Efficient tree cleaning device for agriculture and forestry

Abstract

The efficient tree cleaning device for agriculture and forestry comprises a support and a multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm and a controller are fixed to the support, a shell is fixed to the end of the multi-degree-of-freedom mechanical arm, a supporting shaft is rotationally connected to the bottom of the shell, and a rotation driving mechanism is installed at the bottom of the shell; the rotary driving mechanism is in transmission connection with the supporting shaft and used for driving the supporting shaft to rotate, a connecting frame is fixed to the supporting shaft in the radial direction, a supporting disc is fixed to the connecting frame, and the supporting disc is coaxially arranged relative to the supporting shaft. The posture of the supporting disc can be changed by controlling the multi-degree-of-freedom mechanical arm, the straight saw blade can stretch out and draw back by controlling the action of the telescopic mechanism, and when the straight saw blade and the arc-shaped saw blade are spliced into a complete disc saw blade, the rotary driving mechanism is used for driving the supporting shaft to rotate, so that trees can be cut by using the disc saw blade, and felling is achieved; when the straight saw blade retracts, the lifting groove is exposed, and then the rotation driving mechanism is controlled to act.

Description

Technical Field

[0001] The invention relates to the technical field of agriculture and forestry, and in particular to a high-efficiency tree clearing device for agriculture and forestry. Background Art

[0002] When returning forests to farmland, some trees that are easy to transplant are moved, while others are directly cut down on the spot for trees that are difficult to move or do not need to be moved. Regardless of whether they are cut down on the spot or moved, their main roots are easily removed from the soil, while most of the remaining lateral roots and fibrous roots are left in the soil (hereinafter collectively referred to as roots). These roots left in the soil will cause inconvenience in subsequent tillage, and since the roots have a relatively strong soil-fixing ability, traditional plowing devices are subject to a large load when plowing, and are prone to overload and damage, making it difficult to clean the shallow roots. If they are not processed, the roots may further absorb soil nutrients and grow into new seedlings (such as bamboo), which is not conducive to the subsequent growth of crops. Existing devices make it difficult to strike a balance between felling trees and cleaning roots, making it difficult to efficiently clean trees that need to be returned to farmland, which is not conducive to the recovery of soil fertility, highlighting the shortcomings of the existing technology. Summary of the invention

[0003] The purpose of the present invention is to provide an efficient tree clearing device for agriculture and forestry, so as to solve the technical problem that the prior art is difficult to efficiently clear trees that need to be returned to farmland, which is not conducive to soil fertility recovery.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: A highly efficient tree clearing device for agriculture and forestry comprises a support and a multi-degree-of-freedom mechanical arm, the support is fixed with a multi-degree-of-freedom mechanical arm and a controller, a shell is fixed at the end of the multi-degree-of-freedom mechanical arm, a support shaft is rotatably connected to the bottom of the shell, and a rotary drive mechanism is installed, a transmission connection between the rotary drive mechanism and the support shaft is used to drive the support shaft to rotate, a connecting frame is radially fixed to the support shaft, a support disk is fixed to the connecting frame, the support disk is coaxially arranged with respect to the support shaft, and the outer circumferential wall of the support disk is fixed at equal angles There are multiple curved saw blades, each of which is in the same plane. The support plate is radially slidably connected with multiple straight saw blades at equal angles around the circumference. Each straight saw blade and each curved saw blade are in the same plane, and gaps are inserted between each curved saw blade. Each straight saw blade can be spliced ​​with each curved saw blade to form a circular saw blade. A telescopic mechanism is installed in the support plate, and the telescopic mechanism is transmission-connected to each straight saw blade. The telescopic mechanism is used to control the radial sliding of the straight saw blade, and the curved saw blade is provided with a lifting groove along its cutting direction.

[0005] Based on the above technical solution, the rotation drive mechanism includes a servo motor, a worm, and a worm wheel. The servo motor is fixed in the shell, the worm is coaxially fixed to the rotating shaft of the servo motor, the worm wheel is coaxially fixed to the support shaft, the worm and the worm wheel are meshed, and the servo motor is electrically connected to the controller.

[0006] On the basis of the above technical scheme, the bracket is fixed with a hydraulic system, and the telescopic mechanism includes a transmission plate, a guide groove, a transmission shaft, a guide column, a No. 1 double-acting hydraulic cylinder, and a hydraulic rotary joint. The transmission plate is coaxially connected to the support plate, and a plurality of eccentric guide grooves are axially penetrated by the circumference of the transmission plate at equal angles, and a transmission shaft is fixed to the front end. Guide columns are respectively fixed to the ends of the straight saw blades close to the support plate, and the guide grooves are respectively slidably connected to the guide columns. A No. 1 double-acting hydraulic cylinder is hinged to the inner circumferential wall of the support plate, and the piston rod of the No. 1 double-acting hydraulic cylinder is hinged to the transmission shaft. The support plate is also equipped with a hydraulic rotary joint, one end of the hydraulic rotary joint is connected to the oil circuit of the No. 1 double-acting hydraulic cylinder through a pipeline, and the other end is connected to the oil circuit of the hydraulic system through an external surplus hose.

