Amphibious two-arm chain saw cutting device

Abstract

The application provides an amphibious double-arm chain saw cutting device, and relates to the technical field of engineering machinery, which comprises a catamaran type floating box track system, a double-arm chain saw cutting system, a power and hydraulic system, an intelligent control and safety system, and a support and function expansion system, and is characterized in that the catamaran type floating box track system provides an amphibious walking foundation and buoyancy support for the device, and at least comprises a floating box track frame, a sealed track plate, a walking mode switching mechanism and a dynamic buoyancy adjusting mechanism. Compared with the prior art, the device has the following beneficial effects: 1) the floating box track structure and the sealing design enable the device to stably work in water, and the land ground pressure ratio is reduced; 2) the double-arm cutting efficiency is improved, and the device supports multi-task parallel operation in complex terrain; and 3) a load-sensitive hydraulic system and a sensor network realize energy consumption optimization and action precision control.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to an amphibious dual-arm chain saw cutting device. Background Technology

[0002] Traditional excavators perform stably in land operations, but in swamps, wetlands, or shallow water areas, they often sink or overturn due to insufficient ground bearing capacity. While existing amphibious equipment improves buoyancy through floatation structures, it has limited functionality, lacks efficient cutting capabilities, and its single-arm design results in low operating efficiency, making it difficult to meet the demands of complex working conditions.

[0003] Chinese patent CN221778543U discloses a floating tracked excavator, but it lacks an integrated cutting device, and its hydraulic system is not optimized for complex movements, resulting in high energy consumption. Another patent, CN221032591U, discloses a chainsaw cutting machine, but it is only suitable for land use, and its single-arm design cannot achieve multi-angle collaborative operation. Therefore, there is an urgent need for an integrated device with amphibious adaptability, efficient dual-arm cutting, intelligent control, and energy conservation and environmental protection capabilities to achieve efficient, stable, and multifunctional operation in land, swamp, and shallow water environments. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide an amphibious dual-arm chain saw cutting device that can overcome the shortcomings of the prior art by adding targeted structural modules.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: The present invention provides an amphibious dual-arm chain saw cutting device, including a catamaran-type pontoon track system, a dual-arm chain saw cutting system, a power and hydraulic system, an intelligent control and safety system, and a support and functional expansion system. The catamaran-type pontoon track system provides the device with a foundation for amphibious movement and buoyancy support. It includes at least a pontoon track frame, a sealed track plate, a walking mode switching mechanism, and a dynamic buoyancy adjustment mechanism. The sealed track plate is installed around the outer periphery of the pontoon track frame, the walking mode switching mechanism is assembled at the end of the pontoon track frame, and the dynamic buoyancy adjustment mechanism is integrated inside the pontoon track frame.

[0006] The dual-arm chain saw cutting system is used to achieve multi-dimensional cutting operations. It is mounted on the pontoon track frame of the catamaran pontoon track system and includes at least a left chain saw, a right chain saw, and an omnidirectional rotary joint. The omnidirectional rotary joint is mounted at the ends of the left chain saw and the right chain saw, respectively.

[0007] The power and hydraulic system provides power output for the device and is fixedly installed above the pontoon track frame. It includes at least a turbocharged engine, a load-sensitive main pump, and a buoyancy-load linkage control module. The turbocharged engine is driven to the load-sensitive main pump, which is driven to the catamaran pontoon track system's walking mode switching mechanism and the omnidirectional rotating joint of the double-arm chain saw cutting system via hydraulic lines.

[0008] In the preferred embodiment, the intelligent control and safety system is used to realize equipment status monitoring and remote control. It is electrically connected to the power and hydraulic system and includes at least an intelligent remote control device, a track wear monitoring module, a buoy sealing monitoring module, and an anti-interference communication module. The track wear monitoring module is mounted on the side of the traveling device of the catamaran buoy track system, the buoy sealing monitoring module is integrated inside the buoy track frame, and the anti-interference communication module is integrated inside the intelligent remote control device.

[0009] In the preferred embodiment, the support and functional expansion system are used to enhance operational stability and functional expansion. It is mounted below the pontoon track frame and at the end of the dual-arm chain saw cutting system, and includes at least foldable outriggers, multi-functional interfaces and an automatic attitude calibration module. The foldable outriggers are symmetrically installed at the four corners of the bottom of the pontoon track frame, and the multi-functional interfaces are respectively mounted at the ends of the left and right chain saws. The automatic attitude calibration module is electrically connected to the omnidirectional rotary joint.

