Dispatching vehicle for automatic production of logs and its grabbing method

Abstract

This application discloses a dispatching vehicle for automated log production and its gripping method. The dispatching vehicle includes a horizontally arranged ground rail, a base slidably disposed on the ground rail, a lifting platform disposed directly above the base, and a clamping device disposed at the top of the lifting platform. The clamping device includes two opposing gripper groups, each gripper group including several parallel grippers. The grippers are slidably disposed at the top of the lifting platform. A centering device is disposed between the two gripper groups, and the centering device slides vertically above the lifting platform. The dispatching vehicle of this invention achieves a dual improvement in efficiency and precision in automated log production.

Description

Technical Field

[0001] This application belongs to the field of log cutting technology, and in particular relates to a dispatching vehicle for automated log production and its grabbing method. Background Technology

[0002] Logs have important applications in many industries, such as papermaking, engineered wood products manufacturing, and biomass energy production. In these applications, logs often need to be cut into wood chips / strips of suitable specifications to meet subsequent processing needs. With the continuous development of industrial automation technology, automated production modes are often adopted to improve the efficiency of wood slicing, ensure slice quality, and enhance the safety of the production process. Automated production requires log conveying devices. Traditional log conveying often uses fixed conveyor belts or simple trolley structures, which have poor adaptability. That is, it is difficult to automatically adjust the gripping force and height according to logs of different diameters, requiring manual intervention or structural replacement. In addition, there is the problem of low positioning accuracy. Traditional lifting and translation mechanisms are mostly hydraulic or ordinary motor driven and manually positioned, resulting in insufficient positioning accuracy, which affects the accuracy of sawing. Therefore, there is an urgent need for a dispatching vehicle and its gripping method for automated log production to solve the above problems. Summary of the Invention

[0003] The purpose of this invention is to provide a dispatch vehicle and its grabbing method for automated log production, so as to overcome the shortcomings of the prior art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A dispatching vehicle for automated log production includes a horizontally arranged ground rail, a base slidably arranged on the ground rail, a lifting platform arranged directly above the base, and a clamping device arranged at the top of the lifting platform.

[0005] The clamping device includes two opposing gripper groups, each consisting of several parallel grippers slidably positioned on the top of the lifting platform. This allows for synchronous adjustment of the distance between the two gripper groups according to the log diameter, achieving stable clamping. Between the two gripper groups is a centering device that can slide vertically above the lifting platform. This device supports the bottom of logs of different diameters and finely adjusts their height before or during gripping, aligning the log's geometric center vertically with the theoretical clamping center of the clamping device. This achieves "center positioning" gripping, avoiding errors in lifting height calculation due to radial offset of the log, and laying the foundation for precise subsequent lifting to the cutting center height.

[0006] Furthermore, the ground rail includes a track frame and a first guide rail and a rack respectively installed on the track frame. The base is connected to the slider of the first guide rail and is provided with a gear driven by a first motor. The gear meshes with the rack to form a high-precision, high-rigidity gear and rack transmission system, ensuring the positioning accuracy and smooth operation of the dispatching vehicle during long-distance movement in the X-axis direction.

[0007] Furthermore, the lifting platform is positioned directly above the base via a first lifting device. The first lifting device includes four vertically arranged first lead screws and a second motor that drives the first lead screws. The lifting platform is connected to the lead screw nut of the first lead screw. Through the synchronous drive of the four lead screws, it can provide a vertical lifting motion with a large stroke and high load capacity, lifting the entire clamping device along with the log from a low position to a high position.

[0008] Furthermore, the base includes a base frame and support rods respectively corresponding to the first lead screw. The bottom end of the support rod is fixed to the top end of the base frame, and the top end of the support rod is provided with a first bearing seat for mounting the first lead screw, providing stable support for the first lead screw.

[0009] Furthermore, the lifting platform includes a lifting frame and a lifting platform surface fixed to the top of the lifting frame. The lifting platform surface is connected to the nut of the first lead screw, thereby converting the rotational motion of the motor into the precise linear motion of the lifting platform surface.