[0007] On the basis of the above technical solution, a vertical lifting mechanism is installed on the right part of the bracket, and the bottom of the lifting mechanism is rotatably connected to a rotating frame along the front and rear directions. The rotating frame has multiple rows of plow hooks arranged along the axial direction fixed at equal angles on the circumference, and the lifting mechanism is installed with a transmission mechanism. The input shaft of the transmission mechanism is coaxially fixed with a hexagonal sleeve, and the rear end of the support shaft is coaxially hexagonal. The rear part of the support shaft can be matched and plugged with the sleeve to realize synchronous transmission, and the transmission mechanism is connected to the rotating frame to drive the rotating frame to rotate.

[0008] On the basis of the above technical scheme, the lifting mechanism includes a lifting frame, a No. 2 double-acting hydraulic cylinder, and a support roller. The right part of the bracket is connected to the lifting frame for sliding up and down. A vertical No. 2 double-acting hydraulic cylinder is fixed to the right part of the bracket. The bottom end of the piston rod of the No. 2 double-acting hydraulic cylinder is fixed to the lifting frame, and is connected to the hydraulic system oil circuit through an external pipeline. A support roller is installed at the bottom limit of the lifting frame. The rotating frame is coaxially rotatably connected with the support roller. A collecting groove that penetrates upward is opened on the upper part of the support roller. The upper part of the support roller is rotatably connected to a No. 1 shaft in the axial direction. A No. 1 auger blade is coaxially fixed to the No. 1 shaft. The gap of the No. 1 auger blade is inserted in the collecting groove. The rear part of the collecting groove penetrates the support roller backward. The No. 1 shaft is connected to the transmission mechanism in a transmission manner. A plurality of cutters are fixed on the lifting frame from front to back in sequence. Each of the cutters is respectively located in the gap between the plow hooks at the uppermost part of the rotating frame and is located above the collecting groove. The vertical direction of the inclination direction of the blade of the cutter is arranged relative to the bending direction of the adjacent plow hook.

[0009] On the basis of the above technical scheme, a conveying channel along the front-to-back direction is provided at the bottom of the support roller, a storage hopper is fixed at the front part of the lifting frame, the storage hopper is fixed to the lifting frame, the storage hopper is communicated with the front part of the conveying channel, a No. 2 shaft extending in the front-to-back direction is inserted into the gap in the conveying channel, a No. 2 auger blade is coaxially fixed to the No. 2 shaft and is rotatably connected to the lifting frame, the transmission mechanism is transmission-connected to the No. 2 shaft to drive the No. 2 shaft to rotate, a plurality of vertical material discharge channels are opened at the bottom of the support roller, and the upper part of the material discharge channel is communicated with the bottom of the conveying channel.

[0010] On the basis of the above technical scheme, a spray pipe extending in the front-to-back direction is fixed to the left and right parts of the support roller, the axial ends of the spray pipe are closed and fixed to the lifting frame, a plurality of vertical spray holes are opened on the left and right parts of the support roller, the spray holes penetrate the bottom of the support roller, and the upper part is connected with the spray pipe, an upwardly extending water inlet pipe is fixed to the upper part of the spray pipe, a water tank is fixed to the bracket, a pump is fixed in the water tank, a water suction pipe of the pump is connected to the inner cavity of the water tank, a water spray pipe of the pump is connected to the water inlet pipe through an external pipe, and the pump is electrically connected to the controller.

[0011] On the basis of the above technical scheme, the transmission mechanism includes shaft No. 3, shaft No. 4, shaft No. 5, inner gear ring, outer gear ring and shaft No. 6; the support roller is coaxially connected with shaft No. 3; the front upper part of the support roller is fixed with shaft No. 4 parallel to the axial direction of the support roller, and the rear lower part is fixed with shaft No. 5 parallel to the axial direction of the support roller; the shaft No. 4 and shaft No. 5 are respectively coaxially connected with gears; the shaft No. 1, shaft No. 2 and shaft No. 3 are respectively coaxially fixed with gears; the front and rear parts of the rotating frame are each coaxially fixed with an inner gear ring; between the inner gear ring at the front of the rotating frame and shaft No. 4, the outer gear ring and the outer gear ring are respectively coaxially fixed with gears ... The No. 5 shaft and the front of the No. 1 shaft, the front of the No. 1 shaft and the No. 3 shaft are respectively connected by gear meshing for transmission; the inner gear ring at the rear of the rotating frame and the No. 5 shaft, the No. 5 shaft and the No. 2 shaft, the No. 2 shaft and the No. 3 shaft are respectively connected by gear meshing for transmission; an outer gear ring is coaxially fixed to the front of the rotating frame; the No. 6 shaft is rotatably connected to the front of the lifting frame, the No. 6 shaft is the input shaft of the transmission mechanism and is parallel to the support roller; the bushing is coaxially fixed to the front of the No. 6 shaft, and the No. 6 shaft and the outer gear ring are connected by gear meshing for transmission.

