used to push the cut bamboo into the collecting recess; the collecting clamp arm 30 is used to cooperate with the machine head frame 10 to clamp the bamboo pushed into the collecting recess 11 by the pushing clamp arm 20. The following describes... Figures 2 to 4 The structure of the bamboo-cutting machine head is explained.

[0047] refer to Figures 2 to 4 The bamboo felling machine head includes a head frame 10, a circular saw 40, a pushing clamp arm 20, a collecting clamp arm 30, a first drive source, and a second drive source. The head frame 10 has a collecting recess 11 capable of accommodating multiple bamboo stalks. The circular saw 40 is used to cut the bamboo. The pushing clamp arm 20 is mounted on the head frame 10 and is used to push the cut bamboo into the collecting recess 11. The collecting clamp arm 30 is mounted on the head frame 10 and cooperates with the head frame 10 to clamp the bamboo pushed into the collecting recess 11 by the pushing clamp arm 20. The first drive source drives the pushing clamp arm 20. The second drive source drives the collecting clamp arm 30. The circular saw 40 is located below the pushing clamp arm 20 and the collecting clamp arm 30.

[0048] In this embodiment, the circular saw 40 is positioned near the bottom of the headstock 10 and can be used to cut bamboo from the root. The circular saw is driven by a saw blade motor to rotate the saw blade, and the high-speed rotating saw blade cuts the bamboo horizontally.

[0049] After the circular saw 40 cuts the bamboo, the first drive source drives the pusher arm 20 to push the cut bamboo into the collecting recess 11. In a specific example, the first drive source is a hydraulic cylinder. The collecting recess 11 on the headstock 10 can accommodate multiple bamboos during the operation of the equipment. Therefore, during the operation, the pusher arm 20 can push multiple bamboos into the collecting recess 11 in sequence, thereby enabling continuous mechanized felling and collection of multiple bamboos.

[0050] During equipment operation, the bamboo collecting arm 30 cooperates with the machine head frame 10 to clamp the bamboo pushed into the bamboo collecting recess 11 by the pushing arm 20. Specifically, the pushing arm 20 pushes one bamboo into the bamboo collecting recess 11 at a time. After the bamboo enters the bamboo collecting recess 11, the pushing arm 20 retracts, and one more bamboo is added to the bamboo collecting recess 11. As the pushing arm 20 pushes multiple bamboos into the bamboo collecting recess 11 one by one, the bamboo collecting arm 30 can continuously adjust its movement to always keep all the bamboos in a clamped state.

[0051] In some specific embodiments, the pushing clamp arm 20 is rotatably mounted on the head frame 10; the collecting clamp arm 30 is rotatably mounted on the head frame 10. The first drive source is a hydraulic cylinder capable of driving the pushing clamp arm 20 to rotate relative to the head frame 10; the second drive source is a hydraulic cylinder capable of driving the collecting clamp arm 30 to rotate relative to the head frame 10. The second drive source acts on the collecting clamp arm 30, causing the collecting clamp arm 30 to press the bamboo in the collecting recess 11. In this state, when the pushing clamp arm 20 pushes the bamboo into the collecting recess 11 again, the bamboo is pressed between the back of the collecting clamp arm 30 and the pushing clamp arm 20, and the collecting clamp arm 30 is clamped between the bamboo on both sides. At this time, driven by the second drive source, the collecting clamp arm 30 is pulled out from the bamboo and presses all the bamboo from the outside again, completing the felling and collection of one bamboo. In a sequential cycle, the circular saw 40, the pusher arm 20, and the collecting arm 30 can work together to cut and collect multiple bamboo stalks.

[0052] Further, the material clamping arm 30 includes a first arm 31 and a second arm 32; wherein, the first arm 31 is rotatably mounted on the head frame 10; a second drive source is used to drive the first arm 31 to rotate relative to the head frame 10; the second arm 32 is movably mounted on the first arm 31, and a spring 33 is provided between the two to keep the second arm 32 at a preset extension angle; when the material clamping arm 30 rotates open away from the material notch 11, the second arm 32 can be forced to overcome the elastic force of the spring 33 and rotate in the opposite direction. A hinge and a spring connection are provided between the first arm 31 and the second arm 32. The hinge relationship allows the second arm 32 to rotate relative to the first arm 31, and the spring connection is used to keep the second arm 32 at a preset extension angle in a free state.

