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CN-120240270-B - Felling machine, felling machine control method and medium

CN120240270BCN 120240270 BCN120240270 BCN 120240270BCN-120240270-B

Abstract

The present disclosure relates to a logging tool, a logging machine, a logging tool control method and a medium, the logging tool comprising a frame (1), a feeding mechanism (2) having a feeding support (21) hinged to the frame (1) and a feeding wheel (22) connected to the feeding support (21), the feeding wheel (22) being configured to feed a trunk, a pruning mechanism (3) having a spindle (31) hinged to the frame (1) and a cutter (32) connected to the spindle (31), the cutter (32) being configured to rotate with the spindle (31) relative to the frame (1), a sensing mechanism (4) being configured to acquire a diameter of the trunk, and a processor (5) in signal connection with the feeding mechanism (2), the pruning mechanism (3) and the sensing mechanism (4) being configured to adjust a position of the cutter (32) relative to the trunk according to the trunk diameter acquired by the sensing mechanism (4) during feeding of the trunk by the feeding wheel (22).

Inventors

  • GUAN PEIPENG
  • ZHANG YONG
  • WANG QUANYONG

Assignees

  • 江苏徐工工程机械研究院有限公司

Dates

Publication Date
20260505
Application Date
20250508

Claims (12)

  1. 1. A logging tool, comprising: A frame (1); -a feeding mechanism (2) having a feeding support (21) hinged to the frame (1) and a feeding wheel (22) connected to the feeding support (21), the feeding wheel (22) being configured to feed the trunk in a first direction; A trimming mechanism (3) spaced from the feeding mechanism (2) along the first direction, having a rotary shaft (31) hinged to the frame (1) and a cutter (32) connected to the rotary shaft (31), the cutter (32) being configured to rotate with the rotary shaft (31) relative to the frame (1); a sensing mechanism (4) comprising a first sensing device (41) arranged at the feeding mechanism (2) and a second sensing device (42) arranged at the trimming mechanism (3), the first sensing device (41) being configured to obtain a first diameter parameter being the trunk diameter at the feeding wheel (22), the second sensing device (42) being configured to obtain a second diameter parameter being the trunk diameter at the trimming mechanism (3) when the feeding wheel (22) is in a feeding initial position, and And a processor (5) in signal connection with the feeding mechanism (2), the pruning mechanism (3) and the sensing mechanism (4), configured to acquire a first diameter parameter in the whole feeding process in real time through the first sensing device (41) in the process of feeding the trunk by the feeding wheel (22), enable the cutter (32) to be abutted against the trunk when the feeding wheel (22) is positioned at a feeding initial position and acquire a second diameter parameter through the second sensing device (42), and determine a target position of the cutter (32) in real time based on the first diameter parameter, the second diameter parameter and a preset stump height, and enable the cutter (32) to rotate to the target position relative to the trunk.
  2. 2. The logging tool according to claim 1, wherein the processor (5) is configured to obtain a calibration factor from the first diameter parameter and the second diameter parameter when the feed wheel (22) is in the feed initial position, and to obtain a target diameter corresponding to the real-time target position of the tool (32) from the calibration factor, the real-time first diameter parameter during feed and a preset stump height; Wherein x=d 1 -D 2 ,D t2 =D t1 -x+2×h, X is a calibration factor, D 1 is a first diameter parameter when the feeding wheel (22) is located at the feeding initial position, D 2 is a second diameter parameter when the feeding wheel (22) is located at the feeding initial position, D t1 is a real-time first diameter parameter during feeding, D t2 is a real-time target diameter of the cutter (32) during feeding, and H is a preset stump height.
  3. 3. A logging tool according to claim 1, characterized in that the second sensor device (42) is an angle sensor, the second sensor device (42) being connected to the spindle (31) and configured to rotate with the spindle (31).
  4. 4. A logging tool according to claim 1, wherein said feeding mechanism (2) further comprises a transmission assembly; the first sensing device (41) is an angle sensor, and the first sensing device (41) is connected with the feeding support (21) through the transmission assembly and is configured to rotate along with the feeding support (21).
  5. 5. A logging tool according to claim 4, characterized in that the number of said feed seats (21) is two, spaced along a second direction perpendicular to said first direction, said two feed seats (21) enclosing a feed space between them for the trunk to move along the first direction; wherein, the transmission assembly includes: A connecting rod (61) connected to the two feeding holders (21), respectively, and configured to rotate the two feeding holders (21) in synchronization; wherein the first sensor means (41) is located at a side remote from the feed space with respect to the link (61).
  6. 6. A logging tool according to claim 5, characterized in that the first sensor device (41) has a sprocket; The transmission assembly further comprises a chain (62), and the chain (62) is connected with the connecting rod (61) and meshed with the first sensing device (41).
  7. 7. A logging tool according to claim 6, wherein said feeding mechanism (2) further comprises: and the elastic piece (63) is respectively connected with the frame (1) and the chain (62).
  8. 8. A logging machine, comprising: a machine body with a boom, and A logging tool according to any one of claims 1-7, further comprising a tilting mechanism (7) hinged to the frame (1), the tilting mechanism (7) being connected to the arm support.
  9. 9. A logging tool control method based on the logging tool of any one of claims 1 to 7, comprising: the position of the cutter (32) relative to the trunk is adjusted according to the trunk diameter acquired by the sensing mechanism (4) during the process of feeding the trunk by the feeding wheel (22).
  10. 10. The logging tool control method according to claim 9, characterized in that the sensing means (4) comprise a first sensing device (41) arranged at the feeding means (2) and a second sensing device (42) arranged at the trimming means (3), the first sensing device (41) being configured to obtain a first diameter parameter, the second sensing device (42) being configured to obtain a second diameter parameter, the first diameter parameter being the trunk diameter at the feeding wheel (22), the second diameter parameter being the trunk diameter at the trimming means (3) when the feeding wheel (22) is in a feeding initial position; Wherein the operation of adjusting the position of the cutter (32) relative to the trunk according to the trunk diameter acquired by the sensing mechanism (4) specifically comprises: -bringing the knife (32) against the trunk when the feed wheel (22) is in the feed initial position; Acquiring a first diameter parameter in the whole feeding process in real time through the first sensing device (41), and acquiring a second diameter parameter of the feeding wheel (22) at the initial feeding position through the second sensing device (42); Determining a target position of the cutter (32) in real time based on the first diameter parameter, the second diameter parameter and a preset stump height; The tool (32) is rotated to the target position.
  11. 11. The logging tool control method according to claim 10, wherein the operation of determining in real time the target position of the tool (32) based on the first diameter parameter, the second diameter parameter and a preset stump height comprises in particular: Obtaining a calibration factor according to a first diameter parameter and a second diameter parameter when the feeding wheel (22) is positioned at a feeding initial position; obtaining a target diameter corresponding to a real-time target position of the cutter (32) according to the calibration factor, the real-time first diameter parameter in the feeding process and the preset stump height; Wherein x=d 1 -D 2 ,D t2 =D t1 -x+2×h, X is a calibration factor, D 1 is a first diameter parameter when the feeding wheel (22) is located at the feeding initial position, D 2 is a second diameter parameter when the feeding wheel (22) is located at the feeding initial position, D t1 is a real-time first diameter parameter during feeding, D t2 is a real-time target diameter of the cutter (32) during feeding, and H is a preset stump height.
  12. 12. A computer readable storage medium having stored thereon a computer program, wherein the program when executed by a processor (5) implements the logging tool control method of any one of claims 9-11.

