A device and method for the collection of pine forest felling residues

Abstract

This invention discloses a collection device and method for pine logging residues, relating to the field of forestry machinery technology. It includes a mobile chassis with a rectangular groove in the center of its top plate. Two gripping robotic arms are detachably mounted on the front top surface of the chassis. A conveying mechanism is located above the rectangular groove. A mounting frame is detachably connected to the rear top surface of the chassis, and a crushing mechanism is mounted on the mounting frame. A collection box is located below the crushing mechanism. The gripping robotic arms automatically collect and load pine branches from the forest. A chain conveyor simultaneously shakes off dust and impurities from the pine branches during transport. The branches are then crushed by double crushing rollers and collected in the collection box. This integrated continuous operation of collection, dust removal, crushing, and storage improves material quality, enhances the continuity of collection operations, significantly reduces labor intensity, and lowers intermediate processing costs.

Description

Technical Field

[0001] This invention belongs to the field of forestry machinery technology, specifically a device and method for collecting pine forest logging residues. Background Technology

[0002] Pine logging generates a large amount of logging residues, including branches, small-diameter timber, and litter. Collecting these residues is crucial for resource utilization and reducing forest fire risk. Residual residues left in forests not only waste forest biomass resources but also easily trigger forest fires. Collecting and crushing logging residues allows them to be used for biomass power generation and edible fungi cultivation, achieving resource utilization, increasing timber utilization efficiency, enhancing product value, boosting employment and income in forest areas, significantly reducing the amount of combustible material in forest land, and eliminating the risk of large-scale fires.

[0003] Currently, most of the logging residues in pine forests are scattered on the forest floor. Although some pine branches may be collected and utilized manually, the efficiency of manual operations is low, the labor cost is high, and it is difficult to remove surface soil and impurities such as branches, small-diameter timber, and fallen materials at the same time. The original manual collection, dust removal, crushing, and collection processes are independent and unintegrated, with low continuity and flow, which easily leads to a decline in material quality and greatly limits the overall efficiency of logging residue recycling and resource utilization. Summary of the Invention

[0004] To address the problems mentioned in the background art, the present invention proposes a device and method for collecting pine forest logging residues.

[0005] The objective of this invention can be achieved through the following technical solution: a collection device for pine forest logging residues, comprising a mobile chassis, wherein a rectangular groove is provided in the middle of the top plate of the mobile chassis, and two gripping mechanical arms are detachably installed on the front top surface of the mobile chassis; A conveying mechanism is provided above the rectangular groove, and a mounting frame is detachably connected to the top rear end of the mobile chassis. A crushing mechanism is provided on the mounting frame, and a collection box is provided below the crushing mechanism. The conveying mechanism includes two mounting parts 1 and two mounting parts 2. The two mounting parts 1 are detachably connected to both sides of the bottom surface of the top plate of the mobile chassis. The two mounting parts 2 are detachably connected to both side walls of the mounting frame. A round rod 1 is rotatably connected to both mounting parts 1. Two sprockets 1 are fixedly sleeved on the round rod 1. A round rod 2 is rotatably connected to both mounting parts 2. Two sprockets 2 are fixedly sleeved on the round rod 2. A chain is sleeved on both sprockets 1 and sprockets 2 located on the same side. Multiple U-shaped filter frames are provided between the two chains. The crushing mechanism includes two L-shaped support plates, which are detachably connected to the two side walls of the mounting frame, and two crushing rollers are rotatably connected to the two transmission rods. The second sprocket and the crushing roller rotate synchronously.

[0006] As a further preferred embodiment of this technical solution: the transmission mechanism further includes a drive motor detachably connected to the top surface of the mobile chassis, the output end of the drive motor is detachably connected to a transmission wheel two, one end of the round rod one is fixedly sleeved with a transmission wheel one, and a transmission chain is sleeved on both the transmission wheel one and the transmission wheel two.

[0007] As a further preferred embodiment of this technical solution: multiple support rods are fixedly connected between the two chains, and the multiple U-shaped filter frames are detachably connected to the multiple support rods respectively, with both chains being arranged in an inclined manner.