[0010] Furthermore, the grippers are slidably mounted on the top of the lifting platform via a mounting bracket. The mounting bracket includes a mounting base fixed to the top of the lifting platform, a second lead screw rotatably mounted within the mounting base, and a third motor driving the second lead screw. The grippers are connected to the nut of the second lead screw via gripper seats, and the gripper seats are slidably connected to the mounting base via a second guide rail. Each gripper group is driven by a third motor to drive a second lead screw, thereby causing all grippers in the group to open and close synchronously, achieving rapid and accurate fitting of the log diameter.

[0011] Furthermore, the gripper is connected to the gripper base via a gripper arm. A slidably mounted probe is provided on the gripper arm. Each end of the gripper arm has a second bearing seat corresponding to the probe, in which the probe can slide axially. One end of the probe, near the gripper, is elastically abutted against the corresponding second bearing seat by a spring, while the other end is provided with an identification plate. This structure makes the probe a contact sensor. When the gripper closes and contacts the surface of the log, if it continues to tighten, the probe will overcome the spring force and retract inward. The displacement of the identification plate is detected and can be used to determine whether the gripping is in place or as a trigger signal for overload protection.

[0012] Furthermore, the top surface of the lifting platform is provided with an installation groove corresponding to the centering device. The centering device includes a support plate and a fourth motor that drives the support plate to lift and lower. The fourth motor is installed in the installation groove. The lifting and lowering movement of the support plate is independent of the lifting platform. The bottom of the log can be lifted in advance before gripping, or it can be coordinated with the closing action of the gripper to achieve fine adjustment of the center of the log.

[0013] Furthermore, the top surface of the pallet is provided with anti-slip teeth to increase the friction with the bottom of the log and prevent the log from rolling during self-alignment or conveying.

[0014] Furthermore, the present invention also provides a gripping method for automated log production, implemented based on the aforementioned dispatch vehicle, comprising the following steps: S1. The dispatch vehicle receives data sent by the host computer. The data includes at least the diameter of the log to be grabbed and the height of the target cutting center. S2. Perform the log grabbing operation: S21. The base moves along the ground rail to the feeding position; S22. Based on the log diameter data sent by the host computer, control the third motor to drive the second lead screw and adjust the opening of the two gripper groups to the predetermined position. S23. Start the centering device. The fourth motor drives the pallet to rise to the predetermined height. Adjust the height of the bottom support point of the log according to the diameter of the log so that the geometric center of the log is basically aligned with the clamping center of the jaws. S24. The grippers close and lock synchronously to complete the log grabbing. During this process, the spring buffer and displacement detection mechanism of the probe rod ensure that the grabbing force is moderate and in place. S3. Drive the lifting platform through the first lifting device to precisely adjust the center of the grabbed log to the target cutting center height; S4. Driven by the first motor, the base moves precisely along the ground rail to the calculated loading position of the target vertical saw; S5. The gantry gripper of the target vertical saw descends to remove the log, and the jaws of the dispatching vehicle then release the log. S6. The dispatching car, according to the instructions of the host computer, resets to the standby area along the ground rail, or goes directly to the next feeding point to perform a new task.

[0015] Compared with the prior art, the advantages of the present invention are as follows: 1. Adaptive gripping and precise positioning: Through adjustable-spacing gripper assemblies, combined with an independent centering device, automatic adaptation and "center positioning" gripping of logs of different diameters are achieved. Combined with the lifting platform, high-precision setting of the log cutting center height is achieved, which greatly improves the subsequent sawing quality.

[0016] 2. Improve equipment utilization and production efficiency: The dispatch vehicle communicates with the host computer (MES / dispatch system, etc.) in real time, and can dynamically calculate the optimal conveying path and destination based on the real-time status of each vertical saw, log specifications and cutting scheme. This effectively balances the load of multiple vertical saws, reduces equipment waiting time, maximizes the utilization of vertical saws, and can increase the overall production capacity by 15%-20%.