[0010] In the preferred embodiment, the dynamic buoyancy adjustment mechanism includes at least an auxiliary float, a pressure sensor, and a solenoid valve. The auxiliary float is symmetrically embedded in the cavities on both sides of the float box track frame. The pressure sensor is fixed to the middle of the outer wall of the auxiliary float with bolts. The solenoid valve is fixed to the mounting plate inside the float box track frame with a bracket. The inlet end of the solenoid valve is sealed to the hydraulic oil source of the power and hydraulic system through a high-pressure rubber hose, and the outlet end of the solenoid valve is sealed to the inflation / deflation port of the auxiliary float through a high-pressure rubber hose. The signal output end of the pressure sensor is connected to the signal input end of the intelligent remote control device through a wire, and the control end of the solenoid valve is electrically connected to the control output end of the intelligent remote control device through a wire. This is used to adjust the volume of the auxiliary float in real time according to the water depth signal to adjust the buoyancy.

[0011] In the preferred embodiment, the force-load linkage control module includes at least a linkage controller; the linkage controller is fixed in the control cabinet of the power and hydraulic system by bolts, and its signal input terminal is connected to the pressure sensor signal output terminal of the dynamic buoyancy adjustment mechanism and the pressure sensor signal output terminal of the omnidirectional rotation joint by wires respectively; the control output terminal of the linkage controller is electrically connected to the frequency converter control terminal of the load-sensitive main pump by wires, and is used to dynamically adjust the output flow and pressure of the load-sensitive main pump according to the buoyancy state and the cutting load.

[0012] In the preferred embodiment, the track wear monitoring module includes at least a wear monitoring camera and an image recognition sensor, and the buoy sealing monitoring module includes at least an internal pressure sensor. The wear monitoring camera is fixed to the outer walls of both sides of the traveling device via an L-shaped bracket, with its lens facing the surface of the sealed track plate. The image recognition sensor is fixed to the internal cavity of the intelligent remote control device via bolts. The signal input terminal of the image recognition sensor is connected to the signal output terminal of the wear monitoring camera via a data cable, and the signal output terminal of the image recognition sensor is connected to the signal input terminal of the intelligent remote control device via a data cable. The internal pressure sensor is fixed to the top of the inner wall of each independent sealed compartment of the buoy track frame via threads, and the signal output terminal of the internal pressure sensor is connected to the signal input terminal of the intelligent remote control device via a wire.

[0013] In the preferred embodiment, the anti-interference communication module includes at least a dual-mode communication unit; the dual-mode communication unit is fixed inside the communication cavity of the intelligent remote control device by a snap-fit, and its signal transceiver is connected to the remote control terminal signal through a built-in antenna; the dual-mode communication unit integrates a communication switching module, which is used to automatically switch from the G public network communication mode to the Beidou short message communication mode when the G signal strength is lower than a preset threshold, so as to ensure the continuity of the remote control signal.

[0014] In a preferred embodiment, the automatic attitude calibration module includes at least a dual-axis tilt sensor and a servo driver. The dual-axis tilt sensor is bolted to the outer wall of the left and right chain saws near the omnidirectional rotary joint, and the servo driver is bolted to the drive cavity of the omnidirectional rotary joint. The signal output terminal of the dual-axis tilt sensor is connected to the signal input terminal of the servo driver via a wire, and the control output terminal of the servo driver is electrically connected to the hydraulic motor drive terminal of the omnidirectional rotary joint via a wire, for adjusting the attitude of the chain saw to a preset tilt angle that matches the multi-functional interface adapter tool.

[0015] In the preferred embodiment, the auxiliary float is integrally molded from oil-resistant nitrile rubber, with a nylon fiber reinforcement layer embedded along its length. The dynamic buoyancy adjustment mechanism also includes a manual emergency valve, which is connected in parallel to both ends of the solenoid valve via a high-pressure rubber pipeline. The manual emergency valve is fixed to the outer wall of the float box track frame near the solenoid valve by bolts, and is used to manually adjust the inflation and deflation status of the auxiliary float when the solenoid valve fails.

[0016] In the preferred embodiment, the outer surface of the floating box track frame is sequentially sprayed with epoxy zinc-rich primer and polyurethane topcoat to form a double-layer anti-corrosion coating; the dual-arm chain saw cutting system also includes a micro lubricating oil pump, which is fixed to the arm mounting base of the left and right chain saws by bolts, and its oil outlet is sealed to the oil inlet of the chain saw guide rail through a metal pipeline. The control end of the micro lubricating oil pump is electrically connected to the timer control unit of the intelligent remote control device through a wire.

[0017] This invention provides an amphibious dual-arm chain saw cutting device. Through the cooperation of the above-mentioned structures, it has the following advantages compared with the prior art:

[0018] First, the floating box track structure and sealing design enable the equipment to operate stably in deep water, reducing the land ground pressure.

[0019] Secondly, the dual-arm cutting efficiency is improved, supporting multi-task parallel operation in complex terrain;

[0020] Third, load-sensitive hydraulic systems and sensor networks enable energy consumption optimization and control of motion accuracy. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0022] Figure 1 A schematic diagram of the overall structure of an amphibious dual-arm chain saw cutting device provided by the present invention;

[0023] Figure 2 Cross-sectional view of a catamaran-type pontoon track system;

[0024] Figure 3 This is a schematic diagram of a load-sensitive hydraulic system.

