A felling mechanism

Abstract

The application relates to a felling mechanism and belongs to the tree pruning field, which comprises a working frame and a turnover frame, the turnover frame is hinged to the front end of the working frame through a hinge shaft A; a turnover cylinder is connected with the turnover frame and the working frame respectively and is used for driving the turnover frame to rotate around the hinge shaft A; a swing rotary seat is hinged to the front end of the turnover frame through a hinge shaft B, the hinge shaft B is perpendicular to the hinge shaft A; a swing cylinder is connected with the swing rotary seat and the turnover frame respectively and is used for driving the swing rotary seat to rotate around the hinge shaft B; a support frame is connected to the front end of the swing rotary seat through a rotary bearing, and the support frame is used for carrying a grabbing mechanism and a sawing mechanism; the application can realize one-dimensional rotation adjustment, and the angle adjustment is more flexible and changeable.

Description

Technical Field

[0001] This invention relates to the field of tree pruning technology, and more specifically to a logging mechanism. Background Technology

[0002] In existing tree pruning machinery, such as the integrated tree pruning vehicle disclosed in utility model patent CN204259479U, a robotic gripper and a circular saw are installed on its working head. During operation, a small bevel gear is driven by a motor to rotate, and a large bevel gear drives the rotary table to rotate, which can realize the adjustment of the position of the robotic gripper and the circular saw. The position of the robotic gripper can be further adjusted by driving the swing cylinder of the working head to swing and driving the rotary head to rotate 360 ​​degrees around its axis, so that the robotic gripper can get closer to the tree to be pruned at a more suitable angle.

[0003] However, the aforementioned existing technology still has the following problems: On the one hand, the angle adjustment of the saw relies on the hinge relationship between the working head support and the rotating head, as well as the rotation of the rotating head around its own axis. The adjustment angle is limited, resulting in poor adjustability during high-altitude sawing of branches. On the other hand, the aforementioned circular saw structure needs to be large enough to saw thicker branches, which leads to a large overall size of the saw and an insufficiently compact overall structure. This is not conducive to the miniaturization of the working head structure. The larger the working head size, the more easily the branch saw is interfered with by side branches when used for high-altitude branch pruning, which is not conducive to the saw moving through the gaps between branches at high altitudes. This, in turn, affects the cutting saw's ability to cut selected branches in complex branch situations. Summary of the Invention

[0004] The present invention provides a logging mechanism to address the aforementioned problems existing in the prior art. One technical problem it aims to solve is that the angle adjustment of the cutting mechanism is not flexible enough. Another technical problem it aims to solve is that the overall structure is not compact enough, which is not conducive to the miniaturization of the product as a whole, and therefore it is not convenient to move through complicated branches to reach the target branch.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A logging mechanism, characterized in that it includes a working frame and

[0006] The tilting frame is hinged to the front end of the work frame via hinge axis A;

[0007] The tilting cylinder is connected to the tilting frame and the working frame respectively, and is used to drive the tilting frame to rotate around the hinge axis A;

[0008] The oscillating rotary seat is hinged to the front end of the tilting frame via hinge shaft B, with hinge shaft B and hinge shaft A being perpendicular to each other.

[0009] The swing cylinder is connected to the swing rotary seat and the tilting frame respectively, and is used to drive the swing rotary seat to rotate around the hinge axis B;

[0010] The support frame, which is connected to the front end of the swing slewing seat via a slewing bearing, is used to support the gripping mechanism and the sawing mechanism.

[0011] Furthermore, the sawing mechanism includes:

[0012] The logging mechanism's sliding frame is connected to the support frame in a manner that allows for relative sliding;

[0013] The saw blade is a rod-shaped structure, which includes a blade shaft and blade teeth arranged on the circumference of the blade shaft. The two ends of the blade shaft are rotatably connected to the sliding frame of the logging mechanism.

