Manipulator loading type material crushing vehicle and loading and crushing method

Abstract

The invention relates to the technical field of material crushing vehicles, and particularly discloses a mechanical arm loading type material crushing vehicle and a loading crushing method.The mechanical arm loading type material crushing vehicle comprises a transport vehicle and a mechanical arm, the mechanical arm is rotationally arranged on the transport vehicle, a box is arranged on the transport vehicle and located on one side of the mechanical arm, and a clamping assembly is rotationally arranged at the end of the mechanical arm; a feeding bin is arranged above the box body, a bin body door is hinged to the upper portion of the feeding bin, a discharging door is hinged to the side wall of the box body, and a smashing mechanism is arranged in the box body; the mechanical arm on the transport vehicle is started to be close to branches needing to be treated, at the moment, the clamping assembly can clamp and cut off the branches, the bin door is opened, the clamped branches are put into the feeding bin, the smashing mechanism in the box body can smash the thrown-in branches with various particle sizes, and the smashing efficiency is improved. And therefore, different use or treatment requirements are met, and crushed branch chippings can be conveniently discharged through a discharging door.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material crushing vehicles, in particular to a mechanical hand loading type material crushing vehicle and a loading crushing method. BACKGROUND

[0002] The mechanical hand loading type material crushing vehicle is a mobile special-purpose work vehicle integrating material grabbing, conveying and crushing functions, which is mainly applied to fields requiring on-site collection and instant crushing of materials with large dispersion and irregular shapes, such as municipal landscaping, forestry tending, orchard pruning and disaster site cleaning, etc. In the direction of sanitation branch processing, the vehicle can directly drive to the work point, replace human work with the vehicle-mounted mechanical hand, complete the grabbing and loading of pruned or fallen branches, and then crush them in the vehicle. The wood chips and crushed materials produced after crushing can be used as organic mulch, garden substrate, biomass fuel or raw material for artificial board, etc. for resource utilization, realizing the reduction and resource utilization of waste.

[0003] In the prior art, the mobile crushing equipment for processing branches and other materials usually integrates a crushing system on a truck or trailer chassis, which typically includes a hydraulic grab or simple clamp for grabbing and carrying branches, a feed bin connected behind the grab for receiving and temporarily storing the materials, and a crushing main machine connected with the outlet of the feed bin, which is internally provided with hammer heads, blades or rollers as crushing components, driven by the vehicle engine or an independent motor to cut, impact and grind the branches into crushed materials. These structures are mainly rigidly connected and installed through hydraulic pipelines, mechanical transmission devices and steel structures to form a sequential work flow line.

[0004] For the related technology in the above, since the crushing main machine is only provided with a single mode of crushing components and a fixed power output mode, it can only produce branch powder with a specific particle size range, and may not be able to flexibly and accurately adjust the crushing particle size according to the diversified resource utilization needs, so that most of the crushed materials can only be landfilled or simply covered with low value, resulting in low resource conversion efficiency. At the same time, when facing branches of different tree species, different water content or different thickness, the crushing machine with fixed parameters is prone to problems such as efficiency fluctuation, increased energy consumption, even blockage or increased wear, poor adaptability and economy, and therefore needs to be improved. SUMMARY

[0005] To solve the above-mentioned problems, the present application provides a mechanical hand loading type material crushing vehicle and a loading crushing method.

[0006] The mechanical hand loading type material crushing vehicle and the loading crushing method provided by the present application adopt the following technical solutions: The utility model provides a kind of mechanical hand loading type material crushing vehicle, including transport vehicle and mechanical arm, the mechanical arm is rotationally arranged on the transport vehicle, box is provided on the transport vehicle, and it is located in the side of the mechanical arm, the end of the mechanical arm is rotationally arranged with the clamping assembly for clamping and cutting off branch, the upper portion of the box is provided with feed bin, the upper portion of the feed bin is hingedly connected with bin door, the sidewall of the box is hingedly connected with discharge door, the box is provided with the crushing mechanism for crushing branch in multiple particle sizes.

[0007] By adopting the above technical scheme, the mechanical arm on the transport vehicle is started to be close to the branch to be treated, at this time, the clamping assembly in the application can clamp and cut off the branch, the bin door is opened and the clamped branch is put into the feed bin, the crushing mechanism in the box can crush the input branch into multiple particle sizes, thereby meeting different use or processing requirements, and the discharge door facilitates the discharge of the crushed branch debris.

[0008] Optionally, the clamping assembly includes a first jaw, a second jaw, a first cylinder, a second cylinder and a cutting member, the first jaw and the second jaw are rotationally arranged at the end of the mechanical arm away from the transport vehicle and symmetrically arranged with each other, the first cylinder and the second cylinder are rotationally arranged at the end of the mechanical arm close to the first jaw, the extension end of the first cylinder is rotationally connected with the first jaw, the extension end of the second cylinder is rotationally connected with the second jaw, and the cutting member is arranged at the end of the mechanical arm close to the first jaw for cutting the clamped branch.

[0009] By adopting the above technical scheme, the first cylinder and the second cylinder are started, and the extension ends of the first cylinder and the second cylinder move to drive the first jaw and the second jaw to rotate around their rotation points, respectively, and the first jaw and the second jaw cooperate with each other to realize the clamping or loosening action of the branch, and the first jaw and the second jaw can also stably clamp branches of different thicknesses.

[0010] Optionally, the cutting member includes a first driving motor and a cutting saw, and the end of the mechanical arm close to the first jaw is provided with a mounting box, the first driving motor is arranged in the mounting box, and the cutting saw is arranged on the output end of the first driving motor.

[0011] By adopting the above technical scheme, when the branch needs to be cut off, the cutting saw is started first, and then the first driving motor is started, the output end of the first driving motor rotates to drive the cutting saw to rotate, thereby realizing rapid and effective cutting of the clamped branch.