[0025] Figure 4 This is a detailed diagram of the foldable support leg structure.

[0026] The diagram shows: 100 amphibious dual-arm chainsaw cutting device system, 200 walking device, 210 float box track frame, 220 sealed track plate, 230 dynamic buoyancy adjustment mechanism, 231 auxiliary float, 232 pressure sensor, 233 solenoid valve, 234 manual emergency valve, 300 working device, 310 left chain saw arm, 311 left slide rail, 320 right chain saw arm, 321 right slide rail, 330 rotary joint, 340 chainsaw blade, 350 multi-function interface, 400 hydraulic system, 410 turbocharged engine, and load-sensitive main pump. 420, Buoyancy-Load Linkage Control Module; 430, Linkage Controller; 431, Intelligent Remote Control Device; 500, Sensor; 510, All-Angle Camera; 520, Track Wear Monitoring Module; 530, Wear Monitoring Camera; 531, Image Recognition Sensor; 532, Buoyancy Tank Sealing Monitoring Module; 540, Tank Pressure Sensor; 541, Anti-Interference Communication Module; 550, Dual-Mode Communication Unit; 551, Foldable Outriggers; 600, Automatic Attitude Calibration Module; 610, Dual-Axis Tilt Sensor; 611, Servo Driver; 612, Tool Attitude Database; 613. Detailed Implementation

[0027] To make the technical solution, structural features, and effects of the present invention clearer and more explicit, the amphibious dual-arm chain saw cutting device of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that this embodiment is only used to explain the present invention and is not intended to limit its scope of protection. Details not mentioned in the embodiment can be referred to in the prior art or the foregoing description of the present invention.

[0028] Example 1: Overall System Assembly and Basic Function Implementation

[0029] This embodiment corresponds to claim 1, and specifically illustrates the assembly relationship and basic functional implementation details of the catamaran-type pontoon track system, the dual-arm chain saw cutting system, and the power and hydraulic system 400:

[0030] The catamaran-type pontoon track system: The pontoon track frame 210 is welded from 5083 aluminum alloy plates, forming a catamaran-shaped structure, 6.5m long and 3.0m wide. Internally, it is divided into 6 independent sealed compartments along its length, each with a volume of 2.2m³, ensuring overall buoyancy safety. The sealed track plates 220 are made of Q355 steel with a double-layer hollow structure, filled with 30kg / m³ density polyurethane foam. Each track plate is 400mm long, 200mm wide, and 90mm high (accommodating both land-based and water-based movement). The track plates are connected sequentially via pins to form a ring track, which is mounted around the drive and driven rollers on the outer periphery of the pontoon track frame 210. The drive rollers are mounted to the front end of the pontoon track frame 210 via bearings, and the driven rollers are mounted on… At the rear end, the active roller shaft is connected to the hydraulic motor output shaft of the walking mode switching mechanism via a coupling. The walking mode switching mechanism is mounted in the mounting cavities on both sides of the front end of the float track frame 210, including a hydraulic cylinder, a connecting rod assembly, and a limit block. The cylinder barrel of the hydraulic cylinder is fixed to the inner wall of the mounting cavity by bolts, and the end of the piston rod is hinged to the active roller shaft seat. The active roller moves up and down by extending and retracting the hydraulic cylinder: in land mode, the hydraulic cylinder extends to lower the active roller, and the sealing track plate 220 is in contact with the ground; in water mode, the hydraulic cylinder retracts to raise the active roller, and the track plate is tilted at a 30° angle to meet the needs of water propulsion. The auxiliary float 231 of the dynamic buoyancy adjustment mechanism 230 is embedded in the dedicated cavities on both sides of the float track frame 210. The cavities are sealed by sealing covers to prevent the float from shifting.

[0031] The dual-arm chain saw cutting system consists of a left chain saw 310 and a right chain saw 320 symmetrically mounted on the frame beam above the floating box track frame 210. The frame beam is fixedly connected to the flange at the top of the floating box track frame 210 by high-strength bolts. The arm of each chain saw is made of three reinforced rectangular steel pipes, with each section being 5m long and the total length being 15m. The sections are connected by 42CrMo pins with nitrided surfaces. The omnidirectional rotating joint 330 is fixed to the ends of the left chain saw 310 and the right chain saw 320 by flanges. The joint is equipped with a hydraulic motor, a reduction gear set, and a pressure sensor. The pressure sensor is threaded onto the force-bearing surface at the output end of the joint to detect the cutting load in real time.

