Crawler for assisting in supporting high-altitude pruning machine

Abstract

The invention discloses a tracked vehicle for assisting in supporting a high-altitude pruning machine. The tracked vehicle comprises a vehicle body, a lifting mechanism, an annular rail, a moving frame, a radial feeding mechanism and a cutting end. The annular track is of an open-loop design and is arranged at the tail end of the lifting mechanism in a sliding mode. The movable frame is movably arranged on the annular track through a chain wheel and chain mechanism; the radial feeding mechanism is installed on the moving frame, a cutting end is arranged at the output end of the radial feeding mechanism, and the radial feeding mechanism can drive the cutting end to do linear feeding motion in the radial direction of the annular rail. By means of the structure, cutter positioning and cutting execution in high-altitude pruning operation are integrated, mechanical and precise radial feeding cutting is achieved, and the problems that traditional manual pruning is large in labor intensity, poor in safety and low in efficiency are fundamentally solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-altitude pruning crawler vehicles, in particular to a crawler vehicle for assisting and supporting a high-altitude pruning machine. BACKGROUND

[0002] High-altitude operations in the agricultural field are generally operations between tall trees, such as fruit picking and branch removal to leave the trunk. Taking branch removal to leave the trunk as an example, branch removal to leave the trunk is a process of removing side branches of a tree in a planned manner, leaving only the main trunk, forcing the tree to supply nutrients only to the main trunk, so as to obtain high-quality wood with straightness, completeness, fewer knots or no knots. However, as forests are continuously cultivated and trees continuously grow, the height of some trees may even reach 9 meters or even higher. At this time, the branch removal to leave the trunk work becomes extremely difficult. In reality, high-altitude pruning work is usually performed by workers holding high-altitude pruning machines to prune at high altitudes. The weight of the high-altitude pruning machine itself reaches several kilograms, and it is highly dependent on manual skills and physical strength.

[0003] The present application aims to provide a vehicle device for agricultural high-altitude operations, which can actively perform cutting operations, greatly reduce manual work intensity, reduce physical exertion, increase work safety factor and improve work efficiency. The device is equipped with a tracked chassis and has a moving function, which can quickly enter and exit the scene, avoiding unnecessary physical exertion. The present application is not only used in the technical field of branch removal to leave the trunk, but also can be used in high-altitude fruit picking. SUMMARY

[0004] (I) Technical problems solved In view of the deficiencies of the prior art, the present application provides a crawler vehicle for assisting and supporting a high-altitude pruning machine, which has a ring-shaped cutting head that can actively perform cutting operations, solves the problems of single function of existing devices and high risk coefficient of manual operation, and realizes automatic and precise operation of positioning, clamping and cutting of branches as a whole.

[0005] (II) Technical solutions In order to achieve the purpose of the ring-shaped cutting head that can actively perform cutting operations, the present application provides the following technical solutions: a crawler vehicle for assisting and supporting a high-altitude pruning machine, comprising: a vehicle body, the vehicle body comprising a lifting chassis; a lifting mechanism, the lifting mechanism being connected to the vehicle body through the lifting chassis, and an end of the lifting mechanism being provided with a fixing frame; a ring-shaped track, the ring-shaped track being connected to the lifting mechanism through the fixing frame; the ring-shaped track is designed in an open ring shape, a moving frame being slidably arranged on the ring-shaped track, and the moving frame being moved along the direction of the ring-shaped track through a chain and a sprocket; The moving frame comprises a radial feeding mechanism and a cutting end arranged at the end of the radial feeding mechanism, the output direction of the radial feeding mechanism points to the geometric center of the annular track, and the radial feeding mechanism can drive the cutting end to perform a radial feeding action.

[0006] Preferably, the radial feeding mechanism comprises a radial motor, a radial gear driven by the radial motor, and a radial rack engaged with the radial gear, the extending direction of the radial rack is towards the geometric center of the annular track, and the cutting end is arranged at the end of the radial rack.

[0007] Preferably, the radial motor drives the radial gear through a transmission shaft, the number of the radial gears is two, which are arranged on both sides of the transmission shaft respectively, the number of the radial racks is two, and the number of the cutting ends is one, the ends of the radial racks are symmetrically distributed on both sides of the cutting end.