[0053] When the second drive source's drive arm 30 presses down on the bamboo inside the bamboo collection recess 11, the front of the second arm 32 facing the bamboo collection recess 11 receives a reaction force. At this time, the first arm 31 and the second arm 32 are mutually locked and limited, and the second arm 32 remains at a predetermined extension angle and presses down on the bamboo. When the bamboo collection arm 30 is pulled out of the bamboo under the drive of the second drive source, the bamboo collection arm 30 rotates and opens away from the bamboo collection recess 11. The back of the second arm 32 facing away from the bamboo collection recess 11 receives a reaction force from the bamboo. At this time, the second arm 32 is forced to overcome the elastic force of the spring 33 and rotates in the opposite direction, thus being able to be pulled out of the bamboo so that all the bamboo can be clamped from the outside again.

[0054] In one specific example, the pusher arm 20 and / or the collecting arm 30 are provided with soft pads for contact with bamboo. The soft pads can increase the contact area and provide a certain buffer during the contact between the pusher arm 20 and / or the collecting arm 30 and the bamboo stem, thereby avoiding damage to the bamboo.

[0055] Furthermore, the bamboo cutting machine head is also equipped with an overload alarm to sound an alarm when the circular saw 40 is overloaded. The overload alarm can sound an alarm when the circular saw speed is too low. In some specific examples, the overload alarm is an audible alarm, a vibration alarm, or a light alarm. Furthermore, the overload alarm can also send a signal to the main unit when the circular saw 40 is overloaded, so that measures can be taken to exit the overload state.

[0056] In this embodiment, after the circular saw cuts the bamboo, the pusher arm pushes the cut bamboo into the collecting recess. The collecting recess cooperates with the machine head frame to hold the bamboo pushed into the collecting recess by the pusher arm. The collecting recess can accommodate multiple bamboos. Therefore, the pusher arm can push multiple bamboos into the collecting recess in sequence, thereby realizing continuous mechanized felling and collecting of multiple bamboos, which significantly improves the efficiency of bamboo felling.

[0057] refer to Figure 4 This application also provides a bamboo-cutting device, including a chassis 50, a boom 60, and a bamboo-cutting head. The boom 60 is mounted on the chassis 50. The bamboo-cutting head is mounted at the end of the boom 60. In a specific example, the bamboo-cutting head is connected to the end of the boom 60 via a quick connector 70.

[0058] The chassis 50 can be a tracked chassis, suitable for moving around in bamboo forests, and the boom 60 can include multiple boom sections for adjusting the position of the bamboo cutting machine head.

[0059] The bamboo-cutting machine head can be quickly installed and replaced as a whole via quick connector 70, utilizing existing equipment as its power and mobility device, thus reducing equipment costs. The chassis 50 can be an excavator, loader, all-terrain vehicle, skid steer loader, etc. The quick connector, also called a quick-change joint or quick-connect head, is used to achieve a quick connection between the boom 60 and the bamboo-cutting machine head. Its principle is similar to that of an excavator quick-change joint; please refer to existing technology, which will not be elaborated upon here.

[0060] refer to Figure 1 The hydraulic system includes: a hydraulic oil source 101, a saw blade motor 102, a first cylinder 103, a second cylinder 104, a flow divider valve 105, a first directional valve 106, a second directional valve 107, and a third directional valve 108. The saw blade motor 102 drives the circular saw to rotate and cut bamboo. The first cylinder 103 drives the material-pushing clamping arm. The second cylinder 104 drives the material-collecting clamping arm. The flow divider valve 105 has an inlet, a first outlet, and a second outlet; the inlet is connected to the hydraulic oil source 101 via a pipeline. The first directional valve 106 is located between the first outlet of the flow divider valve 105 and the saw blade motor 102 to control the start and stop of the saw blade motor 102. The second directional valve 107 is located between the second outlet of the flow divider valve 105 and the first cylinder 103 to control the extension and retraction of the first cylinder 103. The third directional valve 108 is located between the second oil outlet of the diverter valve 105 and the second oil cylinder 104 to control the extension and retraction of the second oil cylinder 104.

