A device for thinning a plantation

Abstract

The application provides a plantation thinning device and relates to the technical field of tree felling, which comprises a load remote control vehicle, a climbing mechanism, a multistage grabbing mechanism, a cutting mechanism and a remote controller. The load remote control vehicle is provided with a docking portion, and the climbing mechanism is detachably connected with the docking portion. The multistage grabbing mechanism is arranged on the climbing mechanism. The cutting mechanism is arranged on the climbing mechanism. The load remote control vehicle is provided with a controller, and the controller is in communication connection with the load remote control vehicle, the climbing mechanism, the multistage grabbing mechanism and the cutting mechanism. The load remote control vehicle is used for carrying and moving in the plantation, so that the damage to the undergrowth structure in the moving process is reduced. The target tree is gradually cut and decomposed through the cooperation of the climbing mechanism, the multistage grabbing mechanism and the cutting mechanism, and the trunk and branches after cutting and decomposition are stably placed on the ground, so that the damage to the nearby reserved wood and undergrowth caused by the whole tree falling is avoided, and high-quality thinning of the plantation is realized.

Description

Technical Field

[0001] This invention relates to the field of tree harvesting technology, and more specifically, to a plantation thinning device. Background Technology

[0002] Scots pine is a variety of European red pine, native to the Greater Khingan Mountains and Hulunbuir region. It is cold-resistant, drought-resistant, tolerant of poor soil, grows rapidly, and is highly adaptable. Scots pine plantations are an important ecological protection forest species in arid and semi-arid regions, which can effectively improve the wind and sand environment, protect farmland and ecological security, and have significant economic and ecological value.

[0003] Thinning refers to the tending harvesting of young forests after canopy closure and before maturity, carried out to regulate competition among trees of the same age. Its core purpose is to promote the healthy growth of retained trees by adjusting stand density and tree species structure, ultimately achieving the sustainable use of forest resources.

[0004] Currently, logging machines are mostly used for thinning plantations. These machines are large pieces of equipment consisting of excavators and logging heads. After the logging machines cut down the trees, the falling process damages nearby remaining trees and understory vegetation, affecting the subsequent growth of the remaining trees. Furthermore, during the movement of the logging machines, they cause serious damage to the structure of the understory vegetation, leading to a reduction in soil conservation and water retention functions, which affects the subsequent development of forest stands. Therefore, using logging machines to thin plantations causes serious damage and cannot achieve high-quality thinning of plantations.

[0005] Therefore, how to achieve high-quality thinning of plantations is an urgent problem to be solved in this technical field. Summary of the Invention

[0006] The purpose of this invention is to provide a plantation thinning device to improve the aforementioned problems. To achieve this purpose, the technical solution adopted by this invention is as follows: The artificial forest thinning device includes: a heavy-duty remote-controlled vehicle, a climbing mechanism, a multi-stage grasping mechanism, a cutting mechanism, and a remote control; The load-bearing remote control vehicle is equipped with a docking part, and the climbing mechanism is detachably connected to the docking part. The climbing mechanism is used to move up and down along the trunk of a tree. The multi-stage gripping mechanism is set on the climbing mechanism. The multi-stage gripping mechanism is used to support the cut trunk or multiple branches. After the climbing mechanism moves down on the trunk, the multi-stage gripping mechanism places the trunk or multiple branches on the ground. The cutting mechanism is mounted on the climbing mechanism. The cutting mechanism is used to cut branches or trunks after the multi-stage gripping mechanism has grabbed them. The load-bearing remote control vehicle is equipped with a controller, which is connected to the load-bearing remote control vehicle, climbing mechanism, multi-stage grasping mechanism, and cutting mechanism. The remote control is used to remotely control the controller.

[0007] Preferably, the climbing mechanism includes a load-bearing frame and two adjusting frames, which are hinged to both sides of the load-bearing frame. A first servo electric cylinder is hinged between the load-bearing frame and the adjusting frames. A first displacement component is provided inside the load-bearing frame, and a second displacement component is provided inside the adjusting frames. The second displacement component is configured corresponding to the first displacement component.

[0008] Preferably, the first displacement component and the second displacement component have the same structure. The first displacement component includes a housing, a climbing wheel, and a pressure application component. The housing is slidably connected within the support frame, the climbing wheel is rotatably connected within the housing, a first servo motor is connected to the housing, and the first servo motor is driven by the climbing wheel through a reducer. The pressure application component is disposed within the support frame and is driven by the housing.

[0009] Preferably, the pressure application component includes a connecting plate, two tension sensors, and two second servo cylinders. The connecting plate is slidably connected within the support frame. The connecting plate is connected to the housing via multiple telescopic cylinders. Springs are threaded through the telescopic cylinders, with one end of the spring abutting against the housing and the other end abutting against the connecting plate. One end of the tension sensor is connected to the connecting plate via a support rod. The second servo cylinders are connected within the support frame and are connected to the other end of the tension sensor.

