Grabbing manipulator mechanism for round logs

Abstract

The grabbing manipulator mechanism comprises a conveying guide rail, a lifting arm is arranged on one side of the conveying guide rail, a rotating seat is arranged at the bottom end of the lifting arm, a clamping frame and a conveying plate are arranged on the rotating seat, the clamping frame is arranged at the bottom of the rotating seat and used for limiting and clamping the logs, and a pair of conveying rods is inserted into the conveying plate; a compensation frame is connected to one end of the conveying rod and used for conducting transverse distance compensation according to the bending degree during clamping and positioning, a movable block connected with a conveying plate is arranged in the compensation frame, the conveying plate is used for abutting against one side of a log, a set of limiting clamping plates are arranged at the bottom of the clamping frame, and limiting pressing blocks are movably arranged in the limiting clamping plates; compared with the prior art, the pressurizing mechanism drives the transmission block through the hydraulic system, so that the limiting pressing blocks with the nail plates tightly press the surface of wood from multiple directions and angles; the replaceable module at the bottom of the limiting clamping plate, namely replacement of the limiting cushion block and the detachable cushion plate, provides an additional supporting or anti-rolling function.

Description

Technical Field

[0001] The invention relates to the technical field of wood handling, in particular to a grabbing manipulator mechanism for logs. Background Art

[0002] When processing logs, such as drilling and debarking, the logs need to be fixed and transported. In the existing technology, binding or mechanical grippers are used for fixing and transporting. Although these methods have the advantages of convenience and speed, there are also accidents such as logs rolling and falling during operation, which pose many unsafe factors.

[0003] In the existing technology, when transporting and conveying logs, due to the different diameters, lengths, curvatures, and tapers of the logs, the surface features such as bark texture, knots, and rotten areas vary greatly, which will have a certain impact on the gripping and handling of the manipulator. During the clamping and conveying of the logs, the logs will easily roll or slip in the clamp because the gripping point deviates from the center of gravity or the grip is unstable. Especially during the lifting, rotation or swinging process, the logs will deviate or even detach from the clamping mechanism under the action of inertia, causing certain safety hazards. In addition, the stacked logs, such as log piles, truck compartments, silos, etc., are randomly stacked, pressed against each other, and may even roll. Therefore, auxiliary positioning is required in the subsequent stacking process. For this reason, we propose a gripping manipulator mechanism for logs to solve the above problems. Summary of the Invention

[0004] The object of the present invention is to provide a log grabbing manipulator mechanism to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a log grabbing manipulator mechanism, comprising:

[0006] A transmission guide rail is provided with a lifting arm on one side, a rotating seat is provided at the bottom of the lifting arm, a clamping frame and a conveying plate are provided on the rotating seat respectively, the clamping frame is arranged at the bottom of the rotating seat for limiting the clamping of the logs, a pair of transmission rods are inserted inside the conveying plate, and a compensation frame is connected to one end of the transmission rod for supplementing the lateral distance according to the curvature during clamping positioning, a movable block connected to the conveying plate is provided inside the compensation frame, and the conveying plate is used to abut against one side of the log;

[0007] Among them, a group of limiting clamps are provided at the bottom of the clamping frame, and limiting pressure blocks are movably provided inside the limiting clamps for clamping and pressing the logs. A docking plate with several metal insertion rods is provided on the transport plate for cooperating with the clamping frame to limit the logs. When the logs need to be transported, the length of the wood can be measured with the help of an infrared measuring device before the clamping and lifting to confirm the clamping position and stabilize the clamping center of gravity at the bottom of the clamping frame. After the clamping frame clamps and presses the logs, the metal rod on the docking plate is inserted into one end of the log to ensure that the logs remain in a relatively stable horizontal state during transportation, which can reduce the accidental situation of logs falling from a height during transportation and reduce safety hazards during transportation.

[0008] Preferably, a group of guide rail plates are provided at the bottom of the clamping frame, the limiting clamping plate is movably provided at the bottom of the guide rail plate, a rectangular groove is provided inside the limiting clamping plate, and a transmission block is provided inside the rectangular groove, the limiting pressure block is connected to one side of the transmission block, and one end of the limiting pressure block is inclined and provided with a nail plate on the surface, so as to enhance the clamping effect of the log;

[0009] A boosting mechanism is installed at both ends of the clamping frame, a connecting seat is installed on the outer wall of the limiting splint, a hydraulic cavity is arranged inside the connecting seat, the connecting seat and the boosting mechanism are connected by a transmission pipe, and a plurality of hydraulic shafts are interactively inserted inside the hydraulic cavity, the transmission block is connected to the bottom end of the hydraulic shaft, the hydraulic boosting provides a strong and uniform clamping force, and the nail plate structure greatly enhances the friction force; the replaceable module can flexibly adapt to the unloading support or bottom anti-roll requirements, effectively preventing the displacement of wood due to vibration, inertia or slipping during transportation, and ensuring that the transportation process is extremely stable.

