• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a tool arm (100) for working in hard to reach positions, the tool arm (100) having a proximal end (101) with which the tool arm (100) is mountable on a base and a distal end (102) connectable to a tool (300), the tool arm (100) comprising: - a proximal first arm member (1) rotatably mounted on a first rotary member (13) about a first pivot axis (14); a first inclination plane (11), in particular upwards and downwards, is inclinable, wherein the first axis of rotation (14) lies in the first inclination plane (11), and - a second arm element (2) adjoining the first arm element (1) which is rotatably mounted about a second axis of rotation (24) and which is tiltable in a second inclination plane (21), wherein between the first arm element (1) and the second arm element (2) a tilting element (4) is provided, the Tilting element (4) in a tilting plane (41) is tiltable wherein the second rotation axis (24) lies in the tilting plane (41) and wherein the second slope plane (21) is arranged perpendicular to the tilting plane (41).
    公开号:AT520936A4
    申请号:T51027/2018
    申请日:2018-11-22
    公开日:2019-09-15
    发明作者:Breiml Siegfried
    申请人:Kng Kaernten Netz Gmbh；
    IPC主号:
    专利说明:

    The invention relates to a tool arm for working in difficult to access positions according to the preamble of patent claim 1.
    Working in hard-to-reach positions is time-consuming, personnel-intensive, and often exhausting and dangerous. As an example, keeping overhead lines in forested areas clear. To ensure safe operation of the overhead lines, it is necessary that there are no obstacles in the area of the overhead line. For this, distances are defined, which in any case must be kept free of vegetation. Branches that protrude laterally into this area and fall below the required minimum distance to the overhead line must therefore be removed. This is made even more difficult if the place of use is on uneven terrain, for example in the mountains.
    Various tool arms are known from the prior art, which can be mounted, for example, on carrier vehicles in order to be brought to their place of use. However, it is not possible to optimally position the carrier vehicle in difficult-to-access areas. In order to move the tool to the desired position, the tool arm must therefore be adjusted accordingly. Known tool arms do not have sufficient adjustment options, or the number of degrees of freedom and the mobility of the known tool arms is too low to enable use in a wooded slope area. Known tool arms either do not have sufficient range for use in such areas, or weight and size do not allow use in the field.
    For example, EP 2 594 128 shows a vehicle with a tool arm with cutting means, the tool arm having a rotatable first arm part and a rotatable second arm part oriented perpendicular thereto.
    EP 2 225 933 shows a tool arm with a cutting device, the tool arm having a first inclinable arm part and a second inclinable arm part, and the cutting device is also inclinable.
    WO 2011/054060 shows a tool arm with a first and a second arm part, the arm parts being rotatable and the inclination of the arm parts being adjustable.
    These tool arms only have a limited number of setting options.
    For this reason, helicopters with saws that cut from the air are currently used in areas that are difficult to access. This method is expensive and precise control is difficult.
    / 32
    The object of the invention is therefore to provide a tool arm that is variably adjustable and is particularly suitable for use in places with obstacles or in difficult-to-access terrain.
    The invention achieves the object with the characterizing feature of patent claim 1. The invention relates to a tool arm for working in difficult to access positions, the tool arm having a proximal end that can be fastened on a base and a distal end that can be used with a tool is connectable. The tool arm comprises a proximal first arm element, which is mounted rotatably about a first axis of rotation on a first rotating element and which can be inclined in a first inclination plane, in particular upwards and downwards, the first rotation axis lying in the first inclination plane. Furthermore, the tool arm comprises a second arm element, which is connected to the first arm element and is rotatably mounted about a second axis of rotation and which can be inclined in a second inclination plane.
    According to the invention, for such a tool arm it is provided that a tilting element is provided between the first arm element and the second arm element, the tilting element being tiltable in a tilting plane, the second axis of rotation being in the tilting plane and the second tilting plane being arranged perpendicular to the tilting plane. If the tilting element is not tilted, the second axis of rotation also lies in the second inclination plane.
    The tool arm can be adjusted particularly variably by the tilting element and has a large number of degrees of freedom. For the alignment of the tool arm, the first and second arm elements can be rotated and inclined, and in addition the second arm element can be tilted by the tilting element. As a result, the tool arm can be aligned even if the base is not optimally positioned so that a tool can be arranged at the desired location. Obstacles can therefore be avoided more easily and slope inclinations can also be better compensated for.
