Floating control system and floating control method for a timber clamp, aerial tree pruning vehicle

Abstract

The application discloses a floating control system and floating control method of a sawing clamp, and an aerial tree branch pruning vehicle. The system controls the second reversing valve and the third reversing valve to be electrified first, and the hydraulic system drives two motors to rotate, so as to drive the outer rings of two rotary reducers to rotate, and then make the sawing clamp swing left and right and rotate around the central axis. After the sawing clamp is aligned with the target tree branch, the first reversing valve, the first electromagnetic valve and the second electromagnetic valve are controlled to be electrified simultaneously, the second reversing valve and the third reversing valve are controlled to be deenergized, the oil cylinder is extended to drive the gripper to close to grasp the tree branch, and meanwhile, the first motor and the second motor are in a free rotating state, and the outer rings of the two rotary reducers are in a floating state. In the process that the gripper grasps the tree branch, the outer rings of the two rotary reducers are driven to rotate adaptively through the reaction force of the tree branch on the gripper, adaptive adjustment of the posture of the sawing clamp is realized, and finally, the sawing clamp is also adjusted to the optimal grasping posture when the gripper clamps the tree branch.

Description

Technical Field

[0001] This invention relates to the field of tree branch trimming vehicle technology, and in particular to a floating control system and floating control method for a wood saw clamp. In addition, it also relates to a high-altitude tree branch trimming vehicle employing the above-mentioned floating control system. Background Technology

[0002] Aerial tree trimmers are mainly used for trimming the branches of tall trees in urban roads, parks, or residential areas, such as... Figure 1 As shown, the aerial tree trimming vehicle includes a chassis 1, a turntable 2, a boom 3, a saw clamp 4, and outriggers 5. During operation, the outriggers 5 support the entire vehicle to form a stable working platform. The turntable 2 can drive the boom 3 and saw clamp 4 to rotate 360° in all directions, thus trimming branches from all angles. The boom 3 can drive the saw clamp 4 to perform luffing and telescopic movements, thereby trimming branches at different heights. The saw clamp 4 is the working device of the aerial tree trimming vehicle responsible for trimming branches. Figure 2 As shown, the saw clamp 4 includes a first rotary reducer 6, a second rotary reducer 7, a gripper 8, a chainsaw 9, and a monitoring system 10. The first rotary reducer 6 and the second rotary reducer 7 are used to align the gripper 8 with the branch to be pruned. The first rotary reducer 6 allows the saw clamp 4 to swing left and right, and the second rotary reducer 7 allows the saw clamp 4 to rotate around its central axis. The gripper 8 is used to grab the branch during the branch cutting operation to prevent the cut branch from falling directly to the ground from a height. The chainsaw 9 is used to cut the branch. The monitoring system 10 includes a miniature camera installed on the saw clamp 4 and a display screen installed on the operating table or remote control device to monitor the real-time operating status of the saw clamp 4. Therefore, the gripper 8's gripping posture depends entirely on the adjustment of the saw clamp's posture by the first rotary reducer 6 and the second rotary reducer 7. If the gripper 8 is not properly positioned, i.e., the gripped branch is not perpendicular to the side of the gripper 8, the gripper 8 will be subjected to a torque load. When the load is large enough, it may affect the overall stability of the vehicle. In addition, when the chainsaw 9 is trimming branches, the torque load will cause the branch being cut to shift, causing the chainsaw 9 to jam, resulting in the inability to cut the branch. Currently, during branch trimming operations, the operator mainly observes the angle of the gripped branch through a camera and continuously adjusts the first rotary reducer 6 and the second rotary reducer 7 to adjust the gripper 8's posture to make it as properly positioned as possible. However, manual adjustment is time-consuming and laborious, and it is difficult to adjust the saw clamp 4 to the optimal working posture, i.e., to ensure that the gripper 8 is properly positioned on the branch. Summary of the Invention

[0003] This invention provides a floating control system and floating control method for a sawing clamp, as well as an aerial tree branch trimming vehicle, to solve the technical problems of existing manual methods for adjusting the sawing clamp's posture, which are time-consuming, labor-intensive, and difficult to adjust to the optimal working posture.