[0017] 3. Enhanced system flexibility and automation: Supports continuous adjustment of log diameter without manual reshaping, realizing a mixed-line production mode of "processing upon arrival of materials". The entire process from grabbing and positioning to conveying and handing over is automated, which greatly reduces the labor intensity of workers.

[0018] 4. Stable gripping and damage prevention: The multi-point (multiple grippers per group) symmetrical gripping combined with the elastic buffer of the probe makes the gripping force distribution more even, which can not only ensure the stability of the conveying process, but also effectively prevent damage to the surface of the log, making it especially suitable for processing high-quality wood. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 The diagram shown is a schematic representation of a dispatch vehicle used for automated log production in a specific embodiment of the present invention. Figure 2 The image shown is a side view of a dispatch vehicle used for automated log production in a specific embodiment of the present invention. Figure 3 The image shown is a top view of a dispatching vehicle used for automated log production in a specific embodiment of the present invention. Figure 4 The diagram shown is a structural schematic of the first lifting device in a specific embodiment of the present invention; Figure 5 The figure shown is a schematic diagram of the installation of the gripper in a specific embodiment of the present invention; Figure 6 The diagram shown is a schematic diagram of the installation of the fourth motor in a specific embodiment of the present invention; Figure 7 The diagram shown is a flowchart of a gripping method for automated log production in a specific embodiment of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Combination Figures 1 to 6 As shown, a dispatching vehicle for automated log production includes a horizontally arranged ground rail 1, a base 2 slidably arranged on the ground rail 1, a lifting platform 3 arranged directly above the base 2, and a clamping device arranged at the top of the lifting platform 3. The clamping device includes two opposing gripper groups 4, each gripper group 4 including several parallel grippers 41. The grippers 41 are slidably arranged at the top of the lifting platform 3. A centering device 5 is arranged between the two gripper groups 4, and the centering device 5 slides vertically above the lifting platform 3.

[0023] In this technical solution, the gripper assembly includes multiple parallel grippers, effectively creating multi-point contact. Through the adjustable-pitch gripper assembly, coupled with an independent centering device, automatic adaptation and "center positioning" gripping of logs of different diameters are achieved. Combined with a height-adjustable lifting platform, high-precision setting of the log cutting center height is realized, greatly improving subsequent sawing quality. The dispatching vehicle also includes conventional control devices such as a PLC, and can also utilize the control system of the automated production line. The dispatching vehicle communicates in real-time with the host computer (MES / dispatch system, etc.), enabling it to adjust the cutting speed based on the real-time status of each vertical saw, log specifications, and cutting parameters. The solution dynamically calculates the optimal conveying path and destination, effectively balancing the load of multiple vertical saws, reducing equipment waiting time, maximizing the utilization rate of vertical saws, and increasing the overall production line capacity by 15%-20%. It supports continuous adjustment of log diameter without manual shape change, realizing a mixed-line production mode of "processing upon arrival". The entire process from gripping and positioning to conveying and handover is automated, greatly reducing the labor intensity of workers. The six grippers form a three-point symmetrical gripping, which makes the gripping force distribution more even, ensuring the stability of the conveying process and effectively preventing damage to the surface of the logs, making it especially suitable for processing high-quality wood.

[0024] For example, see Figures 1 to 6 As shown, the ground rail 1 includes a track frame 11 and a first guide rail 12 and a rack 13 respectively installed on the track frame 11. The base 2 is connected to the slider of the first guide rail 12. The base 2 is provided with a gear 22 driven by a first motor 21. The gear 22 meshes with the rack 13.