[0008] Preferably, the radial rack is long rectangular, the lower surface is provided with a tooth groove engaged with the radial gear, and the end side surface is fixedly connected with the cutting end.

[0009] Preferably, the cutting end comprises a saw disc.

[0010] Preferably, the moving frame is provided with a moving motor and a chain wheel, the annular track is provided with a chain, the chain wheel cooperates with the chain, the moving motor provides power for the moving frame, and the moving frame moves on the annular track through the cooperation of the chain wheel and the chain.

[0011] Preferably, the lifting mechanism comprises a multi-stage articulated force arm, an oil cylinder driving the movement of the force arm, a steel cable and a fixed pulley; the lifting mechanism realizes expansion and contraction through the force arm and the oil cylinder, and realizes lifting through the steel cable and the fixed pulley.

[0012] Preferably, the upper end of the force arm is internally provided with a push rod, the push rod can move along the direction of the force arm; the push rod is provided with a pitch rack, the fixed frame is closely connected with a pitch gear, the pitch gear cooperates with the pitch rack, and the push rod controls the lifting of the annular track along the circumferential direction of the pitch gear through the pitch rack and the pitch gear.

[0013] Preferably, the push rod is arranged inside the force arm.

[0014] Preferably, the vehicle body is a tracked chassis, comprising a frame, an engine, a driving wheel, a driven wheel, a tensioning wheel and a track; the vehicle body comprises a driving position and a control table.

[0015] (Three) beneficial effects Compared with the prior art, the invention provides a track vehicle for assisting in supporting an aerial pruning machine, which has the following beneficial effects: 1. The track vehicle for assisting in supporting an aerial pruning machine adopts a tracked chassis and a multi-stage hydraulic lifting mechanism, significantly improving the mechanization level of aerial work and the terrain adaptability. The operator can easily reach and adapt to most complex terrains by driving the vehicle, and then controls the hydraulic system to lift the ring track system to the target height of the canopy layer. Compared with the traditional labor-intensive mode of completely relying on manpower to carry and manipulate long poles, the device realizes a fundamental change from manual operation to mechanical execution through its integrated ring track and radial feed cutting system. It not only reduces the time and physical exertion on the way by virtue of its fast movement and scene-changing ability, making long-term efficient work possible, but also completely avoids the risk of tools falling out of control due to tree branch rebound during manual cutting through the rigid support and stable feed of the mechanical structure, comprehensively improving the efficiency and safety of aerial pruning work.

[0016] 2. The track vehicle for assisting in supporting an aerial pruning machine introduces a brand-new radial feed cutting mechanism and a ring track cooperative work system, fundamentally breaking through the limitations of the original auxiliary equipment that can only be passively supported and cannot actively execute. The core innovation is to replace the general pruning machine with a special cutting component and integrate it into a platform that can move flexibly along the ring track. The chain, sprocket, motor, etc. used in the ring track and its moving frame are all standard components combined, without the need for additional development of non-standard components, effectively reducing manufacturing and maintenance costs. The design of the ring track enables the cutting component to quickly position around the tree branches in the circumferential direction, easily dealing with branches in different directions in the canopy; combined with its precise linear feed capability along the radius direction of the track, it forms a polar coordinate type high-precision cutting system. During specific work, the branches to be pruned are first positioned in the central area of the ring track, adjusted to the best cutting angle through track rotation, and then the radial feed is started to drive the cutting component to complete the cutting stably and accurately. Compared with the traditional operation mode that relies on manual repeated pulling and sawing, or the existing auxiliary solution that can only prevent tools from falling but cannot suppress cutting rebound, the design realizes a fundamental change from manual tool control to machine autonomous cutting through the introduction of the ring track, making the entire cutting process more stable and safe, the cut quality higher, the operation flexibility and range significantly improved, representing a major progress in aerial pruning operation mode. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a complete structure schematic diagram of the invention; Figure 2 is Figure 1 is a partial cross-sectional view of part I; Figure 3 is an assembly schematic diagram of the ring track and cutting end of the invention; Figure 4 This is a schematic diagram of the cutting end of the present invention.