[0010] Preferably, the adjustment frame on one side is provided with multiple first limiting cylinders and multiple micro electric cylinders, and the adjustment frame on the other side is provided with multiple second limiting cylinders. The micro electric cylinders are driven by limiting rods. When the micro electric cylinders extend, the limiting rods are connected to the first limiting cylinders and the second limiting cylinders. When the micro electric cylinders retract, the limiting rods are connected to the first limiting cylinders.

[0011] Preferably, the multi-stage gripping mechanism includes a robotic arm, a T-shaped connecting frame, multiple first clamping plates, and multiple second clamping plates. The robotic arm is connected to the climbing mechanism, and the T-shaped connecting frame is connected to the robotic arm. The bottom of the vertical section of the T-shaped connecting frame is provided with an arc-shaped plate. Multiple first clamping plates are arranged and hinged on one side of the vertical section of the T-shaped connecting frame, and multiple second clamping plates are arranged and hinged on the other side of the vertical section of the T-shaped connecting frame. Multiple first clamping arms are integrally provided on the first clamping plates, and multiple second clamping arms are integrally provided on the second clamping plates. The multiple first clamping arms and multiple second clamping arms are staggered. Multiple third servo electric cylinders are hinged between the first clamping plates and the horizontal section of the T-shaped connecting frame, and multiple fourth servo electric cylinders are hinged between the second clamping plates and the horizontal section of the T-shaped connecting frame.

[0012] Preferably, the first clamping plate has a first transmission rod hinged to both ends, and a first pressure sensor is connected to the first transmission rod. The third servo electric cylinder is hinged to the transverse section of the T-shaped connecting frame, and the transmission shaft of the third servo electric cylinder is connected to the first pressure sensor. The second clamping plate has a second transmission rod hinged to both ends, and a second pressure sensor is connected to the second transmission rod. The fourth servo electric cylinder is hinged to the transverse section of the T-shaped connecting frame, and the transmission shaft of the fourth servo electric cylinder is connected to the second pressure sensor.

[0013] Preferably, the cutting mechanism includes a worm gear box and an electric saw. The worm gear box is connected to a T-shaped connecting frame and is driven by a second servo motor. The worm gear box is connected to a turntable, and the electric saw is connected to the turntable.

[0014] Preferably, the load-bearing remote-controlled vehicle has a docking section in the following manner: The load-bearing remote control vehicle has a docking interface. The bottom of the docking interface has a first limiting groove. A first docking block is slidably connected in the first limiting groove. Multiple first buffer springs are connected between the first docking block and the first limiting groove. Multiple limiting holes are opened on the first docking block. Multiple positioning rods are connected to the bottom of the supporting frame. The positioning rods pass through the limiting holes. Second limiting grooves are provided on both sides of the docking interface. A second docking block and a lifting plate are slidably connected in the second limiting groove. Multiple second buffer springs are connected between the second docking block and the lifting plate. Multiple fifth servo electric cylinders are connected through the second limiting groove. The fifth servo electric cylinders are drivenly connected to the lifting plate. The second docking block is used to support and erect the adjustment frame.

[0015] Preferably, a rectangular barrel is connected to the load-bearing remote control vehicle, and a T-shaped frame is slidably connected inside the rectangular barrel. A third buffer spring is connected between the T-shaped frame and the rectangular barrel. The T-shaped frame is used to support and erect the multi-stage grasping mechanism.

[0016] The beneficial effects of this invention are as follows: This invention uses a remote-controlled vehicle to carry and move trees within an artificial forest, reducing damage to the understory vegetation during movement. Through the cooperation of a climbing mechanism, a multi-stage grasping mechanism, and a cutting mechanism, the target trees are gradually cut and decomposed. The cut and decomposed trunks and branches are then placed stably on the ground, preventing the entire tree from falling and damaging nearby trees and understory vegetation, thus achieving high-quality thinning of artificial forests.