[0025] In this technical solution, the ground rail is made of high-strength alloy steel precision guide rail and rack, which are spliced ​​into three sections and laid on the rail frame. The laying length covers all vertical saw stations and the feed / discharge buffer zone. The first motor is an existing servo motor. Its output shaft is connected to gears through conventional structures such as keys. The base is a frame structure and is connected to the block of the first guide rail. The first motor drives the gears to mesh with the rack to achieve precise positioning throughout the entire stroke range.

[0026] For example, see Figures 1 to 6 As shown, the lifting platform 3 is positioned directly above the base 2 via a first lifting device 6. The first lifting device 6 includes four vertically arranged first lead screws 61 and a second motor 62 that drives the first lead screws 61. The lifting platform 3 is connected to the lead screw nut of the first lead screw 61.

[0027] In this technical solution, the second motor is a conventional servo motor with a conventional hole output, and the four first lead screws are conventional screw vertical lifting machines. Their input ends are connected sequentially through conventional couplings and connecting shafts, and then connected to the output end of the second motor. The second motor can synchronously drive the four first lead screws to realize the lifting of the lifting platform. The lifting stroke can reach more than 2000mm, and the load capacity exceeds 2 tons. It is responsible for the large stroke and rapid lifting of logs. The lifting platform is rigidly connected to the lead screw nut to ensure smooth lifting.

[0028] For example, see Figures 1 to 6 As shown, the base 2 includes a base frame 23 and support rods 24 respectively corresponding to the first lead screw 61. The bottom end of the support rod 24 is fixed to the top end of the base frame 23, and the top end of the support rod 24 is provided with a first bearing seat 25 for mounting the first lead screw 61.

[0029] In this technical solution, the base frame and support rod are assembled from existing square tubes and plates. The support rod and the base frame are connected by conventional bolts and reinforcing ribs to ensure the fixing strength of the support rod. The top of the first lead screw is rotatably connected to the support rod through the first bearing seat to improve its installation stability.

[0030] For example, see Figures 1 to 6 As shown, the lifting platform 3 includes a lifting frame 31 and a lifting platform surface 32 fixed to the top of the lifting frame 31. The lifting platform surface 32 is connected to the nut of the first lead screw 61.

[0031] In this technical solution, the lifting frame is made of existing square tubes and plates, and the lifting platform is a conventional plate structure. The top of the lifting frame is fixed by bolts and other means for installing clamping devices. The lifting platform is connected to the nut of the first lead screw by conventional bolts, so that the lifting platform is lifted by rotating the first lead screw. The lifting platform is provided with clearance holes corresponding to the first lead screw to avoid interfering with the normal operation of the first lead screw.

[0032] For example, see Figures 1 to 6 As shown, the gripper 41 is slidably mounted on the top of the lifting platform 32 via a mounting bracket. The mounting bracket includes a mounting base 42 fixed to the top of the lifting platform 32, a second lead screw rotatably mounted in the mounting base 42, and a third motor 43 driving the second lead screw. The gripper 41 is connected to the lead screw nut via a gripper seat 44, and the gripper seat 44 is slidably connected to the mounting base 42 via a second guide rail.

[0033] In this technical solution, the mounting base is fixed to the top of the lifting platform with conventional bolts, the second motor is a conventional servo motor, and its output end is connected to one end of the second lead screw through conventional couplings, the second lead screw is rotatably mounted on the mounting base through conventional bearings, and the gripper seat is connected to the nut of the second lead screw through conventional bolts, so that the second motor drives the gripper to reciprocate, that is, to open and close between the two opposing grippers.

[0034] In another embodiment, see Figures 4 to 6 As shown, the gripper 41 is connected to the gripper seat 44 via the gripper arm 45. The gripper arm 45 is connected to a slidably disposed probe 46. The two ends of the gripper arm 45 are respectively provided with second bearing seats corresponding to the probe 46. The two ends of the probe 46 protrude from the gripper arm 45, and the end of the probe 46 that is close to the gripper 41 is elastically abutted against the corresponding second bearing seat by a spring 47. The other end is provided with an identification plate 48.

