Aerial logging vehicle

Abstract

The present application relates to a kind of high altitude logging truck, belong to logging truck field, including vehicle body, folding telescopic arm and working head;Folding telescopic arm includes first arm, second arm, third arm, third arm is hinged in the front end of second arm, second arm is hinged in the front end of first arm;Working head includes working head rotary frame, is connected in the end of folding telescopic arm;Support frame is connected with working head rotary frame by T type rotary joint, T type rotary joint includes cross bar and vertical rod, rotary sleeve one is rotatably connected on cross bar, support frame is connected with vertical rod by rotary bearing one, one end of working head rotary frame is connected with rotary sleeve one and is connected;The present application can be after folding telescopic arm lift working head to target approximate position, working head is rotated and adjusted in multiple dimensions, cooperate the adjustment of multiple arm of folding telescopic arm, make working head angle adjustment more flexible and changeable, it is convenient to accurately adjust the position of grabbing mechanism and saw cutting mechanism to implement sawing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logging vehicles, in particular to a high-altitude logging vehicle. BACKGROUND

[0002] In the process of urban construction, green trees not only purify the air and block sunlight and heat, but also have potential safety hazards, such as branches blocking street lamps, branches growing too close to power lines or houses, etc. To avoid the above-mentioned dangers, we need to use a logging machine to trim the green trees.

[0003] In the prior art, such as the utility model patent with the publication number CN204259479U discloses a tree branch trimming integrated operation vehicle, in which the tree branch trimming arm, the tree branch shredder, the hopper, etc. are installed on the automobile chassis, the mechanical hand claw and the disc saw are installed on the working head of the tree branch trimming arm, during operation, the tree branches are trimmed by controlling the extension and retraction of the hydraulic cylinders and the operation of the motor on the tree branch trimming arm, and the hopper is used for temporarily storing the cuttings.

[0004] However, the prior art has the following problems:

[0005] Firstly, the angle adjustment of the saw in the prior art is limited by the hinged relationship between the working head support and the rotating head and the rotation of the rotating head around its own axis, and the adjustable range is limited, which causes poor adjustability during high-altitude sawing of branches.

[0006] Secondly, the disc saw structure needs to be large enough in size when sawing large branches, which results in a large overall size of the saw and an uncompact overall structure, which is not conducive to the miniaturization of the product as a whole, and the larger the size of the branch saw, the more likely it is to be disturbed by the surrounding branches when used for high-altitude branch trimming, which is not conducive to the saw to move through the gaps between branches, and thus affects the cutting saw to saw the selected branches in a dense branch environment.

[0007] Thirdly, the lifting height of the telescopic arm structure is limited, and the space required for the telescopic arm to be stored is large, which affects further storage and transportation, especially when used as a vehicle-mounted telescopic arm structure, which requires a larger size of the vehicle; as shown in the prior art, in order to avoid interference of the working head with the vehicle head, vehicle compartment, etc., the telescopic arm structure is placed on the roof of the vehicle, which is not conducive to the stability of the vehicle as a whole. Most importantly, the rotating range of the telescopic arm structure is limited, and as a movable joint, it cannot be adjusted flexibly, so it is difficult to achieve continuous actions such as grabbing and sawing the fallen branches and then lowering them into the vehicle compartment during actual operation, which affects the smooth operation. SUMMARY

[0008] The high-altitude tree felling vehicle provided by the present application solves the problems existing in the prior art, and one of the technical problems to be solved by the present application is that the angle adjustment of the cutting mechanism is not flexible enough; another technical problem to be solved by the present application is that the overall structure is not compact enough, which is not conducive to the miniaturization of the product as a whole, and thus the product is not convenient to shuttle in complex branches to reach the target branch position; and the third technical problem to be solved by the present application is that the rotation range of the telescopic arm is limited, the adjustment is not flexible enough, the telescopic arm occupies a large space after being stored, and the telescopic arm or other components of the vehicle interfere with each other after being stored, which is not conducive to the installation on the vehicle.

[0009] The technical scheme for solving the above technical problems is as follows:

[0010] A high-altitude tree felling vehicle, characterized in that the high-altitude tree felling vehicle comprises a vehicle body, a folding telescopic arm, and a working head connected to the folding telescopic arm, wherein the bottom of the folding telescopic arm is rotationally connected to the chassis of the vehicle body.

[0011] The folding telescopic arm comprises a first arm, a second arm, and a third arm, wherein the third arm is a telescopic arm structure, the third arm is hingedly connected to the front end of the second arm, and the tail end of the second arm is hingedly connected to the front end of the first arm.

[0012] A lifting cylinder is connected between the first arm and the second arm, and is used to control the rotation of the second arm about the hinged shaft between the first arm and the second arm; a second turnover cylinder is further connected between the second arm and the third arm, one end of the second turnover cylinder is hingedly connected to the second arm, the other end of the second turnover cylinder is hingedly connected to the third arm, and the second turnover cylinder is used to drive the third arm to rotate and turn over about the hinged shaft of the second arm.

[0013] The working head comprises:

[0014] A working head slewing frame is connected to the end of the folding telescopic arm through a slewing bearing II, so that the working head slewing frame can rotate about the axis of the slewing bearing II.

[0015] A support frame is connected to the working head slewing frame through a T-shaped slewing joint, and the support frame is used to carry a grabbing mechanism and a sawing mechanism.

[0016] The T-shaped slewing joint comprises a horizontal rod and a vertical rod, and a slewing sleeve I is rotationally connected to the horizontal rod.

[0017] The support frame is connected to the vertical rod through a slewing bearing I, so that the support frame can rotate relative to the vertical rod; one end of the working head slewing frame relative to the folding telescopic arm is connected to the slewing sleeve I, so that the working head slewing frame can rotate relative to the horizontal rod.

[0018] A first turnover cylinder is connected between the working head slewing frame and the T-shaped slewing joint, and is used to drive the working head slewing frame to rotate relative to the horizontal rod.

[0019] Further, the third arm is hinged to the front end of the second arm through a connecting arm, so that the third arm can be turned to the side of the second arm when being stored.

[0020] Further, the second turning cylinder is hinged to the third arm through a connecting rod structure, so as to expand the turning angle between the second arm and the third arm and facilitate the lifting of the third arm by the second turning cylinder.

[0021] Further, the first turning cylinder is hinged to the T-shaped rotary joint through a connecting rod structure.

[0022] Still further, the third arm comprises a first telescopic section, a second telescopic section and a third telescopic section, the second telescopic section is slidably arranged in the first telescopic section, and the third telescopic section is slidably arranged in the second telescopic section, wherein the third telescopic section is used to directly or indirectly connect the working head; the third arm further comprises an arm extension drive for driving the second telescopic section and the third telescopic section to simultaneously extend or retract.

[0023] Still further, the arm extension drive comprises a telescopic cylinder and a traction assembly, the telescopic cylinder is connected between the first telescopic section and the second telescopic section, and is used to drive the relative sliding between the second telescopic section and the first telescopic section; the traction assembly is connected with the first telescopic section, the second telescopic section and the third telescopic section, and is used to drive the third telescopic section to synchronously slide relative to the second telescopic section when the second telescopic section slides relative to the first telescopic section.

[0024] Still further, the traction assembly comprises a guide wheel one, a guide wheel two, a traction member one and a traction member two, the guide wheel one and the guide wheel two are respectively connected to the front end of the second telescopic section and the rear end of the second telescopic section in a rotatable manner about their axes; one end of the traction member one is connected to the front end of the first telescopic section, and the other end of the traction member one passes through the guide wheel one and is connected to the rear end of the third telescopic section; one end of the traction member two is connected to the front end of the first telescopic section, and the other end of the traction member two passes through the guide wheel two and is connected to the rear end of the third telescopic section.

[0025] Still further, the traction member one and the traction member two adopt a chain structure or a rope member.

[0026] Still further, the third arm is further connected with a pipeline containing mechanism for storing pipelines and extending or retracting with the third arm.

[0027] Still further, the pipeline containing mechanism comprises a drag chain, an inner supporting pipe, an outer supporting pipe and an outer supporting pipe sliding frame, one end of the inner supporting pipe is connected to the third telescopic section, the other end of the inner supporting pipe slidably extends into the outer supporting pipe, the outer supporting pipe is connected to the second telescopic section and slidably installed in the outer supporting pipe sliding frame, the outer supporting pipe sliding frame is fixedly connected to the first telescopic section; one end of the drag chain is connected to the first telescopic section, and the other end of the drag chain is connected to the tail end of the outer supporting pipe through the outer supporting pipe.