[0012] Compared with the prior art, the present invention has the following advantages: By controlling the multi-degree-of-freedom robotic arm, the attitude of the support disk can be changed. By controlling the telescopic mechanism to act, the straight saw blade can be telescoped. When it is spliced with the arc saw blade to form a complete circular saw blade, the support shaft can be driven to rotate by the rotary drive mechanism, and then the circular saw blade can be used to cut the tree to achieve felling. When the straight saw blade retracts and the lifting groove is exposed, then control the rotary drive mechanism to act and gradually insert the arc saw blade into the soil. The lifting groove of the rotating circular saw blade can be used to lift the thicker roots in the soil layer by layer to separate them from the soil, so as to achieve the cleaning of the thicker roots. The rotating arc saw blade can also cut the roots to a certain extent by adjusting the rotation speed to avoid the roots being too long and difficult to separate from the soil, that is, the efficient cleaning of the trees that need to be returned to forest for farming is realized.

[0013] By controlling the lifting mechanism to act, the height of the rotating frame relative to the ground can be adjusted, thereby indirectly adjusting the height of the plow hook relative to the ground, that is, the plowing depth. After the cleaning of the thicker roots in the soil is completed, when the support shaft is inserted into the bushing, the rotating frame can be driven to rotate through the bushing and the transmission mechanism, so as to plow the land with the plow hook, and at the same time lift out the remaining fine roots in the soil, making the cleaning of the roots more complete and efficient.

[0014] When the rotating frame rotates, the first auger blade can be rotated by driving the first shaft through the transmission mechanism, so as to convey the root segments in the collection tank backward and fall on the ground, making them more concentrated and facilitating efficient cleaning and removal.

[0015] When the rotating frame rotates, the second shaft can be driven to rotate simultaneously through the transmission mechanism, so as to convey the materials in the storage hopper backward by the rotating second auger blade and finally discharge them through the feeding channel. By adding some organic fertilizers or substances that can improve the soil into the storage hopper, these substances can be scattered into the turned soil during the plowing process, so as to improve the problem of a large loss of soil fertility caused by planting trees and facilitate subsequent farming.

[0016] Through the water tank and the pump, the liquid in the water tank can be pumped out through the spraying pipe and the spraying holes during the plowing process to achieve the purpose of irrigation. By adding some substances such as microorganisms or liquid fertilizers into the water tank, the effect of improving the soil can also be achieved during the plowing process, facilitating the rapid recovery of soil fertility and the restoration of farming. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an isometric structural schematic diagram of the present invention.

[0018] Figure 2 It is a front view schematic diagram of the present invention.

[0019] Figure 3 This is a schematic diagram of the cooperation between the support disk and the drive disk of the present invention.

[0020] Figure 4 This is a schematic diagram of the cooperation between the worm and the worm wheel of the present invention.

[0021] Figure 5 This is a schematic diagram of the left part structure of the support roller of the present invention.

[0022] Figure 6 This is a schematic diagram of the cooperation between the conveying channel and the second auger blade of the present invention.

[0023] Figure 7 Schematic diagram of the structure at the lower rear part of the support roller of the present invention.

[0024] In the figure: 1. Bracket, 2. Multi-degree-of-freedom robotic arm, 3. Housing, 4. Support shaft, 6. Connecting frame, 7. Support disk, 8. Arc saw blade, 9. Straight saw blade, 10. Disk saw blade, 12. Lifting groove, 13. Servo motor, 14. Worm, 15. Worm wheel, 16. Hydraulic system, 17. Drive disk, 18. Guide groove, 19. Guide post, 20. First double-acting hydraulic cylinder, 21. Hydraulic rotary joint, 23. Rotary frame, 24. Plough hook, 26. Bush, 27. Lifting frame, 28. Second double-acting hydraulic cylinder, 29. Support roller, 30. Collection tank, 31. First shaft, 32. First auger blade, 33. Cutter, 34. Conveying channel, 35. Storage hopper, 36. Second shaft, 37. Second auger blade, 38. Feeding channel, 39. Spraying pipe, 40. Spraying hole, 41. Water inlet pipe, 42. Water tank, 43. Third shaft, 44. Fourth shaft, 45. Fifth shaft, 46. Internal gear ring, 47. External gear ring, 48. Sixth shaft, 49. Controller, 50. Transmission shaft. Detailed implementation manners

[0025] The present invention will be further elaborated in detail below in conjunction with the accompanying drawings and specific embodiments.

