Vehicle-mounted self-adaptive operation tree sawing robot

Abstract

The invention relates to a vehicle-mounted self-adaptive operation tree sawing robot. The vehicle-mounted self-adaptive operation tree sawing robot comprises a first camera assembly, a second camera assembly and a five-axis mechanical arm which are arranged on an insulating bucket arm vehicle through a mounting plate; the output end of a fourth joint of the five-axis mechanical arm is connected with a branch gripper assembly and a third camera assembly through a fourth joint mounting plate; the output end of a fifth joint of the five-axis mechanical arm is connected with a chain saw assembly. And a power supply device and an electric control device are arranged at the bottom of the mounting plate. The system has good environmental adaptability and high intelligence and automation functions, and safety and high efficiency are guaranteed at the same time; the tree sawing robot is installed in the insulation bucket of the hot-line work vehicle through the quick disassembly and assembly structure, the components can be separated, and the chain saw can also be quickly disassembled and assembled; meanwhile, cutting and sawing at any angle such as transverse cutting, vertical cutting and inclined cutting of branches can be achieved.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and in particular to a vehicle-mounted adaptive tree-cutting robot. Background Technology

[0002] With the continuous advancement of technology, automated and intelligent equipment is increasingly being applied to various industries, including forestry. Traditional tree felling relies mainly on manual operation of saws, a method that is labor-intensive, inefficient, and poses safety hazards. To improve operational efficiency and reduce safety risks, the development of specialized tree-saw robots has become an urgent need.

[0003] Currently, several prototypes and products of tree-saw robots have been developed. These robots are generally equipped with chainsaw or circular saw mechanisms and are capable of performing basic tree-saw operations.

[0004] However, the existing technology still has the following shortcomings:

[0005] Insufficient environmental adaptability: Many existing tree-saw robot designs are only suitable for specific terrains and environments, and are not adaptable to complex and ever-changing field environments.

[0006] Limited level of intelligence: Despite being called "robots", many existing devices are still relatively unintelligent and cannot effectively identify different types and sizes of trees or automatically plan the optimal felling path.

[0007] Safety issues: Tree sawing operations themselves carry high safety risks, and existing robots do not adequately consider safety protection and emergency response, and cannot effectively prevent accidental injuries or damage.

[0008] Energy efficiency and reliability: Some existing tree-saw robots consume a lot of energy after long-term operation and are prone to overheating, which affects the continuity and reliability of the operation.

[0009] Poor human-robot collaboration: In scenarios requiring human-robot collaboration, existing robots often lack effective interaction systems and are unable to cooperate efficiently with human workers. Summary of the Invention

[0010] The technical problem to be solved by this invention is to provide a vehicle-mounted adaptive tree-cutting robot that can perform tree felling, pruning and other operations more efficiently, safely and reliably.

[0011] The technical solution adopted by the present invention to solve its technical problem is: a vehicle-mounted adaptive tree-cutting robot, including a first camera assembly, a second camera assembly, and a five-axis robotic arm mounted on an insulated bucket truck via a mounting plate; the output end of the fourth joint of the five-axis robotic arm is connected to a branch gripper assembly and a third camera assembly via a fourth joint mounting plate; the output end of the fifth joint of the five-axis robotic arm is connected to a chainsaw assembly; a power supply device and an electronic control device are provided at the bottom of the mounting plate.

[0012] Furthermore, the branch gripper assembly of the present invention includes a gripper fixing plate, which is connected to the fourth joint mounting plate via a pad; the gripper fixing plate is connected to the guide sleeve mounting base plate via a spring and a fixing ring; the guide sleeve mounting base plate is provided with a guide post via a guide sleeve, a trigger plate is provided at the top of the guide post, and a guide post spring is sleeved on the outer wall of the guide post; the guide post is connected to a limiting plate, and a left gripper and a right gripper are provided on the limiting plate; the left gripper and the right gripper are respectively connected to the gripper fixing shell via tension springs.

[0013] Furthermore, the third camera assembly of the present invention includes a camera mounting plate, which is connected to a fourth joint mounting plate; the camera mounting plate has a support platform, on which an integrated camera module is disposed.

[0014] Furthermore, the chainsaw assembly of the present invention includes a chainsaw mounting plate, one end of which is connected to the output end of the fifth joint, and the other end of which is provided with a mounting groove for fixing the chainsaw; the mounting groove has limiting holes, which are distributed at the four apex positions of the mounting groove; during installation, the chainsaw motor passes from one side of the mounting groove to the other side, and the four connecting posts provided on the chainsaw are respectively located in the corresponding limiting holes.