[0017] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of this application; Figure 2 This is a schematic diagram of the climbing mechanism structure in this application; Figure 3 This is a schematic diagram of the first displacement component structure of this application; Figure 4 A schematic diagram of the pressure application component structure for this application; Figure 5 This is a schematic diagram of the multi-level grasping mechanism structure of this application; Figure 6 This is a schematic diagram of the T-shaped connector frame in this application; Figure 7 This is a schematic diagram of the structure of the load-bearing remote-controlled vehicle of this application; Marked in the image: The heavy-duty remote control vehicle 1 includes an interface 11, a first limiting groove 12, a first docking block 13, a limiting hole 14, a second limiting groove 15, a second docking block 16, a fifth servo electric cylinder 17, a rectangular barrel 18, and a T-shaped frame 19. Climbing mechanism 2, bearing frame 21, adjusting frame 22, first servo electric cylinder 23, first displacement component 24, housing 241, climbing wheel 242, first servo motor 243, reducer 244, second displacement component 25, pressure application component 26, connecting plate 261, tension sensor 262, second servo electric cylinder 263, telescopic cylinder 264, spring 265, support rod 266, first limiting cylinder 27, miniature electric cylinder 28, second limiting cylinder 29, positioning rod 210; Multi-stage gripping mechanism 3, robotic arm 31, T-shaped connecting frame 32, first clamping plate 33, second clamping plate 34, arc plate 35, first clamping arm 36, second clamping arm 37, third servo electric cylinder 38, fourth servo electric cylinder 39, first transmission rod 310, first pressure sensor 311, second transmission rod 312, second pressure sensor 313. Cutting mechanism 4, worm gear box 41, electric saw 42, second servo motor 43. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0021] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] As per the instruction manual Figure 1 As shown, this embodiment provides a plantation thinning device, including: 1. Load-bearing remote control vehicle; 2. Climbing mechanism; 3. Multi-stage grasping mechanism; 4. Cutting mechanism; and 5. Remote control. The load-bearing remote control vehicle 1 is equipped with a docking part, and the climbing mechanism 2 is detachably connected to the docking part. The climbing mechanism 2 is used to move up and down along the trunk of the tree. The multi-stage gripping mechanism 3 is installed on the climbing mechanism 2. The multi-stage gripping mechanism 3 is used to support the cut trunk or multiple branches. After the climbing mechanism 2 moves downward on the trunk, the multi-stage gripping mechanism 3 places the trunk or multiple branches on the ground. The cutting mechanism 4 is installed on the climbing mechanism 2. The cutting mechanism 4 is used to cut the branches or trunks after the multi-level gripping mechanism 3 has gripped them. The load-bearing remote control vehicle 1 is equipped with a controller. The controller is connected to the load-bearing remote control vehicle 1, the climbing mechanism 2, the multi-stage grasping mechanism 3, and the cutting mechanism 4. The remote control is used to remotely control the controller.

[0023] Understandably, when thinning plantations, workers send control commands to the controller via remote control to move a remote-controlled vehicle 1 towards the target tree. Once the vehicle 1 reaches the target tree, its position is adjusted using the remote control, ensuring the trunk of the target tree is within the joint. Then, through the coordination of the remote control and the controller, workers remotely control a climbing mechanism 2 to climb onto the trunk of the target tree. The climbing mechanism 2 then moves upwards along the trunk. During this upward movement, workers remotely control multiple levels of the climbing mechanism through the coordination of the remote control and the controller. The grasping mechanism 3 performs single-stage grasping of the branches of the target tree, and the cutting mechanism 4 cuts the branches. After multiple single-stage grasping operations by the multi-stage grasping mechanism 3, several branches of the target tree are cut off. Once the grasping capacity of the multi-stage grasping mechanism 3 is saturated, the climbing mechanism 2 carries the multi-stage grasping mechanism 3 and moves it downwards on the main trunk of the target tree. Then, the multi-stage grasping mechanism 3 places the cut branches on the ground. The climbing mechanism 2 then carries the multi-stage grasping mechanism 3 and moves it upwards on the main trunk of the target tree. The multi-stage grasping mechanism 3 performs single-stage grasping of the branches of the target tree, and this process is repeated multiple times until... The larger branches of the target tree are cut off, no longer hindering the upward movement of climbing mechanism 2. Climbing mechanism 2 then moves upward above the main trunk. Multi-stage gripping mechanism 3 grips the portion of the main trunk above climbing mechanism 2 in multiple stages, and cutting mechanism 4 cuts off a portion of the main trunk. After the main trunk of the target tree moves downward, multi-stage gripping mechanism 3 smoothly places the portion of the main trunk on the ground. Climbing mechanism 2 then moves upward on the remaining main trunk, performing multi-stage gripping, cutting, and placement from top to bottom until only a stump remains of the target tree. Climbing mechanism 2 then moves upward from the tree... After the climbing mechanism 2 connects with the docking section at the pile, the staff then uses a remote control to operate the load-bearing remote-controlled vehicle 1 to move towards another target tree. In this technical solution, the load-bearing remote-controlled vehicle 1 carries the tree within the plantation, reducing damage to the understory vegetation structure during movement. Through the cooperation of the climbing mechanism 2, the multi-stage grasping mechanism 3, and the cutting mechanism 4, the target tree is gradually cut and decomposed, and the cut and decomposed trunks and branches are placed stably on the ground, avoiding damage to nearby preserved trees and understory vegetation caused by the entire tree falling over. This achieves high-quality thinning of the plantation.