[0012] Optionally, the crushing mechanism comprises a crushing cylinder, a crushing box, a support seat, a second driving motor, a first crushing roller, a second crushing roller, a first gear, a second gear, a fine powder assembly and an adjusting assembly, two groups of the support seat are symmetrically arranged, the two groups of the support seat are arranged on the inner bottom wall of the box body, the crushing cylinder is arranged at the upper end of the two groups of the support seat, the crushing box is arranged at the lower end of the feeding bin and communicates with the crushing cylinder, and the second driving motor is arranged on the side wall of the crushing box; The first crushing roller and the second crushing roller are rotationally arranged on the inner side wall of the crushing box and are used for preliminarily crushing branches, one end of the first crushing roller is fixedly connected with the output end of the second driving motor, the first gear is arranged at one end of the first crushing roller away from the second driving motor, the second gear is arranged at one end of the second crushing roller away from the second driving motor, and the first gear and the second gear are meshed with each other, and the fine powder assembly and the adjusting assembly are arranged in the crushing cylinder and are respectively used for twice crushing of the preliminarily crushed branches and crushing of the branches into a plurality of particle sizes.

[0013] By adopting the above technical scheme, the second driving motor is started, the output end of the second driving motor drives the first crushing roller to rotate, the first crushing roller drives the first gear to rotate, the first gear drives the second gear to rotate, and the second gear drives the second crushing roller to rotate in the opposite direction, so as to realize preliminary extrusion and shearing crushing of the branches falling into the crushing box.

[0014] Optionally, the fine powder assembly comprises a third driving motor, a third crushing roller, a fourth crushing roller, a rotating cylinder, a third gear, a fourth gear, a first crushing tooth group, a second crushing tooth group and a third crushing tooth group, the third driving motor is arranged on the side wall of the crushing cylinder, the third crushing roller and the fourth crushing roller are rotationally arranged on the inner side wall of the crushing cylinder and are used for twice crushing of the branches, one end of the third crushing roller is fixedly connected with the output end of the third driving motor, two groups of the rotating cylinder are symmetrically arranged, and the two groups of the rotating cylinder are respectively arranged at the end of the third crushing roller and the fourth crushing roller away from the third driving motor and are rotationally arranged on the side wall of the crushing cylinder away from the third driving motor; The third gear is sleeved on the rotating cylinder at one end of the third crushing roller, the fourth gear is sleeved on the rotating cylinder at one end of the fourth crushing roller, the third gear and the fourth gear are meshed with each other, and two groups of the first crushing tooth group, two groups of the second crushing tooth group and two groups of the third crushing tooth group are symmetrically arranged, the two groups of the first crushing tooth group, the two groups of the second crushing tooth group and the two groups of the third crushing tooth group are respectively arranged on the circumferential wall of the third crushing roller and the fourth crushing roller and penetrate the circumferential wall of the third crushing roller and the fourth crushing roller.

[0015] By adopting the technical scheme, the third driving motor is started, the output end of the third driving motor rotates to drive the third crushing roller to rotate, the third crushing roller rotates to drive the rotating cylinder at the end of the third crushing roller and the third gear to rotate, the third gear rotates to drive the fourth gear and the rotating cylinder at the end of the fourth crushing roller to rotate, the rotating cylinder at the end of the fourth crushing roller rotates to drive the fourth crushing roller to rotate reversely, and the first, second and third crushing tooth groups installed on the circumferential wall of the third and fourth crushing rollers can protrude from the surface of the roller body, so that the branches are ground and sheared, and secondary crushing is realized.

[0016] Optionally, the adjusting assembly comprises a first stepping motor, a second stepping motor, rotating shafts and adjusting gears, the first stepping motor is arranged at the end of the rotating cylinder of the third crushing roller away from the end of the third driving motor, the second stepping motor is arranged at the end of the rotating cylinder of the fourth crushing roller away from the end of the third driving motor, the two groups of rotating shafts are symmetrically arranged, one end of the two groups of rotating shafts is fixedly connected with the output ends of the first and second stepping motors respectively, the other end is rotatably arranged on the side wall of the crushing cylinder, and the two groups of rotating shafts are rotatably arranged in the two groups of rotating cylinders respectively, and the adjusting gears are arranged in multiple groups, the multiple groups of adjusting gears are arranged on the outer circumferential wall of the two groups of rotating shafts in a sleeved manner, and are used for adjusting the lifting of the two groups of first, second and third crushing tooth groups.

[0017] By adopting the technical scheme, when the crushing particle size of the branches needs to be adjusted, the first and second stepping motors are started synchronously, the output ends of the first and second stepping motors rotate to drive the rotating shafts fixedly connected thereto to rotate, the two groups of rotating shafts rotate to drive the multiple groups of adjusting gears sleeved on the two groups of rotating shafts to rotate, when the adjusting gears rotate by a certain angle, the first crushing tooth group rises, when the adjusting gears rotate by a certain angle again, the second crushing tooth group rises, and when the adjusting gears rotate by a certain angle again, the third crushing tooth group rises, so that the crushing particle size of the branches is adjusted by controlling the lifting number of the crushing tooth groups, the crushing particle size of the branches is accurately and diversely controlled, in addition, when only coarse crushing is needed, the three groups of tooth groups can be completely lowered, the third crushing roller and the fourth crushing roller are similar to the smooth roller for extrusion, a low-wear crushing mode is realized, and the service life of the core cutter is greatly prolonged.

[0018] Optionally, a fourth driving motor is arranged on the side wall of the crushing cylinder away from the third driving motor, a fifth gear is arranged on the output end of the fourth driving motor, a gear ring is rotatably arranged on the inner side wall of the crushing cylinder away from the third driving motor and is in mesh with the fifth gear, and a rotating ring is rotatably arranged on the inner side wall of the crushing cylinder close to the third driving motor.

[0019] By adopting the above technical scheme, the fourth driving motor is started, the output end of the fourth driving motor rotates to drive the fifth gear to rotate, the fifth gear rotates to drive the gear ring to rotate, the rotation of the gear ring drives the multiple groups of conveying plates connected thereto to make spiral motion in the crushing cylinder, the rotating ring rotates with the gear ring and the conveying plates, and the rotation of the conveying plates can continuously and uniformly convey the crushed materials accumulated at one end of the crushing cylinder to the other end, and re-lift and scatter the crushed materials to the upper side of the third crushing roller and the fourth crushing roller, so as to form internal circulation crushing, improve the overall crushing efficiency and crushing uniformity of single feeding, optimize the space utilization and energy utilization rate of the equipment, prevent material accumulation, ensure the continuity of the crushing process and the smoothness of the discharging, and smooth the impact of the feeding fluctuation on the third crushing roller and the fourth crushing roller, so that the whole system runs more stably.