[0008] As a further preferred embodiment of this technical solution: the crushing mechanism further includes two transmission rods, the two ends of each transmission rod are rotatably connected to two L-shaped support plates, a gear is fixedly sleeved at the same end of each of the two transmission rods, and the two gears mesh with each other, and a crushing roller is fixedly sleeved on each of the two transmission rods.

[0009] As a further preferred embodiment of this technical solution: a synchronous pulley is fixedly sleeved at one end of one of the transmission rods, a synchronous pulley is fixedly sleeved at one end wall of the round rod, and a synchronous belt is sleeved on both the synchronous pulley and the synchronous pulley.

[0010] As a further preferred embodiment of this technical solution: the second sprocket is located obliquely above the crushing zone of the two crushing rollers.

[0011] As a further preferred embodiment of this technical solution: the collection box is detachably connected to the top surface of the mobile chassis, and the collection box is located below the crushing zones of the two crushing rollers.

[0012] As a further preferred embodiment of this technical solution: a method for collecting pine forest logging residues, comprising the following steps: S1. Drive the mobile chassis to the pine forest logging area and position it at the location of the remaining pine branches to be collected; S2. Control the two gripping robotic arms to grip the remaining pine branches in the forest and place the pine branches into the U-shaped filter frame of the conveying mechanism; S3. The drive motor drives the first round rod and the first sprocket to rotate through the transmission chain. The second sprocket pulls the chain to rotate in the inclined direction. The U-shaped filter frame conveys pine branches with the chain. During the conveying process, the vibration generated by the chain transmission causes the dust on the surface of the pine branches to fall through the hollow of the U-shaped filter frame, thus completing the dust removal of pine branches. S4. The second sprocket rotates synchronously with the chain, driving the second round rod to rotate. Through the transmission of the first synchronous wheel, the second synchronous wheel and the synchronous belt, the two transmission rods and the meshing gears rotate, causing the two crushing rollers to rotate synchronously in opposite directions. The pine branches conveyed to the end fall into the crushing zone between the two crushing rollers and are squeezed and sheared. S5. The crushed material falls naturally into the collection box below for centralized storage.

[0013] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention automatically completes the picking and feeding of forest branches, small-diameter timber, and fallen materials by using a gripping robotic arm. In conjunction with a chain conveyor mechanism, surface soil and impurities are shaken off during the conveying process. After being crushed by double crushing rollers, the materials are collected into a collection box, realizing integrated continuous operation of picking, dust removal, crushing, and collection. This is beneficial to improving material quality, effectively enhancing the continuity of picking operations, significantly reducing manual labor intensity, and reducing process transfer costs.

[0014] 2. This invention utilizes the inherent vibration characteristics of chain drive to complete the dust removal and purification of pine branches during the conveying process through a U-shaped filter frame, effectively improving the cleanliness of the recycled materials. The volume of the material after being crushed by the crushing roller is greatly reduced and the particle size is uniform and regular, which facilitates collection, transportation and subsequent biomass energy utilization. The overall transmission structure is simple and reliable, adaptable to complex working conditions in the forest, and conducive to improving the recycling quality and comprehensive utilization value of logging residues. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a partial structural diagram of the present invention; Figure 3 This is another partial structural schematic diagram of the present invention; Figure 4 For the present invention Figure 2 Enlarged structural diagram at point A in the middle; Figure 5 For the present invention Figure 3 Enlarged structural diagram at point B.

[0016] Legend: 1. Mobile chassis; 2. Rectangular trough; 3. Gripping robotic arm; 4. Conveying mechanism; 5. Mounting frame; 6. Crushing mechanism; 7. Collection box; 41. Mounting component one; 42. Round rod one; 43. Sprocket one; 44. Chain; 45. Drive wheel one; 46. Drive wheel two; 47. Drive chain; 48. Drive motor; 49. Support rod; 401. U-shaped filter frame; 402. Mounting component two; 403. Round rod two; 404. Sprocket two; 61. L-shaped support plate; 62. Transmission rod; 63. Crushing roller; 64. Gear; 65. Synchronous pulley one; 66. Synchronous pulley two; 67. Synchronous belt. Detailed Implementation