[0014] The sliding frame drive is connected to the logging mechanism sliding frame and the support frame respectively. It is used to drive the logging mechanism sliding frame and the support frame to slide relative to each other, providing power for the saw blade feed. The feed direction of the saw blade is perpendicular to the radial direction of the blade shaft.

[0015] The saw blade drive is connected to the cutter shaft and is used to drive the cutter shaft to rotate around its axis.

[0016] Furthermore, the saw blade drive is located on the lower side of the saw blade and is spaced at a preset distance from the saw blade. The output end of the saw blade drive is connected to one end of the cutter shaft via a transmission mechanism.

[0017] Furthermore, the transmission mechanism includes a drive wheel fixedly connected to the output end of the saw blade drive and a driven wheel fixedly connected to one end of the blade shaft. The drive wheel and the driven wheel are connected to the sliding frame of the logging mechanism in a manner that allows them to rotate around their axes. The drive wheel and the driven wheel are connected by a transmission component.

[0018] Furthermore, the driving wheel and driven wheel adopt a gear structure, a pulley structure or a sprocket structure, and correspondingly, the transmission component adopts a gear transmission structure, a belt transmission structure or a chain transmission structure.

[0019] Furthermore, the sliding frame is driven by a hydraulic cylinder, the cylinder of which is connected to the sliding frame of the logging mechanism, and the telescopic rod of which is connected to the support frame.

[0020] Furthermore, the gripping mechanism includes grippers connected to the support frame and a gripper drive for driving the grippers to perform gripping actions.

[0021] Furthermore, the gripper includes gripper one and gripper two, gripper one and gripper two are arranged opposite to each other and are respectively hinged to the support frame, and the gripper drive is connected to gripper one and gripper two respectively to drive the opening and closing of gripper one and gripper two.

[0022] Furthermore, the gripping mechanism also includes a gripper connecting arm, with the middle part of the gripper and the end of the gripper respectively hinged to the support frame, the end of the gripper and the middle part of the gripper respectively hinged to the two ends of the gripper connecting arm, and the two ends of the gripper drive respectively hinged to the end of the gripper and the support frame.

[0023] Furthermore, the tilting cylinder is hinged to the tilting frame via a connecting rod structure.

[0024] The beneficial effects of this invention are:

[0025] 1. This invention, through the sequentially hinged connection of a work frame, a tilting frame, a swinging rotary seat, and a support frame rotatably connected to the front end of the swinging rotary seat for bearing the gripping and sawing mechanisms, with hinge axis A and hinge axis B perpendicular to each other, and in conjunction with the provided slewing bearing, enables rotational adjustment in multiple dimensions, such as the support frame carrying the gripping and sawing mechanisms rotating around the slewing bearing axis (i.e., rotational action), the swinging rotary seat carrying the support frame rotating around hinge axis B (i.e., swinging action), and the tilting frame carrying the swinging rotary seat and support frame rotating around hinge axis A (i.e., tilting action). This allows for more flexible and varied angle adjustments, providing the work head with sufficient freedom to ensure that the gripping and sawing mechanisms achieve optimal working angles.

[0026] 2. The present invention further improves the overall structure by setting the sawing mechanism and the gripping mechanism in specific structures and by connecting the rotary support and the swing rotary seat, making the product more compact and miniaturized, reducing the interference of the working head with the side branches, thereby facilitating the tree saw to travel in the gaps between high-altitude branches to reach the sawing target position.