[0032] Power and Hydraulic System 400: The turbocharged engine 410 is a 6-cylinder diesel engine (model: WP6.220E61) that meets the China VI emission standard, with a rated power of 220kW. It is connected to the load-sensitive main pump 420 (model: A4VSO250) via a flexible coupling. Both are fixed in the power compartment above the float track frame 210 by shock-absorbing pads. The oil outlet of the load-sensitive main pump 420 is connected to the hydraulic cylinder of the travel mode switching mechanism and the hydraulic motor of the omnidirectional rotating joint 330 via high-pressure hydraulic lines. The lines are equipped with pressure compensation valves and proportional reversing valves to achieve dynamic flow distribution. The linkage controller 431 of the buoyancy-load linkage control module 430 is installed in the control cabinet in the power compartment. It establishes signal and control connections with each sensor and actuator through wires to ensure that the power output matches the load requirements.

[0033] Example 2: Assembly and Functional Implementation of Intelligent Control and Safety System

[0034] This embodiment corresponds to claim 2, and details the installation position, connection relationship and function implementation of each module of the intelligent control and safety system: The core control unit of the intelligent control and safety system is the intelligent remote control device 500 (model: TCU-800), which is fixed to the operating platform above the floating box track frame 210 by a bracket. The operating platform is equipped with a waterproof cover. The intelligent remote control device 500 is electrically connected to the control cabinet of the power and hydraulic system 400 through a shielded wire to realize data interaction and control command transmission.

[0035] Track wear monitoring module 530: Wear monitoring camera 531 (model: IPC-620) is fixed to the outer walls of both sides of the walking device 200 by an L-shaped stainless steel bracket. The lens faces the surface of the sealed track plate 220, and the distance between the center of the lens and the surface of the track plate is 300mm, ensuring that the shooting range covers 2-3 adjacent track plates. The camera housing has an IP68 waterproof rating, the lens surface is coated with an anti-fog coating, the resolution is 1080P, the frame rate is 30fps, and it is connected to the image recognition sensor 532 inside the intelligent remote control device 500 via a network cable (CAT5e). The image recognition sensor 532 is model VIS-300, with a built-in ARM Cortex-A9 processor. The image recognition sensor is fixed to the internal mounting cavity of the intelligent remote control device 500 by bolts and is used to analyze the wear of the rubber teeth of the track plates.

[0036] Floating pod sealing monitoring module 540: The internal pressure sensor 541 is fixed to the top corner of the inner wall of each independent sealed pod of the floating pod track frame 210 via an M12 thread (away from the hatch to avoid water ingress). One sensor is installed in each sealed pod. The signal output end of the sensor is passed through a wire groove inside the floating pod track frame 210 via two core wires. The signal is then connected to the signal input end of the intelligent remote control device 500 to monitor the internal pressure in real time to determine the sealing status.

[0037] Anti-interference communication module 550: Dual-mode communication unit 551 is fixed inside the communication cavity of the intelligent remote control device 500 by plastic clips. The communication cavity is equipped with a metal shielding layer to prevent electromagnetic interference. The signal transceiver of dual-mode communication unit 551 is connected to the built-in antenna and connects to the remote control terminal (model: RTU-100) wirelessly. It supports 5G public network communication and Beidou short message communication to ensure continuous remote control signal in complex electromagnetic environments.

[0038] Among them, the dual-mode communication unit 551 is model COM-5GBD, which integrates a 5G Sub-6GHz module and a Beidou dual-frequency module.

[0039] Example 3: Assembly and Function Implementation of the Support and Functional Expansion System

[0040] This embodiment corresponds to claim 3, illustrating the installation details and functional compatibility of the bracket and various components of the functional expansion system:

[0041] Foldable outriggers 600: Four sets of foldable outriggers are symmetrically installed at the four corners of the bottom of the floating box track frame 210. Each set of outriggers includes a hydraulic cylinder (model: HSG125×800), a folding link, and a triangular gripping plate. The cylinder barrel of the hydraulic cylinder is hinged to the lug at the bottom of the floating box track frame 210 through a pin. The end of the piston rod is hinged to one end of the folding link, and the other end of the folding link is fixedly connected to the gripping plate. When the outriggers are retracted, the hydraulic cylinders retract, and the gripping plate fits against the bottom of the floating box track frame 210. When working on soft ground, the hydraulic cylinders extend, and the gripping plate embeds into the ground to improve the stability of the equipment.

[0042] Multi-functional Interface 350: Adopts ISO13031 standard quick-change connector, which is fixed to the end flange of the left chain arm saw 310 and the right chain arm saw 320 respectively by bolts. The interface has built-in positioning pin and hydraulic oil passage, which supports quick replacement of rock drill head (model: DR-200), hydraulic grab bucket (model: GD-300) or rock breaker (model: BC-400) without disassembling the pipeline.

[0043] Automatic posture calibration module 610: Electrically connected to omnidirectional rotary joint 330 via wires, the module's control signal is directly transmitted to the joint's hydraulic motor drive unit; Dual-axis tilt sensor 611 is installed on the outer wall of the chain saw in a flat area near the omnidirectional rotary joint 330 (away from the vibration source), and servo driver 612 (model: SD-1.5kW) is fixed in the drive cavity of the omnidirectional rotary joint 330, receiving the tilt sensor signal via wires, driving the hydraulic motor in the joint to adjust the chain arm posture, ensuring tool adaptation accuracy.