[0028] Further, the sawing mechanism comprises:

[0029] The sliding frame of the branch sawing mechanism is connected to the support frame in a relative sliding manner;

[0030] The sawing blade is a rod-shaped structure comprising a blade shaft and blade teeth arranged on the circumferential surface of the blade shaft, and the two ends of the blade shaft are rotationally connected to the sliding frame of the branch sawing mechanism;

[0031] The sliding frame drive is connected to the sliding frame of the branch sawing mechanism and the support frame, respectively, for driving the sliding frame of the branch sawing mechanism to slide relative to the support frame, and providing power for the feeding of the sawing blade, and the feeding direction of the sawing blade is perpendicular to the radial direction of the blade shaft;

[0032] The sawing blade drive is connected to the blade shaft for driving the blade shaft to rotate around its axis.

[0033] Further, the sawing blade drive is arranged on the lower side of the sawing blade and has a preset distance from the sawing blade, and the output end of the sawing blade drive is transmissionally connected to one end of the blade shaft through a transmission mechanism.

[0034] Further, the transmission mechanism comprises a driving wheel fixedly connected to the output end of the sawing blade drive and a driven wheel fixedly connected to one end of the blade shaft, and the driving wheel and the driven wheel are connected to the sliding frame of the branch sawing mechanism in a rotatable manner around their axes, and the driving wheel and the driven wheel are transmissionally connected through a transmission member.

[0035] Further, the driving wheel and the driven wheel adopt a gear structure, a belt wheel structure or a chain wheel structure, and correspondingly, the transmission member adopts a gear transmission structure, a belt transmission structure or a chain transmission structure.

[0036] Further, the sliding frame drive adopts a hydraulic oil cylinder, the cylinder barrel of which is connected to the sliding frame of the branch sawing mechanism, and the telescopic rod of which is connected to the support frame.

[0037] Further, the grabbing mechanism comprises a clamping jaw connected to the support frame and a clamping jaw drive for driving the clamping jaw to perform a grabbing action.

[0038] Further, the clamping jaw comprises a clamping jaw one and a clamping jaw two, which are arranged opposite to each other and are respectively hinged to the support frame, and the clamping jaw drive is connected to the clamping jaw one and the clamping jaw two, respectively, for driving the opening and closing of the clamping jaw one and the clamping jaw two.

[0039] Further, the grabbing mechanism further comprises a clamping jaw connecting arm, the middle part of the clamping jaw one and the end part of the clamping jaw two are respectively hinged to the support frame, the end part of the clamping jaw one and the middle part of the clamping jaw two are respectively hinged to the two ends of the clamping jaw connecting arm, and the two ends of the clamping jaw drive are respectively hinged to the end part of the clamping jaw one and the support frame.

[0040] Further, the T-shaped rotary joint is internally provided with an oil passage communicating the cross bar and the vertical bar, the rotary sleeve one is provided with an oil port one communicating with the oil passage, the vertical bar is rotatably provided with a rotary sleeve two, and the rotary sleeve two is provided with an oil port two communicating with the oil passage.

[0041] Further, the vehicle body is further provided with a supporting mechanism for supporting the grabbing mechanism; the supporting mechanism comprises a supporting body and a driving member for driving the supporting body to rise or fall.

[0042] Further, the supporting mechanism further comprises a supporting rod one, a supporting rod two, an upper support, a lower support, a swing arm, and a connecting seat, and the driving member is a telescopic driving member; the upper support is oppositely arranged with the lower support, the upper support is connected to the lower side of the supporting body, and the lower support is oppositely fixed with the connecting seat; the supporting rod one and the supporting rod two are arranged in parallel, one end of each of the supporting rod one and the supporting rod two is hingedly connected with the upper support, and the other end of each of the supporting rod one and the supporting rod two is hingedly connected with the lower support, and the hinge points of the supporting rod one, the supporting rod two, the upper support, and the lower support form a parallelogram; the supporting rod one is fixedly connected with the swing arm, and the two ends of the telescopic driving member are connected with the swing arm and the connecting seat respectively, for driving the swing arm to rotate around the hinge point of the supporting rod one and the lower support with the telescopic driving member being telescoped.

[0043] Further, the vehicle body is further provided with a crushing mechanism, and the crushing mechanism comprises a support and a feeding mechanism, a branch cutting mechanism, and a discharging mechanism; the feeding mechanism comprises a lower feeding mechanism, the lower feeding mechanism and the branch cutting mechanism are hingedly connected to the front and rear sides of the support through a hinge shaft A and a hinge shaft B respectively, and the output side of the branch cutting mechanism is provided with the discharging mechanism; a third turnover cylinder is connected between the lower feeding mechanism and the support, for driving the lower feeding mechanism to turn over around the hinge shaft A to a folded or flat state; a fourth turnover cylinder is connected between the branch cutting mechanism and the support, for driving the support to carry the feeding mechanism to turn over around the hinge shaft B.

[0044] Further, the vehicle body is further provided with a collecting box, and the collecting box is located at the output side of the discharging mechanism.

[0045] Further, the working head can be replaced by the following structure:

[0046] The working head comprises:

[0047] a working frame fixedly connected with the folding telescopic arm;

[0048] a turnover frame hingedly connected to the front end of the working frame through a hinge shaft C;

[0049] a turnover cylinder connected with the turnover frame and the working frame respectively, for driving the turnover frame to rotate around the hinge shaft C; preferably, the turnover cylinder is hingedly connected with the turnover frame through a connecting rod structure;

[0050] Swing rotary seat, which is hinged at the front end of the turnover frame through a hinge shaft D, and the hinge shaft D is perpendicular to the hinge shaft C;

[0051] Swing oil cylinder, which is connected with the swing rotary seat and the turnover frame respectively, is used to drive the swing rotary seat to rotate around the hinge shaft D;

[0052] And support frame, which is connected at the front end of the swing rotary seat through the rotary support three, is used to carry the grabbing mechanism and the sawing mechanism.

[0053] The beneficial effects of the present application are:

[0054] 1. The high-altitude logging vehicle provided by the present application can realize the rotation adjustment of the work head in multiple dimensions, such as the rotation of the work head around the rotary support two axis, the rotation of the support frame carrying the grabbing mechanism and the sawing mechanism around the horizontal rod axis, and the rotation of the support frame carrying the grabbing mechanism and the sawing mechanism around the vertical rod axis, after the folding telescopic arm lifts the work head to the target position, and the angle adjustment of the work head is more flexible and variable, which is convenient for precise adjustment of the position of the grabbing mechanism and the sawing mechanism to implement sawing.

[0055] 2. The specific structure of the sawing mechanism and the grabbing mechanism and the connection relationship between the T-shaped rotary joint and the work head rotary frame make the overall structure more compact, the product more miniaturized, and the interference of the side branches reduced, so that the branch saw can travel in the gap of the high-altitude branches to reach the sawing target position.

[0056] 3. The connection relationship between the sawing mechanism, especially the rod-shaped sawing knife, and the branch saw sliding frame and the support frame changes the connection structure of the sawing knife, its support and driving parts, so that both ends of the sawing knife are connected ends rather than free ends, and when the sawing operation is performed, the support frame is kept stationary, the branch saw sliding frame connected with the support frame is driven to perform the feeding action, and the feeding direction is perpendicular to the axis of the sawing knife, which can effectively avoid the shaking phenomenon of the rod-shaped sawing knife during high-altitude sawing of branches due to the movement or fan-shaped trajectory movement of the support arm, and the sawing effect of high-altitude branches is better, so that it can still achieve good sawing effect when processing thick branches, and the application range is wider.

[0057] 4. The application further realizes more flexible movement joint of the folding telescopic arm, wider movement range of the folding telescopic arm, and smooth implementation of the complete series of actions from grabbing and sawing branches to placing the branches into the lower carriage, through the structure relationship between the second overturning cylinder, the second arm and the third arm connected by the connecting rod structure, and the third arm hinged to the side of the front end of the second arm through the connecting arm.

[0058] 5. The application further realizes simultaneous extension or retraction of two telescopic sections driven by the same power source, simple structure, and more convenient and fast operation when lifting the working head to the preset position by the folding telescopic arm, through the structure of the third arm and the connecting relationship of the three telescopic sections.

[0059] 6. The application further realizes built-in oil line, specifically built-in the T-shaped rotary joint and the pipeline containing mechanism, realizes pipeline storage, avoids pipeline disorder, avoids excessive oil line exposure to interfere with branches, and avoids affecting the rotation and telescopic movement of the working part, through the structure of the pipeline containing mechanism and the connecting relationship with the three telescopic sections, and the oil line with the communication cross bar and the longitudinal bar in the T-shaped rotary joint, and the oil port one on the cross bar rotary sleeve one and the oil port two on the longitudinal bar rotary sleeve two.

[0060] 7. The application further realizes adjusting the height of the support body under the drive of the telescopic drive, lifting the support body to fix the working head of the felling mechanism, avoiding unstable swing of the working head during the transportation of the felling mechanism, and lowering the support body to not affect the rotation of the working arm when the working head is not fixed, through the support mechanism arranged on the vehicle body, the support body, the upper support, the lower support, the support rod one, the support rod two, the swing arm, the telescopic drive and the connecting relationship therebetween.