[0026] As Figures 1-7As shown, a high-efficiency tree clearing device for agriculture and forestry includes a bracket 1 and a multi-degree-of-freedom mechanical arm 2, the bracket 1 is fixed with the multi-degree-of-freedom mechanical arm 2 and a controller 49, a shell 3 is fixed at the end of the multi-degree-of-freedom mechanical arm 2, the bottom of the shell 3 is rotatably connected to a support shaft 4, and a rotary drive mechanism is installed, the rotary drive mechanism and the support shaft 4 are connected by a transmission connection to drive the support shaft 4 to rotate, the support shaft 4 is radially fixed with a connecting frame 6, the connecting frame 6 is fixed with a support disk 7, the support disk 7 is coaxially arranged with respect to the support shaft 4, and the outer circumferential wall of the support disk 7 has a circumferential angle of equal length. A plurality of arc saw blades 8 are fixed thereto, each of the arc saw blades 8 is in the same plane, a plurality of straight saw blades 9 are radially slidably connected to the support plate 7 at equal angles in a circle, each straight saw blade 9 is in the same plane as the arc saw blades 8, and gaps are inserted between the arc saw blades 8, each straight saw blade 9 can be spliced ​​with the arc saw blades 8 into a circular saw blade 10, a telescopic mechanism is installed in the support plate 7, the telescopic mechanism is transmission-connected to the straight saw blades 9, the telescopic mechanism is used to control the radial sliding of the straight saw blades 9, and a lifting groove 12 is opened on the arc saw blade 8 along its cutting direction.

[0027] When in use, the bracket 1 is installed on a tractor (such as a tractor), and then the posture of the support plate 7 can be adjusted by controlling the multi-degree-of-freedom mechanical arm 2 to move. When it is necessary to cut down trees, the axial direction of the support plate 7 is controlled to be vertical, and then the telescopic mechanism is controlled to move so that the straight saw blade 9 is extended and can be spliced ​​with the arc saw blade 8 to form a complete circular saw blade 10. Then, the support shaft 4 is driven to rotate by controlling the rotary drive mechanism, so that the support plate 7 and the circular saw blade 10 can be driven to rotate, and the trees can be cut horizontally to achieve felling. After felling, if it is necessary to clean the roots in the soil, the telescopic mechanism is controlled to retract the straight saw blade 9, so that the lifting groove 12 is exposed, and then the multi-degree-of-freedom mechanical arm 2 is controlled to move, so that the posture of the support plate 7 can be adjusted to make its axial direction tend to be horizontal, and then the rotary drive mechanism is controlled to move, and the arc saw blade 8 is gradually inserted into the soil, and the lifting groove 12 of the rotating circular saw blade 10 can be used to lift the thicker roots in the soil layer by layer to separate them from the soil, so that the thicker roots can be cleaned, and the rotating arc saw blade 8 can also cut the roots to a certain extent by adjusting the rotation speed to prevent the roots from being too long and difficult to separate from the soil, thereby achieving efficient cleaning of trees that need to be returned to farmland.

[0028] The rotary drive mechanism includes a servo motor 13, a worm 14, and a worm wheel 15. The servo motor 13 is fixed in the housing 3. The worm 14 is coaxially fixed to the rotating shaft of the servo motor 13. The worm wheel 15 is coaxially fixed to the support shaft 4. The worm 14 is meshed with the worm wheel 15. The servo motor 13 is electrically connected to the controller 49.

[0029] By controlling the rotation of the servo motor 13 and utilizing the meshing of the worm 14 and the worm gear 15, the support shaft 4 can be rotated, thereby driving the support disk 7, the arc saw blade 8 and the straight saw blade 9 to rotate.

[0030] The bracket 1 is fixed with a hydraulic system 16. The telescopic mechanism includes a transmission disk 17, a guide groove 18, a transmission shaft 50, a guide post 19, a first double-acting hydraulic cylinder 20, and a hydraulic rotary joint 21. The transmission disk 17 is coaxially and rotatably connected inside the support disk 7. The transmission disk 17 is axially penetrated through at equal angular intervals in the circumferential direction by a plurality of eccentric guide grooves 18, and a transmission shaft 50 is fixed at the front end. Each of the straight saw blades 9 is fixed with a guide post 19 at the end portion close to the support disk 7. Each of the guide grooves 18 is slidably connected with each of the guide posts 19. The inner circumferential wall of the support disk 7 is hinged with a first double-acting hydraulic cylinder 20. The piston rod of the first double-acting hydraulic cylinder 20 is hinged with the transmission shaft 50. The support disk 7 is further provided with a hydraulic rotary joint 21. One end of the hydraulic rotary joint 21 is connected to the first double-acting hydraulic cylinder 20 through a pipeline for oil circuit connection, and the other end is connected to the hydraulic system 16 through an externally connected surplus hose for oil circuit connection.

