Bursaphelenchus xylophilus epidemic wood felling and transporting all-in-one machine and operation method thereof

Abstract

The invention relates to the technical field of wood felling, and discloses a pine wood nematode disease epidemic wood felling and transporting all-in-one machine which comprises a crawler-type chassis, an unmanned driving system and a felling all-in-one machine body, and the unmanned driving system is installed in the middle of one side of the crawler-type chassis and can be rotationally adjusted under supporting of the crawler-type chassis; a liquid mechanical wall assembly is installed between the felling all-in-one machine body and the crawler-type chassis, a semi-open car hopper is installed on the other side of the crawler-type chassis, and an open type sub-crushing box is fixedly connected to the outside of an open structure on one side of the semi-open car hopper. According to the pine wood nematode disease epidemic wood felling and transporting all-in-one machine and the operation method thereof, when the pine wood nematode disease situation occurs in a small range, pine wood nematode disease epidemic wood felling and transporting work is efficiently and accurately carried out, and the design structure of felling integration and crawler belt transferring of the whole device considers the convenience and safety of operation and traveling; the device is suitable for selective cutting and clear cutting of different forest types.

Description

Technical Field

[0001] The invention relates to the technical field of wood felling, and in particular to an integrated machine for felling and transporting pine wood diseased by pine nematodes and an operation method thereof. Background Art

[0002] The prevention and control of pine wilt disease is implemented through a comprehensive prevention and control strategy with the core being the clearing of diseased and dead pine trees, the fundamental being the control of the source of infected trees, and other measures as auxiliary measures. However, the traditional clearing of infected trees with pine wilt disease mainly adopts manual selective felling, in which pine tree sections are carried down the mountain by hand on shoulders, consuming a large amount of labor from forestry workers. The removal is difficult and costly, and the existing tree felling machinery is not suitable for the removal of infected trees with pine wilt disease. The first reason is that the existing tree felling machinery is large in size, and the forest roads are narrow, making it difficult to travel. The second reason is that most of the existing tree felling machinery has rubber tires, and the areas where pine forests are distributed often have large slopes, making it difficult to operate and posing a great safety hazard. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] The invention provides a pine wood nematode diseased wood felling and transportation integrated machine and an operation method thereof, which solves the problems raised in the background technology.

[0005] (II) Technical solution

[0006] The present invention provides the following technical solution: a pine nematode diseased wood felling and transportation all-in-one machine, comprising a crawler chassis, an unmanned driving system, and a felling machine main body, wherein the unmanned driving system is installed in the middle of one side of the crawler chassis and can be rotated and adjusted under the support of the crawler chassis, a liquid mechanical wall assembly is installed between the felling machine main body and the crawler chassis, a semi-open bucket is installed on the other side of the crawler chassis, an open type sub-crushing box is fixedly connected to the open structure on one side of the semi-open bucket, two mutually meshing crushing rollers are set inside the open type sub-crushing box, and the front ends of the two crushing rollers pass through the front end structure of the open type sub-crushing box and are respectively connected to the first synchronous servo motor and the second synchronous servo motor.

[0007] Preferably, the end of the crushing roller and the corresponding structure of the open type crushing box are mounted with bearings, and a support frame is fixedly installed on the surface of the front end of the open type crushing box, and the two sides of the bottom of the support frame are respectively fixedly connected to the surface of the first synchronous servo motor housing and the surface of the second synchronous servo motor housing.

[0008] Preferably, a clearance groove is provided on the inner wall of the bottom of the semi-open truck bed, and a conveyor belt is movably sleeved in the clearance groove. Drive shafts are mounted on both sides of the conveyor belt. The two drive shafts are movably sleeved on the inner sides of the bottom of both sides of the semi-open truck bed, and auxiliary bearings are embedded in the ends of the drive shafts and the corresponding structures of the bottom of the semi-open truck bed to improve the stability of the sleeve. The ends of the two drive shafts extend to the outer side of the bottom of the semi-open truck bed.

[0009] Preferably, a synchronous belt is installed between the front end surface of the output end of the second synchronous servo motor and the end of a transmission shaft, and the front and rear end surfaces on both sides of the synchronous belt are fitly connected with limit plates. Four limit plates are fixedly sleeved on the front end surface of the output end of the second synchronous servo motor and the corresponding end surface of the transmission shaft in groups of two, thereby constraining the position of the synchronous belt of the reciprocating rotation transmission.