[0061] 8. The application further realizes timely crushing of the sawed branches, through the crushing mechanism arranged on the vehicle body, and the feed mechanism of the crushing mechanism arranged in a overturnable structure to facilitate storage of the crushing mechanism when it is idle or the vehicle is transported, avoid large space occupation on the vehicle, and facilitate transportation of the vehicle.

[0062] 9.The present application can realize the rotation adjustment of multiple dimensions, such as the self-rotation of the support frame carrying the grabbing mechanism and the sawing mechanism around the three-axis rotation support, the rotation of the support frame around the hinge shaft D, and the rotation of the support frame around the hinge shaft C, and the like, and the angle adjustment is flexible and variable, which is convenient for accurately adjusting the positions of the grabbing mechanism and the sawing mechanism to implement sawing. BRIEF DESCRIPTION OF DRAWINGS

[0063] Figure 1 is the overall structure schematic diagram of embodiment 1 of the present application;

[0064] Figure 2 is the structure schematic diagram of embodiment 1 of the present application (without the vehicle body);

[0065] Figure 3 is the main view structure schematic diagram of embodiment 1 of the present application in the storage state (without the vehicle body);

[0066] Figure 4 is the plan view structure schematic diagram of embodiment 1 of the present application in the storage state (without the vehicle body);

[0067] Figure 5 is the cross-sectional structure schematic diagram of embodiment 1 of the present application (without the vehicle body);

[0068] Figure 6 is the structure schematic diagram of the working head of embodiment 1 of the present application;

[0069] Figure 7 is the structure schematic diagram of the T-type rotary joint of embodiment 1 of the present application;

[0070] Figure 8 is the cross-sectional structure schematic diagram of the T-type rotary joint of embodiment 1 of the present application;

[0071] Figure 9 is the structure schematic diagram of the support frame carrying the grabbing mechanism and the sawing mechanism of embodiment 1 of the present application;

[0072] Figure 10 is the cross-sectional structure schematic diagram of the sawing mechanism of embodiment 1 of the present application;

[0073] Figure 11 is another cross-sectional structure schematic diagram of the sawing mechanism of embodiment 1 of the present application;

[0074] Figure 12 is the structure schematic diagram of the grabbing mechanism of embodiment 1 of the present application;

[0075] Figure 13 is the overall structure schematic diagram of embodiment 2 of the present application;

[0076] Figure 14 is Figure 13 is a structural schematic view of a support mechanism in the middle;

[0077] Figure 15 is a structural schematic view of another state of the support mechanism of embodiment 2 of the present application;

[0078] Figure 16 is a structural schematic view of the overall structure of embodiment 4 of the present application;

[0079] Figure 17 is a structural schematic view of a crushing mechanism of embodiment 4 of the present application;

[0080] Figure 18 is a sectional structural schematic view of the crushing mechanism of embodiment 4 of the present application;

[0081] Figure 19 is a structural schematic view of another state of embodiment 4 of the present application;

[0082] Figure 20 is a structural schematic view of the crushing mechanism of embodiment 4 of the present application in a storage state;

[0083] Figure 21 is a structural schematic view of the overall structure of embodiment 5 of the present application;

[0084] Figure 22 is a structural schematic view of a working head of embodiment 6 of the present application;

[0085] Figure 23 is a structural schematic view of a working head of embodiment 6 of the present application;

[0086] Figure 24 is a structural schematic view of a connection between the working head of embodiment 6 of the present application and a folding telescopic arm;

[0087] Figure: 100. working head, 1. T-shaped rotary joint, 101. cross bar, 102. longitudinal bar, 103. rotary sleeve I, 104. rotary sleeve II, 105. oil port I, 106. oil port II, 107. annular oil channel I, 108. oil passage, 109. annular oil channel II, 110. annular groove, 2. grabbing mechanism, 201. jaw I, 202. jaw II, 203. jaw connecting arm, 204. jaw drive, 3. sawing mechanism, 301. sawing blade, 311. blade shaft, 312. blade teeth, 302. branch sawing mechanism sliding frame, 304. sliding frame drive, 305. sawing blade drive, 361. driving wheel, 362. driven wheel, 363. transmission element, 308. guide plate, 309. sliding groove, 4. first overturning cylinder, 41. connecting rod I, 42. connecting rod II, 5. working head rotary frame, 61. rotary bearing I, 62. rotary bearing II, 7. support frame, 800. folding telescopic arm, 801. first arm, 802. second arm, 803. third arm, 831. first telescopic section, 832. second telescopic section, 833. third telescopic section, 834. arm extending drive, 8341. telescopic cylinder, 8342. guide wheel I, 8343. guide wheel II, 8344. traction element I, 8345. traction element II, 804. lifting cylinder, 805. second overturning cylinder, 806. pipeline containing mechanism, 807. connecting arm, 900. support mechanism, 901. support body, 902. support bar I, 903. support bar II, 904. upper support bracket, 905. lower support bracket, 906. swing arm, 907. telescopic drive element, 908. connecting seat, 910. V-shaped support frame, 911. stop bar, 1000. crushing mechanism, 1001. support bracket, 1002. feeding mechanism, 1201. lower feeding mechanism, 1202. upper feeding mechanism, 1021. lower feeding support bracket, 1022. lower feeding roller, 1023. upper feeding support bracket, 1024. upper feeding roller, 1025. protruding teeth, 1003. branch cutting mechanism, 1031. branch cutting mechanism frame, 1032. top cover, 1033. moving knife seat, 1034. moving knife, 1035. fixed knife, 1036. fixed knife seat, 1004. discharging mechanism, 1041. impeller cover, 1042. discharging impeller, 1043. discharging pipe, 1044. discharging port, 1051. third overturning cylinder, 1052. fourth overturning cylinder, 1053. fifth overturning cylinder, 1054. support cylinder, 1061. hinge shaft A, 1062. hinge shaft B, 1100. collecting box, 1200. vehicle hopper, 1301. working frame, 1304. overturning frame, 1341. overturning oil cylinder, 1305. swing rotary seat, 1351. swing oil cylinder, 1381. hinge shaft C, 1382. hinge shaft D, 1391. connecting rod A, 1392. connecting rod B. DETAILED DESCRIPTION

[0088] The principles and features of the present application are described below, and the examples are used to explain the present application, but not to limit the scope of the present application.

[0089] Embodiment 1

[0090] As shown in Figure 1 , Figure 2 and Figure 6 , the high-altitude logging vehicle of the present embodiment comprises a vehicle body, a folding telescopic arm 800, and a working head 100 connected to the folding telescopic arm 800, wherein the bottom of the folding telescopic arm 800 is rotatably connected to the vehicle body chassis through a rotary support, and the working flexibility is good.

[0091] The working head 100 comprises:

[0092] a working head rotary frame 5 connected to the end of the folding telescopic arm 800 through a rotary support two 62, so that the working head rotary frame 5 can rotate around the axis of the rotary support two 62;

[0093] a support frame 7 connected to the working head rotary frame 5 through a T-shaped rotary joint 1, the support frame 7 is used to carry a grabbing mechanism 2 and a sawing mechanism 3,

[0094] The T-shaped rotary joint 1 comprises a horizontal rod 101 and a vertical rod 102, the horizontal rod 101 is rotatably connected with a rotary sleeve one 103,

[0095] The support frame 7 is connected with the vertical rod 102 through a rotary support one 61, so that the support frame 7 can rotate relative to the vertical rod 102; one end of the working head rotary frame 5 relative to the folding telescopic arm 800 is connected with the rotary sleeve one 103, so that the working head rotary frame 5 can rotate relative to the horizontal rod 101;

[0096] and a first overturning cylinder 4 connected between the working head rotary frame 5 and the T-shaped rotary joint 1, used to drive the working head rotary frame 5 to rotate relative to the horizontal rod 101;

[0097] The folding telescopic arm 800 comprises a first arm 801, a second arm 802, and a third arm 803, wherein the third arm 803 is a telescopic arm structure, the third arm 803 is hinged to the front end of the second arm 802, and the tail end of the second arm 802 is hinged to the front end of the first arm 801; a lifting cylinder 804 is connected between the first arm 801 and the second arm 802, used to control the second arm 802 to rotate around the hinge axis between the first arm 801 and the second arm 802; a second overturning cylinder 805 is also connected between the second arm 802 and the third arm 803, one end of the second overturning cylinder 805 is hinged to the second arm 802, and the other end of the second overturning cylinder 805 is hinged to the third arm 803, used to drive the third arm 803 to rotate around the hinge axis between the second arm 802 and the third arm 803.

[0098] The first overturning cylinder 4, the lifting cylinder 804 and the second overturning cylinder 805 of the embodiment are all hydraulic oil cylinder structures.