[0031] By introducing hydraulic oil from the hydraulic system 16 into the first double-acting hydraulic cylinder 20, the first double-acting hydraulic cylinder 20 can be telescoped, which can drive the transmission disk 17 to rotate forward and backward. Thus, by means of the cooperation between the guide groove 18 and the guide post 19, the straight saw blade 9 can be telescoped relative to the support disk 7, and the hydraulic rotary joint 21 is used for hydraulic transmission without interfering with the rotation of the support disk 7.

[0032] A vertical lifting mechanism is installed on the right part of the bracket 1. The bottom of the lifting mechanism is rotatably connected with a rotary frame 23 in the front-rear direction. The rotary frame 23 is fixedly provided with multiple rows of plow hooks 24 arranged along the axial direction at equal angular intervals in the circumferential direction. The lifting mechanism is provided with a transmission mechanism. The input shaft of the transmission mechanism is coaxially fixed with an inner hexagonal sleeve 26. The rear end portion of the support shaft 4 is in the shape of an outer hexagonal coaxial shape. The rear portion of the support shaft 4 can be inserted into the sleeve 26 in a matching manner to achieve synchronous transmission. The transmission mechanism is in transmission connection with the rotary frame 23 to drive the rotary frame 23 to rotate.

[0033] By controlling the operation of the lifting mechanism, the height of the rotary frame 23 relative to the ground can be adjusted, thereby indirectly adjusting the height of the plow hook 24 relative to the ground, that is, the plowing depth. After the cleaning of the thicker root systems in the soil is completed, by controlling the operation of the multi-degree-of-freedom robotic arm 2 and then controlling the operation of the rotary drive mechanism to adjust the position of the support shaft 4 so that it is inserted into the sleeve 26. When the support shaft 4 rotates, the rotary frame 23 can be driven to rotate through the sleeve 26 and the transmission mechanism, thereby plowing the land with the plow hook 24 and at the same time lifting out the remaining fine root systems in the soil, making the cleaning of the root systems more thorough and efficient.

[0034] The lifting mechanism includes a lifting frame 27, a second double-acting hydraulic cylinder 28, and a support roller 29. The right part of the bracket 1 is slidably connected up and down with the lifting frame 27. A vertical second double-acting hydraulic cylinder 28 is fixed to the right part of the bracket 1. The bottom end of the piston rod of the second double-acting hydraulic cylinder 28 is fixed to the lifting frame 27 and is connected to the hydraulic system 16 through an external pipeline for oil circuit connection. A support roller 29 is installed at the bottom of the lifting frame 27 with a limit. The rotating frame 23 is coaxially rotatably connected to the support roller 29. A collecting groove 30 that penetrates upward is opened in the upper part of the support roller 29. A first shaft 31 is rotatably connected to the upper part of the support roller 29 in the axial direction. A first auger blade 32 is coaxially fixed to the first shaft 31. The first auger blade 32 is inserted into the collecting groove 30 with a gap. The rear part of the collecting groove 30 penetrates through the support roller 29 backward. The first shaft 31 is in transmission connection with a transmission mechanism. A plurality of cutting knives 33 are fixed to the lifting frame 27 from front to back. Each of the cutting knives 33 is respectively located in the gap between the uppermost plow hooks 24 of the rotating frame 23 and above the collecting groove 30. The vertical direction of the inclination direction of the cutting edge of the cutting knife 33 is arranged opposite to the bending direction of the adjacent plow hook 24.

[0035] Further, by controlling the action of the second double-acting hydraulic cylinder 28, the lifting frame 27 can be driven to move up and down, so as to achieve the purpose of adjusting the height of the rotating frame 23 relative to the ground. When the plow hook 24 rotates following the rotating frame 23, when the longer root hairs are dragged by the plow hook 24 to move, they can be cut off by the cutting knife 33 to form root hair segments and fall into the collecting groove 30. When the rotating frame 23 rotates, the first shaft 31 can be driven to rotate through the transmission mechanism to realize the rotation of the first auger blade 32, so as to convey the root hair segments in the collecting groove 30 backward and fall on the ground, making them more concentrated and facilitating efficient cleaning and removal.

