Forestry logging robots

Abstract

This utility model discloses a forestry logging robot, including a base and a limiting component. A first fixed seat is rotatably connected to the center of the top of the base via a first rotating shaft. A first robotic arm is rotatably connected to the first fixed seat via a second rotating shaft. The limiting component has two sets, each including a cylinder. The cylinders are respectively located on the surfaces of the first and second fixed seats. The first fixed seat is rotatably connected to the base via the first rotating shaft, and a first motor can drive the second rotating shaft to rotate, enabling the first and second robotic arms to achieve multi-degree-of-freedom movement. After the first and second robotic arms are adjusted to a specific logging position, the cylinders on the first and second fixed seats can push the limiting plate to engage with the gear plate, which can stably limit the position and angle of the first and second robotic arms, ensuring that the logging tools are always aligned with the expected logging location, avoiding logging position deviation, thereby improving logging accuracy and ensuring timber quality.

Description

Technical Field

[0001] This utility model belongs to the field of forestry logging technology, specifically relating to a dynamic forestry logging robot. Background Technology

[0002] In the process of developing and utilizing forestry resources, manual logging is a complex and dangerous work environment. Forest areas are characterized by rugged terrain and variable climate, making loggers highly susceptible to accidents such as fallen trees and landslides. Moreover, manual logging is inefficient. To address these challenges, forestry logging robots have emerged. These robots can operate in complex forest environments, reducing labor costs, improving logging efficiency, and ensuring the safety of workers. Among them, the multi-degree-of-freedom robotic arm, as a key execution component of the forestry logging robot, plays a crucial role. It can flexibly grasp and operate logging tools to accurately harvest trees of different diameters and locations.

[0003] In existing forestry logging robots, the robotic arms are inevitably subject to external vibrations, collisions, and vibrations from operating logging tools during actual logging operations due to the complexity of the forest environment. After the robotic arm has completed adjustment and positioned itself at a specific logging location, it is prone to displacement or angular changes under these external forces. This not only leads to deviations in logging position, affecting logging accuracy and reducing timber quality, but may also cause the logging tools to fail to accurately align with the intended logging location, thereby prolonging logging time and reducing overall operational efficiency. Utility Model Content

[0004] The purpose of this invention is to provide a robotic forestry harvesting system to solve the problems mentioned in the background section.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a forestry logging robot, comprising:

[0006] A base, wherein a first fixed seat is rotatably connected to the top center of the base via a first rotating shaft, a first machine arm is rotatably connected to the first fixed seat via a second rotating shaft, one end of the first machine arm is connected to a second fixed seat, and a second machine arm is also rotatably connected to the second fixed seat via a second rotating shaft, and one end of the second machine arm is connected to a mechanical claw;

[0007] The limiting component has two sets and is respectively located at the rotation points of the two sets of second rotating shafts and the first fixed seat and the second fixed seat, and is used to limit the first and second machine arms after rotation. The limiting component includes cylinders, which have two sets and are respectively located on the surfaces of the first fixed seat and the second fixed seat. Each of the first fixed seat and the second fixed seat has a limiting plate and the limiting plate is engaged with the gear plate on the two sets of second rotating shafts.

[0008] Preferably, the gear disc is fixedly mounted on one end of the second rotating shaft, and the surface of the limiting plate is connected with a plurality of teeth, which engage with the gear disc.

[0009] Preferably, both the first and second fixed seats are provided with two sets of sliding grooves and guide rods are slidably connected in the sliding grooves. One end of the guide rod is connected to the limiting plate, and the piston rods of the two sets of cylinders respectively move through the first and second fixed seats and are connected to the limiting plate.

[0010] Preferably, the surfaces of the first fixed base and the second fixed base are each provided with a first motor, and the output shafts of the two sets of first motors rotate through the first fixed base and the second fixed base respectively and are connected to one end of the second rotating shaft.

[0011] Preferably, a first gear is fixedly mounted on one end of the first rotating shaft located inside the base, and a second motor is provided inside the base, with the output shaft of the second motor connected to the second gear, the second gear meshing with the first gear.