[0044] Example 4: Detailed Structure and Working Principle of Dynamic Buoyancy Adjustment Mechanism

[0045] This embodiment corresponds to claim 4, refining the assembly and functional implementation of each component of the dynamic buoyancy adjustment mechanism 230: The auxiliary float 231 of the dynamic buoyancy adjustment mechanism 230 is integrally molded from oil-resistant nitrile rubber and symmetrically embedded in the rectangular cavities on both sides of the float box track frame 210. A 3mm thick rubber buffer layer is pasted on the inner wall of the cavity to prevent the float from being damaged by friction with the metal wall; the pressure sensor 232 (model: MPX5700) is fixed to the middle of the outer wall of the auxiliary float 231 by M6 hexagonal bolts, and the sensor probe is in contact with the float wall to detect the air pressure inside the bladder in real time (corresponding to the buoyancy magnitude); the solenoid valve 233 (model: 4V210-08, two-position three-way valve) is fixed to the mounting plate inside the float box track frame 210 by an L-shaped bracket, and its inlet end is connected to the hydraulic system 400 via a high-pressure rubber pipeline. The oil source (low-pressure oil after depressurization) is sealed, and the outlet end is sealed to the inflation / deflation port (with quick connector) of the auxiliary float 231 via a high-pressure rubber hose of the same specification. The signal output end of the pressure sensor 232 is connected to the analog signal input end of the intelligent remote control device 500 via a two-core shielded wire, and the control end of the solenoid valve 233 is connected to the relay output end of the intelligent remote control device 500 via a wire. The intelligent remote control device 500 receives the water depth signal from the water level sensor (installed at the bottom of the front end of the float track frame 210, model: LS-100). When the water depth increases from 0.5m to 1.2m, the solenoid valve 233 is energized, and the hydraulic oil source inflates the auxiliary float 231 to ensure that the equipment's draft is stable within a safe range. When the water depth decreases, the solenoid valve 233 is de-energized and switched to the venting position to release the gas in the bladder and reduce buoyancy.

[0046] Example 5: Structure and Functional Implementation of Buoyancy-Load Linkage Control Module

[0047] This embodiment corresponds to claim 5, and details the assembly and linkage logic of the buoyancy-load linkage control module 430: The linkage controller 431 of the buoyancy-load linkage control module 430 is a PLC controller (model: S7-1200CPU1214C), which is fixed to the middle shelf of the control cabinet of the power and hydraulic system 400 by M4 bolts. The control cabinet is equipped with a cooling fan to ensure that the controller's operating temperature is ≤50℃; the signal input terminal of the linkage controller 431 is connected to the signal output terminal of the pressure sensor 232 of the dynamic buoyancy adjustment mechanism 230 and the pressure sensor (model: PT124) of the omnidirectional rotation joint 330 through shielded wires (specification: RVVP2×0.5mm²). The signal output terminal of G-111 is connected to collect buoyancy status (intracavitary pressure) and cutting load (joint pressure) data in real time. The control output terminal of the linkage controller 431 is connected to the control terminal of the vector frequency converter (model: VFD037B43A) of the load-sensitive main pump 420 through a wire. The frequency converter is electrically connected to the main pump motor. When the pressure sensor of the omnidirectional rotating joint 330 detects an increase in cutting load and the pressure sensor 232 shows sufficient buoyancy, the linkage controller 431 calculates through the built-in PID algorithm and sends a command to the frequency converter to increase the speed of the main pump motor and the output flow of the main pump to ensure sufficient cutting power. If the buoyancy is insufficient, the output flow of the main pump is reduced to prevent the equipment from tilting.

[0048] Example 6: Specific Implementation of Track Wear Monitoring and Floating Tank Sealing Monitoring

[0049] This embodiment corresponds to claim 6, and refines the structure and function of the track wear monitoring module 530 and the floating hull sealing monitoring module 540:

[0050] Track wear monitoring module 530: The L-shaped bracket of the wear monitoring camera 531 is made of 304 stainless steel and is fixed to the outer walls of both sides of the walking device 200 by M8 expansion bolts. The height of the bracket is adjustable to ensure that the lens axis is at a 45° angle to the surface of the track plate. The image recognition sensor 532 has a built-in track plate wear threshold database. It extracts the contour features of the rubber teeth of the track plate through image recognition algorithm and calculates the wear amount. When the height of the rubber teeth is detected to decrease, the image recognition sensor 532 sends an alarm signal to the intelligent remote control device 500 to trigger an audible and visual alarm.