[0099] In use, the bottom of the first arm 801 is connected to the vehicle chassis through an external rotary element such as a slewing bearing (the bottom of the first arm 801 is connected to the slewing bearing) to realize the rotation adjustment of the whole folding telescopic arm 800. Through the design of the above structure, the folding telescopic arm 800 can lift the working head 100 to the approximate target position. Among them, the working head 100 is directly or indirectly installed at the front end of the third arm 803, and the folding telescopic arm 800 is adjusted as follows: the angle between the first arm 801 and the second arm 802 is adjusted by the lifting cylinder 804, the angle between the second arm 802 and the third arm 803 is adjusted by the second overturning cylinder 805, and then the third arm 803 of the telescopic arm type is used to make the working head 100 at the front end thereof reach the working area. Then, the support frame 7 is rotationally adjusted in multiple dimensions such as the rotation of the working head slewing frame 5 carrying the whole around the slewing bearing 62 shaft, the rotation of the support frame 7 carrying the grabbing mechanism 2 and the sawing mechanism 3 around the horizontal rod 101 shaft, and the rotation of the support frame 7 carrying the grabbing mechanism 2 and the sawing mechanism 3 around the vertical rod 102 shaft, and the angle adjustment is more flexible and variable. After fine adjustment of the angle of the support frame 7, the grabbing mechanism 2 is used to grab the branches to be pruned, and the sawing mechanism 3 is used to cut the branches. After cutting, the pruned branches are taken down by the grabbing mechanism 2 to avoid free falling.

[0100] In a preferred embodiment of the present application, the third arm 803 is hinged to the side of the front end of the second arm 802 through a connecting arm 807. After the folding telescopic arm 800 is used, the third arm 803 can be retracted, as shown in Figure 3 and Figure 4 The third arm 803 has a connecting arm 807 for hinging with the second arm 802 and the connecting rod structure on the side thereof, and the second overturning cylinder 805 is used to push the third arm to rotate around the hinge point between the third arm 803 and the second arm 802 until it is turned to the side of the second arm 802, wherein the connecting arm 807 can be part of the third arm 803 or a connecting component fixedly connected with the third arm 803. In this way, the occupied space after the telescopic arm is retracted can be greatly reduced, and interference with the first arm and the second arm can be avoided. Especially when it is used as a vehicle-mounted folding telescopic arm mechanism, the occupied space after retraction is small, and it is convenient for storage and transportation on the vehicle.

[0101] In addition, the side-by-side design of the third arm 803 brought by the connecting arm 807 can also realize the controllable relative position of the third arm 803 and the second arm 802 in the length direction after retraction, that is, the relative position of the third arm 803 and the second arm 802 after folding and retraction is adjusted by the position of the connecting point of the connecting arm 807 and the third arm 803.

[0102] In a preferred embodiment of the present application, the second turning cylinder 805 is hinged to the third arm 803 through a connecting rod structure. The connecting rod structure can realize large-angle turning of the third arm 803 around the second arm 802, i.e. it is beneficial to expand the angle adjustment range between the second arm and the third arm and facilitate the lifting of the third arm by the second turning cylinder. In the specific embodiment, the connecting rod structure comprises a connecting rod one 41 and a connecting rod two 42, one end of the connecting rod one 41 is hinged to the second arm 802, one end of the connecting rod two 42 is hinged to the third arm 803, the other end of the connecting rod one 41 and the other end of the connecting rod two 42 are hinged to each other and are hinged to one end of the second turning cylinder 805 through the hinging shafts of the two connecting rods.

[0103] In a preferred embodiment of the present application, the hinging points of the second arm 802, the lifting cylinder 804 and the second turning cylinder 805 are located on the same side of the second arm 802, which is beneficial to greatly adjust the angle and direction of the telescopic arm.

[0104] In a preferred embodiment of the present application, as shown in Figure 2 and Figure 5As shown, the third arm 803 includes a first telescopic section 831, a second telescopic section 832, and a third telescopic section 833. The second telescopic section 832 is slidably arranged inside the first telescopic section 831, and the third telescopic section 833 is slidably arranged inside the second telescopic section 832, and the third telescopic section 833 is used to connect the working head. The third arm 803 further includes an arm extension drive 834, which is used to drive the second telescopic section 832 and the third telescopic section 833 to extend or retract simultaneously. Specifically, the arm extension drive 834 includes a telescopic cylinder 8341 and a traction assembly. In the embodiment, the telescopic cylinder 8341 is a hydraulic cylinder, which is connected between the first telescopic section 831 and the second telescopic section 832, and is used to drive the second telescopic section 832 to slide relative to the first telescopic section 831. The traction assembly is connected with the first telescopic section 831, the second telescopic section 832, and the third telescopic section 833, and is used to drive the third telescopic section 833 to slide relative to the second telescopic section 832 synchronously when the second telescopic section 832 slides relative to the first telescopic section 831. The traction assembly includes a guide wheel one 8342, a guide wheel two 8343, a traction member one 8344, and a traction member two 8345. The guide wheel one 8342 and the guide wheel two 8343 are respectively connected to the front end of the second telescopic section 832 and the rear end of the second telescopic section 832 in a manner that can rotate about the axis thereof. One end of the traction member one 8344 is connected to the front end of the first telescopic section 831, and the other end of the traction member one 8344 passes through the guide wheel one 8342 and is connected to the rear end of the third telescopic section 833. One end of the traction member two 8345 is connected to the front end of the first telescopic section 831, and the other end of the traction member two 8345 passes through the guide wheel two 8343 and is connected to the rear end of the third telescopic section 833. The traction member one 8344 and the traction member two 8345 are in the form of a chain structure, and in other embodiments, they can also be in the form of a rope structure. In this way, when the telescopic cylinder 8341 drives the second telescopic section 832 to slide relative to the first telescopic section 831 to extend or retract, the third telescopic section 833 can be driven to slide relative to the second telescopic section 832 synchronously to achieve synchronous extension or retraction, i.e., the two telescopic sections of the third arm are driven to move synchronously by the same power source.

[0105] In a preferred embodiment of the present application, in order to avoid problems such as winding and wire jamming of the hydraulic oil pipeline when the third arm is in telescopic motion, the hydraulic oil pipeline is arranged on the first telescopic section 831. Figure 5As shown, the third arm 803 is also connected with a pipeline containing mechanism 806 for containing pipelines and extending and retracting with the third arm 803. Specifically, the pipeline containing mechanism 806 includes a drag chain 861, an inner carrier pipe 862, an outer carrier pipe 863, an outer carrier pipe sliding frame 864, the inner carrier pipe 862 is connected with the third telescopic joint 833 at one end, the other end of the inner carrier pipe 862 extends into the outer carrier pipe 863 in a slidable manner, the outer carrier pipe 863 is connected with the second telescopic joint 832 and is slidably installed in the outer carrier pipe sliding frame 864, the outer carrier pipe sliding frame 864 is fixedly connected with the first telescopic joint 831; one end of the drag chain 861 is connected with the first telescopic joint 831, and the other end of the drag chain 861 is connected with the tail end of the inner carrier pipe 862 through the outer carrier pipe 863. When the third arm 803 extends and retracts, the pipeline containing mechanism 806 synchronously extends and retracts, so as to avoid pipeline disorder and influence on the extension and retraction.

[0106] In a preferred embodiment of the present application, as shown in Figures 9-11 The sawing mechanism 3 comprises:

[0107] The branch sawing mechanism sliding frame 302 is connected with the support frame 7 in a relatively slidable manner;

[0108] The sawing knife 301 is a rod-shaped structure comprising a knife shaft 311 and a plurality of knife teeth 312 arranged on the circumferential surface of the knife shaft 311, and the two ends of the knife shaft 311 are rotatably connected with the branch sawing mechanism sliding frame 302;

[0109] The sliding frame drive 304 is connected with the branch sawing mechanism sliding frame 302 and the support frame 7 respectively, for driving the branch sawing mechanism sliding frame 302 and the support frame 7 to slide relative to each other, providing power for the feeding of the sawing knife, and the feeding direction of the sawing knife is perpendicular to the radial direction of the knife shaft 311; in the embodiment, the sliding frame drive 304 adopts a hydraulic cylinder, the cylinder barrel 341 of which is connected with the branch sawing mechanism sliding frame 302, and the telescopic rod 342 thereof is connected with the support frame 7. Preferably, the cylinder barrels 341 are arranged side by side beside the branch sawing mechanism sliding frame 302, so that the overall layout is more compact. More preferably, the cylinder barrel 341 and the branch sawing mechanism sliding frame 302 can be arranged in an integrated structure.

[0110] The sawing knife drive 305, specifically a driving motor in the embodiment, is connected with the knife shaft 311, for driving the knife shaft 311 to rotate around its axis.