[0020] Optionally, an electric telescopic rod is arranged on the side wall between the second driving motor and the first gear of the crushing box, a sliding groove is formed in the side wall of the crushing box adjacent to the electric telescopic rod, a baffle is slidably arranged in the sliding groove, and one end of the baffle close to the second driving motor is fixedly connected with the telescopic end of the electric telescopic rod.

[0021] By adopting the above technical scheme, before the branches enter the feeding bin, the electric telescopic rod is started, the telescopic end of the electric telescopic rod moves to drive the baffle to linearly slide in the sliding groove and abut against the side wall of the crushing box away from the second driving motor, so as to completely isolate the channel between the crushing box and the feeding bin, prevent the branches from directly contacting the first crushing roller and the second crushing roller below, avoid the first crushing roller and the second crushing roller from pulling the first clamping jaw and the second clamping jaw when pulling the branches, and further prevent the pulling of the mechanical arm, thereby improving the operation safety; in addition, by controlling the electric telescopic rod, the position of the baffle in the sliding groove can be flexibly adjusted, so as to control the size of the opening between the bottom of the feeding bin and the crushing box below, which realizes the adjustment of the flow of the branches and prevents overloading or matches the processing speed of different crushing stages.

[0022] Optionally, an output box for outputting the crushed branches is arranged at the end of the crushing cylinder away from the third driving motor, and a fan is arranged on the side wall of the output box near the end of the crushing cylinder.

[0023] By using the above technical scheme, the fan is started, the fan generates airflow and enters the output box, the airflow can assist in quickly blowing out the crushed light material through the output box, accelerating the discharging process, preventing the discharge port from being blocked, and the inclined output box structure is beneficial to the sliding of the material under the joint action of gravity and wind force.

[0024] The application also includes a mechanical hand loading type material crushing method, comprising the following steps: S1: the mechanical arm rotates and positions, the first cylinder and the second cylinder are started, the first cylinder and the second cylinder drive the first jaw and the second jaw to clamp the branches, then the first driving motor and the cutting saw are started, the clamped branches are cut off, and the mechanical arm moves the branches to the feeding bin; S2: the second driving motor is started to drive the first crushing roller, and the second crushing roller is driven to rotate in the opposite direction through the meshing of the first gear and the second gear, the branches are preliminarily crushed, and then the branches fall into the crushing cylinder, the third driving motor drives the third crushing roller, and the fourth crushing roller is driven to rotate in the opposite direction through the meshing of the third gear and the fourth gear, and the first crushing tooth group, the second crushing tooth group and the third crushing tooth group are used to crush the material twice; S3: the first stepping motor and the second stepping motor are started to respectively drive the two groups of rotating shafts to rotate, the multiple groups of adjusting teeth sleeved on the rotating shafts rotate, the first crushing tooth group, the second crushing tooth group and the third crushing tooth group are accurately controlled to sequentially rise in the peripheral wall of the third crushing roller and the fourth crushing roller, so as to adjust the number of crushing tooth groups between the two rollers, and realize crushing of different particle sizes; S4: the fourth driving motor is started, the gear ring is driven to rotate through the fifth gear, and multiple groups of conveying plates connected between the gear ring and the rotating ring are driven to spiral, the material in the crushing cylinder is lifted and scattered above the third crushing roller and the fourth crushing roller, internal circulation crushing is formed, and finally the material is conveyed into the inclined output box and blown out by the airflow generated by the fan.

[0025] In summary, the application includes at least one of the following beneficial technical effects: 1. The adjustment component in this application can crush branches into various particle sizes. When it is necessary to adjust the crushed particle size of the branches, the first stepper motor and the second stepper motor are started simultaneously. The rotation of the output ends of the first stepper motor and the second stepper motor can drive the rotating shafts fixedly connected to them to rotate. The rotation of the two sets of rotating shafts can drive the multiple sets of adjustment teeth sleeved on the two sets of rotating shafts to rotate with the shafts. When the adjustment teeth rotate a certain angle, the first crushing tooth group rises. After the adjustment teeth rotate a certain angle again, the second crushing tooth group rises. After the adjustment teeth rotate a certain angle again, the third crushing tooth group rises. Thus, by controlling the number of rising and falling groups of the crushing tooth group, the crushed particle size of the branches can be adjusted, realizing precise and diversified control of the crushed particle size of the branches. In addition, when only coarse crushing is required, the three sets of teeth can be completely lowered, so that the third crushing roller and the fourth crushing roller are close to the smooth roller extrusion, realizing a low-wear crushing mode and greatly extending the life of the core cutter. 2. The conveyor plate in this application can convey the crushed branches. When the fourth drive motor is started, the output end of the fourth drive motor rotates, which drives the fifth gear to rotate. The rotation of the fifth gear drives the gear ring to rotate. The rotation of the gear ring drives the multiple sets of conveyor plates connected to it to make a spiral motion in the crushing cylinder. The rotating ring rotates with the rotation of the gear ring and the conveyor plate. The rotation of the conveyor plate can continuously and evenly convey the crushed material accumulated at one end of the crushing cylinder to the other end, and lift the crushed material again and throw it above the third and fourth crushing rollers to form internal circulation crushing. This improves the overall crushing efficiency and crushing uniformity of a single feeding, optimizes the space utilization and energy utilization rate inside the equipment, and can also prevent material accumulation, ensure the continuity of the crushing process and smooth discharge. In addition, when the feed increases instantaneously, the excess material can be temporarily stored at the bottom of the crushing cylinder and gradually circulated for processing. When the feeding is stopped, the stored material continues to be circulated and crushed until the standard is met. This smooths the impact of the feed fluctuation on the third and fourth crushing rollers, making the entire system run more smoothly. 3. The crushing mechanism and conveyor plate in this application can effectively crush vine-like plants with high moisture content and easy entanglement. When crushing vine-like plants with high moisture content and easy entanglement, the forced combing and cutting of the first crushing roller and the second crushing roller, the high-density shearing mode of the adjustable tooth group, and the dynamic spraying and drying of the circulating conveyor plate work together to form a progressive processing closed loop of "combing-drying-re-shearing". This not only destroys the entanglement of the material from the source, but also continuously reduces its adhesion through the circulation process, thereby transforming the working condition that is very likely to cause roller entanglement and blockage into a regular operation that can be continuously, stably, and safely operated. 4. The electric telescopic rod and baffle in this application can isolate the channel between the crushing box and the feeding hopper. Before the branches enter the feeding hopper, the electric telescopic rod is activated. The telescopic end of the electric telescopic rod moves, causing the baffle to slide linearly in the sliding groove and abut against the side wall of the crushing box away from the second drive motor. This completely isolates the channel between the crushing box and the feeding hopper, preventing the branches from directly contacting the first and second crushing rollers below. This avoids the first and second crushing rollers pulling the branches and pulling the first and second grippers, thus preventing the mechanical arm from being pulled and improving operational safety. In addition, by controlling the electric telescopic rod, the position of the baffle in the sliding groove can be flexibly adjusted, thereby controlling the size of the opening connecting the bottom of the feeding hopper and the crushing box below. This achieves the regulation of the branch flow rate, preventing overload or matching the processing speed of different crushing stages. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application; Figure 2 yes Figure 1 Partial structural diagram; Figure 3 yes Figure 1 Another part of the structural diagram; Figure 4 yes Figure 3 Cross-sectional structural diagram of part of the structure; Figure 5 yes Figure 4 A partial structural diagram.