[0004] According to one aspect of the present invention, a floating control system for a saw clamp is provided, comprising:

[0005] Hydraulic cylinder, used to drive the gripper of the saw clamp to close or open;

[0006] The first motor and the second motor are used to drive the outer rings of the first rotary reducer and the second rotary reducer to rotate, respectively.

[0007] The first directional valve, the second directional valve, and the third directional valve are respectively installed on the connecting pipelines between the oil cylinder, the first motor, the second motor, and the main oil circuit of the hydraulic system.

[0008] The first solenoid valve and the second solenoid valve are used to control the on / off connection between the inlet and outlet oil ports of the first motor and the second motor, respectively.

[0009] The controller is electrically connected to the hydraulic system, the first reversing valve, the second reversing valve, the third reversing valve, the first solenoid valve, and the second solenoid valve. It is used to first energize the second and third reversing valves, and the first motor and the second motor drive the outer rings of the first and second rotary reducers to rotate so that the saw clamp is aligned with the target branch. Then, it simultaneously energizes the first reversing valve, the first solenoid valve, and the second solenoid valve, and de-energizes the second and third reversing valves. The hydraulic cylinder drives the gripper to close to grab the branch, and the outer rings of the first and second rotary reducers are in a floating state. This allows the outer rings of the first and second rotary reducers to adaptively adjust themselves during the gripping process to adjust the saw clamp to the optimal gripping posture.

[0010] Furthermore, the controller is also used to de-energize the second and third directional valves after the saw clamp is adjusted to the optimal gripping posture, so as to lock the outer rings of the first and second rotary reducers.

[0011] Furthermore, the first and second solenoid valves are two-position four-way directional valves. The two working ports of the two-position four-way directional valves are connected to the inlet and outlet ports of the motor, respectively. Both the inlet and outlet ports are connected to the main return oil circuit. After the controller controls the first and second solenoid valves to be energized, the inlet and outlet ports of the motor are connected to the main return oil circuit. At this time, the motor is in a free rotation state, thereby making the outer rings of the first and second rotary reducers float.

[0012] Furthermore, the first and second solenoid valves are two-position, two-way solenoid valves, which are located between the inlet and outlet ports of the motor. After the controller controls the first and second solenoid valves to be energized, the inlet and outlet ports of the motor are directly connected. At this time, the motor is in a free-rotating state, thereby causing the outer rings of the first and second rotary reducers to be in a floating state.

[0013] Furthermore, the controller controls the swing direction and rotation direction of the saw clamp by controlling the rotation direction of the first motor and the second motor, and controls the swing angle and rotation angle of the saw clamp by controlling the rotation speed of the first motor and the second motor, so as to adjust the position of the saw clamp.

[0014] Furthermore, during the process of aligning the saw clamp with the target branch, the saw clamp's posture is monitored in real time through the saw clamp's monitoring system.

[0015] In addition, the present invention also provides a floating control method for a saw clamp, which employs the floating control system described above and includes the following:

[0016] The second and third directional valves are energized, and the working status of the first and second motors is controlled to align the saw clamp with the target branch.

[0017] Simultaneously, the first reversing valve, the first solenoid valve, and the second solenoid valve are energized, while the second reversing valve and the third reversing valve are de-energized. This allows the outer rings of the first and second rotary reducers to adaptively adjust themselves during the gripper's gripping of the tree branch, thereby adjusting the saw clamp to the optimal gripping posture.

[0018] Furthermore, after the saw clamp is adjusted to the optimal gripping position, the following are also included:

[0019] The second and third directional control valves are de-energized to lock the outer races of the first and second rotary reducers.

[0020] Furthermore, during the process of aligning the saw clamp with the target branch, the swing direction and rotation direction of the saw clamp are controlled by controlling the rotation direction of the first motor and the second motor, and the swing angle and rotation angle of the saw clamp are controlled by controlling the rotation speed of the first motor and the second motor.

[0021] In addition, the present invention also provides a high-altitude tree branch trimming vehicle, which adopts the floating control system of the saw clamp as described above.