[0015] Furthermore, both the first camera assembly and the second camera assembly of the present invention include a fixed bracket, one end of which is inserted into the fixed bracket, and the other end of which is connected to the corresponding spherical camera module through a camera mounting bracket.

[0016] Furthermore, the mounting plate of the present invention is connected to the insulated bucket truck via a clamping block assembly; the clamping block assembly includes a C-shaped clamping block, the top of which is provided with a fixing groove, and the bottom of which is provided with a top block; the edge of the mounting plate is provided with a fixing hole, and a fixing bolt is provided in the fixing hole. After the fixing bolt is inserted into the fixing groove to align the fixing groove with the fixing hole, the top block is locked upwards.

[0017] The beneficial effects of this invention are that it solves the defects existing in the background technology, has good environmental adaptability, and has a high degree of intelligence and automation, while ensuring safety and high efficiency; the tree sawing robot is installed in the insulated bucket of the live-line work vehicle using a quick-assembly and disassembly structure, the components can be separated, and the chainsaw can also be quickly assembled and disassembled; at the same time, it can realize cutting and sawing of branches at any angle, such as horizontal cutting, vertical cutting, and oblique cutting. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the tree branch gripper assembly of the present invention;

[0020] Figure 3 This is a partial structural schematic diagram of the chainsaw assembly of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the mounting plate of the present invention connected to the insulated bucket truck via the clamping block assembly;

[0022] In the diagram: 1. Insulated bucket truck; 2. Mounting plate; 3. First camera assembly; 4. Second camera assembly; 5. Five-axis robotic arm; 6. Fourth joint; 7. Fourth joint mounting plate; 8. Branch gripper assembly; 9. Third camera assembly; 10. Chainsaw assembly; 11. Fixed bracket; 12. Fixed square tube; 13. Spherical camera module; 14. Clamping block assembly;

[0023] 81. Gripper fixing plate; 82. Pad block; 83. Spring; 84. Fixing ring; 85. Guide sleeve mounting base plate; 86. Guide post; 87. Trigger plate; 88. Guide post spring; 89. Limiting plate; 810. Left gripper; 811. Right gripper; 812. Tension spring;

[0024] 91. Camera mounting plate; 92. Supporting platform;

[0025] 101. Chainsaw mounting plate; 102. Mounting groove; 103. Limiting hole;

[0026] 141. C-type clamping block; 142. Fixing groove; 143. Top block; 144. Fixing bolt. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0028] like Figures 1-4The diagram shows a vehicle-mounted adaptive tree-saw robot mounted on an insulated bucket truck 1. It includes a first camera assembly 3, a second camera assembly 4, and a five-axis robotic arm 5, all mounted on the insulated bucket truck via a mounting plate 2. The output end of the fourth joint 6 of the five-axis robotic arm is connected to a branch gripper assembly 8 and a third camera assembly 9 via a fourth joint mounting plate 7. The output end of the fifth joint of the five-axis robotic arm is connected to a chainsaw assembly 10. A power supply and an electronic control device are located at the bottom of the mounting plate, inside the insulated bucket (not shown in the diagram).

[0029] The first camera assembly 3 and the second camera assembly 4 both include a fixing bracket 11, into which one end of a fixing square tube 12 is inserted, and the other end of the fixing square tube is connected to a corresponding spherical camera module 13 via a camera mounting bracket. The third camera assembly includes a camera mounting plate 91, which is connected to a fourth joint mounting plate; the camera mounting plate has a support platform 92, on which an integrated camera module is mounted.

[0030] Mounting plate 2 is connected to the insulated bucket truck via clamping block assembly 14. The clamping block assembly includes a C-shaped clamping block 141, with a fixing groove 142 at the top and a top block 143 at the bottom. The mounting plate has fixing holes along its edge, with fixing bolts 144 inserted into these holes. After the fixing bolts are inserted into the fixing grooves to align with the fixing holes, the top block is locked upwards. This structure facilitates rapid assembly and disassembly of the robot.

[0031] The branch gripper assembly 8 includes a gripper fixing plate 81, which is connected to the fourth joint mounting plate via a pad 82; the gripper fixing plate is connected to the guide sleeve mounting base plate 85 via a spring 83 and a fixing ring 84; the guide sleeve mounting base plate is provided with a guide post 86 via a guide sleeve, the top of the guide post is provided with a trigger plate 87, and the outer wall of the guide post is fitted with a guide post spring 88; the guide post is connected to a limiting plate 89, and the limiting plate is provided with a left gripper 810 and a right gripper 811; the left gripper and the right gripper are respectively connected to the gripper fixing shell via a tension spring 812.