[0028] Reference numerals: 1. Box body; 11. Feed hopper; 12. Hopper door; 13. Discharge door; 2. Clamping assembly; 21. First gripper; 22. Second gripper; 23. First cylinder; 24. Second cylinder; 25. Mounting box; 26. First drive motor; 27. Cutting saw; 3. Crushing mechanism; 31. Crushing cylinder; 32. Crushing box; 33. Support base; 34. Second drive motor; 35. First crushing roller; 36. Second crushing roller; 37. First gear; 38. Second gear; 4. Fine powder assembly; 41. Third drive motor ; 42. Third crushing roller; 43. Fourth crushing roller; 44. Rotating cylinder; 45. Third gear; 46. Fourth gear; 47. First crushing tooth group; 48. Second crushing tooth group; 49. Third crushing tooth group; 5. Adjusting component; 51. First stepper motor; 52. Second stepper motor; 53. Rotating shaft; 54. Adjusting tooth; 6. Fourth drive motor; 61. Fifth gear; 62. Gear ring; 63. Rotating ring; 64. Conveying plate; 7. Electric telescopic rod; 71. Sliding groove; 72. Baffle; 8. Output box; 81. Fan. Detailed Implementation

[0029] The following is in conjunction with the appendix Figures 1-5 This application will be described in further detail.

[0030] This application discloses a robotic arm-loaded material crushing vehicle, referring to... Figure 1 , Figure 2 and Figure 4 A robotic arm-loaded material crushing vehicle includes a transport vehicle and a robotic arm. The robotic arm is rotatably mounted on the transport vehicle. A housing 1 is fixedly mounted on the transport vehicle and located on one side of the robotic arm. A clamping assembly 2 is rotatably mounted at the end of the robotic arm. A feeding hopper 11 is fixedly mounted on the top of the housing 1. A hopper door 12 is hinged to the top of the feeding hopper 11. A discharge door 13 is hinged to the side wall of the housing 1. A crushing mechanism 3 is installed inside the housing 1.

[0031] The robotic arm on the transport vehicle is activated and brought close to the branch that needs to be processed. At this time, the clamping component 2 in this embodiment can clamp and cut the branch. The hopper door 12 is opened and the clamped branch is put into the feeding hopper 11. The crushing mechanism 3 in the hopper 1 can crush the input branch into various particle sizes to meet different use or processing needs. The discharge door 13 facilitates the discharge of crushed branch debris. In this embodiment, the side wall of the box 1 near the robotic arm is symmetrically provided with a manual filling port and a discharge port. Both the manual filling port and the discharge port are equipped with mesh doors. A crusher is installed at the manual filling port. When manual crushing is required, the mesh doors on both sides are opened and the crusher is started. Workers can fill the small branches scattered on the ground through the manual filling port, crush them by the crusher, and finally discharge them through the discharge port, thereby facilitating the crushing of small branches scattered on the ground.

[0032] Reference Figure 1 In order to stably grip the tree branch, the gripping component 2 in this embodiment includes a first gripper 21, a second gripper 22, a first cylinder 23, a second cylinder 24, and a cutting component. The first gripper 21 and the second gripper 22 are both rotatably mounted on the end of the robotic arm away from the transport vehicle and are symmetrically arranged. The first cylinder 23 and the second cylinder 24 are both rotatably mounted on the end of the robotic arm near the first gripper 21, and the extension end of the first cylinder 23 is rotatably connected to the first gripper 21. The extension end of the second cylinder 24 is rotatably connected to the second gripper 22. The cutting component is mounted on the end of the robotic arm near the first gripper 21.

[0033] The first cylinder 23 and the second cylinder 24 are started. The extension and retraction ends of the first cylinder 23 and the second cylinder 24 move respectively, driving the first gripper 21 and the second gripper 22 to rotate around their rotation points. The first gripper 21 and the second gripper 22 cooperate with each other to achieve the action of clamping or releasing the tree branch. The first gripper 21 and the second gripper 22 can also stably clamp tree branches of different thicknesses.

[0034] Reference Figure 1 Since the tree branch needs to be cut after being clamped, the cutting component in this embodiment includes a first drive motor 26 and a cutting saw 27. The end of the robotic arm near the first gripper 21 is fixedly installed with a mounting box 25. The first drive motor 26 is bolted into the mounting box 25, and the cutting saw 27 is fixedly installed on the output end of the first drive motor 26.

[0035] When it is necessary to cut branches, the cutting saw 27 is started first, and then the first drive motor 26 is started. The output end of the first drive motor 26 rotates, driving the cutting saw 27 to rotate, thereby quickly and effectively cutting off the clamped branches.