[0010] Preferably, an auxiliary material guiding component is provided on one side of the bottom of the open-type sub-crushing box, and the auxiliary material guiding component includes an auxiliary shaft, a movable baffle, a transmission gear and a half gear. The middle part of the auxiliary shaft is mounted inside the side wall on one side of the bottom of the open-type sub-crushing box through a bearing, and the front and rear ends of the movable baffle are fixedly sleeved with the two ends of the auxiliary shaft respectively, and the inner side of the middle part of the transmission gear is fixedly sleeved with the front end surface of the auxiliary shaft, and the middle part of the half gear is fixedly connected with the rear end surface of the output end of the second synchronous servo motor, and the half gear can periodically engage with the transmission gear under the drive of the second synchronous servo motor. The auxiliary material guiding component can be used to rotate and throw the wood chips that are meshed and crushed by the two crushing rollers inside the open-type sub-crushing box, thereby avoiding the accumulation of wood chips at the bottom of the semi-open truck bucket, thereby optimizing the use effect.

[0011] Preferably, an auxiliary hydraulic rod is installed in the middle of the other side of the crawler chassis, and the bottom of the semi-open truck bed is provided with a clearance groove that can be movably connected with the auxiliary hydraulic rod. The output end of the auxiliary hydraulic rod is transmission-connected with the middle inner wall of the clearance groove. The auxiliary hydraulic rod can be used to automatically adjust the distance between the semi-open truck bed and the unmanned driving system, thereby reducing the probability of structural interference between the semi-open truck bed and the unmanned driving system during use. Locking grooves are provided in the front and rear ends of the top of the semi-open truck bed.

[0012] Preferably, the front and rear ends of the bottom of the semi-open truck bed are fixedly connected with slide rails, and the outer side of the slide rails is clamped with a slide rail sleeve fixedly installed on the other side of the crawler chassis, and a reinforcing support plate is installed between the end of the slide rail sleeve away from the other side of the crawler chassis and the side surface of the other side of the crawler chassis. The slide rails can be clamped with the slide rail sleeve during the synchronous movement with the semi-open truck bed, thereby improving the movement stability of the semi-open truck bed and optimizing the reliability of continuous use of the semi-open truck bed.

[0013] Preferably, support rods are provided on the front and rear end surfaces of one side of the semi-open truck bucket, and the two support rods each include a limit sleeve, an auxiliary support plate, and a limit assembly. The two support rods can be adjusted and used to provide additional auxiliary support for the semi-open truck bucket, thereby improving the stability and pressure resistance of the semi-open truck bucket during subsequent use of the semi-open truck bucket. The top of the limit sleeve is fixedly connected to the surface of the corresponding structure of the semi-open truck bucket, and one end of the auxiliary support plate is movably sleeved inside the limit sleeve. The limit assembly is composed of bolts and nuts, one end of the bolt is sequentially inserted through the limit sleeve and one end of the auxiliary support plate and then threadedly connected to the nut, and the middle part of the bolt is fixedly sleeved on the inner side of one end of the auxiliary support plate. The auxiliary support plate can rotate along the circumferential direction of the bolt inside the limit assembly under the sleeve support of the limit sleeve and the rotation limit support of the limit assembly to approach the semi-open truck bucket, and then when not in use, the two support rods can be stored to the surface of the semi-open truck bucket to avoid structural interference.

[0014] Preferably, the unmanned driving system includes a rotating base, an unmanned driving mechanism, a control module, a battery module, and a remote control module, thereby providing conditions for subsequent unmanned remote operation. The felling machine body includes two sets of grippers that are opposite to each other, a felling saw assembly, and a wheeled guide assembly, thereby being able to automatically clamp, fell, and move the target diseased wood to remove debris.

[0015] An operating method of a pine wood nematode diseased wood felling and transportation integrated machine, comprising the following operating steps:

[0016] S1. Select the operation area with serious pine wood nematode disease and mark it. Then plan the driving route of the whole equipment according to the distribution of trees to cover all infected trees to the greatest extent;

[0017] S2, use the crawler chassis and the unmanned driving mechanism inside the unmanned driving system to transport the entire equipment to the working area, then set the felling and transportation parameters, start the battery module for power supply to ensure the normal operation of the equipment, then start the auxiliary hydraulic rod, the output end of the auxiliary hydraulic rod drives the semi-open bucket to automatically move away from the crawler chassis until the maximum stroke of the auxiliary hydraulic rod, and the slide rail sleeve and the slide rail are connected to the guide to constrain and limit the movement of the semi-open bucket,

[0018] S3: After the semi-open bucket moves stably, the nuts inside the two supporting rods are turned to temporarily release the limit of the two auxiliary support plates. Then, the two auxiliary support plates are flipped over so that the two auxiliary support plates are both operated and adjusted away from the semi-open bucket under the support of their corresponding bolts and limit sleeves until one end of the two auxiliary support plates are inserted into the surface soil layer of the environment. Then, the two nuts are reset and locked to limit the two auxiliary support plates again, thereby using the two supporting rods in conjunction with the crawler chassis to provide auxiliary support for the semi-open bucket after movement.