[0032] The chainsaw assembly 10 includes a chainsaw mounting plate 101. One end of the chainsaw mounting plate is connected to the output end of the fifth joint, and the other end of the chainsaw mounting plate is provided with a mounting groove 102 for fixing the chainsaw. The mounting groove has limiting holes 103, which are distributed at the four apex positions of the mounting groove. During installation, the chainsaw motor passes through one side of the mounting groove to the other side, and the four connecting posts on the chainsaw are respectively located in the corresponding limiting holes. This structure not only allows the chainsaw to be quickly assembled and disassembled, but also provides four points of support for the chainsaw, preventing it from shifting during assembly and disassembly and improving its stability.

[0033] During operation, the insulated bucket lifts the tree-cutting robot to the vicinity of the tree whose branches need pruning. The robot's distance to the surrounding environment is detected to determine if there are suitable targets for pruning. If a suitable target is found, the display terminal marks it and displays its coordinates based on the surrounding environment. A camera module on the robot captures images of the real environment, which are then displayed on the terminal. The user can compare the displayed images with the marked targets, draw the final pruning target on the terminal, and discard any unwanted targets. The display terminal generates pruning instructions based on the user-drawn target, including its coordinates. The chainsaw then performs the pruning operation according to the instructions. If no suitable target is found, the insulated bucket lift advances the robot forward a preset distance. This preset distance is set based on actual conditions, for example, 0.5 meters. An auxiliary camera positioned near the chainsaw captures images within a preset range of the chainsaw, allowing the user to observe the final sawed tree target based on the images within the preset range and then issue a stop sawing command.

[0034] The above description is only a specific embodiment of the present invention. Various examples and illustrations do not constitute a limitation on the substantive content of the present invention. Those skilled in the art can make modifications or variations to the above-described specific embodiments after reading the specification without departing from the substance and scope of the invention.

Claims

1. A vehicle-mounted adaptive tree-cutting robot, characterized in that: It includes a first camera assembly, a second camera assembly, and a five-axis robotic arm mounted on an insulated bucket truck via a mounting plate; the output end of the fourth joint of the five-axis robotic arm is connected to a tree branch gripper assembly and a third camera assembly via a fourth joint mounting plate; the output end of the fifth joint of the five-axis robotic arm is connected to a chainsaw assembly; and a power supply device and an electronic control device are provided at the bottom of the mounting plate.

2. The vehicle-mounted adaptive tree-cutting robot as described in claim 1, characterized in that: The described branch gripper assembly includes a gripper fixing plate, which is connected to the fourth joint mounting plate via a pad; the gripper fixing plate is connected to the guide sleeve mounting base plate via a spring and a fixing ring; the guide sleeve mounting base plate is provided with a guide post via a guide sleeve, the top of the guide post is provided with a trigger plate, and the outer wall of the guide post is fitted with a guide post spring; the guide post is connected to a limiting plate, and the limiting plate is provided with a left gripper and a right gripper; the left gripper and the right gripper are respectively connected to the gripper fixing shell via tension springs.

3. The vehicle-mounted adaptive tree-cutting robot as described in claim 1, characterized in that: The third camera assembly includes a camera mounting plate, which is connected to a fourth joint mounting plate; the camera mounting plate has a support platform on which an integrated camera module is mounted.

4. The vehicle-mounted adaptive tree-cutting robot as described in claim 1, characterized in that: The chainsaw assembly includes a chainsaw mounting plate, one end of which is connected to the output end of the fifth joint, and the other end of which is provided with a mounting groove for fixing the chainsaw. The mounting groove has limiting holes, which are distributed at the four apex positions of the mounting groove. During installation, the chainsaw motor passes from one side of the mounting groove to the other side, and the four connecting posts on the chainsaw are respectively located in the corresponding limiting holes.

5. The vehicle-mounted adaptive tree-cutting robot as described in claim 1, characterized in that: Both the first camera assembly and the second camera assembly include a fixed bracket, with one end of a fixed square tube inserted into the fixed bracket, and the other end of the fixed square tube connected to the corresponding spherical camera module via a camera mounting bracket.

6. The vehicle-mounted adaptive tree-cutting robot as described in claim 1, characterized in that: The mounting plate is connected to the insulated bucket truck via a clamping block assembly; the clamping block assembly includes a C-shaped clamping block, the top of which is provided with a fixing groove, and the bottom of which is provided with a top block; the edge of the mounting plate is provided with a fixing hole, and a fixing bolt is provided in the fixing hole. After the fixing bolt is inserted into the fixing groove to align the fixing groove with the fixing hole, the top block is locked upwards.

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