[0018] In the picture: 1. Vehicle body; 11. Lifting chassis; 2. Lifting mechanism; 21. Fixed frame; 211. Pitch gear; 22. Lever arm; 221. Push rod; 222. Pitch rack; 23. Hydraulic cylinder; 24. Steel cable; 25. Fixed pulley; 3. Circular track; 31. Chain; 4. Moving frame; 41. Sprocket; 42. Moving motor; 5. Radial feed mechanism; 51. Radial motor; 52. Radial gear; 53. Radial rack; 531. Tooth groove; 54. Cutting end; 541. Saw disc. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1-4 A tracked vehicle for assisting in the operation of an aerial pruning machine includes: a vehicle body 1, which includes a lifting base 11. The vehicle body 1 is a tracked chassis and also includes a frame, engine, drive wheel, driven wheel, tension wheel, and tracks, all of which are existing assemblies and will not be described in detail here. The vehicle body 1 is equipped with a driver's seat and control panel for easy operation. The vehicle body 1 is also connected to a lifting mechanism 2, which is connected to the vehicle body 1 via the lifting base 11. The lifting mechanism 2 can move at multiple angles. A fixing frame 21 is provided at the end of the lifting mechanism 2, through which a circular track 3 is connected. The circular track 3 is an open-loop design. The branch to be pruned is placed in the middle of the circular track 3. A movable frame 4 is slidably mounted on the circular track 3. The movable frame 4 moves along the direction of the circular track 3 through existing equipment such as chain 31 and sprocket 41. The chain 31, sprocket 41, motor and other components used in the circular track 3 and its movable frame 4 are all mature standard parts, eliminating the need to develop non-standard parts and effectively reducing manufacturing and maintenance costs. The design of the circular track 3 allows the cutting component to quickly perform circumferential positioning around the branch, easily handling branches in different directions in the tree canopy. Combined with its precise linear feed capability along the radius of the track, it forms a polar coordinate high-precision cutting system.

[0021] Please see Figure 3The moving frame 4 includes a radial feed mechanism 5 and a cutting end 54 disposed at the end of the radial feed mechanism 5. In this embodiment, the cutting end 54 includes a saw disc 541. The present invention can flexibly replace the execution components according to the actual use and application. The output direction of the radial feed mechanism 5 points to the geometric center of the annular track 3. The radial feed mechanism 5 can drive the cutting end 54 to perform radial feed action.

[0022] This invention provides nearly 360 degrees of freedom, with the annular track 3 enabling the cutting component to easily circumferentially position itself around the tree branch, achieving seamless operation on branches in all directions of the canopy. Compared to traditional direct end-cutting methods, this design not only avoids the cumbersome operation of adjusting the entire vehicle body 1 and the boom, but also simplifies the operation process through polar coordinate positioning. Furthermore, the annular structure itself forms a stable force-bearing frame, effectively dispersing the cutting reaction force and enhancing system rigidity and safety. In addition, by replacing the actuators, this device can also be applied to high-altitude fruit harvesting and other operational scenarios, demonstrating excellent functional scalability and platform advantages.

[0023] Please see Figure 4 The radial feed mechanism 5 includes a radial motor 51, a radial gear 52 driven by the radial motor 51, and a radial rack 53 meshing with the radial gear 52. All are existing standard components. The radial rack 53 extends towards the geometric center of the annular track 3, and the cutting end 54 is located at the end of the radial rack 53. The radial motor 51 drives the radial gear 52 via a drive shaft. There are two radial gears 52, respectively located on both sides of the drive shaft, ensuring even force distribution on the cutting end 54 and mitigating vibrations during cutting, thus improving structural stability. The radial rack 53... There are two of them, with one cutting end 54. The ends of the radial racks 53 are symmetrically distributed on both sides of the cutting end 54. The radial racks 53 are specifically rectangular structures to ensure connection strength. The radial racks 53 are long rectangles with tooth grooves 531 on the lower surface that mesh with the radial gears 52. The end side surfaces are fixedly connected to the cutting end 54. In actual operation, the tree branch to be pruned is first positioned in the center area of ​​the annular track 3. The track is rotated to adjust to the optimal cutting angle, and then the radial feed is started to drive the cutting component to complete the cut stably and accurately. Compared with the traditional operation method that relies on repeated sawing by manual labor, or the auxiliary solutions of existing technology that can only prevent tools from falling but cannot suppress cutting rebound, this design, through the introduction of the annular track 3, realizes a fundamental transformation from manual tool operation to machine autonomous cutting, making the entire cutting process more stable and safe, the cut quality higher, and the operational flexibility and range significantly improved, representing a major advancement in high-altitude pruning operation mode.