[0036] A conveying channel 34 in the front-rear direction is provided at the bottom of the support roller 29. A storage hopper 35 is fixed to the front part of the lifting frame 27. The storage hopper 25 is fixed to the lifting frame 27. The storage hopper 35 is communicated with the front part of the conveying channel 34. A second shaft 36 extending in the front-rear direction is inserted into the conveying channel 34 with a gap. A second auger blade 37 is coaxially fixed to the second shaft 36 and is rotatably connected to the lifting frame 27. The transmission mechanism is in transmission connection with the second shaft 36 to drive the second shaft 36 to rotate. A plurality of vertical blanking channels 38 are opened at the bottom of the support roller 29. The upper part of the blanking channel 38 is communicated with the bottom of the conveying channel 34.

[0037] Further, when the rotary frame 23 rotates, the transmission mechanism can drive the second shaft 36 to rotate simultaneously, so that the rotating second auger blade 37 conveys the materials in the storage hopper 35 backward and finally discharges them through the blanking channel 38. By adding some organic fertilizers or substances that can improve the soil into the storage hopper 35, these substances can be scattered into the soil that has been turned over during the plowing process, thus improving the problem of a large loss of soil fertility caused by tree planting and facilitating subsequent tillage.

[0038] On the left and right sides of the support roller 29, there are fixed spraying pipes 39 extending in the front-rear direction. The axial ends of the spraying pipes 39 are closed and fixed to the lifting frame 27. On the left and right sides of the support roller 29, there are opened a plurality of vertical spraying holes 40. The spraying holes 40 penetrate through the bottom of the support roller 29 and are connected to the spraying pipes 39 at the upper part. An upward-extending water inlet pipe 41 is fixed to the upper part of the spraying pipe 39. A water tank 42 is fixed to the bracket 1. A pump is fixed in the water tank 42. The suction pipe of the pump is communicated with the inner cavity of the water tank 42. The spray pipe of the pump is connected to the water inlet pipe 41 through an external pipeline. The pump is electrically connected to the controller 49.

[0039] Further, through the water tank 42 and the pump, the liquid in the water tank 42 can be pumped out and sprayed through the spraying pipes 39 and the spraying holes 40 during the plowing process to achieve the purpose of irrigation. By adding some substances such as microorganisms or liquid fertilizers into the water tank 42, the effect of improving the soil can also be achieved during the plowing process, facilitating the rapid recovery of soil fertility and the restoration of tillage.

[0040] The transmission mechanism includes a third shaft 43, a fourth shaft 44, a fifth shaft 45, an internal gear ring 46, an external gear ring 47, and a sixth shaft 48. The support roller 29 is coaxially and rotatably connected to the third shaft 43. A fourth shaft 44 parallel to the axial direction of the support roller 29 is fixed to the front upper part of the support roller 29, and a fifth shaft 45 parallel to the axial direction of the support roller 29 is fixed to the rear lower part thereof. Gears are coaxially and rotatably connected to the fourth shaft 44 and the fifth shaft 45 respectively. Gears are coaxially fixed to the first shaft 31, the second shaft 36, and the third shaft 43 respectively. Internal gear rings 46 are coaxially fixed to the front and rear parts of the rotary frame 23. Transmission connections are respectively made through gear meshing between the internal gear ring 46 at the front part of the rotary frame 23 and the fourth shaft 44, between the fourth shaft 44 and the front part of the first shaft 31, and between the front part of the first shaft 31 and the third shaft 43. Transmission connections are respectively made through gear meshing between the internal gear ring 46 at the rear part of the rotary frame 23 and the fifth shaft 45, between the fifth shaft 45 and the second shaft 36, and between the second shaft 36 and the third shaft 43. An external gear ring 47 is coaxially fixed to the front part of the rotary frame 23. A sixth shaft 48 is rotatably connected to the front part of the lifting frame 27. The sixth shaft 48 is the input shaft of the transmission mechanism and is parallel to the support roller 29. A shaft sleeve 26 is coaxially fixed to the front part of the sixth shaft 48. A transmission connection is made through gear meshing between the sixth shaft 48 and the external gear ring 47.

[0041] When the support shaft 4 drives the sixth shaft 48 to rotate, the cooperation between the external gear ring 47 and the gear enables the rotary frame 23 to rotate, and then the internal gear ring 46 and the gear can drive the first shaft 31, the second shaft 36, and the third shaft 43 to rotate respectively, so as to realize the rotation of the first auger blade 32 and the second auger blade 37.

[0042] The above is a preferred embodiment of the present invention. For those of ordinary skill in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, the changes, modifications, substitutions, and variations made to the embodiments still fall within the protection scope of the present invention.