[0061] In a specific example, the bamboo cutting head has its own independent hydraulic and control system. It uses the hydraulic oil source of the excavator to control the various actions of the bamboo cutting head. By adding the bamboo cutting head to the excavator, a complete bamboo cutting device is formed, which can realize the actions of cutting, grabbing, collecting and unloading bamboo.

[0062] In the aforementioned hydraulic system, the controller controls the start and stop of the saw blade motor 102 through the first reversing valve 106, controls the extension and retraction of the first oil cylinder 103 through the second reversing valve, and controls the extension and retraction of the second oil cylinder 104 through the third reversing valve. This controls the circular saw, the pusher arm, and the timber clamping arm to cooperate in performing actions, thereby achieving automated bamboo forest felling through the coordinated actions of the circular saw, the pusher arm, and the timber clamping arm.

[0063] For details, please refer to the following: Figure 1The first directional valve 106 has a first oil port p1, a second oil port p2, a third oil port p3, and a fourth oil port p4. When the valve core of the first directional valve 106 is in the first working position, the first oil port p1 and the third oil port p3 are connected, and the second oil port p2 and the fourth oil port p4 are connected. When the valve core of the first directional valve 106 is in the second working position, the first oil port p1 and the third oil port p3 are not connected, the second oil port p2 and the fourth oil port p4 are not connected, and the first oil port p1 and the second oil port p2 are connected. The first oil port p1 of the first directional valve 106 is connected to the first oil outlet pipe of the diverter valve 105, the second oil port p2 is connected to the oil tank pipe, the third oil port p3 is connected to the oil inlet pipe of the saw blade motor 102, and the fourth oil port p4 is connected to the oil outlet pipe of the saw blade motor 102. (Reference) Figure 1 The first directional valve 106 is a two-position two-way directional valve. The first directional valve 106 is an electrically controlled valve, which is electrically connected to the controller. The controller can control the first directional valve 106 to switch between a first working position and a second working position.

[0064] Specifically, when the valve core of the first directional valve 106 is in the first working position, the first oil port p1 is connected to the third oil port p3, and the second oil port p2 is connected to the fourth oil port p4. The pressurized oil output from the first outlet of the diverter valve 105 passes through the first directional valve 106 and is then injected into the saw blade motor 102 through the inlet to drive the saw blade motor 102 to rotate. When the valve core of the first directional valve 106 is in the second working position, the first oil port p1 and the third oil port p3 are not connected, the second oil port p2 and the fourth oil port p4 are not connected, and the first oil port p1 and the second oil port p2 are connected. The pressurized oil output from the first outlet of the diverter valve 105 passes through the first directional valve 106 and returns directly to the oil tank. The pressurized oil does not pass through the saw blade motor 102, and the saw blade motor 102 does not operate.

[0065] Continue to refer to Figure 1The oil inlet of the saw blade motor 102 is also connected to the oil tank via a one-way valve 109; wherein, the oil inlet of the one-way valve 109 is connected to one end of the oil tank, and the oil outlet is connected to one end of the saw blade motor 102. Further, the first oil outlet of the diverter valve 105 is also connected to the oil tank via a first relief valve 110; the oil outlet of the saw blade motor 102 is also connected to the oil tank via a second relief valve 111. Under normal conditions, the first relief valve 110 limits the maximum pressure of the saw blade motor 102 to prevent system overload damage. When the valve core of the first reversing valve 106 is adjusted from the first working position to the second working position, due to the inertia of the saw blade, the saw blade motor 102 continues to rotate under the drive of the saw blade. At this time, the oil inlet of the saw blade motor 102 is replenished with oil from the oil tank. The oil in the oil tank is injected into the oil inlet of the saw blade motor 102 through the one-way valve 109. At this time, the oil circuit of the saw blade motor 102 limits the maximum pressure through the second overflow valve 111. Under this pressure, the saw blade motor 102 decelerates until it stops rotating.