[0036] Reference Figure 2 , Figure 3 and Figure 4The crushing mechanism 3 in this embodiment includes a crushing cylinder 31, a crushing box 32, a support base 33, a second drive motor 34, a first crushing roller 35, a second crushing roller 36, a first gear 37, a second gear 38, a fine powder assembly 4, and an adjustment assembly 5. Two sets of support bases 33 are symmetrically arranged, and both sets of support bases 33 are welded to the inner bottom wall of the box body 1. The crushing cylinder 31 is fixedly installed on the upper end of the two sets of support bases 33. The crushing box 32 is fixedly installed on the lower end of the feed hopper 11 and communicates with the crushing cylinder 31. The second drive motor 34 is bolted to the side wall of the crushing box 32. The first crushing roller 35 and the second crushing roller 36 are both rotatably mounted on the inner side wall of the crushing box 32. One end of the first crushing roller 35 is fixedly connected to the output end of the second drive motor 34. The first gear 37 is welded to the end of the first crushing roller 35 away from the second drive motor 34, and the second gear 38 is welded to the end of the second crushing roller 36 away from the second drive motor 34. The first gear 37 and the second gear 38 mesh with each other. The fine powder assembly 4 and the adjusting assembly 5 are both installed inside the crushing cylinder 31.

[0037] The second drive motor 34 is started, and the output end of the second drive motor 34 rotates, driving the first crushing roller 35 to rotate. The rotation of the first crushing roller 35 drives the first gear 37 to rotate, the rotation of the first gear 37 drives the second gear 38 to rotate, and the rotation of the second gear 38 drives the second crushing roller 36 to rotate in the opposite direction, thereby realizing the initial compression and shearing of the branches falling into the crushing box 32.

[0038] Reference Figure 2 , Figure 3 and Figure 4 In order to fully crush the branches, the fine powder assembly 4 in this embodiment includes a third drive motor 41, a third crushing roller 42, a fourth crushing roller 43, a rotating cylinder 44, a third gear 45, a fourth gear 46, a first crushing tooth group 47, a second crushing tooth group 48, and a third crushing tooth group 49. The third drive motor 41 is bolted to the side wall of the crushing cylinder 31. The third crushing roller 42 and the fourth crushing roller 43 are rotatably mounted on the inner side wall of the crushing cylinder 31. One end of the third crushing roller 42 is fixedly connected to the output end of the third drive motor 41. Two sets of rotating cylinders 44 are symmetrically arranged. The two sets of rotating cylinders 44 are respectively welded to the ends of the third crushing roller 42 and the fourth crushing roller 43 away from the third drive motor 41, and are rotatably mounted on the side wall of the crushing cylinder 31 away from the third drive motor 41. The third gear 45 is sleeved on the rotating cylinder 44 at one end of the third crushing roller 42, and the fourth gear 46 is sleeved on the rotating cylinder 44 at one end of the fourth crushing roller 43. The third gear 45 and the fourth gear 46 mesh with each other. Two sets of the first crushing tooth group 47, the second crushing tooth group 48 and the third crushing tooth group 49 are symmetrically arranged. The two sets of the first crushing tooth group 47, the two sets of the second crushing tooth group 48 and the two sets of the third crushing tooth group 49 are respectively lifted and installed on the peripheral walls of the third crushing roller 42 and the fourth crushing roller 43, and all of them penetrate the peripheral walls of the third crushing roller 42 and the fourth crushing roller 43.

[0039] The third drive motor 41 is started, and the output end of the third drive motor 41 rotates, driving the third crushing roller 42 to rotate. The rotation of the third crushing roller 42 drives the rotating cylinder 44 and the third gear 45 at its end to rotate. The rotation of the third gear 45 drives the fourth gear 46 and the rotating cylinder 44 at the end of the fourth crushing roller 43 to rotate. The rotation of the rotating cylinder 44 at the end of the fourth crushing roller 43 drives the fourth crushing roller 43 to rotate in the opposite direction. The first crushing tooth group 47, the second crushing tooth group 48 and the third crushing tooth group 49, which are installed on the peripheral walls of the third crushing roller 42 and the fourth crushing roller 43, can protrude from the roller surface, thereby grinding and shearing the branches to achieve secondary crushing.

[0040] Reference Figure 3 , Figure 4 and Figure 5 In order to crush branches into different particle sizes, the adjustment component 5 in this embodiment includes a first stepper motor 51, a second stepper motor 52, a rotating shaft 53, and an adjustment tooth 54. The first stepper motor 51 is bolted to the end of the rotating cylinder 44 at one end of the third crushing roller 42 away from the third drive motor 41. The second stepper motor 52 is bolted to the end of the rotating cylinder 44 at one end of the fourth crushing roller 43 away from the third drive motor 41. Two sets of rotating shafts 53 are symmetrically arranged. One end of each set of rotating shafts 53 is fixedly connected to the output end of the first stepper motor 51 and the second stepper motor 52, respectively. The other end is rotatably mounted on the side wall of the crushing cylinder 31. The two sets of rotating shafts 53 are rotatably mounted inside the two sets of rotating cylinders 44. Multiple sets of adjustment teeth 54 are provided, and the multiple sets of adjustment teeth 54 are spaced and sleeved on the outer peripheral wall of the two sets of rotating shafts 53.

[0041] When it is necessary to adjust the particle size of the crushed branches, the first stepper motor 51 and the second stepper motor 52 are started simultaneously. The rotation of the output ends of the first stepper motor 51 and the second stepper motor 52 can drive the rotating shaft 53 fixedly connected to them to rotate. The rotation of the two sets of rotating shafts 53 can drive the multiple sets of adjusting teeth 54 sleeved on the two sets of rotating shafts 53 to rotate with the shafts. When the adjusting teeth 54 rotates a certain angle, the first crushing tooth group 47 rises. After the adjusting teeth 54 rotates a certain angle again, the second crushing tooth group 48 rises. After the adjusting teeth 54 rotates a certain angle again, the third crushing tooth group 49 rises. Thus, by controlling the number of rising and falling groups of crushing tooth groups, the particle size of the crushed branches can be adjusted, realizing precise and diversified control of the particle size of the crushed branches. In addition, when only coarse crushing is required, all three sets of teeth can be lowered completely, so that the third crushing roller 42 and the fourth crushing roller 43 are close to the smooth roller extrusion, realizing a low-wear crushing mode and greatly extending the life of the core cutter.