    Advantageous configurations result from the following features:
    The tool arm is particularly variably adjustable if it is provided that the second axis of rotation is oriented at an angle to the longitudinal extension of the first arm element. An orientation perpendicular to the arm element or to extend the longitudinal axis of the arm element is particularly advantageous. The tool arm can thus be adapted particularly well to the conditions of the place of use.
    / 32
    Furthermore, it can be provided that the proximal end of the second arm element is spaced from the first arm element and / or an extension of the longitudinal extension of the first arm element, or that the proximal end of the second arm element is offset to the longitudinal extension or an extension of the longitudinal extension of the first arm element is arranged. The first and the second arm element can therefore be aligned with one another in a particularly variable manner. The tool arm therefore has a large number of degrees of freedom and is variably adjustable.
    In order to be able to adjust the tool arm in a particularly simple manner, it can be provided that a second rotating element is arranged at the distal end of the first arm element, which has the second axis of rotation, the tilting element being arranged on the second rotating element. For example, a hydraulic turntable or a toothed ring driven by a worm wheel can be used as the rotating element.
    In order to simplify the control of the tool arm, it can be provided that the first arm element can be tilted by a first tilting unit, in particular comprising a first lifting cylinder. Additionally or alternatively, it can be provided that the second arm element can be tilted by a second tilting unit, in particular comprising a second lifting cylinder. This enables a light and compact construction of the tool arm, which is advantageous in difficult to access areas. It is particularly advantageous if the second tilting unit is arranged on the tilting element. This results in a compact design of the tool arm and, at the same time, great variability in the setting options.
    It is structurally advantageous if the tilting element is arranged on the second rotating element and the second tilting unit is arranged on the tilting element. The tilting element is connected directly to the second rotating element and the second tilting unit, or is arranged directly between the second rotating element and the second tilting unit. In this way, a particularly compact arrangement with many setting options is achieved. Control is also simplified by this compact design.
    The tool arm can be set in a particularly variable manner if the tilting element can be tilted by a tilting angle relative to the second axis of rotation, the second inclination plane being cut by the second axis of rotation at the tilting angle. It is particularly advantageous if the tilt angle can be set between -45 ° and + 45 °. With a / 32
    The tilting element is not tilted by 0 ° and the second axis of rotation lies in the second inclination plane. Due to the large adjustable range of the tilt angle, the tool arm can be adjusted particularly variably, so that, for example, it can also be avoided that the base often has to be repositioned.
    In order to simplify the positioning in the field and to be able to stabilize the tool arm, it can be provided that at least one gripping support foot is provided on the first arm element, in particular on the distal end of the first arm element.
    To increase the range of the tool arm, it can be provided that the tool arm comprises a, in particular distal, third arm element, wherein the third arm element can be inclined in a third inclination plane by a third inclination unit. The control of the tool arm can be facilitated if it is provided that the third inclination level coincides with the second inclination level.
    In order to be able to adjust the tool arm in a particularly variable manner, it can be provided that the length of the first arm element and / or the second arm element and / or the third arm element is variable. This allows the tool arm to be aligned in a particularly variable manner. Furthermore, it is possible to achieve a small storage and transport size with a large range. Additionally or alternatively, it can be provided that the first arm element and / or the second arm element and / or the third arm element is designed as a telescopic arm, an insulated structure of the telescopic arm being particularly advantageous. As a result, the tool arm can have a low weight and high stability with a long range. This enables particularly simple transport to the place of use, in particular the stability of a transport vehicle can be improved and areas which are difficult to access can also be reached.
    In order to be able to store or transport the tool arm in a particularly simple manner, provision can be made for the tool arm to be collapsible, the first arm element and / or the second arm element and / or the third arm element being able to be arranged parallel to one another. The arm elements can in particular be arranged perpendicular to the first axis of rotation and / or perpendicular to the second axis of rotation. In particular, it can be provided that the third arm element can be arranged between the first arm element and the second arm element. The space required for storage and transport of the tool arm can be minimized. The transport of the / 32
    Tool arm is thus facilitated and transport to a difficult to access location is also made possible.
    It can be provided that the tool is connected to the distal end of the tool arm via a spacer. In order to avoid a collision of the tool with the tool arm, it can be provided that the spacer has an offset. As a result, the tool is not arranged in a direct extension of the third arm element, but is offset from it, ie at a distance from an extension of the longitudinal axis of the third arm element. Additionally or instead, it can be provided that the spacer is rotatably connected to the tool arm, in particular via a third rotating element. This significantly simplifies the operation of the tool and a particularly precise control can be achieved.