[0051] The floating hull sealing monitoring module 540: The internal pressure sensor 541 is installed at the corner of the top of the inner wall of the sealed hull near the center of the hull. The sensor cable is led out through a waterproof connector on the hull wall to prevent seawater or rainwater from seeping in. The sensor has a preset pressure judgment threshold. Based on the standard atmospheric pressure, a pressure 10 kPa lower than the benchmark is judged as a leak. When a sealed hull leaks due to a crack in the weld, the internal pressure drops from 101 kPa to 90 kPa. The sensor sends a leak signal to the intelligent remote control device 500. The display screen of the intelligent remote control device 500 simultaneously displays the number of the leaking hull (e.g., "Hull 1 leak") and triggers a first-level audible and visual alarm (yellow indicator light flashes and the buzzer sounds intermittently).

[0052] Example 7: Structure and Switching Logic of Anti-interference Communication Module

[0053] This embodiment corresponds to claim 7, detailing the composition and communication guarantee mechanism of the anti-interference communication module 550: The dual-mode communication unit 551 of the anti-interference communication module 550 integrates a 5G module (frequency band: N41 / N78 / N79) and a Beidou short message module (supporting BDSB1I / B2I dual frequency), which is fixed to the communication cavity inside the intelligent remote control device 500 by plastic clips. The communication cavity is separated from other cavities by a metal partition to prevent internal electromagnetic interference. The dual-mode communication unit 551 has a built-in communication switching module that detects the 5G signal strength in real time: when the 5G signal strength is enhanced, 5G public network communication is used to transmit real-time data such as equipment attitude and cutting parameters; when the 5G signal strength is interfered with, the switching module automatically disconnects the 5G connection and starts Beidou short message communication to transmit key control commands (such as start / stop, emergency stop) through Beidou satellites to ensure uninterrupted remote control; the maximum control distance of the dual-mode communication unit 551 in an unobstructed environment meets the needs of remote operation in dangerous areas.

[0054] Example 8: Workflow and Structural Details of the Automatic Attitude Calibration Module

[0055] This embodiment corresponds to claim 8, illustrating the assembly and calibration logic of the automatic attitude calibration module 610: The dual-axis tilt sensor 611 of the automatic attitude calibration module 610 is fixed to the outer walls of the left chain arm saw 310 and the right chain arm saw 320 by M4 bolts. The sensor housing has an IP67 waterproof rating, suitable for humid working environments; the servo driver 612 is fixed to the drive cavity of the omnidirectional rotary joint 330 by bolts and is electrically connected to the drive end of the hydraulic motor (model: A6VM107) inside the joint; the storage unit of the intelligent remote control device 500 contains pre-... The multi-function interface 350 is used to adapt to the tool's preset tilt angle parameters. When the tool is replaced with a hydraulic grab bucket via the multi-function interface 350, the dual-axis tilt sensor 611 detects that the current chain arm saw tilt angle is 18°, which deviates from the preset parameters. The sensor sends an adjustment signal to the servo driver 612. The servo driver 612 drives the hydraulic motor to rotate, which in turn drives the omnidirectional rotary joint 330 to adjust the pitch. The dual-axis tilt sensor 611 provides real-time feedback on the tilt angle change. When the tilt angle reaches 30°, the servo driver 612 stops driving, the calibration is completed, and the grab bucket posture is adapted to the operation requirements.

[0056] Example 9: Structural Design of Auxiliary Float and Manual Emergency Valve

[0057] This embodiment corresponds to claim 9, refining the material, structure, and emergency function of the auxiliary float 231 and the manual emergency valve 234: The auxiliary float 231 is made of oil-resistant nitrile rubber, possessing seawater corrosion resistance, and has two layers of nylon fiber reinforcement embedded along its length to enhance its tear resistance; the float's inflation / deflation port is equipped with a one-way valve to prevent gas backflow; the manual emergency valve 234 is a brass ball valve, model Q11F-16T, specification DN10, connected in parallel between the inlet and outlet of the solenoid valve 233 via a high-pressure rubber pipeline; the manual emergency valve 234 is fixed to the outer wall of the float box track frame 210 with M6 bolts for easy operation by the operator standing; when the solenoid valve 233 fails to operate due to a circuit fault, the operator can manually rotate the valve handle for easy gripping: clockwise rotation closes the valve, cutting off the inflation / deflation passage; counterclockwise rotation opens the valve, manually controlling the inflation / deflation of the auxiliary float 231 to ensure uninterrupted buoyancy adjustment function.