[0066] Continue to refer to Figure 1 The second directional valve 107 includes: a fifth oil port p5, a sixth oil port p6, a seventh oil port p7, and an eighth oil port p8. When the valve core of the second directional valve 107 is in the first working position, the fifth oil port p5 and the seventh oil port p7 are connected, and the sixth oil port p6 and the eighth oil port p8 are connected. When the valve core of the second directional valve 107 is in the second working position, the fifth oil port p5 and the eighth oil port p8 are connected, and the sixth oil port p6 and the seventh oil port p7 are connected. When the valve core of the second directional valve 107 is in the third working position, none of the oil ports are connected. Among them, the fifth oil port p5 of the second directional valve 107 is connected to the second oil outlet pipeline of the diverter valve 105, the sixth oil port p6 is connected to the oil tank pipeline, the seventh oil port p7 is connected to the rod chamber pipeline of the first oil cylinder 103, and the eighth oil port p8 is connected to the rodless chamber pipeline of the first oil cylinder 103.

[0067] Specifically, when the valve core of the second directional valve 107 is in the first working position, the fifth oil port p5 and the seventh oil port p7 are connected, and the sixth oil port p6 and the eighth oil port p8 are connected. The pressurized oil output from the second outlet of the diversion valve 105 is injected into the rod chamber of the first cylinder 103 through the second directional valve 107, thereby driving the first cylinder 103 to retract and driving the pusher arm to the open state. When the valve core of the second directional valve 107 is in the second working position, the fifth oil port p5 and the eighth oil port p8 are connected, and the sixth oil port p6 and the seventh oil port p7 are connected. The pressurized oil output from the second outlet of the diversion valve 105 is injected into the rodless chamber of the first cylinder 103 through the second directional valve 107, thereby driving the first cylinder 103 to extend and driving the pusher arm to move, which can be used to push the sawn bamboo into the material collection recess. When the valve core of the second directional valve 107 is in the third working position, the oil ports are not connected, and the first oil cylinder 103 remains stationary.

[0068] Continue to refer to Figure 1 The third directional control valve 108 includes: a ninth port p9, a tenth port p10, an eleventh port p11, and a twelfth port p12. When the valve core of the third directional control valve 108 is in the first working position, the ninth port p9 and the eleventh port p11 are connected, and the tenth port p10 and the twelfth port p12 are connected. When the valve core of the third directional control valve 108 is in the second working position, the ninth port p9 and the twelfth port p12 are connected, and the tenth port p10 and the twelfth port p12 are connected. Oil port p10 is connected to oil port p11; when the valve core of the third directional valve 108 is in the third working position, the oil ports are not connected; among them, oil port p9 of the third directional valve 108 is connected to the second oil outlet pipeline of the diverter valve 105, oil port p10 is connected to the oil tank pipeline, oil port p11 is connected to the rod chamber pipeline of the second cylinder 104, and oil port p12 is connected to the rodless chamber pipeline of the second cylinder 104.

[0069] Specifically, when the valve core of the third directional valve 108 is in the first working position, the ninth oil port p9 and the eleventh oil port p11 are connected, and the tenth oil port p10 and the twelfth oil port p12 are connected. The pressurized oil output from the second outlet of the diverter valve 105 is injected into the rod chamber of the second cylinder 104 through the third directional valve 108, thereby driving the second cylinder 104 to retract and driving the material clamping arm to the open state. When the valve core of the third directional valve 108 is in the second working position, the ninth oil port p9 and the twelfth oil port p12 are connected, and the tenth oil port p10 and the eleventh oil port p11 are connected, thereby driving the second cylinder 104 to extend and driving the material clamping arm to the clamping state. When the valve core of the third directional valve 108 is in the third working position, none of the oil ports are connected, and the second cylinder 104 remains stationary.