[0010] Preferably, the bottom end of the limit splint is provided with a docking groove, the inside of the docking groove is connected to a clamping plate, and a limit pad that is snapped with the clamping plate is inserted into the docking groove, and the bottom of the limit pad is provided with a rubber pad higher than the outer wall of the limit splint, which is used to rest on the ground during transportation and unloading, reducing wear caused by rigid contact. When the limit pad is installed, the rubber pad higher than the splint provides a buffer when the unloading contacts the ground, reducing the rigid wear of the mechanism. The limit pad can be replaced with a disassembly pad, and the disassembly pad is provided with a pair of toothed plates for being inserted at the bottom end of the log as an anti-rolling stopper. After being replaced with the disassembly pad, the toothed plate can be stuck into the bottom of the bottom wood as an anti-rolling stopper, and is fixed in combination with the pressure block on the clamping frame to form a stable bottom structure, which effectively prevents the stacked wood from rolling and scattering, and achieves neat and safe stacking.

[0011] Preferably, a push rod motor is installed on the side of the transport plate away from the clamping frame, the delivery end of the push rod motor passes through the transport plate and is sleeved with a movable insertion rod, the docking plate is installed on one end of the movable insertion rod, and the push rod motor is used to control the docking plate to be inserted into the log, so as to reduce the instability of the center of gravity during the rotation and lifting process;

[0012] The transport plate is provided with a plurality of positioning shafts, one end of each positioning shaft is inclined and located outside the docking plate, and the positioning shaft can be pressed against one side of the log for auxiliary support.

[0013] Preferably, a fixed pad is provided at the bottom of the inclined end of the positioning shaft, and a rubber sleeve is provided on the side where the top of the fixed pad abuts against the log. A positioning ring connected to the fixed pad is provided between the positioning shafts, and the positioning ring is concentrically arranged with the movable insertion rod.

[0014] Preferably, a plurality of arc-shaped grooves are provided on the surface of the docking plate, and a pushing rod is inserted into the inside of the arc-shaped groove. The rear end of the pushing rod passes through the docking plate and is located on the outside of the movable rod. The pushing rod is provided with a plurality of telescopic rods, and one end of the telescopic rod is provided on one side of the positioning ring. The outside of the docking plate is connected to a reset pressure plate that stretches outward. When the reset pressure plate enters the inside of the arc-shaped groove, it is pressed tightly against the outer wall of the pushing rod. During the process of the metal rod withdrawing from the wood and resetting, the outward movement of the pushing rod will push out and clean up the residual wood chips or fragments that may be stuck between the rods or in the arc-shaped groove, effectively avoiding the problems of poor feeding of the rod, inaccurate positioning or failure of auxiliary fixation caused by the accumulation of wood residues, thereby ensuring the long-term working reliability and positioning accuracy of the mechanism.

[0015] Preferably, a fixing groove is provided at the bottom end of the lifting arm, and a clamping block is installed inside the fixing groove. An infrared measuring device is installed inside the clamping block. The infrared measuring device accurately measures the length of the wood and determines the optimal clamping position, ensuring that the center of gravity of the wood is extremely stable during clamping and transportation.

[0016] Preferably, a conductive plate movably arranged on the transmission guide rail is mounted on the lifting arm, and the lifting arm is longitudinally movably arranged inside the conductive plate.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention uses a booster mechanism to drive the transmission block through a hydraulic system, so that multiple limit pressure blocks with nail plates can strongly press the wood surface from multiple directions and angles. The replaceable modules at the bottom of the limit clamp, namely the limit pad and the removal pad, provide additional support or anti-roll function. The hydraulic booster provides a strong and uniform clamping force, and the nail plate structure greatly enhances friction. The replaceable modules can flexibly adapt to the requirements of unloading support or bottom layer anti-roll.