[0022] The present invention has the following effects:

[0023] The floating control system of the saw clamp of the present invention, after issuing the branch grabbing command, first controls the second and third reversing valves to be energized. The hydraulic system supplies oil to the first and second motors to drive the two motors to rotate, thereby driving the outer rings of the first and second rotary reducers to rotate, which in turn causes the saw clamp to swing left and right and rotate around the central axis. After the saw clamp is aligned with the target branch, the first reversing valve, the first solenoid valve and the second solenoid valve are energized, and the second and third reversing valves are de-energized. At this time, the oil cylinder extends to drive the gripper to close and grab the branch. At the same time, the first and second motors are in a free rotation state, and the outer rings of the first and second rotary reducers are in a floating state. Thus, during the process of the gripper grabbing the branch, the reaction force of the branch on the gripper drives the outer rings of the first and second rotary reducers to rotate adaptively, realizing the adaptive adjustment of the saw clamp's posture. Finally, when the gripper clamps the branch, the saw clamp is also adjusted to the optimal grabbing posture. It can automatically adjust its working posture according to the branches it grabs, and its floating adjustment is adaptive. When pruning branches at various angles and directions, it can automatically adjust to the optimal working posture to ensure that the grabber grabs the branch correctly before starting the operation. On the one hand, it eliminates the additional dragging and torsional load of the grabber on the whole vehicle, making the whole vehicle safer and more stable. On the other hand, it makes the chainsaw operation smoother, avoids frequent saw jamming, and is more beneficial to the service life of the chainsaw itself. Moreover, it improves the efficiency of grabbing and sawing wood, thereby improving the efficiency of branch pruning.

[0024] It is understood that the floating control method of the saw clamp and the high-altitude tree branch trimming vehicle in this embodiment also have the above-mentioned advantages.

[0025] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0026] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0027] Figure 1 This is a structural diagram of an existing aerial tree trimmer.

[0028] Figure 2 This is a schematic diagram of an existing saw clamp.

[0029] Figure 3 This is a schematic diagram of the hydraulic principle of the floating control system of the saw clamp according to a preferred embodiment of the present invention.

[0030] Figure 4 This is a schematic diagram of the hydraulic principle of the floating control system of the saw clamp according to another embodiment of the present invention.

[0031] Figure 5 This is a flowchart illustrating a floating control method for a saw clamp according to another embodiment of the present invention.

[0032] Explanation of reference numerals in the attached figures

[0033] 1. Chassis; 2. Turntable; 3. Boom; 4. Saw clamp; 5. Outriggers; 6. First slewing reducer; 7. Second slewing reducer; 8. Grab; 9. Chainsaw; 10. Monitoring system; 100. Hydraulic cylinder; 101. First motor; 102. Second motor; 103. First directional valve; 104. Second directional valve; 105. Third directional valve; 106. First solenoid valve; 107. Second directional valve. Detailed Implementation

[0034] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0035] like Figure 3 As shown, a preferred embodiment of the present invention provides a floating control system for a saw clamp, comprising:

[0036] Hydraulic cylinder 100 is used to drive the gripper of the saw clamp to close or open;

[0037] The first motor 101 and the second motor 102 are respectively used to drive the outer rings of the first rotary reducer and the second rotary reducer to rotate.

[0038] The first directional valve 103, the second directional valve 104 and the third directional valve 105 are respectively installed on the connecting pipeline between the oil cylinder 100, the first motor 101 and the second motor 102 and the main oil circuit of the hydraulic system.

[0039] The first solenoid valve 106 and the second solenoid valve 107 are used to control the on / off connection between the inlet and outlet ports of the first motor 101 and the second motor 102, respectively.

[0040] The controller is electrically connected to the hydraulic system, the first directional valve 103, the second directional valve 104, the third directional valve 105, the first solenoid valve 106, and the second solenoid valve 107. It is used to first energize the second directional valve 104 and the third directional valve 105, causing the first motor 101 and the second motor 102 to drive the outer rings of the first and second rotary reducers to rotate, aligning the saw clamp with the target branch. Then, it simultaneously energizes the first directional valve 103, the first solenoid valve 106, and the second solenoid valve 107, and de-energizes the second directional valve 104 and the third directional valve 105. The cylinder 100 drives the gripper to close and grasp the branch, while the outer rings of the first and second rotary reducers are in a floating state. This allows the outer rings of the first and second rotary reducers to adaptively adjust during the gripping process, adjusting the saw clamp to the optimal gripping posture.