[0111] In this embodiment, the sliding connection structure of the branch cutting saw mechanism sliding frame 302 and the support frame 7: the support frame 7 is fixedly connected with a guide plate 308, the guide plate 308 is arranged outside the branch cutting saw mechanism sliding frame 302 and the sliding frame drive 304 cylinder 341, the cross section of the guide plate 308 is L-shaped, a rectangular sliding groove 309 is formed between the guide plate 308 and the support frame 7 for the branch cutting saw mechanism sliding frame 302 to slide, so that the assembly of the branch cutting saw mechanism sliding frame 302 is more compact, and the sliding operation of the branch cutting saw mechanism sliding frame 302 is more stable. In addition, in other embodiments, a sliding rail can also be arranged directly on the branch cutting saw mechanism sliding frame 302, and correspondingly, the support frame 7 is provided with a sliding groove corresponding to the sliding rail; or a sliding groove is arranged on the side end face of the branch cutting saw mechanism sliding frame 302, and correspondingly, the support frame 7 is provided with a sliding rail corresponding to the sliding groove. In addition to the above-mentioned connection structures, other connection structures capable of realizing the relative sliding of the two can also be used to provide conditions for the relative sliding of the support frame 7 and the branch cutting saw mechanism sliding frame 302, which are all included in the protection scope of the present application.

[0112] The grabbing mechanism 2 and the sawing mechanism 3 are arranged in close proximity, and the structure is compact. After the grabbing mechanism 2 grabs the branch to be trimmed, the sawing knife drive 305 is started to drive the sawing knife 301 to rotate; the sliding frame drive 304 is started, and the telescopic rod 342 is extended or retracted 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 knife 301 connected thereto to approach or move away from the branch to be trimmed, realizing the feeding action of the sawing work, and the feeding direction is perpendicular to the direction of the knife shaft 311. Combined with the rotation of the sawing knife 301, the sawing of the branch can be realized. Among them, both ends of the sawing knife 301 are connection ends rather than free ends. In the use state, the branch saw as a whole remains stationary due to the support frame 7, and the sliding frame drive 304 inside drives the two branch saw sliding frames to slide relative to the support frame 7, so that the feeding direction is perpendicular to the axial direction of the sawing knife, which can effectively avoid the shaking phenomenon of the rod-shaped sawing knife during high-altitude sawing of the branch, thereby improving the sawing effect of the high-altitude branch, and achieving good sawing effect when processing thick branches, and the application range is wider.

[0113] In a preferred embodiment of the present application, the sawing blade drive 305 is arranged on the underside of the sawing blade 301 and is spaced apart from the sawing blade 301 by a predetermined distance, and the output end of the sawing blade drive 305 is in driving connection with one end of the blade shaft 311 through a transmission mechanism. This has the advantages of making the overall structure more compact, reducing the structures that can interfere with the process of sawing branches, thereby reducing the overall size, and facilitating the miniaturized design of the branch saw, which is conducive to the branch saw traveling in the gap between high-altitude branches, and providing space for the sawed branches. In this embodiment, the transmission mechanism includes 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, and the driving wheel 361 and the driven wheel 362 are rotatably connected to the branch sawing mechanism sliding frame 302, the driving wheel 361 is fixedly connected to the output end of the sawing blade drive 305 through a spline, and the driving wheel 361 and the driven wheel 362 are in driving connection through a transmission member 363.

[0114] In a preferred embodiment of the present application, the driving wheel 361 and the driven wheel 362 adopt a gear structure, and correspondingly, the transmission member 363 adopts a gear transmission structure. When the output shaft of the sawing blade drive 305 rotates, it drives a plurality of gears to mesh and drive the sawing blade 301 to rotate, and at this time, the branch saw sliding frame 302 arranged outside the transmission mechanism forms a gear box structure. Specifically, the driving gear and the driven gear are rotatably connected to the branch saw sliding frame 302 through bearings, the driving gear is fixedly connected to the output end of the sawing blade drive 305 through a spline, and the driving gear and the driven gear are connected through a plurality of gears that mesh with each other, as shown in Figure 9 The advantages of this are that the transmission is stable, and the plurality of meshing gears can keep a certain distance between the blade shaft 311 and the sawing blade drive 305, thereby providing space for the sawing process of relatively thick branches.

[0115] In a preferred embodiment of the present application, the other end of the blade shaft 311 away from the driven wheel 362 is connected to the branch sawing mechanism sliding frame 302 through a bearing seat 310, and the bearing seat 310 is detachably connected to the branch sawing mechanism sliding frame 302.

[0116] In a preferred embodiment of the present application, the transmission mechanism is hidden in the branch saw sliding frame 302, which is conducive to the miniaturization of the product and can avoid the jamming of the transmission mechanism caused by the falling of sundries during the process of sawing branches.

[0117] In a preferred embodiment of the present application, the driving wheel 361 and the driven wheel 362 can also be in the form of a pulley (such as a synchronous pulley) or a chain wheel, and correspondingly, the transmission member 363 can be in the form of a belt transmission (such as a synchronous belt) or a chain transmission (such as a chain).

[0118] In a preferred embodiment of the present application, as shown in Figure 12 the support frame 7, and the jaw drive 204 for driving the jaws to perform the grabbing action. Specifically, the jaws include a jaw one 201 and a jaw two 202, which are oppositely arranged and respectively hinged to the support frame 7, and the jaw drive 204 is connected to the jaw one 201 and the jaw two 202 respectively, for driving the opening and closing of the jaw one 201 and the jaw two 202. The grabbing mechanism 2 further includes a jaw connecting arm 203, the middle part of the jaw one 201 and the end part of the jaw two 202 are respectively hinged to the support frame 7, and the end part of the jaw one 201 and the middle part of the jaw two 202 are respectively hinged to the two ends of the jaw connecting arm 203, and the two ends of the jaw drive 204 are respectively hinged to the end part of the jaw one 201 and the support frame 7. In operation, the opening and closing of the jaw one 201 and the jaw two 202 are controlled by the extension and retraction of the jaw drive 204, so as to perform the grabbing and releasing. The advantage is that the opening and closing angle is large, and various branches of different thicknesses can be grabbed.

[0119] In a preferred embodiment of the present application, since a plurality of hydraulic oil members are used in the overall structure, in order to avoid the interference of the exposed excessive oil line arrangement to the branches, and to avoid the influence on the rotation process of the working head swivel frame, the support frame and other components, the T-shaped swivel joint 1 is internally provided with an oil passage connecting the cross bar 101 and the longitudinal bar 102, as shown in Figure 7 and Figure 8 As shown in the drawings, the swivel sleeve one 103 is provided with an oil port one 105 connected to the oil passage, the longitudinal bar 102 is rotatably provided with a swivel sleeve two 104, and the swivel sleeve two 104 is provided with an oil port two 106 connected to the oil passage. Specifically, the oil passage includes a through oil hole 108, an annular oil channel one 107 formed between the circumferential surface of the cross bar 101 and the swivel sleeve one 103, and an annular oil channel two 109 formed between the circumferential surface of the longitudinal bar 102 and the inner wall of the swivel sleeve two 104, which are sequentially connected and respectively connected to the oil port one 105 and the oil port two 106. The annular oil channel one 107 corresponding to one swivel sleeve one 103 and the annular oil channel corresponding to the other swivel sleeve one 103 can be designed to be independent of each other.

[0120] In this embodiment, the annular oil channel one 107 and the annular oil channel two 109 are arranged as follows: a ring groove 110 is arranged on the circumferential surface of the horizontal rod 101, and the annular oil channel one 107 is formed between the ring groove 110 and the inner wall of the rotating sleeve one 103; a ring groove 110 is arranged on the circumferential surface of the vertical rod 102, and the annular oil channel two 109 is formed between the ring groove 110 and the inner wall of the rotating sleeve two 104. In other embodiments, the ring groove structure can also be arranged on the inner wall of the rotating sleeve, so that the corresponding annular oil channel is formed between the inner wall of the rotating sleeve and the circumferential surface of the corresponding horizontal rod or vertical rod.

[0121] Preferably, the oil port one 105 and the oil port two 106 are each provided with a plurality of oil ports, and each oil port is independently communicated with the corresponding annular oil channel one 107 and the annular oil channel two 109, so as to realize independent oil supply of each oil channel.

[0122] In a preferred embodiment of the present application, the first turning cylinder 4 is hinged to the T-shaped rotary joint 1 through a connecting rod structure, which can expand the angle range of the working head rotary frame 5 rotating around the horizontal rod 101, and is beneficial to simplify the adjustment process. For example, under the premise of realizing the same angle adjustment, the greater the angle of the working head rotary frame 5 rotating around the horizontal rod 101, the less the rotating action of the rotary support two 62 can be reduced to a certain extent. Figure 5 As shown in the figure, in this embodiment, one end of the connecting rod one 41 is hinged to the working head rotary frame 5, one end of the connecting rod two 42 is hinged to the T-shaped rotary joint 1, and the other end of the connecting rod one 41 and the other end of the connecting rod two 42 are hinged to each other and are hinged to the first turning cylinder 4 at the hinged position.