[0019] 2. This invention uses an infrared measuring device to accurately measure the length of the wood and determine the optimal clamping position. The limit clamp at the bottom of the clamping frame cooperates with the inclined limit pressure block with a nail plate to firmly bite the wood. The compensation frame adjusts the lateral position of the conveyor plate to adapt to the curvature of the wood. The push rod motor drives the metal rod on the docking plate to penetrate the end of the wood. Through multiple measures such as positioning, strong anti-slip bite, bending compensation and end fixation, the center of gravity of the wood is extremely stable during clamping, lifting, rotation and transportation, effectively preventing the wood from slipping, deflecting or accidentally falling from a height, significantly reducing safety hazards.

[0020] 3. When the limit pad is installed, the rubber pad higher than the plywood provides a buffer when the unloading material contacts the ground, reducing the wear of the rigidity of the mechanism. After the disassembly pad is replaced, the toothed plate can be clamped into the bottom of the bottom layer of wood as an anti-roll block. Combined with the pressure block on the clamping frame, a stable bottom layer structure is formed, which effectively prevents the stacked wood from rolling and scattering, and achieves neat and safe stacking.

[0021] 4. The present invention uses a push rod motor to drive the metal rod on the docking plate to directly penetrate the end of the wood; the positioning shaft and its rubber sleeve pre-contact the outside of the docking plate and guide the position of the wood; the positioning ring and the movable rod are concentrically arranged to ensure centering, which greatly enhances the wood's anti-torsion and anti-displacement capabilities during the rotation and lifting actions of the lifting arm. The positioning shaft assists in guiding the wood into place and initially stabilizing it, ensuring that the docking plate and the rod can accurately and reliably complete the end fixation, avoiding accidents caused by center of gravity shift;

[0022] 5. The present invention connects the positioning ring through the push rod on the docking plate; a reset pressure plate is provided on the outer side of the docking plate; when the push rod motor drives the docking plate to reset, that is, the metal rod exits the wood, the positioning ring pushes the push rod to move outward, and at the same time the reset pressure plate presses the outer wall of the push rod. During the process of the metal rod exiting and resetting from the wood, the outward movement of the push rod will push out and clean out the residual wood chips or fragments that may be stuck between the rods or in the arc groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the local structure of the lifting arm of the present invention;

[0025] Figure 3 For the present invention Figure 2 A partial enlarged schematic diagram in the middle;

[0026] Figure 4 This is a schematic diagram of the bottom structure of the clamping frame of the present invention;

[0027] Figure 5 For the present invention Figure 4 A partial enlarged schematic diagram of point B in the middle;

[0028] Figure 6 This is a schematic diagram of the local structure of the limiting splint of the present invention;

[0029] Figure 7 This is a schematic diagram of the disassembly pad structure of the present invention;

[0030] Figure 8 This is a schematic diagram of the partial structure of the conveying plate of the present invention;

[0031] Figure 9 Schematic diagram of the internal cross-sectional structure of the butt joint plate of the present invention;

[0032] In the figure: 1. Transmission guide rail; 2. Lifting arm; 3. Clamping frame; 4. Conveying plate; 21. Rotating seat; 22. Conducting plate; 23. Clamping block; 24. Infrared measuring device; 31. Pressurizing mechanism; 32. Connecting seat; 321. Transmission tube; 33. Guide plate; 34. Limiting splint; 35. Transmission block; 351. Limiting pressure block; 36. Docking groove; 37. Limiting pad; 371. Disassembly pad; 38. Toothed plate; 41. Compensating frame; 42. Transport plate; 421. Push rod motor; 43. Positioning shaft; 44. Movable plug rod; 45. Docking plate; 46. Pushing plug rod; 461. Reset pressure plate. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] See also Figures 1-9 The present invention provides a technical solution: a log grabbing manipulator mechanism, comprising:

[0035] The transmission guide rail 1 has a lifting arm 2 on one side, a rotating seat 21 at the bottom of the lifting arm 2, a clamping frame 3 and a conveying plate 4 on the rotating seat 21, the clamping frame 3 is arranged at the bottom of the rotating seat 21 for limiting the position of the logs, a pair of transmission rods are inserted inside the conveying plate 4, and a compensation frame 41 is connected to one end of the transmission rod for supplementing the lateral distance according to the curvature during clamping positioning, and a movable block connected to the transport plate 42 is provided inside the compensation frame 41, and the transport plate 42 is used to abut against one side of the log;

[0036] Among them, a group of limiting splints 34 are provided at the bottom of the clamping frame 3, and limiting pressure blocks 351 are movably provided inside the limiting splints 34 for clamping and pressing the logs. A docking plate 45 with several metal insertion rods is provided on the transport plate 42, which is used to cooperate with the clamping frame 3 to limit the logs. When the logs need to be transported, before the clamping and lifting, the length of the wood can be measured with the help of an infrared measuring device 24 to confirm the clamping position and stabilize the clamping center of gravity at the bottom end of the clamping frame 3. After the clamping frame 3 clamps and presses the logs, the metal rod on the docking plate 45 is inserted into one end of the log, which can ensure that the logs maintain a relatively stable horizontal state during transportation, reduce the accidental situation of logs falling from a height during transportation, and reduce safety hazards during transportation.