[0027] 3. This invention further alters the connection structure between the sawing mechanism, particularly the connection between the bar-shaped saw blade and the branch saw sliding frame and support frame, compared to existing technologies. This changes the connection between the saw blade and its support and driving components, ensuring that both ends of the saw blade are connected rather than free. During sawing, the support frame remains stationary, and the branch saw sliding frame, slidably connected to the support frame, performs the feeding action under the drive of the sliding frame driver. This ensures the feeding direction is perpendicular to the saw blade's axis, effectively preventing the shaking caused by the movement of the support arm or the fan-shaped trajectory of the bar-shaped saw blade during high-altitude branch sawing. This results in better sawing performance for high-altitude branches, allowing for excellent sawing results even when processing large branches, and broadening its applicability. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the present invention;

[0029] Figure 2 This is a three-dimensional structural schematic diagram of an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the structure of a support frame that supports the gripping mechanism and the sawing mechanism according to an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the gripping mechanism according to an embodiment of the present invention;

[0032] Figure 5 This is a cross-sectional view of a sawing mechanism according to an embodiment of the present invention;

[0033] Figure 6 This is another cross-sectional view of the sawing mechanism according to an embodiment of the present invention;

[0034] In the diagram: 1. Working frame, 2. Gripping mechanism, 201. Gripper 1, 202. Gripper 2, 203. Gripper connecting arm, 204. Gripper drive, 3. Sawing mechanism, 301. Sawing blade, 311. Blade shaft, 312. Blade teeth, 302. Logging mechanism sliding frame, 304. Sliding frame drive, 305. Sawing blade drive, 361. Drive wheel, 362. Driven wheel, 363. Transmission component, 308. Guide plate, 309. Slide groove, 4. Tilting frame, 41. Tilting cylinder, 5. Swinging rotary seat, 51. Swinging cylinder, 6. Slewing bearing, 7. Support frame, 81. Hinge shaft A, 82. Hinge shaft B, 91. Connecting rod A, 92. Connecting rod B. Detailed Implementation

[0035] The principles and features of the present invention are described below. The embodiments given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0036] like Figure 1 As shown, the logging mechanism in this embodiment includes a work frame 1 and...

[0037] The tilting frame 4 is hinged to the front end of the work frame 1 via hinge shaft A81;

[0038] The tilting cylinder 41 is connected to the tilting frame 4 and the working frame 1 respectively, and is used to drive the tilting frame 4 to rotate around the hinge axis A81.

[0039] The swing rotary seat 5 is hinged to the front end of the tilting frame 4 via hinge shaft B82, and the hinge shaft B82 is perpendicular to the hinge shaft A81.

[0040] The swing cylinder 51 is connected to the swing rotary seat 5 and the tilting frame 4 respectively, and is used to drive the swing rotary seat 5 to rotate around the hinge shaft B82.

[0041] The support frame 7 is connected to the front end of the swing slewing seat 5 via a slewing bearing 6, and the plane of the slewing bearing 6 is parallel to the axes of the hinge shaft A81 and the hinge shaft B82, respectively, to achieve angle adjustment in three dimensions; the support frame is used to support the gripping mechanism 2 and the sawing mechanism 3.

[0042] Through the design of the above structure, the overall logging mechanism can achieve rotational adjustment in multiple dimensions, including rotation of the support frame 7 (carrying the gripping mechanism 2 and the sawing mechanism 3) around the slewing bearing 6, swinging motion of the swinging slewing seat 5 (carrying the support frame 7) around the hinge axis B82, and flipping motion of the tilting frame 4 (carrying the swinging slewing seat 5 and the support frame 7) around the hinge axis A81. This allows for more flexible and varied angle adjustment. After adjusting the angle, the gripping mechanism grasps the branch to be pruned, and the sawing mechanism cuts the branch.

[0043] In a preferred embodiment of the present invention, the sawing mechanism 3 includes:

[0044] The logging mechanism sliding frame 302 is connected to the support frame 7 in a relatively sliding manner;

[0045] The saw blade 301 is a rod-shaped structure, which includes a blade shaft 311 and blade teeth 312 arranged on the circumference of the blade shaft 311. Both ends of the blade shaft 311 are rotatably connected to the sliding frame 302 of the logging mechanism.