[0123] In another embodiment of the present application, the connecting arm 807 can be connected to the end position or non-end position of the third arm 803 as appropriate. For example, when the third arm 803 is relatively long, the connecting arm 807 can be connected to the non-end position of the third arm 803, so that when the third arm 803 is turned to the side of the second arm 802, the end of the third arm 803 close to the first telescopic joint 831 protrudes in front of the second arm 802 by a predetermined distance, as shown in Figure 2 and Figure 3 As shown in the figure, this can avoid that the working head at the end of the third arm is too long, which causes the overall structure of the telescopic arm to be relatively large, thereby affecting its storage, or makes it more suitable for the length of the vehicle.

[0124] Embodiment 2

[0125] On the basis of any of the above embodiments, the vehicle body of the high-altitude logging vehicle of the present embodiment is further provided with a supporting mechanism 900 for supporting the grabbing mechanism 2, as shown in Figure 1 and Figures 13-15The support mechanism 900 includes a support body 901 and a driving member for driving the support body 901 to rise or fall. When the aerial logging vehicle is transported, the support body 901 is raised to support the grabbing mechanism 2 on the working head 100, so as to fix the working head 100 and avoid shaking during the transportation. When the working head performs the branch sawing operation, the support body 901 is lowered to avoid affecting the rotation of the working arm and other actions.

[0126] In this embodiment, the support mechanism 900 includes the support body 901, a support rod one 902, a support rod two 903, an upper support 904, a lower support 905, a swing arm 906, a telescopic driving member 907, and a connecting seat 908. The upper support 904 is oppositely arranged with the lower support 905. The upper support 904 is connected to the lower side of the support body 901, and the lower support 905 is fixedly connected to the connecting seat 908. The support rod one 902 and the support rod two 903 are arranged in parallel. One end of each of the support rod one 902 and the support rod two 903 is hingedly connected to the upper support 904, and the other end of each of the support rod one 902 and the support rod two 903 is hingedly connected to the lower support 905. The hingedly connected points of the support rod one 902, the support rod two 903, the upper support 904, and the lower support 905 form a parallelogram, as shown in the figure. Figure 2 The swing arm 906 is fixedly connected to the support rod one 902. The two ends of the telescopic driving member 907 are respectively connected to the swing arm 906 and the connecting seat 908. In this embodiment, the telescopic driving member 907 is an electric push rod. One end of the electric push rod is hingedly connected to the connecting seat 908, and the other end of the electric push rod is hingedly connected to the swing arm 906. The telescopic driving member 907 is used to drive the swing arm 906 to rotate the support rod one 902 around the hingedly connected point of the support rod one 902 and the lower support 905, along with the telescopic movement of the telescopic driving member 907. In other embodiments, a hydraulic cylinder or an air cylinder or other prior art structures can also be used.

[0127] In this embodiment, the support body 901 of the support mechanism is fixedly connected to the upper support 904. The peripheral surface of the support body 901 is a circular arc surface structure. In this embodiment, the support body 901 is a horizontal support pipe, which is convenient for the clamping and fixing of the jaws of the logging mechanism. In other embodiments, the support body 901 can also adopt a column structure.

[0128] In a preferred embodiment of the present application, on the basis of the above-mentioned embodiments, the support mechanism of the logging mechanism further includes a V-shaped support frame 910 for supporting the folding telescopic arm 800. The V-shaped support frame 910 is provided with stop rods 911 on the sides thereof for limiting the folding telescopic arm 800. The two stop rods 911 limit the two sides of the support arm 13. The V-shaped support frame 910 and the support body 901 jointly act to support the folding telescopic arm 800 and the grabbing mechanism 2 on the working head, so as to support and fix the logging related components on the vehicle during the transportation of the vehicle, and ensure the stability during the transportation.

[0129] When the logging mechanism is not in operation or needs to be moved, support rod 1 902 and support rod 2 903 are vertical. At this time, the gripper 14 clamps the support body 901 to prevent the working head of the logging mechanism from shaking during the transfer. When the logging mechanism is working normally, the telescopic drive 907 is activated. Figure 14 If the structure shown is retracted, then the swing arm 906 will revolve around the hinge point between the support rod 902 and the lower bracket 905. Figure 14 Rotate counterclockwise as shown to lower the height of support 901 until the support mechanism is in a certain position. Figure 15 The state shown is designed to prevent the support rods 902, 903, and 901 from affecting the working state of the logging mechanism's support arm. The overall system allows the support body 901 to be raised when the logging mechanism's working head needs to be fixed, and lowered to a position that does not affect the rotation of the working arm when the working head does not need to be fixed.

[0130] In a preferred embodiment of the present invention, the hinge point between support rod 902 and lower bracket 905 is lower than the hinge point between support rod 903 and lower bracket 905, which enables support rod 902 and support rod 903 to be in a downward and upward state under the drive of telescopic drive member 907, thereby rotating them to a horizontal position. Figure 15 As shown, this reduces the height of the support 901.

[0131] Example 3

[0132] Based on the above embodiments, the aerial logging vehicle of this embodiment also has a cargo bed 1200 on its body, see Figure 1 As shown, after the sawing mechanism 3 cuts the branches, the grabbing mechanism 2 removes the pruned branches and controls the grabbing mechanism to lower through the folding telescopic arm 800, placing some of the pruned branches into the truck bed 1200 for centralized management; or the truck bed 1200 can also be used to place some vehicle tools, etc.

[0133] Example 4

[0134] Based on the above embodiment 1 or 2, such as Figure 16 As shown, the aerial logging vehicle in this embodiment is also equipped with a crushing mechanism 1000, which is used to crush the pruned branches at the work site.

[0135] Specifically, such as Figures 17-18As shown, the crushing mechanism 1000 comprises a support 1001 and a feeding mechanism 1002, a branch cutting mechanism 1003, and a discharging mechanism 1004. The feeding mechanism 1002 comprises a lower feeding mechanism 1201. The lower feeding mechanism 1201 and the branch cutting mechanism 1003 are respectively hinged to the front and rear sides of the support 1001 through a hinge shaft A 1061 and a hinge shaft B 1062. The output side of the branch cutting mechanism 1003 is provided with the discharging mechanism 1004. A third turnover cylinder 1051 is connected between the lower feeding mechanism 1201 and the support 1001, for driving the lower feeding mechanism 1201 to turn around the hinge shaft A 1061 to a folded or flat state. A fourth turnover cylinder 1052 is connected between the branch cutting mechanism 1003 and the support 1001, for driving the support 1001 to carry the feeding mechanism 1002 to turn around the hinge shaft B 1062. The third turnover cylinder 1051 and the fourth turnover cylinder 1052 in the embodiment are both hydraulic cylinders.

[0136] In operation, the lower feeding mechanism 1201 is in a flat state, and the outer edge of the lower feeding mechanism 1201 protrudes outwardly from the vehicle body. The cut branches are sent into the lower feeding mechanism 1201 by the grabbing mechanism 2 on the working head of the folding telescopic arm 800, and then are transported to the branch cutting mechanism 1003 for crushing treatment. The crushed branches are discharged through the discharging mechanism 1004. When the equipment is idle or the high-altitude logging vehicle needs to be transported, the third turnover cylinder 1051 drives the lower feeding mechanism 1201 to turn around the hinge shaft A 1061 to a folded state, as shown in Figure 19 and Figure 20 At this time, the lower feeding mechanism 1201 is turned to a vertical state, greatly reducing the occupied space on the vehicle body, so that it converges within the outer edge of the vehicle body, facilitating the transportation of the vehicle.

[0137] In a preferred embodiment of the present application, the lower feeding mechanism 1201 comprises a lower feeding support 1021 and a lower feeding roller 1022 rotatably connected to the lower feeding support 1021. The lower feeding support 1021 is hinged to the support 1001. In this embodiment, the lower feeding roller 1022 can rotate under the drive of an external force. The drive structure is a prior art, which is not described here. One end of the third turnover cylinder 1051 is hinged to the lower feeding support 1021, and the other end is hinged to the support 1001, for driving the lower feeding support 1021 to carry the lower feeding roller 1022 to turn and store. The branches are placed on the lower feeding roller 1022 to be sent into the branch cutting mechanism 1003. Preferably, the surface of the lower feeding roller 1022 has protrusions 1025 to increase the capacity of transporting wood.