[0070] Continue to refer to Figure 1 The second oil outlet of the diverter valve 105 is also connected to the oil tank through the fourth directional valve 112; when the fourth directional valve 112 is in the first working position, the second oil outlet of the diverter valve 105 is connected to the oil tank; when the fourth directional valve 112 is in the second working position, the second oil outlet of the diverter valve 105 is not connected to the oil tank; the second oil outlet of the diverter valve 105 is also connected to the oil tank through the pipeline of the third overflow valve 113.

[0071] Specifically, when the fourth directional valve 112 is in the first operating position, the second outlet of the diverter valve 105 is connected to the oil tank, and the oil output from the second outlet of the diverter valve 105 returns directly to the oil tank through the fourth directional valve 112. When the fourth directional valve 112 is in the second operating position, the second outlet of the diverter valve 105 is not connected to the oil tank, and the oil output from the second outlet of the diverter valve 105 can be used to drive the first cylinder 103 and the second cylinder 104. The third relief valve 113 can be used to limit the maximum pressure to prevent system overload.

[0072] The hydraulic system also includes: a first pressure sensor 114, a second pressure sensor 115, a speed sensor 116, a first limit switch 117, and a second limit switch 118; wherein, the first pressure sensor 114 is used to measure the working pressure of the saw blade motor 102; the second pressure sensor 115 is used to measure the working pressure of the first cylinder 103 and the second cylinder 104; the speed sensor 116 is used to measure the speed of the saw blade motor 102; the first limit switch 117 is used to measure whether the first cylinder 103 has retracted to the correct position; and the second limit switch 118 is used to measure whether the second cylinder 104 has retracted to the correct position.

[0073] refer to Figure 5 This application provides a control method for a bamboo felling machine head. The control method is applied to the hydraulic system provided in the above section. The control method includes an automated timber collection step, specifically including the following steps S501 to S505.

[0074] Step S501: Adjust the second reversing valve 107 to retract the first oil cylinder 103 and drive the pusher arm to the open state; adjust the third reversing valve 108 to extend the second oil cylinder 104 and drive the material clamping arm to the clamping state.

[0075] In step S502, the first reversing valve 106 is adjusted to make the saw blade motor 102 rotate, thereby driving the circular saw to rotate and cut the bamboo.

[0076] In step S503, adjust the second reversing valve 107 to extend the first oil cylinder 103, thereby driving the pusher arm to push the sawn bamboo into the material collection notch.

[0077] In step S504, adjust the third directional valve 108 to retract the second cylinder 104, thereby driving the material clamping arm to the open state. Then, adjust the third directional valve 108 again to extend the second cylinder 104, thereby driving the material clamping arm to the clamping state.

[0078] In step S505, the second directional valve 107 is adjusted again to retract the first oil cylinder 103 and drive the pusher arm to the open state.

[0079] Specifically, steps S501 and S502 are the initial state. The controller controls the first reversing valve 106, the second reversing valve 107, and the third reversing valve 108 to open the material pushing clamp arm and clamp the material collecting clamp arm. The circular saw cuts the bamboo by rotating.

[0080] Initially, the first cylinder 103 is fully retracted, and the second cylinder 104 is fully extended. When the gripping button on the controller is pressed, the controller adjusts the valve core of the second directional valve 107 to the second working position. Oil enters the rodless chamber of the first cylinder 103, causing the first cylinder 103 to extend and drive the pusher arm to push the sawn bamboo into the material collection recess. After the pusher arm presses the bamboo tightly, high pressure is generated in the oil circuit. At this time, the second pressure sensor 115 detects the high pressure signal and controls the valve core of the second directional valve 107 to the third working position, while the first cylinder 103 remains stationary. Then, the valve core of the third directional valve 108 is controlled to the first working position, the second cylinder 104 retracts, and the material collection clamping arm is driven to the open state. Next, the valve core of the third directional valve 108 is controlled to the second working position, causing the second cylinder 104 to extend and drive the material collection clamping arm to the clamping state, until the second pressure sensor 115 detects a high-pressure signal, indicating that the material collection clamping arm has collected the bamboo. After the collection is completed, the valve core of the third directional valve 108 is controlled to adjust to the third working position to maintain the collection state. Finally, the controller controls the valve core of the second directional valve 107 to adjust to the first working position, driving the first cylinder 103 to retract and driving the pusher clamping arm to the open state. At this point, the system returns to the initial state and completes one material collection cycle.