[0024] It should be noted that the load-bearing remote control vehicle 1 is equipped with a power supply device, which includes either a battery or a generator; the load-bearing remote control vehicle 1 is equipped with an automatic cable reel, and the climbing mechanism 2, the multi-stage gripping mechanism 3 and the cutting mechanism 4 are connected to the power supply device and the controller through multi-strand cables. The multi-strand cables are set inside the automatic cable reel, which is used to wind and unwind the multi-strand cables.

[0025] like Figure 2As shown, the climbing mechanism 2 includes a support frame 21 and two adjustment frames 22. The two adjustment frames 22 are hinged to both sides of the support frame 21. A first servo electric cylinder 23 is hinged between the support frame 21 and the adjustment frames 22. A first displacement component 24 is provided in the support frame 21, and a second displacement component 25 is provided in the adjustment frames 22. The second displacement component 25 is set corresponding to the first displacement component 24.

[0026] Understandably, after the trunk of the target tree is located within the docking section, the staff uses a remote control to retract the first servo cylinder 23, causing the two adjusting frames 22 to deflect. The trunk of the target tree is then positioned between the supporting frame 21 and the two adjusting frames 22. Subsequently, the first displacement component 24 and the second displacement component 25 are finely adjusted so that they are in close contact with the trunk. After the first displacement component 24 and the second displacement component 25 are activated synchronously, they drive the supporting frame 21 and the two adjusting frames 22 to move upward or downward on the trunk. During the movement on the trunk, the first displacement component 24 and the second displacement component 25 adaptively adjust to always maintain a close contact with the trunk, in order to adapt to the diameter and curve changes at different parts of the trunk.

[0027] As per the instruction manual Figure 3 As shown, the first displacement component 24 and the second displacement component 25 have the same structure. The first displacement component 24 includes a housing 241, a climbing wheel 242 and a pressure application component 26. The housing 241 is slidably connected to the support frame 21, and the climbing wheel 242 is rotatably connected to the housing 241. A first servo motor 243 is connected to the housing 241. The first servo motor 243 is driven by the climbing wheel 242 through a reducer 244. The pressure application component 26 is disposed in the support frame 21 and is driven by the housing 241.

[0028] Understandably, after the two adjusting frames 22 deflect so that the trunk of the target tree is positioned between the supporting frame 21 and the two adjusting frames 22, the pressure applying component 26 pushes the housing 241 to slide towards the trunk within the supporting frame 21. The housing 241 drives the climbing wheel 242 to abut against the trunk. After the climbing wheel 242 abuts against the trunk, the pressure applying component 26 continues to apply pressure to the climbing wheel 242 until the pressure applied by the pressure applying component 26 reaches a set value, so that the climbing wheel 242 abuts tightly against the trunk. When moving upward on the trunk, the first servo motor 243 of the first displacement component 24 and the second displacement component 25 rotate counterclockwise synchronously, driven by the reducer 24. 4. After deceleration and torque increase, the climbing wheel 242 is driven to move upward along the main trunk. When moving downward along the main trunk, the first servo motor 243 of the first displacement component 24 and the second displacement component 25 rotate clockwise synchronously. After deceleration and torque increase by the reducer 244, the climbing wheel 242 is driven to move downward along the main trunk. During the upward or downward movement along the main trunk, when the pressure applied by the pressure application component 26 to the climbing wheel 242 decreases, the pressure application component 26 makes corresponding adjustments in real time to adapt to the diameter and curve changes of different parts of the main trunk, so that the climbing wheel 242 and the main trunk always maintain a close contact state to ensure mobility and load-bearing performance.

[0029] As per the instruction manual Figure 4 As shown, the pressure application component 26 includes a connecting plate 261, two tension sensors 262, and two second servo electric cylinders 263. The connecting plate 261 is slidably connected within the support frame 21. The connecting plate 261 is connected to the housing 241 via multiple telescopic cylinders 264. Springs 265 are threaded through the telescopic cylinders 264. One end of the spring 265 abuts against the housing 241, and the other end of the spring 265 abuts against the connecting plate 261. One end of the tension sensor 262 is connected to the connecting plate 261 via a support rod 266. The second servo electric cylinders 263 are connected within the support frame 21, and the other end of the second servo electric cylinders 263 is connected to the tension sensor 262.