    For use it is tool arm, this can be connected to a tool. It can be provided that the tool can be tilted by a fourth inclination unit, in particular with an inclination angle of -45 ° to + 45 ° relative to an extension of the longitudinal axis of the adjacent arm element, so that the tool can be aligned particularly easily and the work can be carried out is made easier with the tool. For example, a lifting cylinder can be provided as the fourth tilting unit. To keep overhead lines clear, it is particularly advantageous if the tool is a branch saw. The branch saw can have two saw blades, for example.
    In order to reach locations that are difficult to access, it can be provided that the base is a vehicle. A vehicle with a tool arm according to the invention is therefore also according to the invention. It is particularly advantageous in difficult-to-access terrain if the vehicle is a caterpillar. For example, a mowing caterpillar is suitable as a vehicle. This enables the floor area to be kept clear, e.g. under an overhead line, of vegetation.
    It can be provided that the tool arm can be attached to the vehicle via three-point hydraulics. The tool arm can thus be quickly and easily mounted on the vehicle and removed from the vehicle, so that it can be used as required. The three-point hydraulic system forms the interface between the vehicle and the tool arm and thus forms the basis for the tool arm. The three-point hydraulic system has two lower links and one upper link and thus enables attachment to the vehicle at three points, with height adjustment being possible by raising / lowering and lowering the lower links. If it is provided that at least one support foot, in particular two support feet, is arranged on the three-point hydraulic system, additional stabilization of the tool arm is made possible.
    A particularly advantageous embodiment of the invention is illustrated by way of example with reference to the following drawings without restricting the general inventive concept.
    Fig. 1 shows a tool arm according to the invention from a side view.
    Fig. 2 shows a detailed view of the connection of the first and second arm element.
    Fig. 3 shows a detailed view of the connection of the first and second arm element, wherein the tilting element is tilted.
    FIG. 4 shows the tool arm from FIG. 1, the second and third arm elements being fully extended.
    FIG. 5 shows the tool arm from FIG. 1, the third arm element being angled.
    FIG. 6 shows the tool arm from FIG. 1, the second arm element being inclined and the third arm element being shown folded together.
    Fig. 7 shows the tool arm from Fig. 1 completely folded.
    FIG. 8 shows the tool arm from FIG. 1 folded onto a vehicle.
    FIG. 9 shows the vehicle from FIG. 8 from an oblique view.
    FIG. 10 shows the vehicle from FIG. 8 in a view from the rear.
    11 schematically shows possible settings of the tilting element.
    FIG. 12 shows the vehicle from FIG. 8 in use from a side view.
    FIG. 13 shows the arrangement from FIG. 12 from a rear view.
    FIG. 14 shows the vehicle from FIG. 8 when used on a slope.
    1 shows a tool arm 100 according to the invention. The tool arm 100 has a proximal end 101, the tool arm 100 with its proximal end
    101 is attachable to a base. Tool arm 100 also has a distal end
    102, which is connected to a tool 300. In the illustrated embodiment, tool 300 is a branch saw. A spacer 5 is arranged between the distal end 102 and the tool 300. In the illustrated embodiment, the tool arm 100 comprises a proximal first arm element 1, a second arm element 2 adjoining the first arm element 1 and a distal third arm element 3. At the distal end of the first arm element 1 are gripping support feet
    103 arranged to be able to stabilize the tool arm 100.
    / 32
    The first arm element 1 is mounted on a first rotary element 13 and can be rotated through 360 ° about a first axis of rotation 14. In the illustrated embodiment, the first rotary element 13 is designed as a hydraulic turntable. In an alternative embodiment, the first rotating element 13 could, for example, also be a toothed ring driven by a worm wheel.
    The first arm element 1 can also be inclined in a first inclination plane 11, the first arm element 1 being held in a first inclination unit 12. The inclination can be adjusted up and down via the first inclination unit 12 with a first lifting cylinder 112, the first axis of rotation 14 lying in the first inclination plane 11. This can partially compensate for a slope, for example.
    At the distal end of the first arm element 1, a second rotary element 23 is arranged, which is designed as a hydraulic turntable. The second rotary element 23 has a second axis of rotation 24, the second axis of rotation 24 being oriented perpendicular to the first arm element 1. The second arm element 2 is mounted such that it can be rotated through 360 ° about the second axis of rotation 24. The proximal end of the second arm element 2 is spaced from the first arm element 1 or from an extension of the longitudinal axis of the first arm element 1. The proximal end of the second arm element 2 is therefore arranged offset to the first arm element 1. The second arm element 2 can be inclined in a second inclination plane 21, for which purpose a second inclination unit 22 with a second lifting cylinder 122 is provided. In the illustrated embodiment, the second arm element 2 and the second lifting cylinder 122 are held in the tilt unit 22.