[0037] like Figure 5 and Figure 6 As shown, a group of guide rails 33 are provided at the bottom of the clamping frame 3, and a limiting clamping plate 34 is movably provided at the bottom of the guide rails 33. A rectangular groove is provided inside the limiting clamping plate 34, and a transmission block 35 is provided inside the rectangular groove. A limiting pressure block 351 is connected to one side of the transmission block 35. One end of the limiting pressure block 351 is inclined and has a nail plate on the surface, which is used to enhance the clamping effect of the logs, reduce the deviation of the logs due to unexpected situations such as slipping during subsequent transportation, and further ensure the stability of the equipment transportation.

[0038] A boosting mechanism 31 is installed at both ends of the clamping frame 3, and a connecting seat 32 is installed on the outer wall of the limiting clamping plate 34. A hydraulic cavity is provided inside the connecting seat 32. The connecting seat 32 and the boosting mechanism 31 are connected by means of a transmission pipe 321, and multiple groups of hydraulic shafts are interactively inserted inside the hydraulic cavity. The transmission block 35 is connected to the bottom end of the hydraulic shaft. When the boosting mechanism 31 is running, it can drive the transmission block 35 to press the limiting pressure block 351 against the surface of the log, which can ensure the limiting effect on the log and play an auxiliary pressing role, and can limit and clamp the log from multiple angles.

[0039] like Figure 6 and Figure 7As shown, the bottom ends of the limiting splints 34 are provided with docking grooves 36, and the docking grooves 36 are connected with clamping plates. The docking grooves 36 are provided with limiting pads 37 that are buckled with the clamping plates. The bottoms of the limiting pads 37 are provided with rubber pads that are higher than the outer walls of the limiting splints 34, which are used to rest against the ground during transportation and unloading to reduce wear caused by rigid contact. The limiting pads 37 can be replaced with disassembly pads 371. The disassembly pads 371 are provided with a pair of toothed plates 38 for being inserted at the bottom ends of the logs as anti-rolling blocks, which can replace the limiting pads 37. By replacing it with a disassembly pad 371, it can be fitted on the bottom end of the log with the help of the toothed plate 38, and when the logs are subsequently stacked on the ground or on a docking storage rack, the bottom of the disassembly pad 371 can be fitted on the ground, and the limiting pressure block 351 at the top can be against the surface of the log, and the disassembly pad 371 can be removed from the docking groove 36 so that it is stuck at the bottom end of the bottom log, reducing the rolling deviation of the logs, and evenly stacking the logs in the corresponding positions to form a stable base, reducing the random rolling of the positions during the subsequent stacking process.

[0040] like Figure 8 As shown, a push rod motor 421 is installed on the side of the transport plate 42 away from the clamping frame 3. The conveying end of the push rod motor 421 passes through the transport plate 42 and is sleeved with a movable insertion rod 44. The docking plate 45 is installed on one end of the movable insertion rod 44. The push rod motor 421 is used to control the docking plate 45 to be inserted into the log, so as to reduce the instability of the center of gravity during the rotation and lifting process.

[0041] A plurality of positioning shafts 43 are provided on the transport plate 42. One end of the positioning shaft 43 is inclined and located outside the docking plate 45. The compensation frame 41 is movable and can dock the docking plate 45 on the transport plate 42 with one end of the log. With the help of the push rod motor 421, the metal shaft is inserted into the log to fix the position of one end of the log, thereby reducing the accidental displacement or even falling of the log caused by lifting and rotating actions during transportation.

[0042] like Figure 8 As shown, a fixed pad is provided at the bottom of the inclined end of the positioning shaft 43, and a rubber sleeve is provided on the side where the top of the fixed pad abuts against the log. A positioning ring connected to the fixed pad is provided between the positioning shafts 43, and the positioning ring is concentrically arranged with the movable insertion rod 44. The side of the positioning shaft 43 provided with the rubber sleeve can abut against the log to assist in positioning.