[0081] Further reference Figure 6 The control method includes automated unloading steps:

[0082] Step S601: Adjust the first reversing valve 106 to stop the saw blade motor 102 from rotating.

[0083] In step S602, adjust the second reversing valve 107 to retract the first oil cylinder 103 and drive the pusher arm to the open state.

[0084] In step S603, adjust the third directional valve 108 to retract the second cylinder 104, thereby driving the material clamping arm to the open state.

[0085] At this point, the circular saw stops rotating, the pusher arm opens, the collecting arm opens, and the bamboo in the collecting recess 11 of the machine head frame 10 is unloaded.

[0086] Further reference Figure 7 The process of the circular saw being driven by the saw blade motor 102 to cut bamboo specifically includes:

[0087] Step S701: When the load pressure of the saw blade motor 102 is detected to increase, the engine speed of the control oil source is increased, thereby increasing the oil flow rate of the drive saw blade motor 102.

[0088] In step S702, when the load pressure of the saw blade motor 102 is detected to be reduced, the engine speed of the control oil source is reduced, thereby reducing the oil flow rate driving the saw blade motor 102.

[0089] When felling large bamboo or trees, the load on the saw blade motor increases. When the first pressure sensor 114 detects an increase in oil pressure, it correspondingly increases the engine speed of the oil source, increasing the engine output power. At the same time, the speed of the hydraulic pump in the oil source also increases, and the output oil flow rate increases. In order to maintain a relatively constant speed of the saw blade motor, the speed of the saw blade motor cannot be too high or too low. Too high a speed will greatly affect the dynamic balance of the equipment, and too low a speed will affect the cutting efficiency. Therefore, the oil flow rate of the saw blade motor will be adjusted and increased. With the pressure limited by the first relief valve 110 remaining constant, the cutting torque that the saw blade motor can provide increases. Therefore, when felling large bamboo or trees, the engine speed of the oil source increases, the power increases, the saw blade torque increases, improving work efficiency and the maximum ability to saw through bamboo or trees.

[0090] When felling bamboo or trees of a certain diameter, the load on the saw blade motor decreases. When the first pressure sensor 114 detects this decrease in motor pressure, it correspondingly reduces the engine speed of the hydraulic oil source, thus reducing engine output power and energy consumption. As the engine speed decreases, the speed of the hydraulic pump also decreases, reducing the output oil flow. To maintain a relatively constant saw blade motor speed, the oil flow is adjusted to decrease. With the pressure limited by the first relief valve 110, the cutting torque provided by the circular saw motor decreases, making it suitable for felling small-diameter bamboo or trees. Therefore, when felling small-diameter bamboo or trees, the engine speed and power decrease, while the circular saw speed and working efficiency remain constant, resulting in reduced energy consumption.

[0091] Furthermore, the third relief valve 113 is used to limit the maximum force of the two cylinders to prevent the bamboo from being crushed.

[0092] In an emergency, during a sudden stop, the first directional valve 106 loses power and adjusts to the second working position. Due to the inertia of the saw blade, the saw blade motor 102 will continue to rotate under the drive of the saw blade. At this time, the oil inlet of the saw blade motor 102 will be replenished with oil through the one-way valve 109 to prevent the oil circuit from being sucked in and causing damage to the components. The oil circuit on the left side of the saw blade motor 102 is pressurized through the second overflow valve 111. Under the action of this pressure, the saw blade motor 102 decelerates rapidly until it stops rotating. The saw blade motor 102 can generally stop rotating within a few seconds.

[0093] It should be understood that there is no strict order of execution for the above steps, and all foreseeable changes that do not affect the realization of the function should be within the scope of protection of this invention.

[0094] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0095] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0096] The specific embodiments described herein are merely illustrative examples of the spirit of this application. Those skilled in the art to which this application pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this application or exceeding the scope defined by the appended claims.