    A tilting element 4 is provided between the first arm element 1 and the second arm element 2. The tilting element 4 is arranged on the second rotating element 23, and the second tilting unit 22 is arranged on the tilting element 4. The tilting element 4 can be tilted in a tilting plane 41, the second axis of rotation 24 being in the tilting plane 41. In the illustrated embodiment, the tilt plane 41 is oriented perpendicular to the image plane, so that the second axis of rotation 24 corresponds to a section through the tilt plane 41. The second inclination plane 21 is arranged perpendicular to the tilt plane 41, so that in the embodiment shown it lies in the image plane. In the illustrated embodiment, the tilting element 4 is not tilted, i.e. the tilting element 4 is arranged on the second axis of rotation 24. The second axis of rotation 24 is therefore also in the second inclination plane 21.
    / 32
    In the illustrated orientation of the tool arm 100, the second arm element 2 is inclined upwards. The third arm element 3 is connected to the distal end of the second arm element 2. The third arm element 3 can be inclined in a third inclination plane 31, which in the illustrated embodiment corresponds to the second inclination plane 21.
    FIG. 2 shows a detailed view of the connection of the first arm element 1 and the second arm element 2 with the orientation from FIG. 1. The second rotary element 23 is arranged at the distal end of the first arm element 1. The tilting element 4 is arranged directly on the second rotating element 23 and the second tilting unit 22 is arranged directly on the tilting element 4. The tilting element 4 is thus directly connected to the second rotating element 23 and the second tilting unit 22. Through this connection of the first arm element 1 and the second arm element 2, the proximal end of the second arm element 2 is arranged offset from the first arm element 1, or is spaced apart therefrom. The distance corresponds to the height of the tilting element 4. The component formed by the second rotating element 23, the tilting element 4 and the second tilting unit 22 has a large number of setting options and is particularly compact.
    FIG. 3 also shows a detailed view of the connection of the first arm element 1 and the second arm element 2, the orientation of the arm elements 1, 2 being different in comparison to FIG. 2. The first arm element 1 is inclined, so that the second rotating element 23, whose rotating surface is aligned parallel to the first arm element 1, is also inclined. Since the second axis of rotation 24 is oriented perpendicular to the longitudinal axis of the first arm element 1, the second axis of rotation 24 is also inclined. The tilting element 4 is tilted in the tilting plane 41, which lies in the image plane in the view shown, so that the tilting angle 42 is shown. In the orientation shown, the tilt angle 42 is 18 ° relative to the second rotation axis 24. The second inclination plane 21 is oriented perpendicular to the tilt plane 41, the second inclination plane 21 being intersected by the second rotation axis 24 at the tilt angle 42. In the view shown, the second inclination plane 21 is perpendicular to the image plane and is therefore shown in section. In the embodiment shown, the second arm element 2 can therefore be tilted into and out of the image plane.
    It can be seen from FIGS. 2 and 3 that the tilting element 4 in the embodiment shown comprises two plates arranged parallel to one another, the plates being arranged on both sides of the tilting plane 41 with the same distance in each case and parallel to the tilting plane 41. The plates taper to the first / 32nd
    Arm element 1 and become wider towards the second arm element 2. The side walls of the plates are arranged mirror-symmetrically to the second inclination plane 21. The tilting element 4 can be tilted about an axis which lies parallel to the second rotating element 23, or to the longitudinal axis of the first arm element 1, and in the second inclination plane 21. To set the tilt angle 42, a hydraulic cylinder is provided, which is arranged on the tilt plane 41, in particular parallel to the second inclination plane 21.
    4 shows a tool arm 100 according to the invention, wherein the arm elements 1, 2, 3 have a variable length and in the embodiment shown are each fully extended. In the illustrated embodiment, the extension takes place via a hydraulic cylinder 17, 28, 29, 38, 39, in an alternative embodiment it can be provided that the extension takes place via racks, chains or the like.
    In the illustrated embodiment, the first arm element 1 is mounted in a first tilting unit 12, which is arranged on the first rotating element 13 and serves to support the first arm element 1 and the first lifting cylinder 112. The first arm element 1 has a first first arm part 15 and a first second arm part 16, the first second arm part 16 being able to be pushed out by the first extension cylinder 17. In the embodiment shown, the first first arm part 15 has a length of 2.3 m and forms the outer part of the first arm element 1, while the first second arm part 16 has a length of 2 m and can be inserted into the first first arm part 15 , In the embodiment shown, the first extension cylinder 17 has a cylinder stroke of 2000 mm.