[0017] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figures 1-5 This application provides a device and method for collecting pine forest logging residues, including a rectangular groove 2 in the middle of the top plate of a mobile chassis 1, and two gripping mechanical arms 3 detachably installed on the front top surface of the mobile chassis 1. It should be noted that the mobile chassis 1 adopts a tire-type or track-type walking mechanism to meet the collection needs of different forest areas; It can carry all operating mechanisms and travel on unpaved roads in the forest, adapting to the undulating terrain of pine forest logging areas; The rectangular trough 2 runs vertically through the top plate of the chassis, providing a falling channel for the mud, sand and dust that are shaken off during the conveying process, and preventing dust from accumulating on the surface of the equipment and corroding the transmission components; the dual gripping robotic arms 3 can work in coordination or alternately, covering a wider picking range, and can grab pine branches of different thicknesses and scattered postures, replacing manual bending and picking operations, and greatly reducing labor intensity. A conveying mechanism 4 is provided above the rectangular trough 2. A mounting frame 5 is detachably connected to the top rear end of the mobile chassis 1. A crushing mechanism 6 is provided on the mounting frame 5. A collection box 7 is provided below the crushing mechanism 6. The conveying mechanism 4 receives the pine branches thrown by the robotic arm and conveys them backward and upward, simultaneously completing surface dust removal. Mounting frame 5 is vertically mounted at the rear of the chassis, providing a high-level mounting support for crushing mechanism 6, so that the crushing station can be naturally connected to the end of the conveying process; the collection box 7 is arranged directly opposite the crushing outlet, which can completely receive the crushed material, reduce material spillage, and the detachable structure facilitates quick unloading after the material is full, ensuring continuous operation time. The conveying mechanism 4 includes two mounting parts 41 and two mounting parts 402. The two mounting parts 41 are detachably connected to the two sides of the bottom surface of the top plate of the mobile chassis 1, and the two mounting parts 402 are detachably connected to the two side walls of the mounting frame 5. The two mounting parts 41 are rotatably connected to a round rod 42. Two sprockets 43 are fixedly sleeved on the round rod 42. The two mounting parts 402 are rotatably connected to a round rod 403. Two sprockets 404 are fixedly sleeved on the round rod 403. A chain 44 is sleeved on both the sprockets 43 and sprockets 404 on the same side. Multiple U-shaped filter frames 401 are provided between the two chains 44. Mounting component 1 41 and mounting component 2 402 respectively constitute the front and rear support ends of the conveying path, so that the chain 44 is arranged in an inclined manner with the front lower and the rear higher. The U-shaped filter frame 401 adopts a hollow grid structure. The side guards can prevent pine branches from slipping and falling during conveying. The gaps in the bottom grid allow dust and fine debris to pass through smoothly downwards and be discharged directly to the ground with the rectangular trough 2 below. Dust removal can be achieved simultaneously with conveying without the need for additional dust removal ducts. The crushing mechanism 6 includes two L-shaped support plates 61, which are detachably connected to the two side walls of the mounting frame 5, and two crushing rollers 63 are rotatably connected to the two transmission rods 62; the sprocket 404 and the crushing rollers 63 rotate synchronously. L-shaped support plate 61 provides stable support to transmission rod 62 from both sides, which can withstand radial reaction force during crushing operation and prevent crushing roller 63 from deviating during operation. The synchronous linkage design of sprocket 2 404 and crushing roller 63 ensures precise matching between the conveying feed speed and the crushing speed, avoiding material accumulation and jamming or empty crushing, and ensuring seamless connection of the picking-dust removal-crushing process; Specifically, the whole machine adopts a single drive source power splitting scheme. After the power is output by the drive motor 48, it is transmitted to the round rod 42 through the transmission chain 47. On the one hand, the sprocket 43 and the chain 44 drive the sprocket 404 and the round rod 403 to rotate synchronously, thus completing the tilting conveying of pine branches. On the other hand, when the chain 44 is running, it generates periodic longitudinal vibrations due to the polygonal effect, which causes the pine branches in the U-shaped filter frame 401 to vibrate continuously, causing the mud, sand and dust attached to the surface to fall off continuously and fall to the ground through the hollow grid and rectangular groove 2. The dust removal operation is completed simultaneously during the conveying process, without the need to add an additional vibration mechanism.