[0058] Example 10: Structure and Function of Anti-corrosion Coating and Miniature Lubricating Oil Pump

[0059] This embodiment corresponds to claim 10, detailing the anti-corrosion coating of the pontoon track frame 210 and the lubrication structure of the double-arm chain saw cutting system: the outer surface of the pontoon track frame 210 is pretreated by sandblasting (rust removal grade Sa2.5), followed by sequential spraying of epoxy zinc-rich primer and polyurethane topcoat to form a double-layer anti-corrosion coating; after salt spray testing (GB / T10125-2021 standard), there is no rust or peeling after 2000 hours, adapting to humid and corrosive environments such as coastal and inland rivers; the miniature lubricating oil pump (model: PML-10) of the double-arm chain saw cutting system is... The oil pump is fixed to the boom mounting base of the left chain saw 310 and the right chain saw 320 with M4 bolts. The oil inlet of the oil pump is connected to the lithium-based grease tank (1L capacity, fixed to the side of the boom) through a hose. The oil outlet is connected to the oil filling port of the chainsaw guide rail (with a one-way valve to prevent backflow of lubricating oil) through a brass pipe. The control end of the micro lubricating oil pump is connected to the timer control unit of the intelligent remote control device 500 through a wire. The timer control unit is preset to start the oil pump once every 2 hours of operation, injecting 5mL of oil each time to ensure sufficient lubrication between the chainsaw guide rail and the chain and extend the service life of the chain.

[0060] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0061] Furthermore, the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are for distinguishing similar objects and are limited to descriptive purposes. They should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features, nor are they necessarily used to describe a specific order or sequence. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. It should be understood that such data can be interchanged where appropriate for the embodiments of the invention described herein.

[0062] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] To enable those skilled in the art to better understand the present invention, the above embodiments are merely preferred technical solutions and should not be considered as limitations on the present invention. The scope of protection of the present invention should be defined by the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. An amphibious dual-arm chain saw cutting device, comprising a catamaran-type pontoon track system, a dual-arm chain saw cutting system, a power and hydraulic system (400), an intelligent control and safety system, and a support and functional expansion system, characterized in that, The catamaran-type pontoon track system provides the device with a foundation for water and land movement and buoyancy support. It includes at least a pontoon track frame (210), a sealed track plate (220), a walking mode switching mechanism, and a dynamic buoyancy adjustment mechanism (230). The sealed track plate (220) is installed around the outer periphery of the pontoon track frame (210), the walking mode switching mechanism is mounted at the end of the pontoon track frame (210), and the dynamic buoyancy adjustment mechanism (230) is integrated inside the pontoon track frame (210). The dual-arm chain saw cutting system is used to achieve multi-dimensional cutting operations. It is mounted on the pontoon track frame (210) of the catamaran pontoon track system and includes at least a left chain saw (310), a right chain saw (320) and an omnidirectional rotary joint (330). The omnidirectional rotary joint (330) is mounted at the ends of the left chain saw (310) and the right chain saw (320), respectively. The power and hydraulic system (400) provides power output for the device and is fixedly installed above the pontoon track frame (210). It includes at least a turbocharged engine (410), a load-sensitive main pump (420), and a buoyancy-load linkage control module (430). The turbocharged engine (410) is connected to the load-sensitive main pump (420) through hydraulic lines. The load-sensitive main pump (420) is connected to the walking mode switching mechanism of the catamaran pontoon track system and the omnidirectional rotating joint (330) of the double-arm chain saw cutting system through hydraulic lines. The dynamic buoyancy adjustment mechanism (230) includes at least an auxiliary float (231), a pressure sensor (232), and a solenoid valve (233). The auxiliary float (231) is symmetrically embedded in the cavities on both sides of the float box track frame (210). The pressure sensor (232) is fixed to the middle of the outer wall of the auxiliary float (231) by bolts. The solenoid valve (233) is fixed to the mounting plate inside the float box track frame (210) by a bracket. The inlet end of the solenoid valve (233) is connected to the power supply and control system via a high-pressure rubber hose. The hydraulic oil source of the hydraulic system (400) is sealed and connected. The outlet end of the solenoid valve (233) is sealed and connected to the inflation / deflation port of the auxiliary float (231) through a high-pressure rubber hose. The signal output end of the pressure sensor (232) is connected to the signal input end of the intelligent remote control device (500) through a wire. The control end of the solenoid valve (233) is electrically connected to the control output end of the intelligent remote control device (500) through a wire. This is used to adjust the volume of the auxiliary float (231) in real time according to the water depth signal to adjust the buoyancy.

2. The amphibious dual-arm chain saw cutting device according to claim 1, characterized in that, The intelligent control and safety system is used to realize equipment status monitoring and remote control. It is electrically connected to the power and hydraulic system (400) and includes at least an intelligent remote control device (500), a track wear monitoring module (530), a buoy sealing monitoring module (540), and an anti-interference communication module (550). The track wear monitoring module (530) is mounted on the side of the walking device (200) of the catamaran buoy track system. The buoy sealing monitoring module (540) is integrated inside the buoy track frame (210). The anti-interference communication module (550) is integrated inside the intelligent remote control device (500).