[0030] Understandably, when pressure is applied to the climbing wheel 242, the two second servo cylinders 263 retract synchronously within the support frame 21. Through the cooperation of the tension sensor 262 and the support rod 266, the connecting plate 261, via the spring 265, causes the housing 241 to slide towards the main trunk within the support frame 21. After the housing 241 causes the climbing wheel 242 to abut against the main trunk, the two second servo cylinders 263 retract further, causing the telescopic cylinder 264 to shorten between the connecting plate 261 and the housing 241. The spring 265 compresses and contracts between the connecting plate 261 and the housing 241, thereby increasing the pressure applied by the climbing wheel 242 to the main trunk until the tension value monitored by the tension sensor 262 reaches the set range. The second servo cylinder 263 stops retracting; during the upward or downward movement on the main trunk, when the climbing wheel 242 moves through the part of the main trunk where the diameter or curve changes, the spring 265 adaptively extends and retracts between the connecting plate 261 and the housing 241. When the tension value monitored by the tension sensor 262 is less than the set minimum threshold, the two second servo cylinders 263 retract synchronously until the tension value monitored by the pressure sensor returns to the set range; when the tension value monitored by the tension sensor 262 is greater than the set maximum threshold, the two second servo cylinders 263 extend synchronously until the tension value monitored by the pressure sensor returns to the set range, so that the climbing wheel 242 and the main trunk always remain in close contact.

[0031] As per the instruction manual Figure 2 As shown, the adjustment frame 22 on one side is provided with multiple first limiting cylinders 27 and multiple micro electric cylinders 28, and the adjustment frame 22 on the other side is provided with multiple second limiting cylinders 29. The micro electric cylinders 28 are connected to limiting rods. When the micro electric cylinders 28 extend, the limiting rods are connected inside the first limiting cylinders 27 and the second limiting cylinders 29. When the micro electric cylinders 28 retract, the limiting rods are connected inside the first limiting cylinders 27.

[0032] Understandably, after the two adjusting frames 22 are deflected so that the trunk of the target tree is positioned between the supporting frame 21 and the two adjusting frames 22, multiple micro electric cylinders 28 extend, and the limiting rod connects the first limiting cylinder 27 and the second limiting cylinder 29, thereby establishing a stable connection between the two adjusting frames 22, reducing the force on the connection between the adjusting frame 22 and the supporting frame 21 and the first servo electric cylinder 23, improving the load-bearing performance and ensuring service life; after the multiple micro electric cylinders 28 retract, the limiting rod is only connected inside the first limiting cylinder 27, thereby disassembling the connection between the two adjusting frames 22.

[0033] As per the instruction manual Figures 5-6As shown, the multi-stage gripping mechanism 3 includes a robotic arm 31, a T-shaped connecting frame 32, multiple first clamping plates 33, and multiple second clamping plates 34. The robotic arm 31 is connected to the climbing mechanism 2, and the T-shaped connecting frame 32 is connected to the robotic arm 31. The bottom of the vertical section of the T-shaped connecting frame 32 is provided with an arc-shaped plate 35. Multiple first clamping plates 33 are arranged and hinged on one side of the vertical section of the T-shaped connecting frame 32, and multiple second clamping plates 34 are arranged and hinged on the other side of the vertical section of the T-shaped connecting frame 32. Multiple first clamping arms 36 are integrally provided on the first clamping plates 33, and multiple second clamping arms 37 are integrally provided on the second clamping plates 34. The multiple first clamping arms 36 and multiple second clamping arms 37 are staggered. Multiple third servo electric cylinders 38 are hinged between the first clamping plates 33 and the horizontal section of the T-shaped connecting frame 32, and multiple fourth servo electric cylinders 39 are hinged between the second clamping plates 34 and the horizontal section of the T-shaped connecting frame 32.

[0034] Understandably, when cutting branches, after the climbing mechanism 2 moves to a certain height on the trunk, the robotic arm 31 drives the T-shaped connecting frame 32 to move to the branch to be cut. The root of the branch is located inside the arc-shaped plate 35. Then, the innermost first clamping plate 33 and second clamping plate 34, driven by the corresponding third servo cylinder 38 and fourth servo cylinder 39, deflect towards the middle position of the T-shaped connecting frame 32, so that the multiple first clamping arms 36 and multiple second clamping arms 37 located on the innermost side clamp and limit the root of the branch inside the arc-shaped plate 35. Then, the cutting mechanism 4 cuts off the clamped and limited branch. Subsequently, the robotic arm 31 drives the T-shaped connecting frame 32 to move to another branch to be cut. The root of another branch is located between multiple first clamping arms 36 and multiple second clamping arms 37 that clamp and limit the previous branch. The root of the other branch is then clamped and limited by multiple first clamping arms 36 of another first clamping plate 33 and multiple second clamping arms 37 of another second clamping plate 34. Then, the cutting mechanism 4 cuts it off. This process is repeated multiple times until all the multiple first clamping plates 33 and second clamping plates 34 are deflected. The T-shaped connecting frame 32 carries multiple branches. After the main trunk moves downward, the climbing mechanism 2 moves and adjusts the T-shaped connecting frame 32 to face the ground. Then, the multiple first clamping plates 33 and second clamping plates 34 deflect and open from the outside to the inside, placing the multiple branches stably on the ground. When cutting the main trunk, the robotic arm 31 moves the T-shaped connecting frame 32 to the part of the main trunk to be cut. The part of the main trunk to be cut is located inside the arc plate 35. Then, multiple first clamping plates 33 and second clamping plates 34 deflect from the inside to the outside towards the middle position of the T-shaped connecting frame 32, so that the first clamping arms 36 of the multiple first clamping plates 33 and the second clamping arms 37 of the multiple second clamping plates 34 abut against each other. Through the cooperation of multiple first clamping arms 36 and multiple second clamping arms 37, the main trunk inside the arc plate 35 is clamped and limited. Then, the cutting mechanism 4 cuts off the part of the main trunk to be cut.