Description

Felling machine, felling machine control method and medium Technical Field The present disclosure relates to the field of engineering machinery, and in particular, to a logging tool, a logging tool control method, and a computer readable storage medium. Background The felling machine is one special device for forestry felling, and has the functions of felling, pruning, sawing, collecting material, etc. When the lumbering machine cuts wood, firstly, the wood is held tightly by the pruning knife and the feeding wheel clamping mechanism, then the wood is cut by the chain saw and is laid down, secondly, the feeding wheel drives the wood to feed, and after the wood reaches a specified length, the wood is cut off by the chain saw, so that the lumbering of one tree is repeatedly completed. The feeding wheel drives the wood to move, and branches on the wood can collide with the cutting edges on two sides of the pruning knife holding the wood, so that the branches are cut off. The pruning shears in the related art have overlarge strength for holding the wood, so that the surface of the wood is easy to damage, and meanwhile, the energy consumption is increased. Disclosure of Invention In view of the above, the embodiments of the present disclosure provide a logging tool, a logging machine, a logging tool control method, and a computer readable storage medium, which can improve the yield of wood. In one aspect of the present disclosure, there is provided a logging tool comprising: A frame; a feed mechanism having a feed support hinged to the frame and a feed wheel connected to the feed support, the feed wheel configured to feed the trunk; the trimming mechanism is provided with a rotating shaft hinged with the frame and a cutter connected with the rotating shaft, and the cutter is configured to rotate relative to the frame along with the rotating shaft; a sensing mechanism configured to obtain a diameter of the trunk, and And the processor is in signal connection with the feeding mechanism, the pruning mechanism and the sensing mechanism and is configured to adjust the position of the cutter relative to the trunk according to the trunk diameter acquired by the sensing mechanism in the process of feeding the trunk by the feeding wheel. In some embodiments, the feed wheel feeds the trunk in a first direction, and the feed mechanism and the pruning mechanism are spaced apart in the first direction; wherein, sensing mechanism includes: The first sensing device is arranged on the feeding mechanism and is configured to acquire a first diameter parameter, wherein the first diameter parameter is the diameter of a trunk at the feeding wheel; The second sensing device is arranged on the pruning mechanism and is configured to acquire a second diameter parameter, and the second diameter parameter is the diameter of a trunk at the pruning mechanism when the feeding wheel is positioned at the feeding initial position; The processor is configured to acquire a first diameter parameter in the whole feeding process in real time through the first sensing device, enable the cutter to be abutted against the trunk when the feeding wheel is located at the feeding initial position, acquire a second diameter parameter through the second sensing device, and determine the target position of the cutter in real time based on the first diameter parameter, the second diameter parameter and the preset stump height, and enable the cutter to rotate to the target position. In some embodiments, the processor is configured to obtain a calibration factor according to the first diameter parameter and the second diameter parameter when the feeding wheel is positioned at the feeding initial position, and obtain a target diameter corresponding to the real-time target position of the cutter according to the calibration factor, the real-time first diameter parameter in the feeding process and the preset stump height; Wherein, x=d 1-D2,Dt2=Dt1 -x+2×h, X is a calibration factor, D 1 is a first diameter parameter when the feeding wheel is at the feeding initial position, D 2 is a second diameter parameter when the feeding wheel is at the feeding initial position, D t1 is a real-time first diameter parameter during feeding, D t2 is a real-time target diameter of the cutter during feeding, and H is a preset stump height. In some embodiments, the second sensing device is an angle sensor, the second sensing device being coupled to the shaft and configured to rotate with the shaft. In some embodiments, the feed mechanism further comprises a drive assembly; the first sensing device is an angle sensor, is connected with the feeding support through a transmission assembly and is configured to rotate along with the feeding support. In some embodiments, the number of the feeding supports is two, the feeding supports are arranged at intervals along a second direction perpendicular to the first direction, and a feeding space for the trunk to move along the first direction is