[0041] It is understood that the hydraulic cylinder 100 is driven to connect to at least one gripper of the saw clamp. When the hydraulic cylinder 100 extends, it drives the gripper of the saw clamp to close and grab the branch. When the hydraulic cylinder 100 retracts, it drives the gripper of the saw clamp to release. The inner rings of the first and second rotary reducers of the saw clamp are both fixed. The outer rings of the first and second rotary reducers are driven to connect to the first motor 101 and the second motor 102, respectively. The outer ring of the first rotary reducer is driven to rotate by the first motor 101 and the outer ring of the second rotary reducer is driven to rotate by the second motor 102, or the outer ring of the first rotary reducer is driven to rotate by the second motor 102 and the outer ring of the second rotary reducer is driven to rotate by the first motor 101. This achieves relative rotation of the inner and outer rings of the rotary reducers, thereby driving the saw clamp to swing left and right and rotate around the central axis. The swing and rotation directions of the saw clamp are determined by the rotation direction of the motor. For example, when the first motor 101 rotates clockwise, it drives the saw clamp to swing to the left, and when the first motor 101 rotates counterclockwise, it drives the saw clamp to swing to the right. When the second motor 102 rotates clockwise, it drives the saw clamp to rotate clockwise around the central axis, and when the second motor 102 rotates counterclockwise, it drives the saw clamp to rotate counterclockwise around the central axis. The first directional valve 103 is installed on the pipeline connecting the cylinder 100 and the main oil circuit of the hydraulic system. Specifically, the two working ports of the first directional valve 103 are connected to the inlet and outlet ports of the cylinder 100, respectively. The inlet port of the first directional valve 103 is connected to the main oil supply circuit, and the outlet port is connected to the main return oil circuit. The working state of the cylinder 100 is controlled by controlling the working state of the first directional valve 103. The second directional valve 104 is installed on the connecting pipeline between the first motor 101 and the main oil circuit of the hydraulic system. Specifically, the two working ports of the second directional valve 104 are connected to the inlet and outlet ports of the first motor 101, respectively. The inlet port of the second directional valve 104 is connected to the main oil supply circuit, and the outlet port is connected to the main return oil circuit. The working state of the first motor 101 is controlled by controlling the working state of the second directional valve 104. The third directional valve 105 is installed on the connecting pipeline between the second motor 102 and the main oil circuit of the hydraulic system. Specifically, the two working ports of the third directional valve 105 are connected to the inlet and outlet ports of the second motor 102, respectively. The inlet port of the third directional valve 105 is connected to the main oil supply circuit, and the outlet port is connected to the main return oil circuit. The working state of the second motor 102 is controlled by controlling the working state of the third directional valve 105. Optionally, the first directional valve 103, the second directional valve 104, and the third directional valve 105 are three-position four-way solenoid directional valves. When the first directional valve 103 is in the neutral position, the cylinder 100 does not work. When the first directional valve 103 is energized in the left position, the hydraulic system supplies oil to the rodless chamber of the cylinder 100, driving the cylinder 100 to extend. When the first directional valve 103 is energized in the right position, the hydraulic system supplies oil to the rod chamber of the cylinder 100, driving the cylinder 100 to retract.Of course, in other embodiments of the present invention, the cylinder 100 may extend when the first directional valve 103 is energized in the right position and retract when it is energized in the left position. When the second directional valve 104 and the third directional valve 105 are in the neutral position, the first motor 101 and the second motor 102 do not work. When the second directional valve 104 and the third directional valve 105 are energized in the left position, the first motor 101 and the second motor 102 rotate clockwise, and when the second directional valve 104 and the third directional valve 105 are energized in the right position, the first motor 101 and the second motor 102 rotate counterclockwise. Of course, in other embodiments of the present invention, the first motor 101 and the second motor 102 may rotate clockwise when the second directional valve 104 and the third directional valve 105 are energized in the right position, and counterclockwise when the second directional valve 104 and the third directional valve 105 are energized in the left position. The first solenoid valve 106 is used to control the on / off connection between the inlet and outlet ports of the first motor 101. When the first solenoid valve 106 is turned on, the inlet and outlet ports of the first motor 101 are directly connected. The second solenoid valve 107 is used to control the on / off connection between the inlet and outlet ports of the second motor 102. When the second solenoid valve 107 is turned on, the inlet and outlet ports of the second motor 102 are directly connected.