Claims

1. An efficient tree clearing device for agriculture and forestry, comprising a support (1) and a multi-degree-of-freedom robotic arm (2), characterized in that: The support (1) is fixed with a multi-degree-of-freedom mechanical arm (2) and a controller (49); a shell (3) is fixed at the end of the multi-degree-of-freedom mechanical arm (2); a support shaft (4) is rotatably connected to the bottom of the shell (3); and a rotary drive mechanism is installed; a transmission connection between the rotary drive mechanism and the support shaft (4) is used to drive the support shaft (4) to rotate; a connecting frame (6) is radially fixed to the support shaft (4); a supporting plate (7) is fixed to the connecting frame (6); the supporting plate (7) is coaxially arranged with respect to the supporting shaft (4); a plurality of arc-shaped saw blades (8) are fixed at equal angles on the outer circumference of the support plate (7); each arc-shaped saw blade (8) is provided with a plurality of arc-shaped saw blades (8) and a plurality of arc-shaped saw blades (8) are provided on the outer circumferential wall of the support plate (7); and each arc-shaped saw blade (8) is provided with a plurality of arc-shaped saw blades (8) and a plurality of arc-shaped saw blades (8) are provided on the outer circumferential wall of the support plate (7). The arc-shaped saw blades (8) are located in the same plane, and the support plate (7) is connected to a plurality of straight saw blades (9) in a radially slidable manner at equal angles in a circle. Each of the straight saw blades (9) and each of the arc-shaped saw blades (8) is located in the same plane, and a gap is inserted between each of the arc-shaped saw blades (8). Each of the straight saw blades (9) can be spliced ​​with each of the arc-shaped saw blades (8) to form a circular saw blade (10). A telescopic mechanism is installed in the support plate (7), and the telescopic mechanism is transmission-connected to each of the straight saw blades (9). The telescopic mechanism is used to control the radial sliding of the straight saw blade (9). The arc-shaped saw blade (8) is provided with a lifting groove (12) along its cutting direction.

2. The efficient tree clearing device for agriculture and forestry according to claim 1, characterized in that: The rotary drive mechanism comprises a servo motor (13), a worm (14), and a worm wheel (15); the servo motor (13) is fixed in the housing (3); the worm (14) is coaxially fixed to the rotating shaft of the servo motor (13); the worm wheel (15) is coaxially fixed to the support shaft (4); the worm (14) and the worm wheel (15) are meshed with each other; and the servo motor (13) is electrically connected to a controller (49).

3. The efficient tree clearing device for agriculture and forestry according to claim 2, characterized in that: The support (1) is fixed with a hydraulic system (16); the telescopic mechanism comprises a transmission disc (17), a guide groove (18), a transmission shaft (50), a guide column (19), a No. 1 double-acting hydraulic cylinder (20), and a hydraulic rotary joint (21); the support disc (7) is coaxially connected with the transmission disc (17); the transmission disc (17) is axially penetrated by a plurality of eccentric guide grooves (18) at equal angles on the circumference of the transmission disc (17); a transmission shaft (50) is fixed at the front end; and each of the straight saw blades (9) is respectively fixed with a guide groove at the end close to the support disc (7). The guide columns (19) are slidably connected to the guide columns (19), and the inner circumferential wall of the support plate (7) is hingedly connected to a double-acting hydraulic cylinder (20). The piston rod of the double-acting hydraulic cylinder (20) is hingedly connected to the transmission shaft (50). The support plate (7) is also equipped with a hydraulic rotary joint (21). One end of the hydraulic rotary joint (21) is connected to the oil circuit of the double-acting hydraulic cylinder (20) through a pipeline, and the other end is connected to the oil circuit of the hydraulic system (16) through an external surplus hose.

4. The efficient tree clearing device for agriculture and forestry according to claim 3, characterized in that: A vertical lifting mechanism is installed on the right part of the bracket (1); the bottom of the lifting mechanism is connected to a rotating frame (23) in a rotatable manner along the front-rear direction; the rotating frame (23) is fixed with multiple rows of plow hooks (24) arranged in the axial direction at equal angles on the circumference; the lifting mechanism is installed with a transmission mechanism; the input shaft of the transmission mechanism is coaxially fixed with a hexagonal sleeve (26); the rear end of the support shaft (4) is coaxially hexagonal; the rear end of the support shaft (4) can be matched and plugged with the sleeve (26) to realize synchronous transmission; the transmission mechanism is connected to the rotating frame (23) in a transmission manner, thereby driving the rotating frame (23) to rotate.