[0035] In this technical solution, the gripper arm is connected to the gripper seat by conventional bolts, and the gripper is connected to the gripper arm by conventional bolts or welding. The second bearing seat is a conventional linear bearing, which allows the probe to slide axially to the gripper arm. The identification plate is a ring structure and is fixed to the probe by conventional nuts and clamps. The gripper seat is equipped with a sensor corresponding to the identification plate through a conventional mounting bracket. When the gripper closes and contacts the surface of the log, if it continues to tighten, the probe will overcome the spring force and retract inward. The displacement of the identification plate is detected and can be used to determine whether the clamping is in place or as a trigger signal for overload protection.

[0036] For example, see Figures 1 to 6 As shown, the top surface of the lifting platform 3 is provided with a mounting groove corresponding to the self-aligning device 5. The self-aligning device 5 includes a support plate 51 and a fourth motor 52 that drives the support plate to lift. The fourth motor 52 is installed in the mounting groove, and the top of the lifting platform is provided with a motor cover corresponding to the fourth motor.

[0037] In this technical solution, each gripper group includes three grippers, meaning two gripper groups include three pairs of opposing grippers. A self-aligning device is positioned between two gripper groups and between adjacent parallel grippers, meaning two self-aligning devices are provided. The lifting platform has a slot, and the lifting frame's tubing avoids the slot. Its bottom surface is connected to a mounting plate, forming a mounting slot for the fourth motor. The fourth motor is a conventional servo motor, which drives the pallet to lift via a second lifting device 53. The second lifting device 53 is an existing screw vertical lifting machine, and its input end is connected to the output end of the second motor via a conventional coupling. The pallet is connected to the nut of the second lifting device via bolts. To ensure the stability and accuracy of the pallet's lifting, the pallet is slidably connected to the mounting plate via a conventional guide rod or similar structure. The mounting slot allows the top surface of the pallet to be close to or flush with the top surface of the lifting platform, thereby increasing the distance from the top surface of the pallet to the grippers, meeting the production needs of logs of various specifications and expanding the applicability.

[0038] For example, see Figures 1 to 6 As shown, the top surface of the tray 51 is provided with anti-slip teeth 511.

[0039] In this technical solution, the anti-slip teeth are fixed to the top surface of the pallet using conventional bolts, etc., to increase the friction between the pallet and the log and prevent the log from rolling during self-alignment or transportation.

[0040] The entire system consists of a host computer (an industrial PC equipped with an MES system, etc.), a slave computer (PLC), and a servo drive system. The host computer runs a dynamic scheduling algorithm, which is responsible for managing the log processing queue, monitoring the status of each vertical saw in real time (idle, processing, fault), and calculating the optimal target vertical saw and cutting center height for each log. Then, the instructions (log ID, diameter D, target height H) are sent to the PLC, and the PLC controls the servo motors of each axis of the scheduling vehicle to coordinate their actions according to the predetermined logic.

[0041] Combination Figure 7 As shown, an example of the workflow of a gripping method for automated log production is as follows: Suppose the system receives an instruction to send a log with a diameter of D=500mm to vertical saw No. 2, with a target cutting center height of H=1850mm; Command received: The dispatch vehicle's control device receives the following command from the host computer: D=500mm, H=1850mm, target station: saw No. 2.

[0042] Move to the feeding position: The first motor starts, driving the dispatching vehicle to be precisely positioned at the feeding port along the ground rail.

[0043] Ready to scrape: Gripper pre-opening: The control device calculates the initial opening of the gripper group according to the opening formula W = D + w (where w is the opening margin, such as 20mm), and controls the third motor to open the gripper to the position of W=520mm.

[0044] Alignment preparation: The control device calculates the height h that the alignment pallet needs to be raised according to the diameter D of the log, h = h0 - D / 2, where h0 is the distance from the top of the anti-slip tooth to the center of the gripper when the pallet is in the starting position, so that the center of the log is aligned with the center of the clamping. Taking 400mm as an example, h0 can meet the loading requirements of logs with a diameter of less than 800mm. The fourth motor drives the pallet to rise by 150mm.