[0046] The sliding frame drive 304 is connected to both the logging mechanism sliding frame 302 and the support frame 7. It drives the logging mechanism sliding frame 302 to slide relative to the support frame 7, providing power for the saw blade feed. The feed direction of the saw blade is perpendicular to the radial direction of the cutter shaft 311. In this embodiment, the sliding frame drive 304 uses a hydraulic cylinder. Its cylinder barrel 341 is connected to the logging mechanism sliding frame 302, and its telescopic rod 342 is connected to the support frame 7. Preferably, the cylinder barrels 341 are arranged side-by-side on the side of the logging mechanism sliding frame 302, making the overall layout more compact. More preferably, the cylinder barrel 341 and the branch saw sliding frame 302 can be configured as an integral structure.

[0047] The saw blade drive 305, in this embodiment, specifically adopts a drive motor, which is connected to the cutter shaft 311 and is used to drive the cutter shaft 311 to rotate around its axis.

[0048] The gripping mechanism 2 and the sawing mechanism 3 are arranged adjacent to each other, forming a compact structure. After the gripping mechanism 2 grips the branch to be pruned, the sawing blade drive 305 is activated to rotate the sawing blade 301; the sliding frame drive 304 is activated, causing the telescopic rod 342 to extend or retract from the cylinder 341. Since the end of the telescopic rod 342 is fixed to the support frame 7, and the cylinder 341 is fixed to the branch saw sliding frame 302, under the drive of the sliding frame drive 304, the two branch saw sliding frames 302 can slide forward or backward relative to the support frame 7, thereby driving the sawing blade 301 connected to it to move closer to or away from the branch to be pruned, realizing the feeding action of the sawing work. The feeding direction is perpendicular to the direction of the blade shaft 311. With the rotation of the sawing blade 301, the branch can be sawn. In this design, both ends of the saw blade 301 are connected ends rather than free ends. When in use, the entire branch saw remains stationary because the support frame 7 is stationary. Instead, the internal sliding frame drive 304 drives the two branch saw sliding frames to slide relative to the support frame 7, making the feed direction perpendicular to the axis of the saw blade. This effectively avoids the shaking phenomenon that occurs when the bar-shaped saw blade is sawing branches at height, thereby improving the sawing effect on branches at height. It can still achieve a good sawing effect when dealing with thick branches, making it more widely applicable.

[0049] In a preferred embodiment of the present invention, the support frame 7 is fixedly connected to a guide plate 308. The guide plate 308 is disposed on the outside of the branch saw sliding frame 302 and the cylinder 41 of the sliding frame drive 304. The cross-section of the guide plate 308 is L-shaped, and a rectangular groove 309 is formed between the guide plate 308 and the support frame 7 for the branch saw sliding frame 302 to slide, making the assembly with the branch saw sliding frame 302 more compact and ensuring more stable sliding operation of the branch saw sliding frame 302. In other embodiments, a slide rail can be directly provided on the branch saw sliding frame 302, and the support frame 7 is correspondingly provided with a groove for the slide rail; or, a groove can be provided on the side end face of the branch saw sliding frame 302, and the support frame 7 is correspondingly provided with a slide rail for the groove. Both methods provide conditions for the relative sliding of the support frame 7 and the branch saw sliding frame 302.

[0050] In a preferred embodiment of the present invention, the saw blade drive 305 is disposed below the saw blade 301 and is spaced at a predetermined distance from the saw blade 301. The output end of the saw blade drive 305 is connected to one end of the cutter shaft 311 via a transmission mechanism. Its advantages include a more compact overall structure, reducing structures that may interfere with the sawing process, thus reducing the overall size. The miniaturized design facilitates the movement of the branch saw through gaps in high-altitude branches, while also providing space for the sawn branches. In this embodiment, the transmission mechanism includes a drive wheel 361 fixedly connected to the output end of the saw blade drive 305 and a driven wheel 362 fixedly connected to one end of the cutter shaft 311. The drive wheel 361 and the driven wheel 362 are connected to the logging mechanism sliding frame 302 in a manner rotatable around their axes. The drive wheel 361 is fixedly connected to the output end of the saw blade drive 305 via a spline, and the drive wheel 361 and the driven wheel 362 are connected via a transmission component 363.