[0019] Furthermore, the conveying mechanism 4 also includes a drive motor 48 detachably connected to the top surface of the mobile chassis 1. The output end of the drive motor 48 is detachably connected to a second transmission wheel 46. One end of the first round rod 42 is fixedly sleeved with a first transmission wheel 45. A transmission chain 47 is sleeved on both the first transmission wheel 45 and the second transmission wheel 46. The drive motor 48 provides unified power for the entire machine's conveying and crushing processes, reducing the number of power components and lowering equipment costs. It uses chain drive to transmit torque, with accurate transmission ratio and strong load-bearing capacity. It can adapt to the harsh working environment of dusty and humid forests, with high operational reliability and low maintenance cost, making it suitable for outdoor forestry operations.

[0020] Furthermore, multiple support rods 49 are fixedly connected between the two chains 44, and multiple U-shaped filter frames 401 are detachably connected to the multiple support rods 49. Both chains 44 are set at an incline, and the support rods 49 are evenly distributed along the circumference of the chains 44, connecting the two chains 44 into an integral frame, improving the lateral rigidity of the conveying structure, and preventing the chains from derailing when conveying heavy pine branches. The U-shaped filter frame 401 adopts a detachable installation method. When a single frame is worn or deformed, it can be replaced individually without disassembling the entire conveyor chain, thus reducing maintenance costs. The inclined conveyor path allows pine branches to adhere to the bottom of the frame under their own weight, increasing the contact area for shaking and improving the dust removal effect. It should be noted that the machine is approximately 4.2m long and 1.3m wide, with a ground clearance of ≥200mm, making it suitable for traversing narrow forest paths. The mobile chassis 1 is equipped with a diesel power unit, which provides driving force for the walking system and provides power to the robotic arm 3 and drive motor 48 through a hydraulic module and a power generation module, enabling a single power source to cover walking and all work processes. Both the mobile chassis 1 and the robotic arm 3 are operated remotely.

[0021] Specifically, after the drive motor 48 starts, it drives the transmission wheel 46 to rotate, which in turn drives the transmission wheel 45 and the round rod 42 to rotate synchronously through the transmission chain 47, thereby driving the two sprockets 43 to rotate synchronously, and pulling the two chains 44 to move upward at a constant speed along the inclined track. The U-shaped filter frame 401, fixed on the support rod 49, moves synchronously with the chain, carrying the pine branches thrown by the robotic arm 3 from the low position to the high position. During the movement, the periodic vibrations generated by the chain meshing are transmitted to the U-shaped filter frame 401, causing the pine branches to vibrate continuously and slightly. Surface dust and mud are constantly falling off and falling down through the grid gaps of the U-shaped filter frame 401, and then falling to the ground through the rectangular trough 2, thus completing the synchronous operation of pine branch conveying and surface dust removal.

[0022] Furthermore, the crushing mechanism 6 also includes two transmission rods 62, with each end of the transmission rod 62 rotatably connected to two L-shaped support plates 61. Gears 64 are fixedly sleeved at the same end of both transmission rods 62, and the two gears 64 mesh with each other. Crushing rollers 63 are fixedly sleeved on both transmission rods 62. The two transmission rods 62 are arranged in parallel and achieve synchronous rotation in opposite directions through a pair of meshing gears 64, driving the two crushing rollers 63 to rotate at a uniform speed in opposite directions. This creates a combined squeezing and shearing effect on the pine branches falling into the gap between the rollers, crushing the entire pine branch into fragments with uniform particle size, which is convenient for subsequent collection and resource utilization.

[0023] Furthermore, a synchronous pulley 65 is fixedly sleeved at the end of one of the transmission rods 62, and a synchronous pulley 66 is fixedly sleeved at one end of the round rod 403. A synchronous belt 67 is sleeved on both the synchronous pulley 65 and the synchronous pulley 66. The synchronous belt drive transmits the power at the end of the conveyor to the crushing mechanism, ensuring that the conveying linear speed and the crushing roller speed are strictly matched, and that the feeding speed and crushing efficiency are highly coordinated, thus avoiding the accumulation of loose branches at the feed inlet and preventing material jamming. Synchronous belt drives are smooth and quiet, and can buffer the vibration and impact of forest operations, extending the service life of transmission components.