[0138] In a preferred embodiment of the present application, the feeding mechanism 1002 comprises an upper feeding mechanism 1202 above the lower feeding mechanism 1201 in addition to the lower feeding mechanism 1201. The upper feeding mechanism 1202 comprises an upper feeding support 1023 and an upper feeding roller 1024 rotatably connected to the upper feeding support 1023. The lower feeding roller 1022 is rotatable under the drive of an external force, and the drive structure is a prior art which will not be described here. The upper feeding support 1023 is hingedly connected to the branch cutting mechanism 1003 via a hinge shaft B1062 to form a floating structure relative to the lower feeding mechanism 1201. A support cylinder 1054 is connected between the upper feeding support 1023 and the support 1001, and the support cylinder 1054 is a hydraulic cylinder. In use, the wood is placed on the lower feeding roller 1022, and the upper feeding roller 1024 and the lower feeding roller 1022 jointly act to feed the wood into the branch cutting mechanism 1003. Preferably, the surface of the upper feeding roller 1024 has a convex tooth 1025 to increase the capacity of conveying wood.

[0139] The floating structure design of the upper feeding mechanism 1202 can be adapted to different thicknesses of branches: when conveying thinner branches, the upper feeding support 1023 can be rotated downward around the hinge shaft with the branch cutting mechanism 1003 under the action of an external force or its own gravity to press on the wood; when conveying thicker branches, the support cylinder 1054 can be used to lift the upper feeding support 1023 upward so that the wood can be conveyed through the space between the upper feeding roller 1024 and the lower feeding roller 1022. When being stored, the upper feeding support 1023 can be lowered to the side of the branch cutting mechanism 1003 under its own gravity, and then the lower feeding mechanism 1201 is driven by the third turnover cylinder 1051 to be turned over around the hinge shaft A1061 to the folded state.

[0140] In a preferred embodiment of the present application, the branch cutting mechanism 1003 comprises a branch cutting rack 1031 and a cutter structure arranged inside the branch cutting rack 1031. One end of the fourth turnover cylinder 1052 is hingedly connected to the branch cutting rack 1031, and the other end of the fourth turnover cylinder 1052 is hingedly connected to the support 1001. When the cutter structure needs to be repaired or replaced, the support 1001 carrying the feeding mechanism 1002 can be turned over around the hinge shaft B1062 in the clockwise direction as shown by the fourth turnover cylinder 1052, until the cutter structure inside the branch cutting rack 1031 is exposed, so that the cutter structure can be replaced and repaired through the input side. Figure 18

[0141] ​In a preferred embodiment of the present invention, the pruning mechanism 1003 further includes a top cover 1032 hinged to the pruning frame 1031 for covering the pruning blade structure. A fifth tilting cylinder 1053 is connected between the top cover 1032 and the pruning frame 1031 for driving the top cover 1032 to tilt around its hinge axis (which can be the same as the hinge axis B1062) with the pruning frame 1031. The fifth tilting cylinder 1053 is a hydraulic cylinder. When the pruning blade mechanism needs to be repaired or replaced, the fifth tilting cylinder 1053 can also be used to drive the top cover 1032 around the hinge axis. Figure 18 The blades are rotated counterclockwise until the internal cutting structure of the pruning frame 1031 is exposed, so that the blades can be replaced and maintained via the top.

[0142] In a preferred embodiment of the present invention, the cutting structure includes a movable blade holder 1033 and a movable blade 1034 and a fixed blade 1035 that cooperate with each other. The movable blade holder 1033 is rotatably connected to the cutting machine frame 1031. The movable blade 1034 is connected to the circumferential surface of the movable blade holder 1033. The fixed blade 1035 is located on the outer periphery of the movable blade holder 1033 and is fixed relative to the cutting machine frame 1031 through the fixed blade holder 1036. When the wood is conveyed into the cutting machine frame 1031, the rotating movable blade 1034 and the fixed blade 1035 cooperate to slice or chop the wood.

[0143] In a preferred embodiment of the present invention, the discharge mechanism 1004 may adopt an upward-throwing discharge structure, which can further reduce the floor space. It includes an impeller cover 1041 and a discharge impeller 1042 rotatably mounted within the impeller cover 1041. A discharge pipe 1043 is provided on the output side of the impeller cover 1041, and a discharge port 1044 is provided at the end of the discharge pipe 1043. The shredded wood is conveyed to the discharge pipe 1043 and discharged through the discharge port 1044 under the action of the discharge impeller 1042.

[0144] Example 5

[0145] Based on Example 4, such as Figure 21 As shown, the aerial logging vehicle of this embodiment is also equipped with a collection box 1100. The inlet of the collection box 1100 is located on the output side of the discharge mechanism 1004. It is used to collect the wood discharged after being crushed by the crushing mechanism 1000 and to manage it centrally. The crushed wood discharged from the discharge port 1044 can be directly sent to the collection box 1100 for collection.

[0146] Example 6

[0147] Based on any of the above embodiments, the working head structure can be replaced with the working head of this embodiment, while other structural features remain the same as those in the above embodiments. For example... Figure 22 and Figure 23 As shown, the working head 100 structure in this embodiment includes:

[0148] The working frame 1301 is fixedly connected with the folding telescopic arm 800;

[0149] The turnover frame 1304 is hingedly connected to the front end of the working frame 1301 through a hinge shaft C1381;

[0150] The turnover cylinder 1341 is connected with the turnover frame 1304 and the working frame 1301 respectively, and is used to drive the turnover frame 1304 to rotate around the hinge shaft C1381; the turnover cylinder 1341 is preferably hingedly connected with the turnover frame 1304 through a connecting rod structure;

[0151] The swing rotary seat 1305 is hingedly connected to the front end of the turnover frame 1304 through a hinge shaft D1382, and the hinge shaft D1382 is perpendicular to the hinge shaft C1381;

[0152] The swing cylinder 1351 is connected with the swing rotary seat 1305 and the turnover frame 1304 respectively, and is used to drive the swing rotary seat 1305 to rotate around the hinge shaft D1382;

[0153] The support frame 7 is connected to the front end of the swing rotary seat 1305 through the rotary bearing three 1306, and the support frame is used to carry the grabbing mechanism 2 and the sawing mechanism 3.

[0154] Through the design of the structure of the working head 100 in the embodiment, the overall working head can realize rotation adjustment in multiple dimensions, such as the rotation of the support frame 7 carrying the grabbing mechanism 2 and the sawing mechanism 3 around the rotary bearing three 1306, the rotation of the swing rotary seat 1305 carrying the support frame 7 around the hinge shaft D1382, and the rotation of the turnover frame 1304 carrying the swing rotary seat 1305 and the support frame 7 around the hinge shaft C1381, and the angle adjustment is more flexible and variable. After the angle is adjusted, the grabbing mechanism is used to grab the branches to be pruned, and the sawing mechanism is used to saw the branches.

[0155] In a preferred embodiment of the present application, the turnover cylinder 1341 is hingedly connected with the turnover frame 1304 through a connecting rod structure, and is used to realize large-angle rotation of the turnover frame 1304 around the hinge shaft C1381 driven by the turnover cylinder 1341. In this embodiment, one end of the connecting rod A1391 is hingedly connected with the working frame 1301, one end of the connecting rod B1392 is hingedly connected with the turnover frame 1304, the other end of the connecting rod A1391 and the other end of the connecting rod B1392 are hingedly connected together and are hingedly connected with the telescopic rod of the turnover cylinder 1341 through the hinge shafts of the two, and the cylinder body of the turnover cylinder 1341 is hingedly connected with the working frame 1301.