[0042] Reference Figure 4 and Figure 5 In this embodiment, a fourth drive motor 6 is bolted to the side wall of the crushing cylinder 31 at the end away from the third drive motor 41. A fifth gear 61 is welded to the output end of the fourth drive motor 6. A gear ring 62 is rotatably mounted on the inner side wall of the crushing cylinder 31 at the end away from the third drive motor 41 and meshes with the fifth gear 61. A rotating ring 63 is rotatably mounted on the inner side wall of the crushing cylinder 31 at the end close to the third drive motor 41. Multiple sets of conveying plates 64 are spirally installed between the rotating ring 63 and the gear ring 62.

[0043] The fourth drive motor 6 is started. The output end of the fourth drive motor 6 rotates, driving the fifth gear 61 to rotate. The rotation of the fifth gear 61 drives the gear ring 62 to rotate. The rotation of the gear ring 62 drives the multiple sets of conveyor plates 64 connected to it to make a spiral motion inside the crushing cylinder 31. The rotating ring 63 rotates with the rotation of the gear ring 62 and the conveyor plates 64. The rotation of the conveyor plates 64 can continuously and evenly convey the crushed material accumulated at one end of the crushing cylinder 31 to the other end, and lift the crushed material again and throw it onto the third crushing roller 42 and the fourth crushing roller 43. Above 3, an internal circulating crushing system is formed, which improves the overall crushing efficiency and uniformity of a single feeding, optimizes the space utilization and energy utilization rate inside the equipment, prevents material accumulation, and ensures the continuity of the crushing process and smooth discharge. In addition, when the feed increases instantaneously, the excess material can be temporarily stored at the bottom of the crushing cylinder 31 and gradually circulated for processing. When the feed is paused, the stored material continues to be circulated and crushed until the standard is met. This smooths the impact of feed fluctuations on the third crushing roller 42 and the fourth crushing roller 43, making the entire system run more smoothly.

[0044] Reference Figure 2 and Figure 4When the branches are conveyed into the feed hopper 11, the first crushing roller 35 and the second crushing roller 36 may indirectly pull the first gripper 21, the second gripper 22 and the robotic arm when they pull the branches. Therefore, in this embodiment, an electric telescopic rod 7 is fixedly installed on the side wall between the second drive motor 34 and the first gear 37 of the crushing box 32. A sliding groove 71 is opened on the side wall adjacent to the electric telescopic rod 7 of the crushing box 32. A baffle 72 is slidably installed in the sliding groove 71. The end of the baffle 72 near the second drive motor 34 is fixedly connected to the telescopic end of the electric telescopic rod 7.

[0045] Before the branches enter the feed hopper 11, the electric telescopic rod 7 is activated. The telescopic end of the electric telescopic rod 7 moves, causing the baffle 72 to slide linearly within the sliding groove 71 and abut against the side wall of the crushing box 32 away from the second drive motor 34. This completely isolates the channel between the crushing box 32 and the feed hopper 11, preventing the branches from directly contacting the first crushing roller 35 and the second crushing roller 36 below. This avoids the first crushing roller 35 and the second crushing roller 36 pulling the branches and pulling the first gripper 21 and the second gripper 22, thus preventing the robotic arm from being pulled and improving operational safety. In addition, by controlling the electric telescopic rod 7, the position of the baffle 72 in the sliding groove 71 can be flexibly adjusted, thereby controlling the size of the opening connecting the bottom of the feed hopper 11 to the crushing box 32 below. This allows for the regulation of the branch flow rate, preventing overload or matching the processing speed of different crushing stages.

[0046] Reference Figure 3 To prevent the crushed branches from clogging the discharge port, in this embodiment of the application, the end of the crushing cylinder 31 away from the third drive motor 41 is inclined and fixedly installed with an output box 8. A fan 81 is bolted to the side wall of the output box 8 near the end of the crushing cylinder 31. When the fan 81 is started, the fan 81 generates airflow and enters the output box 8. The airflow can help to quickly blow the crushed light material out through the output box 8, accelerate the discharge process, prevent the discharge port from being blocked, and the inclined structure of the output box 8 is conducive to the material sliding out under the combined action of gravity and wind.

[0047] This application also discloses a robotic arm-loaded material crushing method, comprising the following steps: S1: The robotic arm rotates and positions itself, and starts the first cylinder 23 and the second cylinder 24. The first cylinder 23 and the second cylinder 24 drive the first gripper 21 and the second gripper 22 to clamp the branch. Then, the first drive motor 26 and the cutting saw 27 are started to cut the clamped branch. The robotic arm then moves the branch to the feed hopper 11. S2: Start the second drive motor 34 to drive the first crushing roller 35, and drive the second crushing roller 36 to rotate in the opposite direction through the meshing of the first gear 37 and the second gear 38 to initially crush the branches. The branches then fall into the crushing cylinder 31, where the third drive motor 41 drives the third crushing roller 42, and then drives the fourth crushing roller 43 to rotate in the opposite direction through the meshing of the third gear 45 and the fourth gear 46. The material is then subjected to secondary fine crushing using the first crushing tooth group 47, the second crushing tooth group 48 and the third crushing tooth group 49. S3: Start the first stepper motor 51 and the second stepper motor 52 to drive the two sets of rotating shafts 53 to rotate. The multiple sets of adjusting teeth 54 sleeved on the rotating shafts 53 rotate, and precisely control the first crushing tooth group 47, the second crushing tooth group 48 and the third crushing tooth group 49 to rise sequentially in the periphery of the third crushing roller 42 and the fourth crushing roller 43, thereby adjusting the number of crushing tooth groups between the two rollers to achieve crushing of different particle sizes. S4: Start the fourth drive motor 6, which drives the gear ring 62 to rotate through the fifth gear 61. This drives the multiple sets of conveying plates 64 connected between the gear ring 62 and the rotating ring 63 to perform spiral motion, lifting the material in the crushing cylinder 31 back up and throwing it above the third crushing roller 42 and the fourth crushing roller 43 to form an internal circulation crushing. Finally, the material is conveyed to the inclined output box 8, where it is assisted by the airflow generated by the fan 81 to complete the discharge.