[0042] It is understood that in this embodiment, the floating control system of the saw clamp, after issuing the branch-grabbing command, first controls the second reversing valve 104 and the third reversing valve 105 to be energized. The hydraulic system supplies oil to the first motor 101 and the second motor 102 to drive the two motors to rotate, thereby driving the outer rings of the first rotary reducer and the second rotary reducer to rotate, thus causing the saw clamp to swing left and right and rotate around the central axis. After the saw clamp is aligned with the target branch, the first reversing valve 103, the first solenoid valve 106 and the second solenoid valve 107 are simultaneously energized, controlling the first reversing valve 103, the first solenoid valve 106 and the second solenoid valve 107 to be energized, controlling the first reversing valve 104 and the third reversing valve 105 to rotate around the central axis. When the second reversing valve 104 and the third reversing valve 105 are de-energized, the hydraulic cylinder 100 extends to drive the gripper to close and grab the tree branch. At the same time, the first motor 101 and the second motor 102 are in a free-rotating state, and the outer rings of the first rotary reducer and the second rotary reducer are in a floating state. Thus, during the process of the gripper grabbing the tree branch, the reaction force of the tree branch on the gripper drives the outer rings of the first rotary reducer and the second rotary reducer to rotate adaptively, thereby realizing the adaptive adjustment of the saw clamp posture. Finally, when the gripper clamps the tree branch, the saw clamp is also adjusted to the optimal gripping posture. The floating control system of the saw clamp of the present invention can automatically adjust the working posture according to the branch being gripped. The floating adjustment is adaptive and can automatically adjust to the optimal working posture when pruning branches at various angles and directions, ensuring that the gripper grips the branch correctly before operation. On the one hand, it eliminates the additional dragging and torsional load of the gripper on the whole vehicle, making the whole vehicle safer and more stable. On the other hand, it makes the chainsaw operation smoother, avoids frequent saw jamming, and is more beneficial to the service life of the chainsaw itself. Moreover, it improves the efficiency of gripping and sawing, thereby improving the efficiency of branch pruning.

[0043] It is understood that the controller is also used to de-energize the second reversing valve 104 and the third reversing valve 105 after the saw clamp is adjusted to the optimal gripping posture, so as to lock the outer rings of the first and second rotary reducers. When the gripper grips and clamps the target branch, the controller de-energizes the second reversing valve 104 and the third reversing valve 105, the first motor 101 and the second motor 102 can no longer rotate, and the outer rings of the first and second rotary reducers cannot rotate, thereby locking the first and second rotary reducers and preventing the branch from shifting during the chainsaw cutting process.

[0044] Specifically, the first solenoid valve 106 and the second solenoid valve 107 are two-position four-way directional valves. The two working ports of the two-position four-way directional valves are connected to the inlet and outlet ports of the motor, respectively. Both the inlet and outlet ports are connected to the main return oil circuit. After the controller energizes the first solenoid valve 106 and the second solenoid valve 107, the inlet and outlet ports of the motor are connected to the main return oil circuit, and the second directional valve 104 and the third directional valve 105 are not energized and are in the neutral position. The hydraulic system no longer supplies oil to the first motor 101 and the second motor 102. At this time, the motor is in a free rotation state, thereby making the outer rings of the first rotary reducer and the second rotary reducer in a floating state.

[0045] Optionally, such as Figure 4 As shown, in another embodiment of the present invention, as another option, the first solenoid valve 106 and the second solenoid valve 107 are two-position two-way solenoid valves, which are directly disposed between the inlet and outlet ports of the motor. After the controller controls the first solenoid valve 106 and the second solenoid valve 107 to be energized, the inlet and outlet ports of the motor are directly connected, and the second reversing valve 104 and the third reversing valve 105 are not energized and are in the neutral position. The hydraulic system no longer supplies oil to the first motor 101 and the second motor 102. At this time, the motor is in a free rotation state, thereby causing the outer rings of the first rotary reducer and the second rotary reducer to be in a floating state.