[0043] like Figure 8 and Figure 9As shown, a plurality of arc grooves are provided on the surface of the docking plate 45, and a pushing rod 46 is inserted into the inside of the arc groove. The rear end of the pushing rod 46 passes through the docking plate 45 and is located on the outside of the movable rod 44. The pushing rod 46 is provided with a plurality of telescopic rods, and one end of the telescopic rod is provided on one side of the positioning ring. The outside of the docking plate 45 is connected to a reset pressure plate 461 that stretches outward. When the reset pressure plate 461 enters the inside of the arc groove, it is pressed tightly against the outer wall of the pushing rod 46. After the transportation of the logs is completed, the docking plate 45 can be reset under the action of the push rod motor 421, so that the metal rod can be detached from the log, and the fixed pad on the positioning shaft 43 can enable the positioning ring to push the pushing rod 46 outward, and can be used to lower the sticking block remaining between the metal rods for cleaning under the action of the pushing rod 46, thereby reducing the feed amount of the metal rod due to the residual wood debris in the subsequent positioning process, resulting in an unexpected situation of unstable auxiliary positioning.

[0044] like Figure 2 As shown, a fixing groove is provided at the bottom end of the lifting arm 2, and a clamping block 23 is installed inside the fixing groove. An infrared measuring device 24 is installed inside the clamping block 23. With the help of the infrared measuring device 24, the length of the wood can be measured to confirm the clamping position and stabilize the clamping center of gravity at the corresponding clamping position to ensure the stability of the overall clamping.

[0045] like Figure 2 As shown, a conductive plate 22 movably arranged on the transmission guide rail 1 is installed on the lifting arm 2, and the lifting arm 2 is longitudinally movably arranged inside the conductive plate 22.

[0046] Working principle: First, when the log needs to be transported, the length of the wood can be measured with the help of the infrared measuring device 24 before the clamping and lifting, so as to confirm the clamping position and stabilize the clamping center of gravity at the bottom end of the clamping frame 3. After the clamping frame 3 clamps and presses the log, the metal rod on the docking plate 45 is inserted into one end of the log, which can ensure that the log maintains a relatively stable horizontal state during transportation, and can reduce the accidental fall of the log from a height during transportation, thereby reducing the safety hazards during transportation. In addition, as the clamping process progresses, the limiting clamping plate 34 can be clamped at the center of gravity position measured by the infrared measuring device 24, so that the log can be quickly clamped, and in conjunction with the operation of the boosting mechanism 31, the transmission block 35 can be driven to press the limiting pressure block 351 against the surface of the log, thereby ensuring the limiting effect on the log.

[0047] Then the compensation frame 41 is moved, and the docking plate 45 on the transport plate 42 can be docked with one end of the log. The metal shaft is inserted into the log with the help of the push rod motor 421 to fix the position of one end of the log, thereby reducing the accidental deviation or even falling of the log caused by actions such as lifting and rotating during transportation. When the log is transported, the limit pad 37 can be placed against the ground for support, thereby reducing the collision and wear of the limit splint 34 caused by rigid contact during transportation, and the limit pad can be placed on the ground for support. The block 37 is replaced with a disassembly pad 371, which can be fitted to the bottom end of the log with the help of the toothed plate 38. When the logs are subsequently stacked on the ground or on a docking storage rack, the bottom of the disassembly pad 371 can be fitted to the ground, and the limiting pressure block 351 at the top can be against the surface of the log. The disassembly pad 371 can be removed from the docking groove 36, so that it is stuck at the bottom end of the bottom log, reducing the rolling deviation of the logs, and evenly stacking the logs in the corresponding positions to form a stable base, reducing the random rolling of the positions during the subsequent stacking process.

[0048] Finally, after the transportation of the logs is completed, the docking plate 45 can be reset under the action of the push rod motor 421, so that the metal rod can be separated from the log, and the fixed pad on the positioning shaft 43 can enable the positioning ring to push the push rod 46 to move outward, and the wood blocks remaining between the metal rods can be cleaned up under the action of the push rod 46, thereby reducing the feed amount of the metal rod due to the residual wood debris in the subsequent positioning process, resulting in unexpected situations of unstable auxiliary positioning.