[0019] S4. After the semi-open truck bed is stably placed, the liquid mechanical wall assembly is controlled by the unmanned driving system to extend the felling machine body, and then the target diseased wood is automatically clamped by two sets of grippers facing each other inside the felling machine body, and then the felling saw assembly inside the felling machine body cuts down the target diseased wood. After the felling of the target diseased wood is completed, the wheeled guide assembly inside the felling machine body is used to move the target diseased wood inside the felling machine body for a certain distance.

[0020] S5. Then, the rotating base inside the unmanned driving system is used to rotate the felling machine body and the liquid mechanical wall assembly, so that the target diseased tree is laterally located on the outside of the top of the open-type crushing box. Then, the wheeled guide assembly and the felling saw assembly inside the felling machine body are used alternately, and the target diseased tree is moved and segmented for cutting and the small poles on the surface of the target diseased tree are automatically removed. The segmented body of the diseased tree is first placed on the open space outside the semi-open truck bed, and the removed small poles on the surface of the target diseased tree fall into the inside of the top of the open-type crushing box.

[0021] S6. When the small pole on the surface of the target diseased wood falls, the first synchronous servo motor and the second synchronous servo motor are started synchronously, and the first synchronous servo motor and the second synchronous servo motor respectively drive two crushing rollers to synchronously crush the small pole on the surface of the target diseased wood. The crushed wood chips are subsequently discarded on the spot and regarded as waste, or collected in a centralized manner, which can greatly reduce the collection area;

[0022] S7, then, repeat the above steps S4 to S6. After a certain amount of target diseased wood is processed, the unmanned driving system can be used to control the liquid mechanical wall component to extend the felling machine body, and then use the two sets of two sets of grippers opposite to each other inside the felling machine body to cut the segmented diseased wood main poles, and then grab them one by one and place them inside the semi-open bucket for centralized collection. After the inside of the semi-open bucket is filled, ropes can be used to cooperate with the locking grooves in the front and rear ends of the tops of the two semi-open buckets to limit the diseased wood piled inside the semi-open bucket. Then, the crawler chassis and the unmanned driving mechanism inside the unmanned driving system are used to transfer the entire device and the diseased wood collected in the semi-open bucket according to a preset route;

[0023] S8. After completing the felling and transportation work in the entire operation area, inspect and maintain the overall equipment, collect operation data, analyze operation efficiency and results, and provide a basis for subsequent improvements.

[0024] Beneficial Effects

[0025] The present invention has the following beneficial effects:

[0026] 1. The integrated felling and transportation machine for pine wilt disease-infected trees and its operation method can efficiently and accurately carry out felling and transportation of pine wilt disease-infected trees when a small-scale pine wilt disease epidemic occurs. The design structure of the integrated felling and crawler transfer of the overall device takes into account the convenience and safety of operation and use, and is suitable for selective felling and clear felling operations in different forest types.

[0027] 2. The pine nematode diseased wood felling and transportation integrated machine and its operation method, a semi-open truck bed, an open type crushing box, two crushing rollers inside the open type crushing box, a first synchronous servo motor, and a second synchronous servo motor are arranged to form a multifunctional collecting device, which can be further combined with a tracked chassis, an unmanned driving system, a felling machine body, and a liquid mechanical wall component to crush and reprocess small branches generated during the felling process, and the crushed wood chips can be discarded on the spot as land waste, or collected in a centralized manner, which can also greatly reduce the collection space occupied, and the semi-open truck bed can also provide storage space for the felled multi-section wood body and cooperate with the tracked chassis and the unmanned driving system for unmanned transportation to the designated location, and the crawler structure of the crawler chassis ensures smooth driving in various terrains, avoids secondary wood damage, and has high operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a front view schematic diagram of the present invention;

[0029] Figure 2 It is a left side schematic diagram of a semi-open truck bed of the present invention;

[0030] Figure 3 It is a bottom view schematic diagram of the open type crushing box of the present invention;

[0031] Figure 4 It is a partial enlarged schematic diagram of the support rod of the present invention;

[0032] Figure 5 For the present invention Figure 3 A magnified schematic diagram of point B in the middle.