[0048] The implementation principle of the robotic arm-loaded material crushing vehicle and the loading and crushing method in this application embodiment is as follows: When it is necessary to adjust the particle size of the crushed branches, the first stepper motor 51 and the second stepper motor 52 are started simultaneously. The rotation of the output ends of the first stepper motor 51 and the second stepper motor 52 can drive the rotating shaft 53 fixedly connected to them to rotate. The rotation of the two sets of rotating shafts 53 can drive the multiple sets of adjusting teeth 54 sleeved on the two sets of rotating shafts 53 to rotate with the shafts. When the adjusting teeth 54 rotates a certain angle, the first crushing tooth group 47 rises. After the adjusting teeth 54 rotates a certain angle again, the second crushing tooth group 48 rises. After the adjusting teeth 54 rotates a certain angle again, the third crushing tooth group 49 rises. Thus, the particle size of the crushed branches can be adjusted by controlling the number of rising and falling groups of the crushing tooth group. The fourth drive motor 6 is started. The output end of the fourth drive motor 6 rotates, which drives the fifth gear 61 to rotate. The rotation of the fifth gear 61 drives the gear ring 62 and the multiple sets of conveying plates 64 connected to the gear ring 62 to make spiral motion in the crushing cylinder 31. The rotating ring 63 rotates with the rotation of the gear ring 62 and the conveying plates 64. The rotation of the conveying plates 64 can continuously and evenly convey the crushed material accumulated at one end of the crushing cylinder 31 to the other end, and lift the crushed material again and throw it above the third crushing roller 42 and the fourth crushing roller 43 to form internal circulation crushing. It can also prevent material accumulation and ensure the continuity of the crushing process and smooth discharge. Before the branches enter the feed hopper 11, the electric telescopic rod 7 is activated. The telescopic end of the electric telescopic rod 7 moves, causing the baffle 72 to slide linearly within the sliding groove 71 and abut against the side wall of the crushing box 32 away from the second drive motor 34. This completely isolates the channel between the crushing box 32 and the feed hopper 11, preventing the branches from directly contacting the first crushing roller 35 and the second crushing roller 36 below. This avoids the first crushing roller 35 and the second crushing roller 36 pulling the branches and pulling the first gripper 21 and the second gripper 22, thus preventing the robotic arm from being pulled and improving operational safety. In addition, by controlling the electric telescopic rod 7, the position of the baffle 72 in the sliding groove 71 can be flexibly adjusted, thereby controlling the size of the opening connecting the bottom of the feed hopper 11 to the crushing box 32 below. This allows for the regulation of the branch flow rate, preventing overload or matching the processing speed of different crushing stages.

[0049] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," "third," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "a" or "an," and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising," "including," and similar terms mean that the elements or objects preceding "comprising" encompass the elements or objects listed following "comprising" or "including," and their equivalents, but do not exclude other elements or objects. "Above," "below," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0050] The above are all optional embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robotic arm-loaded material crushing vehicle, comprising a transport vehicle and a robotic arm, wherein the robotic arm is rotatably mounted on the transport vehicle, characterized in that: The transport vehicle is equipped with a box (1) located on one side of the robotic arm. The end of the robotic arm is rotatably equipped with a clamping assembly (2) for clamping and cutting branches. A feeding hopper (11) is provided above the box (1). A hopper door (12) is hinged to the top of the feeding hopper (11). A discharge door (13) is hinged to the side wall of the box (1). A crushing mechanism (3) for crushing branches into various particle sizes is provided inside the box (1).

2. The robotic arm-loaded material crushing vehicle according to claim 1, characterized in that: The clamping assembly (2) includes a first gripper (21), a second gripper (22), a first cylinder (23), a second cylinder (24), and a cutting member. The first gripper (21) and the second gripper (22) are rotatably disposed at the ends of the robotic arm away from the transport vehicle and are symmetrically disposed with respect to each other. The first cylinder (23) and the second cylinder (24) are rotatably disposed at the ends of the robotic arm near the first gripper (21), and the extension end of the first cylinder (23) is rotatably connected to the first gripper (21), and the extension end of the second cylinder (24) is rotatably connected to the second gripper (22). The cutting member is disposed at the ends of the robotic arm near the first gripper (21) and is used to cut off the clamped branches.

3. The robotic arm-loaded material crushing vehicle according to claim 2, characterized in that: The cutting component includes a first drive motor (26) and a cutting saw (27). The end of the robotic arm near the first gripper (21) is provided with a mounting box (25). The first drive motor (26) is located inside the mounting box (25), and the cutting saw (27) is located on the output end of the first drive motor (26).

4. The robotic arm-loaded material crushing vehicle according to claim 1, characterized in that: The crushing mechanism (3) includes a crushing cylinder (31), a crushing box (32), a support base (33), a second drive motor (34), a first crushing roller (35), a second crushing roller (36), a first gear (37), a second gear (38), a fine powder component (4), and an adjustment component (5). The support base (33) is symmetrically arranged in two sets, and both sets of the support base (33) are located on the inner bottom wall of the box body (1). The crushing cylinder (31) is located at the upper end of the two sets of support bases (33). The crushing box (32) is located at the lower end of the feed hopper (11) and is connected to the crushing cylinder (31). The second drive motor (34) is located on the side wall of the crushing box (32). The first crushing roller (35) and the second crushing roller (36) are both rotatably mounted on the inner wall of the crushing box (32) for preliminary crushing of branches. One end of the first crushing roller (35) is fixedly connected to the output end of the second drive motor (34). The first gear (37) is located at the end of the first crushing roller (35) away from the second drive motor (34), and the second gear (38) is located at the end of the second crushing roller (36) away from the second drive motor (34). The first gear (37) and the second gear (38) mesh with each other. The fine powder component (4) and the adjusting component (5) are both located inside the crushing cylinder (31) for secondary crushing of the branches after preliminary crushing and crushing of branches with multiple particle sizes, respectively.