    The second arm element 2 has a second first arm part 25, a second second arm part 26 and a second third arm part 27. The second second arm part 26 can be pushed out by the second extension cylinder 28. The second third arm part 27 can be pushed out by the third extension cylinder 29. In the embodiment shown, the second arm element 2 has a length of approximately 8 m. The second arm element 2 is designed as a three-part telescopic arm which is constructed in an insulated manner, the second arm element 2 in the embodiment shown being made of a glass fiber reinforced plastic. The second first arm part 25 forms the outer part which receives the second second arm part 26 and the second third arm part 27 which forms the innermost part.
    / 32
    In the embodiment shown, the second first arm part 25 has a length of 3.5 m, the second second arm part 26 has a length of 2 m, the second extension cylinder 28 having a cylinder stroke of 2000 mm, the second third arm part 27 also has a length of 2 m and the third extension cylinder 29 has a cylinder stroke of 2000 mm. At the distal end of the second third arm part 27, the second arm element 2 is connected to the third arm element 3.
    The third arm element 3 has a third inclination plane 31, in which the third arm element 3 can be inclined, the inclination being adjustable via a third inclination unit. In the illustrated embodiment, the third tilt unit comprises a third lifting cylinder 32 which engages the articulated struts 33 and 34 in order to enable the movement of the third arm element 3. The third arm element 3 is designed as a three-part telescopic arm which is constructed in an insulated manner, the third arm element 3 in the embodiment shown being made of a glass fiber reinforced plastic.
    In the embodiment shown, the third arm element 3 has a total length of 7.5 m, a third first arm part 35, a third second arm part 36 and a third third arm part 37 being provided. In the embodiment shown, the third first arm part 35 has a length of 3 m and forms the outer part of the third arm element 3. The third second arm part 36 has a length of 2 m and can be moved through the fourth extension cylinder 38 with a cylinder stroke of 2000 mm are extended. The third third arm part 37 forms the innermost part of the telescopic arm, has a length of 2 m and can be extended by the fifth extension cylinder 39 with a cylinder stroke of 2000 mm. The distal end of the third third arm part 37 forms the distal end of the tool arm 102. The connection to the spacer 5 is established at the distal end of the third third arm part 37.
    FIG. 5 shows the tool arm 100 with an alternative alignment of the arm elements 1, 2, 3, wherein all the arm elements 1, 2, 3 are extended to the full length. In the view shown, the first arm element 1 is rotated and the tool arm 100 is aligned to the side of the base. By tilting the second arm element 2 and the third arm element 3, the tool 300 is raised and positioned to the working height.
    6 shows the tool arm 100 partially folded. In the configuration shown, the first arm element 1 is extended and positioned laterally to the base. The second and third arm elements 2, 3 are retracted, the second arm element 2/32 being raised and the third arm element 3 being completely folded. This alignment of the arm elements 1, 2, 3 corresponds to an intermediate step when unfolding or folding at the beginning and at the end of work with the tool arm 100.
    At the start of the work, the tool arm 100 is brought into the desired orientation. For this purpose, the first arm element 1 is positioned in a first step by rotating and adjusting the desired inclination. The first arm element 1 is usually arranged parallel to the floor surface and fastened via the gripping support feet 103. The second and third arm elements 2, 3 are then brought into position. The rotation of the second rotating element 23, the tilting angle 42 of the tilting element 4, and the inclination and the length of the second and third arm element 2, 3 can be adjusted according to the requirements of the respective place of use. The orientation of the tool 300 is also adjustable.
    The spacer 5 is arranged at the distal end of the tool arm 102. The spacer 5 is rotatably connected to the tool arm 100 via a third rotating element 51. In the embodiment shown, the third rotary element 51 enables the spacer 5 to be rotated through 180 °. In the embodiment shown, it can be driven electrically. In an alternative embodiment, for example, a hydraulic drive of the third rotary element 51 can also be provided. In the embodiment shown, the spacer 5 has an offset, so that the distal end of the spacer 5 is not arranged in the extension of the third arm element 3, but instead is offset. A collision between tool 300 and tool arm 100 can thereby be prevented. The tool 300 is arranged at the distal end of the spacer 5.