[0049] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A log grabbing manipulator mechanism, characterized in that: include, A transmission guide rail (1) is provided with a lifting arm (2) on one side, a rotating seat (21) is provided at the bottom end of the lifting arm (2), a clamping frame (3) and a conveying plate (4) are provided on the rotating seat (21), the clamping frame (3) is arranged at the bottom of the rotating seat (21) for limiting the clamping of logs, a pair of transmission rods are inserted inside the conveying plate (4), and a compensation frame (41) is connected to one end of the transmission rod for supplementing the lateral distance according to the curvature during clamping positioning, a movable block connected to the conveying plate (42) is provided inside the compensation frame (41), and the conveying plate (42) is used to abut against one side of the log; The bottom of the clamping frame (3) is provided with a group of limiting clamps (34), and the limiting clamps (351) are movably provided inside the limiting clamps (34) for clamping and pressing the logs. The transport plate (42) is provided with a docking plate (45) with a plurality of metal rods for cooperating with the clamping frame (3) to limit the logs.

2. The log grabbing manipulator mechanism according to claim 1, characterized in that: A group of guide rail plates (33) are provided at the bottom of the clamping frame (3), the limiting clamping plate (34) is movably provided at the bottom of the guide rail plate (33), a rectangular groove is provided inside the limiting clamping plate (34), and a transmission block (35) is provided inside the rectangular groove, the limiting pressure block (351) is connected to one side of the transmission block (35), and one end of the limiting pressure block (351) is inclined and provided with a nail plate on the surface, so as to enhance the clamping effect of the log; Both ends of the clamping frame (3) are equipped with a boosting mechanism (31), and a connecting seat (32) is installed on the outer wall of the limiting clamping plate (34). A hydraulic cavity is provided inside the connecting seat (32). The connecting seat (32) and the boosting mechanism (31) are connected by a transmission pipe (321), and multiple groups of hydraulic shafts are interactively inserted inside the hydraulic cavity. The transmission block (35) is connected to the bottom end of the hydraulic shaft.

3. The log grabbing manipulator mechanism according to claim 1, characterized in that: The bottom ends of the limiting clamps (34) are provided with docking grooves (36), the inside of the docking grooves (36) is connected with a snap-on plate, the inside of the docking grooves (36) is provided with a limiting pad (37) that is engaged with the snap-on plate, and the bottom of the limiting pad (37) is provided with a rubber pad that is higher than the outer wall of the limiting clamp (34) and is used to rest on the ground during transportation and unloading to reduce wear caused by rigid contact.

4. The log grabbing manipulator mechanism according to claim 1, characterized in that: A push rod motor (421) is installed on the side of the transport plate (42) away from the clamping frame (3); the conveying end of the push rod motor (421) passes through the transport plate (42) and is sleeved with a movable insertion rod (44); the docking plate (45) is installed on one end of the movable insertion rod (44); the push rod motor (421) is used to control the docking plate (45) to be inserted into the log, so as to reduce the instability of the center of gravity during the rotation and lifting process; The transport plate (42) is provided with a plurality of positioning shafts (43), one end of each positioning shaft (43) is inclined and located outside the docking plate (45).

5. The log grabbing manipulator mechanism according to claim 4, characterized in that: A fixed pad is provided at the bottom of the upper inclined end of the positioning shaft (43), and a rubber sleeve is provided on the side where the top of the fixed pad abuts against the log. A positioning ring connected to the fixed pad is provided between the positioning shafts (43), and the positioning ring is concentrically arranged with the movable insertion rod (44).

6. The log grabbing manipulator mechanism according to claim 1, characterized in that: A plurality of arc-shaped grooves are provided on the surface of the docking plate (45), and a push rod (46) is inserted into the interior of the arc-shaped groove. The rear end of the push rod (46) passes through the docking plate (45) and is located outside the movable rod (44). The push rod (46) is provided with a plurality of telescopic rods, and one end of the telescopic rod is provided on one side of the positioning ring. The outside of the docking plate (45) is connected to a reset pressure plate (461) that stretches outward. When the reset pressure plate (461) enters the interior of the arc-shaped groove, it is pressed tightly against the outer wall of the push rod (46).

7. The log grabbing manipulator mechanism according to claim 1, characterized in that: A fixing groove is provided at the bottom end of the lifting arm (2), and a clamping block (23) is installed inside the fixing groove, and an infrared measuring device (24) is installed inside the clamping block (23).

8. The log grabbing manipulator mechanism according to claim 1, characterized in that: The lifting arm (2) is provided with a conductive plate (22) movably arranged on the transmission guide rail (1), and the lifting arm (2) is longitudinally movably arranged inside the conductive plate (22).

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