5. The robotic arm-loaded material crushing vehicle according to claim 4, characterized in that: The fine powder assembly (4) includes a third drive motor (41), a third crushing roller (42), a fourth crushing roller (43), a rotating cylinder (44), a third gear (45), a fourth gear (46), a first crushing tooth group (47), a second crushing tooth group (48), and a third crushing tooth group (49). The third drive motor (41) is disposed on the side wall of the crushing cylinder (31). The third crushing roller (42) and the fourth crushing roller (43) are both rotatably disposed on the inner side wall of the crushing cylinder (31) for secondary crushing of branches. One end of the third crushing roller (42) is fixedly connected to the output end of the third drive motor (41). Two sets of rotating cylinders (44) are symmetrically disposed. The two sets of rotating cylinders (44) are respectively disposed at the ends of the third crushing roller (42) and the fourth crushing roller (43) away from the third drive motor (41), and are both rotatably disposed on the side wall of the crushing cylinder (31) away from the third drive motor (41). The third gear (45) is sleeved on the rotating cylinder (44) at one end of the third crushing roller (42), and the fourth gear (46) is sleeved on the rotating cylinder (44) at one end of the fourth crushing roller (43). The third gear (45) and the fourth gear (46) mesh with each other. The first crushing tooth group (47), the second crushing tooth group (48) and the third crushing tooth group (49) are symmetrically arranged in two sets. The two sets of the first crushing tooth group (47), the two sets of the second crushing tooth group (48) and the two sets of the third crushing tooth group (49) are respectively raised and lowered on the peripheral walls of the third crushing roller (42) and the fourth crushing roller (43), and all of them penetrate the peripheral walls of the third crushing roller (42) and the fourth crushing roller (43).

6. The robotic arm-loaded material crushing vehicle according to claim 5, characterized in that: The adjustment assembly (5) includes a first stepper motor (51), a second stepper motor (52), a rotating shaft (53), and an adjustment gear (54). The first stepper motor (51) is located at the end of the rotating cylinder (44) of the third crushing roller (42) away from the third drive motor (41). The second stepper motor (52) is located at the end of the rotating cylinder (44) of the fourth crushing roller (43) away from the third drive motor (41). Two sets of rotating shafts (53) are symmetrically arranged, with one end of each set of rotating shafts (53) being... The first stepper motor (51) and the second stepper motor (52) are fixedly connected to their respective output ends, and the other ends are rotatably mounted on the side wall of the crushing cylinder (31). The two sets of rotating shafts (53) are rotatably mounted inside the two sets of rotating cylinders (44). The adjusting teeth (54) are provided in multiple sets, and the multiple sets of adjusting teeth (54) are spaced and sleeved on the outer peripheral walls of the two sets of rotating shafts (53) for adjusting the height of the two sets of first crushing teeth (47), the two sets of second crushing teeth (48) and the two sets of third crushing teeth (49).

7. The robotic arm-loaded material crushing vehicle according to claim 5, characterized in that: A fourth drive motor (6) is provided on the side wall of the crushing cylinder (31) away from the third drive motor (41). A fifth gear (61) is provided on the output end of the fourth drive motor (6). A gear ring (62) is rotatably provided on the inner side wall of the crushing cylinder (31) away from the third drive motor (41) and meshes with the fifth gear (61). A rotating ring (63) is rotatably provided on the inner side wall of the crushing cylinder (31) close to the third drive motor (41). Multiple sets of conveying plates (64) for spirally conveying the crushed branches are spirally arranged between the rotating ring (63) and the gear ring (62).

8. A robotic arm-loaded material crushing vehicle according to claim 4, characterized in that: An electric telescopic rod (7) is provided on the side wall between the second drive motor (34) and the first gear (37) of the crushing box (32). A sliding groove (71) is provided on the side wall adjacent to the electric telescopic rod (7). A baffle (72) is slidably provided in the sliding groove (71). One end of the baffle (72) near the second drive motor (34) is fixedly connected to the telescopic end of the electric telescopic rod (7).

9. A robotic arm-loaded material crushing vehicle according to claim 5, characterized in that: The crushing cylinder (31) is inclined at one end away from the third drive motor (41) and has an output box (8) for outputting the crushed branches. A fan (81) is provided on the side wall of the output box (8) near one end of the crushing cylinder (31).

10. A method for crushing materials using a robotic arm loading system, comprising a robotic arm loading system for crushing materials according to any one of claims 1-9, characterized in that: Includes the following steps: S1: The robotic arm rotates and positions itself, and starts the first cylinder (23) and the second cylinder (24). The first cylinder (23) and the second cylinder (24) drive the first gripper (21) and the second gripper (22) to clamp the branch. Then, the first drive motor (26) and the cutting saw (27) are started to cut the clamped branch. The robotic arm then moves the branch to the feed bin (11). S2: Start the second drive motor (34) to drive the first crushing roller (35), and drive the second crushing roller (36) to rotate in the opposite direction through the meshing of the first gear (37) and the second gear (38) to perform preliminary crushing of the branches. The branches then fall into the crushing cylinder (31), and the third drive motor (41) drives the third crushing roller (42), and then the third gear (45) meshes with the fourth gear (46) to drive the fourth crushing roller (43) to rotate in the opposite direction. The first crushing tooth group (47), the second crushing tooth group (48) and the third crushing tooth group (49) are used to perform secondary fine crushing of the material. S3: Start the first stepper motor (51) and the second stepper motor (52) to drive the two sets of rotating shafts (53) to rotate respectively. The multiple sets of adjusting teeth (54) sleeved on the rotating shafts (53) rotate, and precisely control the first crushing tooth group (47), the second crushing tooth group (48) and the third crushing tooth group (49) to rise sequentially in the circumferential wall of the third crushing roller (42) and the fourth crushing roller (43), thereby adjusting the number of crushing tooth groups between the two rollers and realizing the crushing of different particle sizes; S4: Start the fourth drive motor (6), drive the gear ring (62) to rotate through the fifth gear (61), drive the multiple sets of conveying plates (64) connected between the gear ring (62) and the rotating ring (63) to perform spiral motion, lift the material in the crushing cylinder (31) again and throw it above the third crushing roller (42) and the fourth crushing roller (43) to form internal circulation crushing, and finally convey it to the inclined output box (8), where it is assisted by the airflow generated by the fan (81) to complete the discharge.

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