5. The efficient tree clearing device for agriculture and forestry according to claim 4, characterized in that: The lifting mechanism comprises a lifting frame (27), a No. 2 double-acting hydraulic cylinder (28), and a support roller (29); the right part of the support (1) is connected to the lifting frame (27) in an upward and downward sliding manner; the right part of the support (1) is fixed with a vertical No. 2 double-acting hydraulic cylinder (28); the bottom end of the piston rod of the No. 2 double-acting hydraulic cylinder (28) is fixed to the lifting frame (27) and is connected to the hydraulic system (16) through an external pipeline; a support roller (29) is installed at a limit position at the bottom of the lifting frame (27); the rotating frame (23) is connected to the support roller (29) coaxially for rotation; the upper part of the support roller (29) is provided with a collecting groove (30) penetrating upward; the upper part of the support roller (29) is provided with a collecting groove (30) penetrating upward; and the upper part of the support roller (29) is provided with a collecting groove (30) penetrating upward. A No. 1 shaft (31) is connected to the lifting frame (27) for rotation in the direction of rotation, a No. 1 auger blade (32) is coaxially fixed to the No. 1 shaft (31), the No. 1 auger blade (32) is inserted into the collecting trough (30) through a gap, the rear portion of the collecting trough (30) penetrates the supporting roller (29) backward, the No. 1 shaft (31) is connected to the transmission mechanism for transmission, a plurality of cutters (33) are fixed to the lifting frame (27) in sequence from front to back, each of the cutters (33) is respectively located in a gap between each plow hook (24) at the top of the rotating frame (23), and is located above the collecting trough (30), and the vertical direction of the inclination direction of the blade of the cutter (33) is arranged relative to the bending direction of the adjacent plow hook (24).

6. The efficient tree clearing device for agriculture and forestry according to claim 5, characterized in that: A conveying channel (34) along the front-to-back direction is provided at the bottom of the support roller (29); a storage hopper (35) is fixed at the front of the lifting frame (27); the storage hopper (25) is fixed to the lifting frame (27); the storage hopper (35) is communicated with the front of the conveying channel (34); a second shaft (36) extending in the front-to-back direction is inserted into the gap in the conveying channel (34); a second auger blade (37) is coaxially fixed to the second shaft (36) and is rotatably connected to the lifting frame (27); the transmission mechanism is transmission-connected to the second shaft (36) to drive the second shaft (36) to rotate; a plurality of vertical material discharge channels (38) are opened at the bottom of the support roller (29); the upper part of the material discharge channel (38) is communicated with the bottom of the conveying channel (34).

7. The efficient tree clearing device for agriculture and forestry according to claim 5 or 6, characterized in that: A spray pipe (39) extending in the front-to-back direction is fixed to the left and right parts of the support roller (29). The spray pipe (39) is closed at both axial ends and is fixed to the lifting frame (27). A plurality of vertical spray holes (40) are opened on the left and right parts of the support roller (29). The spray holes (40) penetrate the bottom of the support roller (29) and are connected to the spray pipe (39) at the upper part. An upwardly extending water inlet pipe (41) is fixed to the upper part of the spray pipe (39). A water tank (42) is fixed to the bracket (1). A pump is fixed in the water tank (42). A water suction pipe of the pump is connected to the inner cavity of the water tank (42). A water spray pipe of the pump is connected to the water inlet pipe (41) through an external pipe. The pump is electrically connected to a controller (49).

8. The efficient tree clearing device for agriculture and forestry according to claim 6, characterized in that: The transmission mechanism comprises a third shaft (43), a fourth shaft (44), a fifth shaft (45), an inner gear ring (46), an outer gear ring (47), and a sixth shaft (48); the support roller (29) is coaxially connected to the third shaft (43); a fourth shaft (44) parallel to the axial direction of the support roller (29) is fixed to the front upper part of the support roller (29); and a fifth shaft (45) parallel to the axial direction of the support roller (29) is fixed to the rear lower part; the fourth shaft (44) and the fifth shaft (45) are respectively coaxially connected to gears; the first shaft (31), the second shaft (36), and the third shaft (43) are respectively coaxially fixed to gears; the front and rear parts of the rotating frame (23) are each coaxially fixed to an inner gear ring (46); between the inner gear ring (46) at the front of the rotating frame (23) and the fourth shaft (44), the outer gear ring (47) and the outer gear ring (48) are respectively coaxially connected to the third shaft (43); The shaft (44) and the front part of the first shaft (31), and the front part of the first shaft (31) and the third shaft (43) are respectively connected by gear meshing for transmission. The inner gear ring (46) at the rear of the rotating frame (23) and the fifth shaft (45), the fifth shaft (45) and the second shaft (36), and the second shaft (36) and the third shaft (43) are respectively connected by gear meshing for transmission. The front part of the rotating frame (23) is coaxially fixed with an outer gear ring (47). The front part of the lifting frame (27) is rotatably connected with the sixth shaft (48). The sixth shaft (48) is an input shaft of the transmission mechanism and is parallel to the support roller (29). The shaft sleeve (26) is coaxially fixed to the front part of the sixth shaft (48). The sixth shaft (48) and the outer gear ring (47) are connected by gear meshing for transmission.

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