[0035] As per the instruction manual Figure 6 As shown, the first clamping plate 33 has a first transmission rod 310 hinged to both ends, and a first pressure sensor 311 is connected to the first transmission rod 310. The third servo electric cylinder 38 is hinged to the transverse section of the T-shaped connecting frame 32, and the transmission shaft of the third servo electric cylinder 38 is connected to the first pressure sensor 311. The second clamping plate 34 has a second transmission rod 312 hinged to both ends, and a second pressure sensor 313 is connected to the second transmission rod 312. The fourth servo electric cylinder 39 is hinged to the transverse section of the T-shaped connecting frame 32, and the transmission shaft of the fourth servo electric cylinder 39 is connected to the second pressure sensor 313.

[0036] Understandably, when clamping and limiting the branches or trunk, the third servo cylinder 38 extends, driving the first clamping plate 33 to deflect via the first transmission rod 310. Based on the pressure information fed back by the first pressure sensor 311, the controller controls the extension length of the third servo cylinder 38, ensuring that the multiple first clamping arms 36 on the first clamping plate 33 can effectively apply pressure to the branches or trunk, and preventing any first clamping plate 33 from applying excessive pressure, causing the first clamping arm 36 to break. The fourth servo cylinder 39 extends, driving the second clamping plate 34 to deflect via the second transmission rod 312. Based on the pressure information fed back by the second pressure sensor 313, the controller controls the extension length of the fourth servo cylinder 39, ensuring that the multiple second clamping arms 37 on the second clamping plate 34 can effectively apply pressure to the branches or trunk, and preventing any second clamping plate 34 from applying excessive pressure, causing the second clamping arm 37 to break, thereby ensuring the clamping and limiting effect and ensuring service life.

[0037] like Figure 6 As shown, the cutting mechanism 4 includes a worm gear box 41 and an electric saw 42. The worm gear box 41 is connected to the T-shaped connecting frame 32. The worm gear box 41 is driven by the second servo motor 43. The worm gear box 41 is connected to a turntable, and the electric saw 42 is connected to the turntable.

[0038] Understandably, when cutting branches or trunks, the chainsaw 42 is first started, and then the second servo motor 43 rotates clockwise a set number of times, causing the worm gear box 41 to drive the turntable to slowly rotate clockwise by a set angle. The chainsaw 42 rotates clockwise with the turntable by a set angle. During the clockwise rotation of the chainsaw 42, the clamped and limited branches or trunks are cut. After the cutting is completed, the chainsaw 42 is de-energized, and the second servo motor 43 rotates counterclockwise a set number of times. Through the cooperation of the worm gear and the turntable, the chainsaw 42 is driven to rotate counterclockwise and then reset, ready to cut again.

[0039] As per the instruction manual Figure 3 and Figure 7 As shown, the docking mechanism of the load-bearing remote control vehicle 1 is as follows: The load-bearing remote control vehicle 1 has a docking interface 11. The bottom of the docking interface 11 has a first limiting groove 12. A first docking block 13 is slidably connected in the first limiting groove 12. Multiple first buffer springs are connected between the first docking block 13 and the first limiting groove 12. Multiple limiting holes 14 are opened on the first docking block 13. Multiple positioning rods 210 are connected to the bottom of the supporting frame 21. The positioning rods 210 pass through the limiting holes 14. Second limiting grooves 15 are provided on both sides of the docking interface 11. A second docking block 16 and a lifting plate are slidably connected in the second limiting groove 15. Multiple second buffer springs are connected between the second docking block 16 and the lifting plate. Multiple fifth servo electric cylinders 17 are connected through the second limiting groove 15. The fifth servo electric cylinders 17 are connected to the lifting plate. The second docking block 16 is used to support and erect the adjusting frame 22.