Claims

1. A hydraulic system for a bamboo-cutting machine head, characterized in that, The bamboo cutting machine head includes a machine head frame with a material collection notch, a circular saw for cutting bamboo, a material pushing clamp arm, and a material collection clamp arm; The circular saw is positioned near the bottom of the headstock frame; The pusher arm is rotatably mounted on the headstock; the collecting arm is rotatably mounted on the headstock. After the circular saw cuts the bamboo, the pusher arm is used to push the cut bamboo into the collecting groove in sequence; the collecting arm is used to cooperate with the machine head frame to hold the bamboo pushed into the collecting groove by the pusher arm, and always keep all bamboo in the holding state. The hydraulic system includes: Hydraulic oil source (101); The saw blade motor (102) is used to drive the circular saw to rotate and cut bamboo; The first hydraulic cylinder (103) is used to drive the pusher arm to rotate relative to the head frame; The second oil cylinder (104) is used to drive the material clamping arm to rotate relative to the machine head frame. The second oil cylinder (104) acts on the material clamping arm to press the bamboo in the material notch. The flow divider valve (105) has an oil inlet, a first oil outlet, and a second oil outlet; wherein the oil inlet is connected to the hydraulic oil source (101) by a pipeline. The first reversing valve (106) is located between the first oil outlet of the diverter valve (105) and the saw blade motor (102) to control the start and stop of the saw blade motor (102); The second reversing valve (107) is located between the second oil outlet of the diverter valve (105) and the first oil cylinder (103) to control the extension and retraction of the first oil cylinder (103); The third directional valve (108) is located between the second oil outlet of the diverter valve (105) and the second oil cylinder (104) to control the extension and retraction of the second oil cylinder (104).

2. The hydraulic system according to claim 1, characterized in that, The first directional valve (106) has a first oil port (p1), a second oil port (p2), a third oil port (p3), and a fourth oil port (p4). When the valve core of the first directional valve (106) is in the first working position, the first oil port (p1) and the third oil port (p3) are connected, and the second oil port (p2) and the fourth oil port (p4) are connected. When the valve core of the first directional valve (106) is in the second working position, the first oil port (p1) and the third oil port (p3) are not connected, the second oil port (p2) and the fourth oil port (p4) are not connected, and the first oil port (p1) and the second oil port (p2) are connected. Among them, the first oil port (p1) of the first reversing valve (106) is connected to the first oil outlet pipeline of the diverter valve (105), the second oil port (p2) is connected to the oil tank pipeline, the third oil port (p3) is connected to the oil inlet pipeline of the saw blade motor (102), and the fourth oil port (p4) is connected to the oil outlet pipeline of the saw blade motor (102).

3. The hydraulic system according to claim 2, characterized in that, The oil inlet of the saw blade motor (102) is also connected to the oil tank through a one-way valve (109); wherein the oil inlet of the one-way valve (109) is connected to one end of the oil tank, and the oil outlet is connected to one end of the saw blade motor (102).

4. The hydraulic system according to claim 3, characterized in that, The first oil outlet of the diversion valve (105) is also connected to the oil tank through the first overflow valve (110) pipeline; The oil outlet of the saw blade motor (102) is also connected to the oil tank through a second overflow valve (111) pipeline.