[0051] In a preferred embodiment of the present invention, the drive wheel 361 and the driven wheel 362 adopt a gear structure, and correspondingly, the transmission component 363 adopts a gear transmission structure. When the output shaft of the saw blade drive 305 rotates, it drives multiple gears to mesh and transmit power, thereby driving the saw blade 301 to rotate. At this time, the branch saw sliding frame 302, which is covered outside the transmission mechanism, forms a gearbox structure. Specifically, the drive gear and the driven gear are respectively connected to the branch saw sliding frame 302 through bearings in a manner that allows them to rotate around their axes. The drive gear is fixedly connected to the output end of the saw blade drive 305 through a spline. The drive gear and the driven gear are connected by multiple meshing gears, such as... Figure 5 The diagram shows multiple gears meshing vertically in sequence, each gear connected to the sliding frame 302 of the branch saw via a bearing in a manner that allows it to rotate around its axis. Its advantages include excellent transmission stability, and the multiple meshing gears maintain a certain distance between the cutter shaft 311 and the saw blade drive 305, providing space for sawing larger branches.

[0052] In a preferred embodiment of the present invention, the other end of the cutter shaft 311 away from the driven wheel 362 is connected to the logging mechanism slide frame 302 via a bearing seat 310, wherein the bearing seat 310 is detachably connected to the logging mechanism slide frame 302.

[0053] In a preferred embodiment of the present invention, the transmission mechanism is concealed within the sliding frame 302 of the branch saw, which facilitates the miniaturization of the product and prevents debris from falling into the transmission mechanism and causing jamming during the sawing process.

[0054] In a preferred embodiment of the present invention, the driving wheel 361 and the driven wheel 362 may also be a pulley structure (such as a synchronous pulley) or a sprocket structure. Correspondingly, the transmission component 363 adopts a belt drive structure (such as a synchronous belt) or a chain drive structure (such as a chain).

[0055] In a preferred embodiment of the present invention, the gripping mechanism 2 includes grippers connected to the support frame 7 and a gripper drive 204 for driving the grippers to perform gripping actions. Specifically, the grippers include a first gripper 201 and a second gripper 202, which are disposed opposite to each other and respectively hinged to the support frame 7. The gripper drive 204 is connected to the first gripper 201 and the second gripper 202 respectively, and is used to drive the opening and closing of the first gripper 201 and the second gripper 202. The gripping mechanism 2 also includes a gripper connecting arm 203, the middle part of the first gripper 201 and the end of the second gripper 202 are respectively hinged to the support frame 7, the end of the first gripper 201 and the middle part of the second gripper 202 are respectively hinged to the two ends of the gripper connecting arm 203, and the two ends of the gripper drive 204 are respectively hinged to the end of the first gripper 201 and the support frame 7. During operation, the extension and retraction of gripper drive 204 controls the opening and closing of gripper one 201 and gripper two 202 to perform gripping and releasing. Its advantage is that it can open and close at a large angle, and can grip branches of various thicknesses.

[0056] In a preferred embodiment of the present invention, the tilting cylinder 41 is hinged to the tilting frame 4 via a connecting rod structure, which is used to drive the tilting frame 4 to tilt around the hinge axis A81 at a large angle. In this embodiment, one end of the connecting rod A91 is hinged to the working frame 1, one end of the connecting rod B92 is connected to the tilting frame 4, the other end of the connecting rod A91 and the other end of the connecting rod B92 are hinged together and connected to the telescopic rod of the tilting cylinder 41 via their hinge axis, and the cylinder body of the tilting cylinder 41 is hinged to the working frame 1.