[0024] Please see Figure 1The moving frame 4 is equipped with a moving motor 42 and a sprocket 41, and a chain 31 is installed on the circular track 3. The sprocket 41 and the chain 31 cooperate with each other. The moving motor 42 provides power to the moving frame 4. The moving frame 4 moves on the circular track 3 through the cooperation of the sprocket 41 and the chain 31. The design of the circular track 3 enables the cutting component to quickly circumferentially position itself around the tree branch, easily handling branches in different directions in the tree canopy. Combined with its precise linear feed capability along the radius of the track, it forms a polar coordinate high-precision cutting system.

[0025] Please see Figures 1-2 The lifting mechanism 2 includes a multi-stage articulated lever arm 22 and a hydraulic cylinder 23 that drives the lever arm 22, as well as a steel cable 24 and a fixed pulley 25. The lifting mechanism 2 achieves extension and retraction via the lever arm 22 and the hydraulic cylinder 23, and achieves lifting via the steel cable 24 and the fixed pulley 25. The lifting of the lever arm 22 is achieved by the hydraulic cylinder 23 driving the lever arm 22, thereby stretching the distance between the fixing device of the steel cable 24 and the fixed pulley 25. Since the total length of the steel cable 24 is fixed, the distance between the fixed pulley 25 and the fixing device of the steel cable 24 will shorten, thus driving the lifting of the lever arm 22. The upper end of the lever arm 22... A push rod 221 is installed inside. In this embodiment, the push rod 221 is located inside the lever arm 22 and can move along the direction of the lever arm 22 inside it. A pitch rack 222 is provided on the push rod 221. When the push rod 221 moves, it drives the pitch rack 222 to move. A pitch gear 211 is tightly connected to the fixed frame 21. The pitch gear 211 cooperates with the pitch rack 222. The push rod 221 causes the pitch gear 211 to rotate through the pitch rack 222 and the pitch gear 211, thereby controlling the lifting of the annular track 3 along the circumferential direction of the pitch gear 211.

[0026] In summary, this tracked vehicle for assisting high-altitude pruning machines, employing a tracked chassis and a multi-stage hydraulic lifting mechanism 2, significantly improves the mechanization and terrain adaptability of high-altitude operations. Operators can drive the vehicle to complex terrain and manipulate the hydraulic system to lift the working device to the target height. Furthermore, the equipment introduces a radial feed cutting mechanism and a circular track 3 working collaborative system. Specialized cutting components replace general-purpose pruning machines, integrating them into a circular motion platform composed of mature standard components such as chains 31, sprockets 41, and motors. This eliminates the need for developing non-standard components, effectively reducing manufacturing and maintenance costs. The circular track 3 system allows the cutting components to quickly and circumferentially position themselves around the branches, easily handling branches in different directions within the canopy. Combined with precise linear feed along the track radius, it forms a polar coordinate high-precision cutting system. During operation, the operator positions the branch to be pruned in the center area of ​​the circular track 3, adjusts the angle to the optimal cutting angle by rotating the track, and then initiates radial feed, driving the cutting components to complete the cut stably and accurately. Compared with traditional methods that rely on manual sawing or passive support, this equipment not only effectively reduces the physical exertion of workers and prevents tools from falling off due to the rebound of branches through mechanical support, but also achieves a fundamental transformation from manual operation to machine autonomous execution through active cutting and rapid relocation capabilities. This makes the cutting process more stable and safe, the cut quality higher, and the operating range wider, resulting in a systematic improvement in overall work efficiency and safety.

[0027] In operation, the operator first drives the tracked vehicle through complex terrain to reach the vicinity of the target tree. Then, the operator operates the hydraulic system to drive the multi-stage lever arm 22, lifting the circular track 3 system to the height of the tree canopy. Next, the moving frame 4 on the circular track 3 drives the cutting component to be positioned around the branch circumference, precisely adjusting the branch to be pruned to the center area of ​​the circular track 3. Then, the radial feed mechanism 5 is activated, driving the cutting component to advance steadily along the radial direction of the track, so that the saw disc 541 or hydraulic shears accurately contact the branch and complete the cut. During the cutting process, the circular track 3 continuously provides stable support, while the tracked chassis allows the equipment to complete continuous operation of branches in multiple directions after a single positioning. Finally, the operator retracts the lever arm 22 and drives the equipment to the next work point, forming a mechanized operation closed loop of "positioning-circling-feeding-cutting-transfer".