[0040] Understandably, when the climbing mechanism 2 is moved from the load-bearing remote control vehicle 1 to the trunk of the target tree, after the load-bearing remote control vehicle 1 is moved and adjusted, the trunk of the target tree is positioned within the interface 11. Subsequently, multiple fifth servo cylinders 17 retract synchronously, removing the support of the second docking block 16 on the adjustment frame 22. Then, the first servo cylinder 23 is retracted by the remote control, so that after the two adjustment frames 22 are deflected, the trunk of the target tree is positioned between the bearing frame 21 and the two adjustment frames 22. Then, the first displacement component 24 and the second displacement component 25 are finely adjusted so that the first displacement component 24 and the second displacement component 25 are in close contact with the trunk. After the first displacement component 24 and the second displacement component 25 are activated synchronously, they drive the bearing frame 21 and the two adjustment frames 22 to move upward on the trunk. Multiple positioning rods 210 connected to the bottom of the bearing frame 21 are pulled out from multiple limiting holes 14, thereby moving the climbing mechanism 2 from the load-bearing remote control vehicle 1 to the trunk of the target tree. When the climbing mechanism 2 moves from the trunk of the target tree to the load-bearing remote control vehicle 1, after the supporting frame 21 descends to a certain height, multiple positioning rods 210 are inserted into multiple limiting holes 14, multiple fifth servo cylinders 17 extend synchronously, and after the lifting plate slides upward in the second limiting groove 15, the second docking block 16 is exposed from the second limiting groove 15 by the second buffer spring. Then the first servo cylinder 23 retracts so that the two adjusting frames 22 are reset and unfolded. Under the guidance of the positioning rods 210 and the limiting holes 14, the supporting frame 21 falls onto the first docking block 13, and the adjusting frames 22 fall onto the two second docking blocks 16 respectively. Through the cooperation of multiple first buffer springs and multiple second buffer springs, the vibration of the supporting frame 21 and the adjusting frame 22 during the falling process is reduced. During the movement of the load-bearing remote control vehicle 1, the connection between the interface 11 and the positioning rod 210 and the limiting hole 14 restricts the movement of the load-bearing frame 21 and the adjusting frame 22. Through the cooperation of multiple first buffer springs and multiple second buffer springs, the vibration of the load-bearing frame 21 and the adjusting frame 22 during the movement is reduced.

[0041] like Figure 7 As shown, a rectangular barrel 18 is connected to the load-bearing remote control vehicle 1. A T-shaped frame 19 is slidably connected inside the rectangular barrel 18. A third buffer spring is connected between the T-shaped frame 19 and the rectangular barrel 18. The T-shaped frame 19 is used to support and erect the multi-stage gripping mechanism 3.

[0042] Understandably, after the climbing mechanism 2 moves from the trunk of the target tree to the load-bearing remote control vehicle 1, the robotic arm 31 of the multi-stage grasping mechanism 3 adjusts and places the arc plate 35 connected by the T-shaped connecting frame 32 on the transverse section of the T-shaped frame 19. The arc plate 35 and the transverse section of the T-shaped frame 19 are tightly abutted, thereby supporting and limiting the multi-stage grasping mechanism 3 through the T-shaped frame 19. During the movement of the load-bearing remote control vehicle 1, the third buffer spring in the rectangular barrel 18 buffers and reduces vibrations on the T-shaped frame 19. The third buffer spring, together with multiple first buffer springs and multiple second buffer springs, synchronously buffers and reduces vibrations on the climbing mechanism 2 and the multi-stage grasping mechanism 3 to avoid damage during the movement.