[0045] Grabbing execution: The log is pushed into the gripper area and falls onto the pallet (the pallet can also be raised or lowered after the log falls in).

[0046] The third motor drives the gripper assembly to close synchronously. Six third motors drive their respective grippers, achieving adaptive gripping of the log's diameter. The core control logic is based on the formula R = D / 2 + δ, which embodies the intelligent gripping strategy of "adaptive envelope." Here, R is the target gripping radius: the radius of the envelope circle formed by the gripping surfaces of the grippers after the assembly closes, representing the unified target position for the control device to drive the six grippers via the third motors; D is the log diameter, measured in real-time by a vision or laser scanning system at the front end of the production line and transmitted to the dispatch vehicle control device via a host computer; δ... The safety margin / interference allowance is a small value set based on the material of the gripper ends (e.g., whether it has a flexible pad) and process requirements. It provides tolerance or pre-clamping force during gripping and is typically set to a small positive value (e.g., +2mm) to compensate for measurement errors and the actual irregular shape and surface texture of the log (e.g., bark), preventing excessive compression and damage to the wood. If the gripper ends (the end closest to the log) have elastic pads, these pads are compressed and contracted, using the elastic deformation of the material to generate radial clamping force, increasing friction and preventing the log from slipping during high-speed movement or lifting. For a log with a diameter D of 500 mm to be gripped, the system sets a safety margin δ of +2 mm. The host computer or control device calculates the target gripping radius R = 500 / 2 + 2 = 252 mm in real time. The control device sends a command to the third motor driving the grippers, and all grippers move synchronously towards the center until the gripping surface of each gripper reaches a distance of 252 mm from the theoretical gripping center. At the position of mm, the gripper assembly forms a virtual envelope with a diameter of approximately 504 mm, steadily "accommodating" the 500 mm log. This achieves stable gripping without overpressure and ensures smooth transmission through multi-point contact.

[0047] After clamping, the fourth motor drives the pallet to descend to a safe position and detach it from the bottom of the log (it can also be reset after the log is removed).

[0048] Precise Lifting: The control device calculates the total height to be lifted, which is the target cutting center height H=1850mm minus the height the pallet rises h=150mm. First, the first lifting device quickly lifts the log to near the target height (e.g., 1845mm, i.e., the lifting platform rises 1695mm), then makes minor adjustments, and finally stops precisely at the position of H=1850mm (the lifting platform rises 1700mm).

[0049] Dynamic conveying: After the host computer confirms that the No. 2 vertical saw is ready, the first motor of the dispatching vehicle starts, and the dispatching vehicle is smoothly and quickly transported to the loading point of the No. 2 vertical saw gantry.

[0050] Handover and Reset: After the dispatch vehicle sends out a signal indicating that it is in position, the gantry gripper of the No. 2 vertical saw grabs the log and confirms that it is firmly gripped. Then, the dispatch vehicle opens its gripper and releases the log. Subsequently, the dispatch vehicle returns to or drives to the next task point according to the new instructions.

[0051] In summary, this invention, through adjustable-spacing gripper assemblies and an independent centering device, achieves automatic adaptation and "center positioning" gripping of logs of different diameters. Combined with a lifting platform, it enables high-precision setting of the log cutting center height, greatly improving subsequent sawing quality. The dispatching vehicle communicates in real time with the host computer (MES / dispatch system, etc.), dynamically calculating the optimal conveying path and destination based on the real-time status of each vertical saw, log specifications, and cutting plan. This effectively balances the load of multiple vertical saws, reduces equipment waiting time, maximizes vertical saw utilization, and can increase the overall production line capacity by 15%-20%. It supports continuous adjustment of log diameter without manual shape change, realizing a mixed-line production mode of "processing upon arrival." The entire process from gripping, positioning to conveying and handover is automated, significantly reducing the labor intensity of workers. The multi-point (multiple grippers per group) symmetrical gripping combined with the elastic buffer of the probe makes the gripping force distribution more uniform, ensuring stability during the conveying process and effectively preventing damage to the log surface, making it particularly suitable for processing high-quality wood.