[0046] It can be understood that the controller controls the swing and rotation directions of the saw clamp by controlling the rotation directions of the first motor 101 and the second motor 102, and controls the swing and rotation angles of the saw clamp by controlling the rotation speeds of the first motor 101 and the second motor 102, thereby adjusting the position of the saw clamp. The adjustment process can be manual or automatic after position positioning based on image recognition. Optionally, during the process of aligning the saw clamp with the target branch, the operator can observe the saw clamp's posture in real time through the saw clamp's monitoring system, so as to manually control the working status of the first motor 101 and the second motor 102 based on the real-time posture of the saw clamp, allowing the saw clamp to adjust to align with the target branch as quickly as possible, thereby improving pruning efficiency.

[0047] In addition, such as Figure 5As shown, another embodiment of the present invention also provides a floating control method for a saw clamp, preferably employing the floating control system described above. The floating control method includes the following:

[0048] Step S1: Control the second reversing valve 104 and the third reversing valve 105 to be energized, and control the working state of the first motor 101 and the second motor 102 to make the saw clamp align with the target branch.

[0049] Step S2: Simultaneously control the first reversing valve 103, the first solenoid valve 106 and the second solenoid valve 107 to be energized, and control the second reversing valve 104 and the third reversing valve 105 to be de-energized, so that during the process of the gripper gripping the tree branch, the outer rings of the first rotary reducer and the second rotary reducer are adaptively adjusted to adjust the saw clamp to the optimal gripping posture.

[0050] It is understood that in the floating control method of the saw clamp in this embodiment, after the branch grabbing command is issued, the second reversing valve 104 and the third reversing valve 105 are first energized. The hydraulic system supplies oil to the first motor 101 and the second motor 102 to drive the two motors to rotate, thereby driving the outer rings of the first rotary reducer and the second rotary reducer to rotate, thus causing the saw clamp to swing left and right and rotate around the central axis. After the saw clamp is aligned with the target branch, the first reversing valve 103, the first solenoid valve 106 and the second solenoid valve 107 are simultaneously energized, and the first reversing valve 104 and the third reversing valve 105 are controlled to rotate. When the second reversing valve 104 and the third reversing valve 105 are de-energized, the hydraulic cylinder 100 extends to drive the gripper to close and grab the tree branch. At the same time, the first motor 101 and the second motor 102 are in a free-rotating state, and the outer rings of the first rotary reducer and the second rotary reducer are in a floating state. Thus, during the process of the gripper grabbing the tree branch, the reaction force of the tree branch on the gripper drives the outer rings of the first rotary reducer and the second rotary reducer to rotate adaptively, thereby realizing the adaptive adjustment of the saw clamp posture. Finally, when the gripper clamps the tree branch, the saw clamp is also adjusted to the optimal gripping posture. The floating control method of the saw clamp of the present invention can automatically adjust the working posture according to the branch being gripped. The floating adjustment is adaptive and can automatically adjust to the optimal working posture when pruning branches at various angles and directions, ensuring that the gripper grips the branch correctly before operation. On the one hand, it eliminates the additional dragging and torsional load of the gripper on the whole vehicle, making the whole vehicle safer and more stable. On the other hand, it makes the chainsaw operation smoother, avoids frequent saw jamming, and is more beneficial to the service life of the chainsaw itself. Moreover, it improves the efficiency of gripping and sawing, thereby improving the efficiency of branch pruning.

[0051] It is understandable that after the saw clamp is adjusted to the optimal gripping posture, the saw clamp's floating control method also includes the following:

[0052] Step S3: De-energize the second directional valve 104 and the third directional valve 105 to lock the outer rings of the first and second rotary reducers.

[0053] It is understandable that during the process of aligning the saw clamp with the target branch, the swing direction and rotation direction of the saw clamp are controlled by controlling the rotation direction of the first motor 101 and the second motor 102, and the swing angle and rotation angle of the saw clamp are controlled by controlling the rotation speed of the first motor 101 and the second motor 102.

[0054] In addition, another embodiment of the present invention provides a high-altitude tree branch trimming vehicle, which employs a floating control system for the saw clamp as described above.