[0043] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0044] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A plantation thinning device, characterized in that, include: Heavy-duty remote-controlled vehicle, climbing mechanism, multi-stage grasping mechanism, cutting mechanism and remote control; The load-bearing remote control vehicle is equipped with a docking part, and the climbing mechanism is detachably connected to the docking part. The climbing mechanism is used to move up and down along the trunk of a tree. The multi-stage gripping mechanism is set on the climbing mechanism. The multi-stage gripping mechanism is used to support the cut trunk or multiple branches. After the climbing mechanism moves down on the trunk, the multi-stage gripping mechanism places the trunk or multiple branches on the ground. The cutting mechanism is mounted on the climbing mechanism. The cutting mechanism is used to cut branches or trunks after the multi-stage gripping mechanism has grabbed them. The load-bearing remote control vehicle is equipped with a controller, which is connected to the load-bearing remote control vehicle, climbing mechanism, multi-stage grasping mechanism, and cutting mechanism. The remote control is used to remotely control the controller. The climbing mechanism includes a load-bearing frame and two adjustable frames. The two adjustable frames are hinged to both sides of the load-bearing frame. A first servo electric cylinder is hinged between the load-bearing frame and the adjustable frames. A first displacement component is provided inside the load-bearing frame, and a second displacement component is provided inside the adjustable frames. The second displacement component is set in correspondence with the first displacement component. The first displacement component has the same structure as the second displacement component. The first displacement component includes a housing, a climbing wheel, and a pressure application component. The housing is slidably connected to the bearing frame, the climbing wheel is rotatably connected to the housing, and a first servo motor is connected to the housing. The first servo motor is driven by the climbing wheel through a reducer. The pressure application component is set in the bearing frame and is driven by the housing. The pressure application component includes a connecting plate, two tension sensors, and two second servo electric cylinders. The connecting plate is slidably connected within the support frame. The connecting plate and the housing are connected by multiple telescopic cylinders. Springs are threaded through the telescopic cylinders. One end of the spring abuts against the housing, and the other end of the spring abuts against the connecting plate. One end of the tension sensor is connected to the connecting plate via a support rod. The second servo electric cylinders are connected within the support frame and are connected to the other end of the tension sensor. The multi-stage gripping mechanism includes a robotic arm, a T-shaped connecting frame, multiple first clamping plates, and multiple second clamping plates. The robotic arm is connected to the climbing mechanism, and the T-shaped connecting frame is connected to the robotic arm. The bottom of the vertical section of the T-shaped connecting frame is provided with an arc-shaped plate. Multiple first clamping plates are arranged and hinged on one side of the vertical section of the T-shaped connecting frame, and multiple second clamping plates are arranged and hinged on the other side of the vertical section of the T-shaped connecting frame. Multiple first clamping arms are integrally provided on the first clamping plates, and multiple second clamping arms are integrally provided on the second clamping plates. The multiple first clamping arms and multiple second clamping arms are staggered. Multiple third servo electric cylinders are hinged between the first clamping plates and the horizontal section of the T-shaped connecting frame, and multiple fourth servo electric cylinders are hinged between the second clamping plates and the horizontal section of the T-shaped connecting frame.

2. The artificial forest thinning device according to claim 1, characterized in that, The adjustment frame on one side is equipped with multiple first limiting cylinders and multiple micro electric cylinders, and the adjustment frame on the other side is equipped with multiple second limiting cylinders. The micro electric cylinders are connected to limiting rods. When the micro electric cylinders extend, the limiting rods are connected inside the first and second limiting cylinders. When the micro electric cylinders retract, the limiting rods are connected inside the first limiting cylinders.

3. The artificial forest thinning device according to claim 1, characterized in that, The first clamping plate has a first transmission rod hinged to each end, and a first pressure sensor is connected to the first transmission rod. The third servo electric cylinder is hinged to the transverse section of the T-shaped connecting frame, and the transmission shaft of the third servo electric cylinder is connected to the first pressure sensor. The second clamping plate has a second transmission rod hinged to each end, and a second pressure sensor is connected to the second transmission rod. The fourth servo electric cylinder is hinged to the transverse section of the T-shaped connecting frame, and the transmission shaft of the fourth servo electric cylinder is connected to the second pressure sensor.

4. The artificial forest thinning device according to claim 1, characterized in that, The cutting mechanism includes a worm gear box and an electric saw. The worm gear box is connected to a T-shaped connecting frame and is driven by a second servo motor. The worm gear box is connected to a turntable, and the electric saw is connected to the turntable.

5. The artificial forest thinning device according to claim 1, characterized in that, The docking mechanism for the heavy-duty remote-controlled car is as follows: The load-bearing remote control vehicle has a docking interface. The bottom of the docking interface has a first limiting groove. A first docking block is slidably connected in the first limiting groove. Multiple first buffer springs are connected between the first docking block and the first limiting groove. Multiple limiting holes are opened on the first docking block. Multiple positioning rods are connected to the bottom of the supporting frame. The positioning rods pass through the limiting holes. Second limiting grooves are provided on both sides of the docking interface. A second docking block and a lifting plate are slidably connected in the second limiting groove. Multiple second buffer springs are connected between the second docking block and the lifting plate. Multiple fifth servo electric cylinders are connected through the second limiting groove. The fifth servo electric cylinders are drivenly connected to the lifting plate. The second docking block is used to support and erect the adjustment frame.

6. The artificial forest thinning device according to claim 1, characterized in that, A rectangular barrel is connected to the load-bearing remote control vehicle. A T-shaped frame is slidably connected inside the rectangular barrel. A third buffer spring is connected between the T-shaped frame and the rectangular barrel. The T-shaped frame is used to support and set up the multi-stage gripping mechanism.

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