    In the illustrated embodiment, the tool 300 is a branch saw; in alternative embodiments, other tools 300 can also be attached to the tool arm 100, for example grippers. In the embodiment shown, the branch saw has two saw blades 301, the saw blades each having a diameter of 250 mm. In the embodiment shown, the drive takes place electrically. In an alternative embodiment, a hydraulic drive is also possible. In the illustrated embodiment, the drive of the branch saw is installed in a housing. The branch saw can be inclined via a fourth inclination unit with a fourth lifting cylinder 302, an inclination angle of -45 ° to + 45 ° being adjustable relative to an extension of the longitudinal axis of the third arm element 3 in the embodiment shown.
    / 32
    FIG. 7 shows the tool arm 100 according to the invention from FIG. 1 in the folded state. The arm elements 1, 2, 3 are each retracted to their shortest length and arranged parallel to one another. The first arm element 1 is arranged in the lowest position, the second arm element 2 in the uppermost position, the height offset between the first arm element 1 and the second arm element 2 also being caused by the tilting element 4. The third arm element 3 is arranged between the first arm element 1 and the second arm element 2, the tool 300 being arranged in front of the tilting element 4 in the embodiment shown.
    8 shows the collapsed tool arm 100, mounted on a vehicle 200 as a base. The connection between tool arm 100 and vehicle 200 is realized by a three-point hydraulic system 201. The three-point hydraulic system 201 fixes the tool arm 100 to the vehicle via three points. The three-point hydraulic system can be adjusted in height so that the distance to the floor can be adjusted.
    In the embodiment shown, the vehicle 200 has a crawler chassis 202 and is therefore a caterpillar vehicle, in particular a mowing caterpillar. In the embodiment shown, the vehicle 200 has a forest mulcher 203 as a further tool. This enables the area close to the ground to be kept free of vegetation. In an alternative embodiment, another type of vehicle can also be provided. In an alternative embodiment, a different tool attachment, such as a forest milling machine, or no other tool, can also be provided.
    In FIG. 9, the vehicle from FIG. 8 can be seen in an oblique view. 9 that the spacer 5 has an offset, so that a collision between the tool 300 and the tool arm 100 can be avoided. It can also be seen that two support feet 104 are arranged on the three-point hydraulic system 201, each of which has a support cylinder and can be operated hydraulically. The two support feet 104 allow additional stabilization of the tool arm 100.
    10 shows the vehicle 200 from behind. It can be seen that the support feet 104 can be folded up laterally for transport. An arm receptacle 204 is also shown, which prevents the tool arm 100 from colliding with the vehicle 200 when the tool arm 100 is pivoted over the vehicle 200.
    / 32
    11 shows the tool arm 100 in the extended state on a vehicle 200. The first rotating element 13 causes the tool arm 100 to be extended laterally from the position above the vehicle 200 and is supported by the gripping support feet 103. The various positions of the tool arm 100, which can be achieved by tilting in the tilting plane 41, are shown schematically. The tilting plane 41 lies in the image plane in FIG. 11. In the embodiment shown, tilting by a tilt angle 42 of -45 ° to + 45 ° to the second axis of rotation 24 is possible.
    The position of the gripping support feet 103 can also be adjusted at different angles, so that the tool arm 100 can be supported against the ground or can attack a tree 400.
    12 shows a tool arm 100 in use on a vehicle 200. The tool arm 100 is used in conjunction with a branch saw as a tool 300 in order to cut trees 400 along an overhead line 500. The first arm element 1 is aligned essentially horizontally parallel to the floor surface. The second arm element 2 is raised, the third arm element 3 is aligned flat. The second inclination level 21 and the third inclination level 31 correspond to one another and lie in the view in the image plane. They are aligned perpendicular to the tilting plane 41 of the tilting element 4. In the view, the tilting plane 41 is therefore oriented perpendicular to the picture plane, so that the tilting element can be tilted into the picture plane and out of the picture plane.
    FIG. 13 shows the arrangement from FIG. 12, the vehicle 200 being shown from behind. In this illustration, the tilt plane 41 lies in the image plane. The tilting element 4 is not tilted. The second inclination plane 21 and the third inclination plane 31 are aligned perpendicular to the tilt plane 41 and therefore also perpendicular to the image plane. Since the tilting element 4 is not tilted in the illustration, ie the tilt angle 42 is 0 °, the second axis of rotation 24 lies in the tilting plane 41 and in the second inclination plane 21.
    14 shows an alternative arrangement of the vehicle 200 and the tool arm 100 in use, the terrain having a slope. The first arm element 1 is therefore aligned in FIG. 14 with an inclination to the first axis of rotation 14 in order to partially compensate for the slope and to allow the first arm element 1 to be arranged as parallel as possible to the floor surface. The gripping support foot 103 are fixed to a tree 400.