[0024] Specifically, when the second round rod 403 rotates with the chain 44, it synchronously drives the second synchronous wheel 66 at the end to rotate, and transmits the power to the first synchronous wheel 65 via the synchronous belt 67, driving one of the transmission rods 62 to rotate. Under the transmission action of the meshing gears 64, the other transmission rod 62 rotates synchronously in the opposite direction, thereby driving the two crushing rollers 63 to maintain a uniform rotation in opposite directions; After the pine branches are conveyed to the end of the chain, they slide off the sprocket 404 by their own weight and enter the gap between the two crushing rollers 63. They are crushed into uniform fragments by the squeezing and shearing action of the roller teeth and fall vertically downwards under the action of gravity.

[0025] Preferably, the second sprocket 404 is positioned diagonally above the crushing zones of the two crushing rollers 63, allowing the pine branches conveyed to the end to slide naturally into the feeding area of ​​the crushing rollers 63 by their own weight. This eliminates the need for additional guide plates or other transfer structures, simplifies the overall layout of the equipment, ensures smooth and unobstructed feeding, and prevents pine branches from accumulating and clogging at the transfer points.

[0026] Preferably, the collection box 7 is detachably connected to the top surface of the mobile chassis 1, and the collection box 7 is located below the crushing zone of the two crushing rollers 63, with its opening facing the crushing discharge zone, so as to completely receive all the crushed material and reduce the spillage and waste of the crushed material. The drawer-type detachable installation structure facilitates quick removal and unloading when the material is full, shortening downtime and improving the efficiency of continuous operations in the forest.

[0027] Furthermore, a method for collecting pine forest logging residues includes the following steps: S1. Drive the mobile chassis 1 to the pine forest logging operation area and position it at the location of the remaining pine branches to be collected; S2. Control the two gripping robotic arms 3 to grip the remaining pine branches in the forest and place the pine branches in the U-shaped filter frame 401 of the conveying mechanism 4. S3. The drive motor 48 drives the round rod 42 and the sprocket 43 to rotate through the transmission chain 47. In conjunction with the sprocket 404, the chain 44 is pulled to rotate in the inclined direction. The U-shaped filter frame 401 conveys pine branches with the chain 44. During the conveying process, the vibration generated by the chain drive causes the dust on the surface of the pine branches to fall through the hollow part of the U-shaped filter frame 401, thus completing the dust removal of pine branches. S4, sprocket 2 404 rotates synchronously with chain 44, driving round rod 2 403 to rotate. Through the transmission of synchronous pulley 1 65, synchronous pulley 2 66 and synchronous belt 67, it drives two transmission rods 62 and meshing gears 64 to rotate, causing the two crushing rollers 63 to rotate synchronously in opposite directions. The pine branches conveyed to the end fall into the crushing zone between the two crushing rollers 63 and are squeezed and sheared. S5. The crushed material falls naturally into the collection box 7 below for centralized storage.

[0028] Specifically, the entire operation process is driven synchronously by a single drive source for conveying and crushing processes. The rhythm of each station is matched consistently. After the pine branches are picked up and fed by the robotic arm, they complete the entire process of tilting conveying, shaking dust removal, roller crushing, and centralized collection in sequence. Each process is seamlessly connected and no manual transfer is required, realizing integrated continuous operation of picking, dust removal, crushing, and collection.

[0029] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.