[0033] In the figure: 1. crawler chassis; 2. unmanned driving system; 3. felling machine body; 4. liquid mechanical wall assembly; 5. semi-open bucket; 6. open type crushing box; 7. crushing roller; 8. first synchronous servo motor; 9. second synchronous servo motor; 10. conveyor belt; 11. transmission shaft; 12. synchronous belt; 13. auxiliary material guiding parts; 131. auxiliary shaft; 132. movable baffle; 133. transmission gear; 134. half gear; 14. auxiliary hydraulic rod; 15. slide rail sleeve; 16. slide rail; 17. support rod; 171. limit sleeve; 172. auxiliary support plate; 173. limit assembly. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1-5 A pine nematode diseased wood felling and transporting machine, comprising a crawler chassis 1, an unmanned driving system 2, and a felling machine body 3. The unmanned driving system 2 is installed in the middle of one side of the crawler chassis 1 and can be rotated and adjusted under the support of the crawler chassis 1. A liquid mechanical wall component 4 is installed between the felling machine body 3 and the crawler chassis 1. The unmanned driving system 2 includes a rotating base, an unmanned driving mechanism, a control module, a battery module, and a remote control module, thereby providing use conditions for subsequent unmanned remote operation. The felling machine body 3 includes two groups of grippers facing each other, a felling saw component, and a wheeled guide component, thereby automatically clamping, felling, and moving to remove debris from the target diseased wood;

[0036] A semi-open bucket 5 is installed on the other side of the crawler chassis 1, and an open type sub-crushing box 6 is fixedly connected to the outside of the open structure on one side of the semi-open bucket 5. Two mutually meshing crushing rollers 7 are set inside the open type sub-crushing box 6, and the front ends of the two crushing rollers 7 penetrate the front end structure of the open type sub-crushing box 6 and are respectively connected to the first synchronous servo motor 8 and the second synchronous servo motor 9. The end of the crushing roller 7 and the corresponding structure of the open type sub-crushing box 6 are set with bearings. A support frame is fixedly installed on the surface of the front end of the open type sub-crushing box 6, and the two sides of the bottom of the support frame are respectively fixedly connected to the surface of the housing of the first synchronous servo motor 8 and the housing of the second synchronous servo motor 9;

[0037] A clearance groove is provided on the inner wall of the bottom of the semi-open bucket 5, and a conveyor belt 10 is movably sleeved in the clearance groove. Transmission shafts 11 are sleeved on both sides of the conveyor belt 10. The two transmission shafts 11 are movably sleeved on the inner sides of the bottom of both sides of the semi-open bucket 5, and auxiliary bearings are nested at the sleeves of the ends of the transmission shafts 11 and the corresponding structures at the bottom of the semi-open bucket 5 to improve the stability of the sleeve. The ends of the two transmission shafts 11 extend to the outer side of the bottom of the semi-open bucket 5. A synchronous belt 12 is sleeved between the front end surface of the output end of the second synchronous servo motor 9 and the end of one transmission shaft 11. The front and rear end surfaces on both sides of the synchronous belt 12 are fitted with limit disks. Four limit disks are fixedly sleeved on the front end surface of the output end of the second synchronous servo motor 9 and the corresponding end surface of the transmission shaft 11 in pairs, respectively, to constrain the position of the synchronous belt 12 of the reciprocating rotation transmission;

[0038] An auxiliary material guiding component 13 is provided at one side of the bottom of the open type sub-crushing box 6. The auxiliary material guiding component 13 includes an auxiliary shaft 131, a movable baffle 132, a transmission gear 133 and a half gear 134. The middle part of the auxiliary shaft 131 is sleeved inside the side wall of one side of the bottom of the open type sub-crushing box 6 through a bearing. The front and rear ends of the movable baffle 132 are respectively fixedly sleeved with the two ends of the auxiliary shaft 131. The inner side of the middle part of the transmission gear 133 is fixedly sleeved with the front end surface of the auxiliary shaft 131. The middle part of the half gear 134 is fixedly connected with the rear end surface of the output end of the second synchronous servo motor 9, and the half gear 134 can periodically mesh with the transmission gear 133 under the drive of the second synchronous servo motor 9. The auxiliary material guiding component 13 can be used to rotate and throw the wood chips that are meshed and crushed by the two crushing rollers 7 inside the open type sub-crushing box 6, thereby preventing the wood chips from accumulating at the bottom of the semi-open bucket 5, thereby optimizing the use effect.