[0055] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A floating control system for a sawing clamp, characterized in that, include: Hydraulic cylinder (100) is used to drive the gripper of the saw clamp to close or open; The first motor (101) and the second motor (102) are used to drive the outer rings of the first rotary reducer and the second rotary reducer to rotate, respectively. The first directional valve (103), the second directional valve (104), and the third directional valve (105) are respectively installed on the connecting pipeline between the oil cylinder (100), the first motor (101), the second motor (102), and the main oil circuit of the hydraulic system; The first solenoid valve (106) and the second solenoid valve (107) are used to control the on / off of the oil inlet and outlet ports of the first motor (101) and the second motor (102), respectively. The controller is electrically connected to the hydraulic system, the first directional valve (103), the second directional valve (104), the third directional valve (105), the first solenoid valve (106), and the second solenoid valve (107), respectively. It is used to first control the second directional valve (104) and the third directional valve (105) to be energized, and the first motor (101) and the second motor (102) to drive the outer rings of the first rotary reducer and the second rotary reducer to rotate so that the saw clamp is aligned with the target branch. Then, it simultaneously controls the first directional valve (103), the first solenoid valve (106), and the second solenoid valve (107) to be energized, and controls the second directional valve (104) and the third directional valve (105) to be de-energized. The cylinder (100) drives the gripper to close to grab the branch, and the outer rings of the first rotary reducer and the second rotary reducer are in a floating state, so that during the process of the gripper gripping the branch, the outer rings of the first rotary reducer and the second rotary reducer are adaptively adjusted to adjust the saw clamp to the optimal gripping posture.

2. The floating control system as described in claim 1, characterized in that, The controller is also used to de-energize the second reversing valve (104) and the third reversing valve (105) after the saw clamp is adjusted to the optimal gripping posture, so as to lock the outer rings of the first rotary reducer and the second rotary reducer.

3. The floating control system as described in claim 1, characterized in that, The first solenoid valve (106) and the second solenoid valve (107) are two-position four-way directional valves. The two working ports of the two-position four-way directional valves are connected to the inlet and outlet ports of the motor, respectively. The inlet and outlet ports are both connected to the main return oil circuit. After the controller controls the first solenoid valve (106) and the second solenoid valve (107) to be energized, the inlet and outlet ports of the motor are connected to the main return oil circuit. At this time, the motor is in a free rotation state, so that the outer rings of the first rotary reducer and the second rotary reducer are in a floating state.

4. The floating control system as described in claim 1, characterized in that, The first solenoid valve (106) and the second solenoid valve (107) are two-position two-way solenoid valves, which are set between the inlet and outlet ports of the motor. After the controller controls the first solenoid valve (106) and the second solenoid valve (107) to be energized, the inlet and outlet ports of the motor are directly connected. At this time, the motor is in a free rotation state, so that the outer rings of the first rotary reducer and the second rotary reducer are in a floating state.

5. The floating control system as described in claim 1, characterized in that, The controller controls the swing direction and rotation direction of the saw clamp by controlling the rotation direction of the first motor (101) and the second motor (102), and controls the swing angle and rotation angle of the saw clamp by controlling the rotation speed of the first motor (101) and the second motor (102) to adjust the position of the saw clamp.

6. The floating control system as described in claim 1, characterized in that, During the process of aligning the saw clamp with the target branch, the saw clamp's posture is monitored in real time through the saw clamp's monitoring system.

7. A floating control method for a saw clamp, employing the floating control system as described in any one of claims 1 to 6, characterized in that, Includes the following: The second reversing valve (104) and the third reversing valve (105) are energized, and the saw clamp is aligned with the target branch by controlling the working state of the first motor (101) and the second motor (102). Simultaneously, the first reversing valve (103), the first solenoid valve (106), and the second solenoid valve (107) are energized, while the second reversing valve (104) and the third reversing valve (105) are de-energized. This allows the outer rings of the first and second rotary reducers to adaptively adjust during the gripper's gripping of the tree branch, thereby adjusting the saw clamp to the optimal gripping posture.

8. The floating control method as described in claim 7, characterized in that, After the saw clamp is adjusted to the optimal gripping position, the following are also included: The second directional valve (104) and the third directional valve (105) are de-energized to lock the outer rings of the first and second rotary reducers.

9. The floating control method as described in claim 7, characterized in that, During the process of aligning the saw clamp with the target branch, the swing direction and rotation direction of the saw clamp are controlled by controlling the rotation direction of the first motor (101) and the second motor (102), and the swing angle and rotation angle of the saw clamp are controlled by controlling the rotation speed of the first motor (101) and the second motor (102).

10. A high-altitude tree branch trimming vehicle, characterized in that, The floating control system of the saw clamp as described in any one of claims 1 to 6 is adopted.

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