    / 32
    14, the tilting element 4 has a tilting plane 41 which lies in the image plane, a tilting angle 42 of 18 ° being present in the embodiment shown. This allows the slope slope to be compensated and the use of the tool arm 100 for work in this difficult to access position is made possible. The second inclination plane 21 is thus perpendicular and therefore aligned parallel to the trunks of the trees 400, whereby the precise control of the tool 300 is facilitated. The tool arm 100 shown thus has many degrees of freedom and enables flexible use, especially in difficult-to-access terrain.
    权利要求:
    Claims (15)
    [1]
    1. Tool arm (100) for working in difficult to access positions, wherein the tool arm (100) has a proximal end (101) with which the tool arm (100) can be fastened on a base, and a distal end (102) that can be connected to a tool (300), the tool arm (100) comprising:
    - A proximal first arm element (1) which is rotatably mounted about a first axis of rotation (14) on a first rotating element (13) and which can be inclined in a first inclination plane (11), in particular upwards and downwards, the first Axis of rotation (14) in the first inclination plane (11), and
    - A, to the first arm element (1), second arm element (2) which is rotatably mounted about a second axis of rotation (24) and which can be inclined in a second inclination plane (21), characterized in that between the first arm element (1) and the second arm element (2), a tilting element (4) is provided, the tilting element (4) being tiltable in a tilting plane (41), the second axis of rotation (24) being in the tilting plane (41) and the second inclination plane (21) is arranged perpendicular to the tilt plane (41).
    [2]
    2. Tool arm (100) according to claim 1, characterized in that the second axis of rotation (24) is oriented at an angle, in particular perpendicular, to the longitudinal extent of the first arm element (1).
    [3]
    3. Tool arm (100) according to claim 1 or 2, characterized in that the proximal end of the second arm element (2) from the first arm element (1), and / or an extension of the longitudinal axis of the first arm element (1), is spaced and / or that the proximal end of the second arm element (2) is arranged offset to the longitudinal extension or an extension of the longitudinal extension of the first arm element (1).
    [4]
    4. Tool arm (100) according to one of claims 1 to 3, characterized in that a second rotary element (23) is arranged at the distal end of the first arm element (1), which has the second axis of rotation (24), wherein the tilting element (4th ) is arranged on the second rotating element (23).
    [5]
    5. Tool arm (100) according to one of claims 1 to 4, characterized in that the first arm element (1) by a first inclination unit (12), in particular comprising
    16/32 a first lifting cylinder (112) can be tilted and / or that the second arm element (2) can be tilted by a second tilting unit (22), in particular comprising a second lifting cylinder (122), the second tilting unit (22) in particular is arranged on the tilting element (4).
    [6]
    6. Tool arm (100) according to one of claims 1 to 5, wherein on the second rotating element (23) the tilting element (4) and on the tilting element (4) the second tilting unit (22) is arranged.
    [7]
    7. Tool arm (100) according to one of claims 1 to 6, characterized in that the tilting element (4) can be tilted relative to the second axis of rotation (24) by a tilting angle (42), the second inclination plane (21) from the second axis of rotation (24) is cut in the tilt angle (42), and in particular it is provided that the tilt angle (42) is adjustable between -45 ° and + 45 °.
    [8]
    8. Tool arm (100) according to one of claims 1 to 7, characterized in that at least one gripping support foot (103) is provided on the first arm element (1), in particular at the distal end of the first arm element (1).
    [9]
    9. Tool arm (100) according to one of claims 1 to 8, characterized in that the tool arm (100) comprises a, in particular distal, third arm element (3), the third arm element (3) by a third inclination unit in a third inclination plane (31) can be inclined, the third inclination plane (31) in particular matching the second inclination plane (21).
    [10]
    10. Tool arm (100) according to one of claims 1 to 9, characterized in that the first arm element (1) and / or the second arm element (2) and / or the third arm element (3) is variable in length and / or that the first arm element (1) and / or the second arm element (2) and / or the third arm element (3) is designed as an, in particular insulated, telescopic arm.
    [11]
    11. Tool arm (100) according to one of claims 1 to 10, characterized in that the tool arm (100) can be folded, the first arm element (1) and / or the second arm element (2) and / or the third arm element (3 ) can be arranged parallel to one another in a collapsed configuration, in particular perpendicular to the first axis of rotation (14) and / or perpendicular to the second axis of rotation (24), wherein
    17/32 in particular it is provided that the third arm element (3) can be arranged between the first arm element (1) and the second arm element (2).