[0039] An auxiliary hydraulic rod 14 is installed in the middle of the other side of the crawler chassis 1, and a groove is provided at the bottom of the semi-open truck bucket 5, which can be movably connected with the auxiliary hydraulic rod 14 in a clearance groove. The output end of the auxiliary hydraulic rod 14 is transmission-connected to the middle inner wall of the clearance groove. The auxiliary hydraulic rod 14 can automatically adjust the distance between the semi-open truck bucket 5 and the unmanned driving system 2, thereby reducing the probability of structural interference between the semi-open truck bucket 5 and the unmanned driving system 2 during use. Locking grooves are provided in the front and rear ends of the top of the semi-open truck bucket 5, and the front and rear ends of the bottom of the semi-open truck bucket 5 are fixedly connected with slide rails 16. The outer side of the slide rail 16 is clamped with a slide rail sleeve 15 fixedly installed on the other side of the crawler chassis 1, and a reinforcing support plate is installed between the end of the slide rail sleeve 15 away from the other side of the crawler chassis 1 and the side of the other side of the crawler chassis 1, and the slide rail 16 can be clamped with the slide rail sleeve 15 during the synchronous movement of the semi-open truck bucket 5, thereby improving the movement stability of the semi-open truck bucket 5 and optimizing the reliability of continuous use of the semi-open truck bucket 5.

[0040] The front and rear end surfaces of one side of the semi-open truck bucket 5 are both provided with support rods 17, and the two support rods 17 each include a limit sleeve 171, an auxiliary support plate 172, and a limit assembly 173. The two support rods 17 can be adjusted and used to provide additional auxiliary support to the semi-open truck bucket 5, thereby improving the stability and compression resistance of the semi-open truck bucket 5 during subsequent use. The top of the limit sleeve 171 is fixedly connected to the surface of the corresponding structure of the semi-open truck bucket 5, and one end of the auxiliary support plate 172 is movably sleeved on the inside of the limit sleeve 171. The limit assembly Component 173 is composed of a bolt and a nut, one end of the bolt is sequentially inserted through the limiting sleeve 171 and one end of the auxiliary support plate 172 and then threadedly connected to the nut, and the middle part of the bolt is fixedly sleeved on the inner side of one end of the auxiliary support plate 172. The auxiliary support plate 172 can be supported by the limiting sleeve 171 and the limiting component 173, and rotate along the circumferential direction of the internal bolt of the limiting component 173 to approach the semi-open truck bed 5. Therefore, when not in use, the two support rods 17 can be stored on the surface of the semi-open truck bed 5 to avoid structural interference.

[0041] An operating method of a pine wood nematode diseased wood felling and transportation integrated machine, comprising the following operating steps:

[0042] S1. Select the operation area with serious pine wood nematode disease and mark it. Then plan the driving route of the whole equipment according to the distribution of trees to cover all infected trees to the greatest extent;

[0043] S2, use the crawler chassis 1 and the unmanned driving mechanism inside the unmanned driving system 2 to transport the entire equipment to the working area, then set the felling and transportation parameters, start the battery module for power supply to ensure the normal operation of the equipment, then start the auxiliary hydraulic rod 14, and the output end of the auxiliary hydraulic rod 14 drives the semi-open bucket 5 to automatically move away from the crawler chassis 1 until the maximum stroke of the auxiliary hydraulic rod 14, and the sliding rail sleeve 15 and the sliding rail 16 are connected and guided to constrain and limit the movement of the semi-open bucket 5,

[0044] S3, after the semi-open bucket 5 moves stably, the nuts inside the two support rods 17 are turned to temporarily release the limit of the two auxiliary support plates 172, and then the two auxiliary support plates 172 are turned over, so that the two auxiliary support plates 172 are operated and adjusted away from the semi-open bucket 5 under the support of their corresponding bolts and limit sleeves 171, until one end of the two auxiliary support plates 172 is inserted into the surface soil layer of the environment, and then the two nuts are reset and locked, and the two auxiliary support plates 172 are limited again, thereby using the two support rods 17 to cooperate with the crawler chassis 1 to auxiliary support the semi-open bucket 5 after moving;

[0045] S4, after the semi-open truck bed 5 is stably placed, the unmanned driving system 2 controls the liquid mechanical wall assembly 4 to extend the felling machine body 3, and then the two sets of grippers facing each other inside the felling machine body 3 are used to automatically clamp the target diseased wood first, and then the felling saw assembly inside the felling machine body 3 cuts down the target diseased wood, and after the felling of the target diseased wood is completed, the wheeled guide assembly inside the felling machine body 3 is used to move the target diseased wood inside the felling machine body 3 for a certain distance;