Claims

1. A tree felling mechanism, characterised in that, The utility model relates to a cutting device for cutting trees, comprising a working frame (1) and a turnover frame (4) hinged to the front end of the working frame (1) by a hinge shaft A (81); a turnover cylinder (41) connected to the turnover frame (4) and the working frame (1) respectively for driving the turnover frame (4) to rotate around the hinge shaft A (81); a swing rotary seat (5) hinged to the front end of the turnover frame (4) by a hinge shaft B (82) perpendicular to the hinge shaft A (81); a swing cylinder (51) connected to the swing rotary seat (5) and the turnover frame (4) respectively for driving the swing rotary seat (5) to rotate around the hinge shaft B (82); a support frame (7) connected to the front end of the swing rotary seat (5) by a rotary bearing (6) for carrying a grabbing mechanism (2) and a sawing mechanism (3); the grabbing mechanism (2) comprises a gripper connected to the support frame (7) and a gripper drive (204) for driving the gripper to perform a grabbing action; the sawing mechanism (3) comprises a felling mechanism sliding frame (302) connected to the support frame (7) in a relative sliding manner; a sawing blade (301) in a rod-like structure comprising a blade shaft (311) and blade teeth (312) arranged on the circumferential surface of the blade shaft (311), the two ends of the blade shaft (311) being rotationally connected to the felling mechanism sliding frame (302); a sliding frame drive (304) connected to the felling mechanism sliding frame (302) and the support frame (7) respectively for driving the felling mechanism sliding frame (302) to slide relative to the support frame (7) to provide power for the feeding of the sawing blade, and the feeding direction of the sawing blade being perpendicular to the radial direction of the blade shaft (311); a sawing blade drive (305) connected to the blade shaft (311) for driving the blade shaft (311) to rotate around its axis.

2. The felling mechanism of claim 1, wherein The sawing blade drive (305) is arranged on the lower side of the sawing blade (301) and has a preset distance from the sawing blade (301), and the output end of the sawing blade drive (305) is in transmission connection with one end of the blade shaft (311) through a transmission mechanism.

3. The felling mechanism of claim 2, wherein, The transmission mechanism comprises a driving wheel (361) fixedly connected to the output end of the sawing blade drive (305) and a driven wheel (362) fixedly connected to one end of the blade shaft (311), the driving wheel (361) and the driven wheel (362) being rotationally connected to the felling mechanism sliding frame (302), and the driving wheel (361) and the driven wheel (362) being in transmission connection through a transmission member (363).

4. The felling mechanism of claim 3, wherein The driving wheel (361) and the driven wheel (362) adopt a gear structure, a belt wheel structure or a chain wheel structure, and correspondingly, the transmission member (363) adopts a gear transmission structure, a belt transmission structure or a chain transmission structure.

5. The felling mechanism of claim 1, wherein, The sliding frame drive (304) adopts a hydraulic cylinder, the cylinder barrel of which is connected to the felling mechanism sliding frame (302), and the telescopic rod of which is connected to the support frame (7).

6. The felling mechanism of claim 1, wherein, The clamping jaw comprises a first clamping jaw (201) and a second clamping jaw (202), the first clamping jaw (201) and the second clamping jaw (202) are oppositely arranged and respectively hinged on the support frame (7), and a clamping jaw drive (204) is connected with the first clamping jaw (201) and the second clamping jaw (202) respectively, and is used for driving the first clamping jaw (201) and the second clamping jaw (202) to open and close.

7. A felling mechanism according to claim 6, characterised in that The grabbing mechanism (2) further comprises a clamping jaw connecting arm (203), the middle part of the first clamping jaw (201) and the end part of the second clamping jaw (202) are respectively hinged on the support frame (7), the end part of the first clamping jaw (201) and the middle part of the second clamping jaw (202) are respectively hinged on two ends of the clamping jaw connecting arm (203), and two ends of the clamping jaw drive (204) are respectively hinged on the end part of the first clamping jaw (201) and the support frame (7).

8. The felling mechanism of claim 1, wherein, The overturning oil cylinder (41) is hinged on the overturning frame (4) through a connecting rod structure.

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