    [12]
    12. Tool arm (100) according to one of claims 1 to 11, characterized in that the tool (300) via a spacer (5) with the distal end (102) of the tool arm (100) can be connected, the spacer (5) has an offset and / or, in particular via a third rotary element (51), can be rotatably connected to the tool arm (100).
    [13]
    13. Tool arm (100) according to one of claims 1 to 12 with a tool (300), wherein in particular it is provided that the tool (300) can be inclined by a fourth inclination unit, in particular with an inclination angle of -45 ° to + 45 ° relative to an extension of the longitudinal axis of the adjacent arm element (3) and / or that in particular it is provided that the tool (300) is a branch saw.
    [14]
    14. Vehicle (200) with a tool arm (100) according to one of claims 1 to 13, wherein the vehicle (200) is in particular a crawler vehicle.
    [15]
    15. Vehicle (200) according to claim 14, wherein the tool arm (100) via a three-point hydraulic system (201) can be fastened to the vehicle (200), it being provided in particular that at least one support leg (104) is arranged on the three-point hydraulic system (201) ,
    类似技术:
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    DE2053073C3|1981-01-29|mower
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    DE10327915C5|2012-04-05|Hay-making machine
    DE1782461A1|1971-08-26|Harvester
    DE1915825A1|1970-08-27|Tillage equipment
    EP3656208B1|2021-04-07|Tool arm for work in poorly accessible positions
    DE3134391A1|1983-03-10|MOWER
    DE1782409A1|1972-01-05|Table for the mower of a mobile harvesting machine
    DE8016170U1|1980-10-02|DEVICE FOR UROOTING STUMPS
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    DE1482095C3|1982-09-09|mower
    DE2058255A1|1971-08-05|Combine harvester equipped with deflectors on the header table
    EP3479678B1|2020-07-22|Sawing device for cutting plants
    EP3693143B1|2021-10-20|Tilting circular saw
    DE4142496C2|1996-05-15|Haymaking machine
    EP3459900A1|2019-03-27|Sheet support with folding part
    EP2484195B1|2013-07-31|Harvester
    EP2591662B1|2015-01-07|Tedder
    DE2928278A1|1981-01-29|Front or rear earthmoving loader - has multiple variously spaced guide rod hinge points for deflecting piece
    DE3504654A1|1985-08-14|GROUND MACHINING MACHINE, IN PARTICULAR Harrow
    同族专利:
    公开号 | 公开日
    ES2866373T3|2021-10-19|
    DK3656208T3|2021-05-10|
    AT520936B1|2019-09-15|
    SI3656208T1|2021-08-31|
    EP3656208A1|2020-05-27|
    EP3656208B1|2021-04-07|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4063359A|1977-01-12|1977-12-20|Luscombe Arthur J|Vehicle mounted boom apparatus|
    US4411070A|1980-03-21|1983-10-25|Jarraff Industries, Inc.|Tree-trimming apparatus|
    WO2011054060A1|2009-11-09|2011-05-12|Willcocks Nominees Pty Limited|Elevatable utility boom|
    WO2017091892A1|2015-12-01|2017-06-08|Aerial Tool Corporation|Cutting apparatus|
    GB0702909D0|2007-02-15|2007-03-28|Fargeot Raymond|Hydraulic tree pruning and trimming head attachment|
    FR2942099B1|2009-02-18|2013-01-04|Cpur Eco|ONBOARD SIZE DEVICE|
    FR2982731B1|2011-11-17|2014-01-10|Gres De Thiviers Sarl|ON-BOARD PRUNING DEVICE|
    US20150082762A1|2013-09-25|2015-03-26|Plain Oaks Pty. Ltd.|Tree Trimmer|GB201908879D0|2019-06-20|2019-08-07|European Forest Machinery Ltd|Apparatus & method|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA51027/2018A|AT520936B1|2018-11-22|2018-11-22|Tool arm for working in hard-to-reach positions|ATA51027/2018A| AT520936B1|2018-11-22|2018-11-22|Tool arm for working in hard-to-reach positions|
    EP19210370.3A| EP3656208B1|2018-11-22|2019-11-20|Tool arm for work in poorly accessible positions|
    ES19210370T| ES2866373T3|2018-11-22|2019-11-20|Tool arm for working in difficult-to-reach positions|
    SI201930057T| SI3656208T1|2018-11-22|2019-11-20|Tool arm for work in poorly accessible positions|
    DK19210370.3T| DK3656208T3|2018-11-22|2019-11-20|TOOL ARM FOR WORKING IN HIGHLY ACCESSIBLE POSITIONS|
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