[0046] S5. Then, the rotating base inside the unmanned driving system 2 is used to rotate the felling machine body 3 and the liquid mechanical wall assembly 4, so that the target diseased wood is laterally located on the outside of the top of the open-type crushing box 6. Then, the wheeled guide assembly and the felling saw assembly inside the felling machine body 3 are used alternately, and then the target diseased wood is moved and segmented for cutting and the small poles on the surface of the target diseased wood are automatically removed, and the segmented body of the diseased wood is first placed on the open space outside the semi-open truck bucket 5, and the removed small poles on the surface of the target diseased wood fall into the inside of the top of the open-type crushing box 6;

[0047] S6, when the small pole on the surface of the target diseased wood falls, the first synchronous servo motor 8 and the second synchronous servo motor 9 are started synchronously, and the first synchronous servo motor 8 and the second synchronous servo motor 9 respectively drive the two crushing rollers 7 to synchronously crush the small pole on the surface of the target diseased wood. The crushed wood chips are subsequently discarded on the spot and regarded as waste, or collected in a centralized manner, which can greatly reduce the space occupied by the collection;

[0048] When there are many small poles on the surface of the target diseased wood, and the two crushing rollers 7 inside the open type crushing box 6 cannot handle them all at once, the rotating base inside the unmanned driving system 2 is used to rotate the felling machine body 3 and the liquid mechanical wall assembly 4, so that the target diseased wood is laterally located on the outside of the top of the semi-open vehicle bucket 5, and then the wheeled guide assembly and the felling saw assembly inside the felling machine body 3 are used alternately, and then the target diseased wood is moved and segmented for cutting and the small poles on the surface of the target diseased wood are automatically removed, and the segmented body of the diseased wood is first placed on the open space outside the semi-open vehicle bucket 5, and the removed small poles on the surface of the target diseased wood fall into the inside of the top of the open type crushing box 6;

[0049] When the first synchronous servo motor 8 and the second synchronous servo motor 9 are started, and the two crushing rollers 7 are driven by the first synchronous servo motor 8 and the second synchronous servo motor 9 to engage with each other, the output end of the second synchronous servo motor 9 drives a transmission shaft 11 to rotate synchronously through a synchronous belt 12, and then the conveyor belt 10 automatically rotates under the support of another transmission shaft 11, and then the small support rods on the surface of the target pest wood inside the semi-open bucket 5 are automatically conveyed to the inner side of the top of the open type crushing box 6, so as to extend the working gap and solve the problem that the above-mentioned large amount cannot be handled for a while;

[0050] While the output end of the second synchronous servo motor 9 outputs, it drives the half gear 134 to periodically mesh with the transmission gear 133, so that the movable baffle 132 rotates periodically on the outer side of the bottom of the open type sub-crushing box 6, and then beats and sprinkles the wood chips that fall on the outer side of the bottom of the open type sub-crushing box 6, so as to avoid the accumulation of wood chips on the outer side of the bottom of the open type sub-crushing box 6, thereby optimizing the use effect;

[0051] S7, then, repeat the above steps S4 to S6. After a certain amount of target diseased wood is processed, the unmanned driving system 2 can be used to control the liquid mechanical wall component 4 to extend the felling machine body 3, and then use the two groups of two sets of opposite grippers inside the felling machine body 3 to cut the segmented diseased wood main poles, and then grab them one by one and place them inside the semi-open bucket 5 for centralized collection. After the inside of the semi-open bucket 5 is filled, ropes can be used to cooperate with the locking grooves in the front and rear ends of the tops of the two semi-open buckets 5 to limit the diseased wood piled inside the semi-open bucket 5. Then, the crawler chassis 1 and the unmanned driving mechanism inside the unmanned driving system 2 are used to transfer the entire device and the diseased wood collected in the semi-open bucket 5 according to a preset route;

[0052] S8. After completing the felling and transportation work in the entire operation area, inspect and maintain the overall equipment, collect operation data, analyze operation efficiency and results, and provide a basis for subsequent improvements.

[0053] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pine nematode diseased wood felling and transporting machine, comprising a crawler chassis (1), an unmanned driving system (2), and a felling machine body (3), wherein the unmanned driving system (2) is installed in the middle of one side of the crawler chassis (1) and can be rotated and adjusted under the support of the crawler chassis (1), a liquid mechanical wall component (4) is installed between the felling machine body (3) and the crawler chassis (1), a semi-open truck bucket (5) is installed on the other side of the crawler chassis (1), an open type sub-crushing box (6) is fixedly connected to the open structure on one side of the semi-open truck bucket (5), two mutually meshing crushing rollers (7) are set inside the open type sub-crushing box (6), and the front ends of the two crushing rollers (7) both penetrate the front end structure of the open type sub-crushing box (6) and are respectively connected to a first synchronous servo motor (8) and a second synchronous servo motor (9) in a transmission manner.