Claims

1. A high altitude tree feller, characterized by, The utility model relates to a folding telescopic arm (800) and a working head (100) connected on the folding telescopic arm (800), wherein the folding telescopic arm (800) is rotatably connected at the bottom of the vehicle body chassis; The folding telescopic arm (800) comprises a first arm (801), a second arm (802) and a third arm (803), wherein the third arm (803) is a telescopic arm structure, the third arm (803) is hingedly connected at the front end of the second arm (802), and the tail end of the second arm (802) is hingedly connected at the front end of the first arm (801); A lifting cylinder (804) is connected between the first arm (801) and the second arm (802) for controlling the rotation of the second arm (802) around the hinge shaft between the first arm (801) and the second arm (802); A second turnover cylinder (805) is further connected between the second arm (802) and the third arm (803), one end of the second turnover cylinder (805) is hingedly connected with the second arm (802), the other end of the second turnover cylinder (805) is hingedly connected with the third arm (803), and the second turnover cylinder (805) is used for driving the third arm (803) to rotate and turn around the hinge shaft of the second arm (802); The working head (100) comprises: A working head slewing frame (5) is connected at the end of the folding telescopic arm (800) through a slewing bearing two (62) to enable the working head slewing frame (5) to rotate around the axis of the slewing bearing two (62); A support frame (7) is connected with the working head slewing frame (5) through a T-shaped slewing joint, and the support frame (7) is used for carrying a grabbing mechanism (2) and a sawing mechanism (3); The T-shaped slewing joint (1) comprises a horizontal rod (101) and a vertical rod (102), and a slewing sleeve one (103) is rotatably connected on the horizontal rod (101); The support frame (7) is connected with the vertical rod (102) through a slewing bearing one (61) to enable the support frame (7) to rotate relative to the vertical rod (102); one end of the working head slewing frame (5) relative to the folding telescopic arm (800) is connected with the slewing sleeve one (103) to enable the working head slewing frame (5) to rotate relative to the horizontal rod (101); and a first turnover cylinder (4) connected between the working head slewing frame (5) and the T-shaped slewing joint (1) for driving the working head slewing frame (5) to rotate relative to the horizontal rod (101); The grabbing mechanism (2) comprises a clamping jaw connected on the support frame (7) and a clamping jaw drive (204) for driving the clamping jaw to perform a grabbing action; The sawing mechanism (3) comprises A branch sawing mechanism sliding frame (302) connected with the support frame (7) in a relatively sliding manner; A sawing knife (301) in a rod structure, comprising a knife shaft (311) and a knife tooth (312) arranged on the peripheral surface of the knife shaft (311), and both ends of the knife shaft (311) are rotatably connected with the branch sawing mechanism sliding frame (302); The sliding frame drive (304) is connected with the branch cutting saw mechanism sliding frame (302) and the support frame (7) respectively, and is used to drive the branch cutting saw mechanism sliding frame (302) and the support frame (7) to slide relative to each other, to provide power for the feeding of the sawing knife, and the feeding direction of the sawing knife is perpendicular to the radial direction of the knife shaft (311); The sawing knife drive (305) is connected with the knife shaft (311), and is used to drive the knife shaft (311) to rotate around the axis thereof.

2. The aerial feller-buncher of claim 1 wherein, The third arm (803) is hinged to the front end of the second arm (802) through a connecting arm (807).

3. The aerial tree feller as claimed in claim 1, wherein, The second turnover cylinder (805) is hinged to the third arm (803) through a connecting rod structure.

4. The aerial tree feller as claimed in claim 1, wherein, The first turnover cylinder (4) is hinged to the T-shaped rotary joint (1) through a connecting rod structure.

5. The aerial tree feller as claimed in claim 1, wherein, The third arm (803) comprises a first telescopic section (831), a second telescopic section (832) and a third telescopic section (833), the second telescopic section (832) is slidably arranged in the first telescopic section (831), and the third telescopic section (833) is slidably arranged in the second telescopic section (832); the third arm (803) further comprises an arm extending drive (834) for driving the second telescopic section (832) and the third telescopic section (833) to extend or retract simultaneously.

6. The aerial feller-buncher of claim 5 wherein, The arm extending drive (834) comprises a telescopic cylinder (8341) and a traction assembly, the telescopic cylinder (8341) is connected between the first telescopic section (831) and the second telescopic section (832), and is used to drive the second telescopic section (832) and the first telescopic section (831) to slide relative to each other; the traction assembly is connected with the first telescopic section (831), the second telescopic section (832) and the third telescopic section (833), and is used to drive the third telescopic section (833) to slide relative to the second telescopic section (832) when the second telescopic section (832) and the first telescopic section (831) slide relative to each other.

7. The aerial tree feller as claimed in claim 6, characterized in that The traction assembly comprises a guide wheel one (8342), a guide wheel two (8343), a traction piece one (8344) and a traction piece two (8345), the guide wheel one (8342) and the guide wheel two (8343) are connected to the front end of the second telescopic section (832) and the rear end of the second telescopic section (832) respectively in a rotatable manner; one end of the traction piece one (8344) is connected with the front end of the first telescopic section (831), and the other end of the traction piece one (8344) is connected with the rear end of the third telescopic section (833) through the guide wheel one (8342); one end of the traction piece two (8345) is connected with the front end of the first telescopic section (831), and the other end of the traction piece two (8345) is connected with the rear end of the third telescopic section (833) through the guide wheel two (8343).

8. The aerial tree feller as claimed in claim 5, wherein, The third arm (803) is further connected with a pipeline containing mechanism (806) for accommodating pipelines and extending or retracting with the third arm (803). The pipeline containing mechanism (806) comprises a drag chain (861), an inner carrier pipe (862), an outer carrier pipe (863), an outer carrier pipe sliding frame (864), one end of the inner carrier pipe (862) is connected with the third telescopic joint (833), the other end of the inner carrier pipe (862) is slidably inserted into the outer carrier pipe (863), the outer carrier pipe (863) is connected with the second telescopic joint (832) and is slidably installed in the outer carrier pipe sliding frame (864), the outer carrier pipe sliding frame (864) is fixedly connected with the first telescopic joint (831), one end of the drag chain (861) is connected with the first telescopic joint (831), the other end of the drag chain (861) passes through the outer carrier pipe (863) and is connected with the tail end of the inner carrier pipe (862).

9. The aerial tree feller of claim 1, wherein, The sawing cutter drive (305) is arranged on the lower side of the sawing cutter (301) and is spaced apart from the sawing cutter (301) by a preset distance, and an output end of the sawing cutter drive (305) is in transmission connection with one end of the cutter shaft (311) through a transmission mechanism.

10. The aerial tree feller as claimed in claim 9, characterized in that The transmission mechanism comprises a driving wheel (361) fixedly connected with the output end of the sawing cutter drive (305) and a driven wheel (362) fixedly connected with one end of the cutter shaft (311), the driving wheel (361) and the driven wheel (362) are rotatably connected with the branch lopper saw mechanism sliding frame (302), and the driving wheel (361) and the driven wheel (362) are in transmission connection through a transmission member (363).

11. The aerial tree feller 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 are respectively hinged to 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.

12. The aerial tree feller as claimed in claim 11, characterized 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 to 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 to two ends of the clamping jaw connecting arm (203), and two ends of the clamping jaw drive (204) are respectively hinged to the end part of the first clamping jaw (201) and the support frame (7).

13. The aerial tree feller of claim 1, wherein, The T-shaped rotary joint (1) is internally provided with an oil passage communicating the cross rod (101) and the vertical rod (102), the rotary sleeve one (103) is provided with an oil port one (105) in communication with the oil passage, the vertical rod (102) is rotatably provided with the rotary sleeve two (104), and the rotary sleeve two (104) is provided with an oil port two (106) in communication with the oil passage.

14. The aerial tree feller of claim 1, wherein, The vehicle body is further provided with a supporting mechanism (900) for supporting the grabbing mechanism; the supporting mechanism (900) comprises a supporting body (901) and a driving member for driving the supporting body (901) to rise or fall.

15. The aerial tree feller as claimed in claim 14, characterized in that The support mechanism (900) further comprises a support rod one (902), a support rod two (903), an upper support (904), a lower support (905), a swing arm (906), a connecting seat (908), and the driving member is a telescopic driving member (907); the upper support (904) and the lower support (905) are oppositely arranged, the upper support (904) is connected to the lower side of the support body (901), and the lower support (905) is fixedly connected with the connecting seat (908); the support rod one (902) and the support rod two (903) are arranged in parallel, one end of the support rod one (902) and the support rod two (903) is respectively hinged with the upper support (904), the other end of the support rod one (902) and the support rod two (903) is respectively hinged with the lower support (905), and the hinged points of the support rod one (902), the support rod two (903), the upper support (904) and the lower support (905) form a parallelogram; the support rod one (902) is fixedly connected with the swing arm (906), and the two ends of the telescopic driving member (907) are respectively connected with the swing arm (906) and the connecting seat (908), so as to drive the swing arm (906) to rotate around the hinged point of the support rod one (902) and the lower support (905) with the telescopic driving member (907).

16. The aerial tree feller of claim 1 or 14, wherein, The vehicle body is further provided with a crushing mechanism (1000), the crushing mechanism (1000) comprises a support (1001), a feeding mechanism (1002), a branch cutting mechanism (1003) and a discharging mechanism (1004), the feeding mechanism (1002) comprises a lower feeding mechanism (1201), the lower feeding mechanism (1201) and the branch cutting mechanism (1003) are hinged to the front and rear sides of the support (1001) through a hinged shaft A (1061) and a hinged shaft B (1062) respectively, and the output side of the branch cutting mechanism (1003) is provided with the discharging mechanism (1004); a third turnover cylinder (1051) is connected between the lower feeding mechanism (1201) and the support (1001), and is used to drive the lower feeding mechanism (1201) to overturn around the hinged shaft A (1061) to a folded or flat state; a fourth turnover cylinder (1052) is connected between the branch cutting mechanism (1003) and the support (1001), and is used to drive the support (1001) to overturn around the hinged shaft B (1062) with the feeding mechanism (1002).

17. The aerial tree feller as claimed in claim 16, characterized in that The vehicle body is further provided with a collecting box (1100), and the collecting box (1100) is located at the output side of the discharging mechanism (1004).

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