Claims

1. A device for collecting pine forest logging residues, characterized in that: Includes a mobile chassis (1), the top plate of which has a rectangular groove (2) in the middle, and two gripping robotic arms (3) are detachably installed on the front top surface of the mobile chassis (1). A conveying mechanism (4) is provided above the rectangular groove (2), and a mounting frame (5) is detachably connected to the top rear end of the mobile chassis (1). A crushing mechanism (6) is provided on the mounting frame (5), and a collection box (7) is provided below the crushing mechanism (6). The conveying mechanism (4) includes two mounting parts (41) and two mounting parts (402). The two mounting parts (41) are detachably connected to the bottom sides of the top plate of the mobile chassis (1). The two mounting parts (402) are detachably connected to the side walls of the mounting frame (5). A round rod (42) is rotatably connected to both mounting parts (41). Two sprockets (43) are fixedly sleeved on the round rod (42). A round rod (403) is rotatably connected to both mounting parts (402). Two sprockets (404) are fixedly sleeved on the round rod (403). A chain (44) is sleeved on both sprockets (43) and sprockets (404) on the same side. Multiple U-shaped filter frames (401) are provided between the two chains (44). The crushing mechanism (6) includes two L-shaped support plates (61), which are detachably connected to the two side walls of the mounting frame (5), and two crushing rollers (63) are rotatably connected to the two transmission rods (62). The second sprocket (404) and the crushing roller (63) rotate synchronously.

2. The pine forest logging residue collection device according to claim 1, characterized in that, The transmission mechanism (4) also includes a drive motor (48) detachably connected to the top surface of the mobile chassis (1). The output end of the drive motor (48) is detachably connected to a transmission wheel (46). One end of the round rod (42) is fixedly sleeved with a transmission wheel (45). A transmission chain (47) is sleeved on both the transmission wheel (45) and the transmission wheel (46).

3. The pine forest logging residue collection device according to claim 2, characterized in that, Multiple support rods (49) are fixedly connected between the two chains (44), and multiple U-shaped filter frames (401) are detachably connected to the multiple support rods (49). Both chains (44) are set at an angle.

4. The pine forest logging residue collection device according to claim 3, characterized in that, The crushing mechanism (6) also includes two transmission rods (62), with each end of the transmission rod (62) rotatably connected to two L-shaped support plates (61). Gears (64) are fixedly sleeved at the same end of the two transmission rods (62), and the two gears (64) mesh with each other. Crushing rollers (63) are fixedly sleeved on the two transmission rods (62).

5. The device and method for collecting pine forest logging residues according to claim 4, characterized in that, One of the transmission rods (62) is fixedly sleeved with a first synchronous pulley (65), and one end wall of the second round rod (403) is fixedly sleeved with a second synchronous pulley (66). A synchronous belt (67) is sleeved on both the first synchronous pulley (65) and the second synchronous pulley (66).

6. A collection device for pine forest logging residues according to claim 5, characterized in that, The second sprocket (404) is located obliquely above the crushing zone of the two crushing rollers (63).

7. A collection device for pine forest logging residues according to claim 1, characterized in that, The collection box (7) is detachably connected to the top surface of the mobile chassis (1), and the collection box (7) is located below the crushing zone of the two crushing rollers (63).

8. A method for collecting pine logging residues, applied to the pine logging residues collection device according to any one of claims 1-7, characterized in that, Includes the following steps: S1. Drive the mobile chassis (1) to the pine forest logging operation area and position it at the location of the remaining pine branches to be collected. S2. Control the two gripping robotic arms (3) to grip the remaining pine branches in the forest and place the pine branches in the U-shaped filter frame (401) of the conveying mechanism (4); S3. The drive motor (48) drives the first round rod (42) and the first sprocket (43) to rotate through the transmission chain (47). The second sprocket (404) pulls the chain (44) to run in the inclined direction. The U-shaped filter frame (401) transports pine branches with the chain (44). During the transport process, the vibration generated by the chain drive causes the dust on the surface of the pine branches to fall through the hollow part of the U-shaped filter frame (401), thus completing the dust removal of pine branches. S4, sprocket two (404) rotates synchronously with chain (44), driving round rod two (403) to rotate. Through the transmission of synchronous wheel one (65), synchronous wheel two (66) and synchronous belt (67), it drives two transmission rods (62) and meshing gears (64) to rotate, causing the two crushing rollers (63) to rotate synchronously in opposite directions. The pine branches conveyed to the end fall into the crushing zone between the two crushing rollers (63) and are squeezed and sheared. S5. The crushed material falls naturally into the collection box (7) below for centralized storage.

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