3. The amphibious dual-arm chain saw cutting device according to claim 1, characterized in that, The support and functional expansion system is used to enhance operational stability and functional expansion. It is mounted below the float track frame (210) and at the end of the dual-arm chain saw cutting system. It includes at least a foldable outrigger (600), a multi-function interface (350), and an automatic attitude calibration module (610). The foldable outrigger (600) is symmetrically installed at the four corners of the bottom of the float track frame (210). The multi-function interface (350) is respectively mounted at the end of the left chain saw (310) and the right chain saw (320). The automatic attitude calibration module (610) is electrically connected to the omnidirectional rotary joint (330).

4. The amphibious dual-arm chain saw cutting device according to claim 1, characterized in that, The force-load linkage control module (430) includes at least a linkage controller (431); the linkage controller (431) is fixed in the control cabinet of the power and hydraulic system (400) by bolts, and its signal input terminal is connected to the signal output terminal of the pressure sensor (232) of the dynamic buoyancy adjustment mechanism (230) and the signal output terminal of the pressure sensor of the omnidirectional rotating joint (330) by wires respectively; the control output terminal of the linkage controller (431) is electrically connected to the frequency converter control terminal of the load-sensitive main pump (420) by wires, and is used to dynamically adjust the output flow and pressure of the load-sensitive main pump (420) according to the buoyancy state and the cutting load.

5. The amphibious dual-arm chain saw cutting device according to claim 1, characterized in that, The track wear monitoring module (530) includes at least a wear monitoring camera (531) and an image recognition sensor (532), and the buoy sealing monitoring module (540) includes at least an internal pressure sensor (541). The wear monitoring camera (531) is fixed to the outer walls of both sides of the walking device (200) by an L-shaped bracket, with its lens facing the surface of the sealed track plate (220). The image recognition sensor (532) is fixed to the internal cavity of the intelligent remote control device (500) by bolts. The signal input terminal of the image recognition sensor (532) is connected to the signal output terminal of the wear monitoring camera (531) by a data cable. The signal output terminal of the image recognition sensor (532) is connected to the signal input terminal of the intelligent remote control device (500) by a data cable. The internal pressure sensor (541) is fixed to the top of the inner wall of each independent sealed compartment of the buoy track frame (210) by threads. The signal output terminal of the internal pressure sensor (541) is connected to the signal input terminal of the intelligent remote control device (500) by a wire.

6. The amphibious dual-arm chain saw cutting device according to claim 1, characterized in that, The anti-interference communication module (550) includes at least a dual-mode communication unit (551); the dual-mode communication unit (551) is fixed in the communication cavity inside the intelligent remote control device (500) by a snap-fit, and its signal transceiver is connected to the remote control terminal signal through a built-in antenna; the dual-mode communication unit (551) integrates a communication switching module, which is used to automatically switch from 5G public network communication mode to Beidou short message communication mode when the 5G signal strength is lower than a preset threshold, so as to ensure the continuity of remote control signal.

7. The amphibious dual-arm chain saw cutting device according to claim 1, characterized in that, The attitude automatic calibration module (610) includes at least a dual-axis tilt sensor (611) and a servo driver (612). The dual-axis tilt sensor (611) is fixed to the outer wall of the left chain saw (310) and the right chain saw (320) near the omnidirectional rotary joint (330) by bolts. The servo driver (612) is fixed to the drive cavity of the omnidirectional rotary joint (330) by bolts. The signal output end of the dual-axis tilt sensor (611) is connected to the signal input end of the servo driver (612) by wires. The control output end of the servo driver (612) is electrically connected to the hydraulic motor drive end of the omnidirectional rotary joint (330) by wires, which is used to adjust the attitude of the chain saw to a preset tilt angle that matches the adapter tool of the multi-function interface (350).

8. The amphibious dual-arm chain saw cutting device according to claim 1, characterized in that, The auxiliary float (231) is integrally molded from oil-resistant nitrile rubber, and a nylon fiber reinforcement layer is embedded in its interior along the length direction. The dynamic buoyancy adjustment mechanism (230) also includes a manual emergency valve (234). The manual emergency valve (234) is connected in parallel to both ends of the solenoid valve (233) through a high-pressure rubber pipeline. The manual emergency valve (234) is fixed to the outer wall of the float box track frame (210) near the solenoid valve (233) by bolts. It is used to manually adjust the inflation and deflation status of the auxiliary float (231) when the solenoid valve (233) fails.

9. The amphibious dual-arm chain saw cutting device according to claim 1, characterized in that, The outer surface of the floating box track frame (210) is sequentially sprayed with epoxy zinc-rich primer and polyurethane topcoat to form a double-layer anti-corrosion coating; the double-arm chain saw cutting system also includes a micro lubricating oil pump, which is fixed to the arm mounting base of the left chain saw (310) and the right chain saw (320) by bolts. Its oil outlet is sealed to the oil inlet of the chain saw guide rail through a metal pipeline. The control end of the micro lubricating oil pump is electrically connected to the timing control unit of the intelligent remote control device (500) through a wire.

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