2. The integrated machine for felling and transporting pine wood infected with pine nematodes according to claim 1, characterized in that: The end of the pulverizing roller (7) and the corresponding structure of the open type pulverizing box (6) are mounted with bearings, and a support frame is fixedly installed on the surface of the front end of the open type pulverizing box (6), and the two sides of the bottom of the support frame are respectively fixedly connected to the surface of the housing of the first synchronous servo motor (8) and the surface of the housing of the second synchronous servo motor (9).

3. The integrated machine for felling and transporting pine wood infected with pine nematodes according to claim 1, characterized in that: The inner wall of the bottom of the semi-open truck bucket (5) is provided with a clearance groove, and a conveyor belt (10) is movably sleeved in the clearance groove. Transmission shafts (11) are sleeved in both sides of the conveyor belt (10). The two transmission shafts (11) are movably sleeved on the inner sides of the bottom of both sides of the semi-open truck bucket (5), and auxiliary bearings are embedded in the sleeves of the ends of the transmission shafts (11) and the corresponding structures of the bottom of the semi-open truck bucket (5). The ends of the two transmission shafts (11) extend to the outer side of the bottom of the semi-open truck bucket (5).

4. The integrated machine for felling and transporting pine wood nematode diseased trees according to claim 3, characterized in that: A synchronous belt (12) is sleeved between the front end surface of the output end of the second synchronous servo motor (9) and the end of a transmission shaft (11), and the front and rear end surfaces on both sides of the synchronous belt (12) are both fitted and connected with limit disks, and four limit disks are fixedly sleeved on the front end surface of the output end of the second synchronous servo motor (9) and the corresponding end surface of the transmission shaft (11) in groups of two.

5. The integrated machine for felling and transporting pine wood infected with pine nematodes according to claim 1, characterized in that: An auxiliary material guiding component (13) is arranged at one side of the bottom of the open type crushing box (6), and the auxiliary material guiding component (13) comprises an auxiliary shaft (131), a movable baffle (132), a transmission gear (133) and a half gear (134). The middle part of the auxiliary shaft (131) is sleeved inside the side wall at one side of the bottom of the open type crushing box (6) through a bearing, the front and rear ends of the movable baffle (132) are respectively fixedly sleeved with the two ends of the auxiliary shaft (131), the inner side of the middle part of the transmission gear (133) is fixedly sleeved with the front end surface of the auxiliary shaft (131), the middle part of the half gear (134) is fixedly connected to the rear end surface of the output end of the second synchronous servo motor (9), and the half gear (134) can periodically mesh with the transmission gear (133) under the drive of the second synchronous servo motor (9).

6. The integrated machine for felling and transporting pine wood nematode diseased trees according to claim 1, characterized in that: An auxiliary hydraulic rod (14) is installed in the middle of the other side of the crawler chassis (1), and the bottom of the semi-open truck box (5) is provided with a clearance groove that can be movably sleeved with the auxiliary hydraulic rod (14), the output end of the auxiliary hydraulic rod (14) is transmission-connected to the middle inner wall of the clearance groove, and locking grooves are provided in the front and rear ends of the top of the semi-open truck box (5).

7. The integrated machine for felling and transporting pine wood infected with pine nematodes according to claim 1, characterized in that: The front and rear ends of the bottom of the semi-open truck bed (5) are fixedly connected to a slide rail (16), the outer side of the slide rail (16) is clamped with a slide rail sleeve (15) fixedly installed on the other side of the crawler chassis (1), and a reinforcing support plate is installed between the end of the slide rail sleeve (15) away from the other side of the crawler chassis (1) and the side surface of the other side of the crawler chassis (1).

8. The integrated machine for felling and transporting pine wood infected with pine nematodes according to claim 1, characterized in that: The front and rear end surfaces of one side of the semi-open truck bucket (5) are both provided with support rods (17), and the two support rods (17) both include a limiting sleeve (171), an auxiliary support plate (172), and a limiting assembly (173). The top of the limiting sleeve (171) is fixedly connected to the surface of the corresponding structure of the semi-open truck bucket (5), and one end of the auxiliary support plate (172) is movably sleeved inside the limiting sleeve (171). The limiting assembly (173) is composed of a bolt and a nut. One end of the bolt is sequentially sleeved through the limiting sleeve (171) and one end of the auxiliary support plate (172) and then threadedly connected to the nut, and the middle part of the bolt is fixedly sleeved on the inner side of one end of the auxiliary support plate (172). The auxiliary support plate (172) can be supported by the sleeve of the limiting sleeve (171) and the rotation limiting support of the limiting assembly (173), and can rotate along the circumferential direction of the bolt inside the limiting assembly (173) to approach the semi-open truck bucket (5).