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A tracked vehicle for assisting and supporting a high-altitude pruning machine, comprising: Vehicle body (1), the vehicle body (1) includes a lifting chassis (11); A lifting mechanism (2), which is connected to the vehicle body (1) via the lifting base frame (11), and a fixing frame (21) is provided at the end of the lifting mechanism (2). The mechanism is characterized by further comprising: A circular track (3) is connected to the lifting mechanism (2) via the fixed frame (21); the circular track (3) is an open-loop circular design, and a movable frame (4) is slidably arranged on the circular track (3); the movable frame (4) moves along the direction of the circular track (3) via a chain (31) and a sprocket (41). The moving frame (4) includes a radial feed mechanism (5) and a cutting end (54) disposed at the end of the radial feed mechanism (5). The output direction of the radial feed mechanism (5) points to the geometric center of the annular track (3). The radial feed mechanism (5) can drive the cutting end (54) to perform radial feed action.

2. The tracked vehicle for assisting in the operation of a high-altitude pruning machine according to claim 1, characterized in that: The radial feed mechanism (5) includes a radial motor (51), a radial gear (52) driven by the radial motor (51), and a radial rack (53) meshing with the radial gear (52). The radial rack (53) extends toward the geometric center of the annular track (3), and the cutting end (54) is located at the end of the radial rack (53).

3. The tracked vehicle for assisting in the operation of a high-altitude pruning machine according to claim 2, characterized in that: The radial motor (51) drives the radial gear (52) through the transmission shaft. There are two radial gears (52), which are respectively arranged on both sides of the transmission shaft. There are two radial racks (53) and one cutting end (54). The ends of the radial racks (53) are symmetrically distributed on both sides of the cutting end (54).

4. The tracked vehicle for assisting in the operation of a high-altitude pruning machine according to claim 2, characterized in that: The radial rack (53) is a long rectangle with a tooth groove (531) on its lower surface that meshes with the radial gear (52), and its end side surface is fixedly connected to the cutting end (54).

5. The tracked vehicle for assisting in the operation of a high-altitude pruning machine according to claim 1, characterized in that: The cutting end (54) includes a saw blade (541).

6. The tracked vehicle for assisting in the operation of a high-altitude pruning machine according to claim 1, characterized in that: The mobile frame (4) is equipped with a mobile motor (42) and a sprocket (41), and the annular track (3) is equipped with a chain (31). The sprocket (41) cooperates with the chain (31). The mobile motor (42) provides power to the mobile frame (4). The mobile frame (4) moves on the annular track (3) through the cooperation of the sprocket (41) and the chain (31).

7. The tracked vehicle for assisting in the operation of a high-altitude pruning machine according to claim 1, characterized in that: The lifting mechanism (2) includes a multi-stage hinged lever arm (22) and a hydraulic cylinder (23) that drives the lever arm (22) to move, as well as a steel cable (24) and a fixed pulley (25); the lifting mechanism (2) achieves extension and retraction through the lever arm (22) and the hydraulic cylinder (23), and achieves lifting through the steel cable (24) and the fixed pulley (25).

8. The tracked vehicle for assisting in the operation of a high-altitude pruning machine according to claim 7, characterized in that: A push rod (221) is installed inside the upper end of the lever arm (22), and the push rod (221) can move along the direction of the lever arm (22). A pitch rack (222) is provided on the push rod (221), and a pitch gear (211) is tightly connected to the fixed frame (21). The pitch gear (211) cooperates with the pitch rack (222). The push rod (221) controls the lifting of the annular track (3) along the circumference of the pitch gear (211) through the pitch rack (222) and the pitch gear (211).

9. A tracked vehicle for assisting in the operation of an aerial pruning machine according to claim 8, characterized in that: The push rod (221) is located inside the lever arm (22).

10. A tracked vehicle for assisting in the operation of an aerial pruning machine according to claim 1, characterized in that: The vehicle body (1) is a tracked chassis, including a frame, engine, drive wheel, driven wheel, tension wheel and track; the vehicle body (1) includes a driver's seat and a control panel.

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