5. The hydraulic system according to claim 1, characterized in that, The second directional control valve (107) includes: a fifth port (p5), a sixth port (p6), a seventh port (p7), and an eighth port (p8); when the valve core of the second directional control valve (107) is in the first working position, the fifth port (p5) and the seventh port (p7) are connected, and the sixth port (p6) and the eighth port (p8) are connected; when the valve core of the second directional control valve (107) is in the second working position, the fifth port (p5) and the eighth port (p8) are connected, and the sixth port (p6) and the eighth port (p8) are connected. The oil port (p6) and the seventh oil port (p7) are connected; when the valve core of the second directional valve (107) is in the third working position, the oil ports are not connected; among them, the fifth oil port (p5) of the second directional valve (107) is connected to the second oil outlet pipeline of the diverter valve (105), the sixth oil port (p6) is connected to the oil tank pipeline, the seventh oil port (p7) is connected to the rod chamber pipeline of the first cylinder (103), and the eighth oil port (p8) is connected to the rodless chamber pipeline of the first cylinder (103); The third directional control valve (108) includes: a ninth port (p9), a tenth port (p10), an eleventh port (p11), and a twelfth port (p12); when the valve core of the third directional control valve (108) is in the first working position, the ninth port (p9) and the eleventh port (p11) are connected, and the tenth port (p10) and the twelfth port (p12) are connected; when the valve core of the third directional control valve (108) is in the second working position, the ninth port (p9) and the twelfth port (p12) are connected. The tenth oil port (p10) and the eleventh oil port (p11) are connected; when the valve core of the third directional valve (108) is in the third working position, the oil ports are not connected; among them, the ninth oil port (p9) of the third directional valve (108) is connected to the second oil outlet pipeline of the diverter valve (105), the tenth oil port (p10) is connected to the oil tank pipeline, the eleventh oil port (p11) is connected to the rod chamber pipeline of the second cylinder (104), and the twelfth oil port (p12) is connected to the rodless chamber pipeline of the second cylinder (104).

6. The hydraulic system according to claim 5, characterized in that, The second oil outlet of the diverter valve (105) is also connected to the oil tank through the fourth directional valve (112); when the fourth directional valve (112) is in the first working position, the second oil outlet of the diverter valve (105) is connected to the oil tank; when the fourth directional valve (112) is in the second working position, the second oil outlet of the diverter valve (105) is not connected to the oil tank. The second outlet of the diverter valve (105) is also connected to the oil tank via a third overflow valve (113).

7. The hydraulic system according to claim 1, characterized in that, Also includes: The system comprises a first pressure sensor (114), a second pressure sensor (115), a speed sensor (116), a first limit switch (117), and a second limit switch (118). The first pressure sensor (114) is used to measure the working pressure of the saw blade motor (102); the second pressure sensor (115) is used to measure the working pressure of the first cylinder (103) and the second cylinder (104); the speed sensor (116) is used to measure the speed of the saw blade motor (102); the first limit switch (117) is used to measure whether the first cylinder (103) has retracted to the correct position; and the second limit switch (118) is used to measure whether the second cylinder (104) has retracted to the correct position.

8. A method for controlling a bamboo-cutting machine head, characterized in that, The control method is applied to the hydraulic system according to any one of claims 1-7, and the control method includes the step of automating material collection: Adjust the second reversing valve (107) to retract the first oil cylinder (103) and drive the pusher arm to the open state; adjust the third reversing valve (108) to extend the second oil cylinder (104) and drive the material clamping arm to the clamping state; Adjust the first reversing valve (106) to make the saw blade motor (102) rotate, thereby driving the circular saw to rotate and cut the bamboo; Adjust the second reversing valve (107) to extend the first oil cylinder (103) to drive the pusher arm to push the sawn bamboo into the material collection notch; Adjust the third directional valve (108) to retract the second cylinder (104) to drive the material clamping arm to the open state. Then adjust the third directional valve (108) again to extend the second cylinder (104) to drive the material clamping arm to the clamping state. Adjust the second directional valve (107) again to retract the first cylinder (103) and drive the pusher arm to the open state.

9. The control method according to claim 8, characterized in that, The control method includes the step of automated unloading: Adjust the first reversing valve (106) to stop the saw blade motor (102) from rotating; Adjust the second reversing valve (107) to retract the first oil cylinder (103) and drive the pusher arm to the open state; Adjust the third directional valve (108) to retract the second cylinder (104) to drive the material clamping arm to the open state.

10. The control method according to claim 8, characterized in that, The process of the circular saw being driven by the saw blade motor (102) to cut bamboo specifically includes: When the load pressure of the saw blade motor (102) is detected to increase, the engine speed of the control oil source is increased, thereby increasing the oil flow rate of the drive saw blade motor (102); When the load pressure of the saw blade motor (102) is detected to be reduced, the engine speed of the control oil source is reduced, thereby reducing the oil flow rate driving the saw blade motor (102).

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