[0052] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0053] The above description is only a specific embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A dispatching vehicle for automated log production, characterized in that: The device includes a horizontally arranged ground rail, a base slidably arranged on the ground rail, a lifting platform located directly above the base, and a clamping device located at the top of the lifting platform. The clamping device includes two opposing jaw groups, each jaw group including several parallel jaws. The jaws are slidably arranged at the top of the lifting platform. A centering device is provided between the two jaw groups, and the centering device slides vertically above the lifting platform.

2. A dispatching vehicle for automated log production according to claim 1, characterized in that: The ground track includes a track frame and a first guide rail and a rack respectively installed on the track frame. The base is connected to a slider of the first guide rail. The base is provided with a gear driven by a first motor, and the gear meshes with the rack.

3. A dispatching vehicle for automated log production according to claim 1, characterized in that: The lifting platform is positioned directly above the base via a first lifting device. The first lifting device includes four vertically arranged first lead screws and a second motor that drives the first lead screws. The lifting platform is connected to the lead screw nut of the first lead screw.

4. A dispatching vehicle for automated log production according to claim 3, characterized in that: The base includes a base frame and support rods respectively corresponding to the first lead screw. The bottom end of the support rod is fixed to the top end of the base frame, and the top end of the support rod is provided with a first bearing seat for mounting the first lead screw.

5. A dispatching vehicle for automated log production according to claim 3, characterized in that: The lifting platform includes a lifting frame and a lifting platform surface fixed to the top of the lifting frame, and the lifting platform surface is connected to the nut of the first lead screw.

6. A dispatching vehicle for automated log production according to claim 5, characterized in that: The gripper is slidably mounted on the top of the lifting platform via a mounting bracket. The mounting bracket includes a mounting base fixed to the top of the lifting platform, a second lead screw rotatably mounted in the mounting base, and a third motor driving the second lead screw. The gripper is connected to the lead screw nut via a gripper seat, and the gripper seat is slidably connected to the mounting base via a second guide rail.

7. A dispatching vehicle for automated log production according to claim 6, characterized in that: The gripper is connected to the gripper seat via a gripper arm. The gripper arm is connected to a slidably mounted probe. Each end of the gripper arm is provided with a second bearing seat corresponding to the probe. Both ends of the probe protrude from the gripper arm, and one end of the probe closer to the gripper is elastically abutted against the corresponding second bearing seat by a spring. The other end is provided with an identification plate.

8. A dispatching vehicle for automated log production according to claim 1, characterized in that: The top surface of the lifting platform is provided with a mounting groove corresponding to the self-aligning device. The self-aligning device includes a support plate and a fourth motor that drives the support plate to lift. The fourth motor is installed in the mounting groove.

9. A dispatching vehicle for automated log production according to claim 8, characterized in that: The top surface of the tray is provided with anti-slip teeth.

10. A gripping method for automated log production, characterized in that: Includes the following steps: S1. A dispatching vehicle for automated log production as described in any one of claims 1 to 9 receives data from a host computer, the data including the diameter of the log and the height of the target cutting center; S2. Grab the logs, including the following steps: S21. The base moves along the ground rail to the feeding position; S22. Adjust the opening of the clamps according to the diameter of the log; S23. The self-aligning device adjusts the relative height between the log and the center of the clamp according to the diameter of the log; S24. The grippers close and lock synchronously to complete the log gripping; S3. Adjust the center of the log to the target cutting center height using the lifting platform; S4. The base moves along the ground rail to the loading position of the target vertical saw; S5. The gantry gripper of the target vertical saw picks up the material and releases the log from the gripper. S6. The base returns to its original position along the ground rail or proceeds to the next task point.

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