9. The integrated machine for felling and transporting pine wood infected with pine nematodes according to claim 1, characterized in that: The unmanned driving system (2) comprises a rotating base, an unmanned driving mechanism, a control module, a battery module, and a remote control module, and the felling machine body (3) comprises two groups of grippers facing each other, a felling saw assembly, and a wheeled guide assembly.

10. An operating method of a pine wood nematode diseased wood felling and transporting integrated machine as claimed in any one of claims 1 to 9, characterized in that: The steps include: S1. Select the operation area with serious pine wood nematode disease and mark it. Then plan the driving route of the whole equipment according to the distribution of trees to cover all infected trees to the greatest extent; S2, using the crawler chassis (1) and the unmanned driving mechanism inside the unmanned driving system (2) to transport the entire equipment to the working area, and then set the felling and transportation parameters, start the battery module to supply power, and ensure the normal operation of the equipment, and then start the auxiliary hydraulic rod (14), and the output end of the auxiliary hydraulic rod (14) drives the semi-open truck bucket (5) to automatically move away from the crawler chassis (1) until the auxiliary hydraulic rod (14) reaches the maximum stroke, and the slide rail sleeve (15) and the slide rail (16) are connected and guided to constrain and limit the movement of the semi-open truck bucket (5), S3: After the semi-open truck bucket (5) moves stably, the nuts inside the two supporting rods (17) are turned to temporarily release the limit of the two auxiliary support plates (172). Then, the two auxiliary support plates (172) are turned over so that the two auxiliary support plates (172) are both operated and adjusted away from the semi-open truck bucket (5) under the support of the corresponding bolts and the limit sleeves (171) until one end of the two auxiliary support plates (172) is inserted into the surface soil layer of the environment. Then, the two nuts are reset and locked to limit the two auxiliary support plates (172) again, thereby using the two supporting rods (17) in conjunction with the crawler chassis (1) to provide auxiliary support for the semi-open truck bucket (5) after moving; S4, after the semi-open truck bed (5) is stably placed, the unmanned driving system (2) controls the liquid mechanical wall assembly (4) to extend the felling machine body (3), and then uses two sets of grippers facing each other inside the felling machine body (3) to automatically clamp the target diseased wood first, and then uses the felling saw assembly inside the felling machine body (3) to fell the target diseased wood. After the felling of the target diseased wood is completed, the wheeled guide assembly inside the felling machine body (3) is used to move the target diseased wood inside the felling machine body (3) for a certain distance; S5. Then, the rotating base inside the unmanned driving system (2) is used to rotate the felling machine body (3) and the liquid mechanical wall assembly (4), so that the target diseased tree is laterally located on the outside of the top of the open-type crushing box (6). Then, the wheeled guide assembly and the felling saw assembly inside the felling machine body (3) are used alternately, and the target diseased tree is moved and cut into sections and the small poles on the surface of the target diseased tree are automatically removed. The segmented body of the diseased tree is first placed on the open space outside the semi-open truck bed (5), and the removed small poles on the surface of the target diseased tree fall into the inside of the top of the open-type crushing box (6); S6. When the small poles on the surface of the target diseased wood fall down, the first synchronous servo motor (8) and the second synchronous servo motor (9) are started synchronously, and the first synchronous servo motor (8) and the second synchronous servo motor (9) respectively drive the two crushing rollers (7) to synchronously crush the small poles on the surface of the target diseased wood. The crushed wood chips are subsequently discarded on the spot and regarded as waste, or collected in a centralized manner, which can greatly reduce the collection area; S7, then, repeat the above steps S4 to S6. After a certain amount of target diseased wood is processed, the unmanned driving system (2) can be used to control the liquid mechanical wall component (4) to extend the felling machine body (3), and then use the two groups of two sets of grippers opposite to each other inside the felling machine body (3) to cut the diseased wood main poles into segments, and then grab them one by one and place them inside the semi-open truck bucket (5) for centralized collection. After the inside of the semi-open truck bucket (5) is filled, ropes can be used to cooperate with the locking grooves in the front and rear ends of the tops of the two semi-open truck buckets (5) to limit the diseased wood piled inside the semi-open truck bucket (5) for protection, and then the crawler chassis (1) and the unmanned driving mechanism inside the unmanned driving system (2) can be used to transfer the entire device and the diseased wood collected in the semi-open truck bucket (5) according to a preset route; S8. After completing the felling and transportation work in the entire operation area, inspect and maintain the overall equipment, collect operation data, analyze operation efficiency and results, and provide a basis for subsequent improvements.

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