[0012] Preferably, the top of the base is provided with an annular groove, and the bottom ends of the first fixed seat are rotatably connected to rollers via brackets, and the rollers are rotatably connected within the annular groove.

[0013] Preferably, the mechanical gripper includes a mounting base, which is connected to the second arm, and two sets of grippers are slidably connected to the front end of the mounting base.

[0014] Preferably, the bottom of the mounting base is provided with a third motor and the output shaft of the third motor is connected to a transmission rod. Both ends of the transmission rod are rotatably connected to arc-shaped rods, and the other end of the arc-shaped rods is rotatably connected to the gripper.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] (1) During the logging operation, when the first and second arms are adjusted to a specific logging position, the cylinders on the first and second fixed seats can push the limiting plate to engage with the gear plate, which can stably limit the position and angle of the first and second arms, so that the logging tools are always aligned with the expected logging position, avoiding logging position deviation, thereby improving logging accuracy and ensuring timber quality.

[0017] (2) The first fixed seat is rotatably connected to the base through the first rotating shaft, and the first motor can drive the second rotating shaft to rotate, so that the first and second robotic arms can achieve multi-degree-of-freedom movement. Combined with the design of the mechanical claw, it can flexibly grasp and operate the logging tools, adapt to the logging needs of trees of different diameters and positions, and improve the robot's adaptability and operational flexibility in complex forestry environments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Figure 2 This is a side view of the present invention;

[0020] Figure 3 This utility model Figure 2 Side view of the second fixed seat;

[0021] Figure 4 This is a schematic diagram of the mechanical claw of this utility model.

[0022] In the diagram: 1. Base; 2. First rotating shaft; 3. First fixed seat; 4. Second rotating shaft; 5. First robotic arm; 6. Second fixed seat; 7. Second robotic arm; 8. Mechanical gripper; 9. Cylinder; 10. Limiting plate; 11. Gear plate; 12. Tooth; 13. Slide groove; 14. Guide rod; 15. First motor; 16. First gear; 17. Second motor; 18. Second gear; 19. Annular slide groove; 20. Roller; 21. Mounting base; 22. Gripper; 23. Third motor; 24. Transmission rod; 25. Arc rod. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] This utility model provides, for example Figure 1-4 The illustrated forestry logging robot includes:

[0025] A base 1, at the top center of the base 1, is rotatably connected to a first fixed seat 3 via a first rotating shaft 2. A first mechanical arm 5 is rotatably connected to the first fixed seat 3 via a second rotating shaft 4. One end of the first mechanical arm 5 is connected to a second fixed seat 6, and a second mechanical arm 7 is also rotatably connected to the second fixed seat 6 via a second rotating shaft 4. One end of the second mechanical arm 7 is connected to a mechanical claw 8.

[0026] The limiting component has two sets and is respectively located at the rotation points of the two sets of second rotating shafts 4 and the first fixed seat 3 and the second fixed seat 6, for limiting the first arm 5 and the second arm 7 after rotation. The limiting component includes cylinders 9, which have two sets and are respectively located on the surfaces of the first fixed seat 3 and the second fixed seat 6. Each of the first fixed seat 3 and the second fixed seat 6 is provided with a limiting plate 10 and the limiting plate 10 is engaged with the gear plate 11 on the two sets of second rotating shafts 4.

[0027] The gear disc 11 is fixedly mounted on one end of the second rotating shaft 4, and a plurality of teeth 12 are connected to the surface of the limiting plate 10, which engage with the gear disc 11.

[0028] The first fixed seat 3 and the second fixed seat 6 are each provided with two sets of sliding grooves 13 and guide rods 14 are slidably connected in the sliding grooves 13. One end of the guide rod 14 is connected to the limiting plate 10. The piston rods of the two sets of cylinders 9 respectively move through the first fixed seat 3 and the second fixed seat 6 and are connected to the limiting plate 10. The guide rods 14 cooperate with the sliding grooves 13 to guide the movement direction of the limiting plate 10 and ensure that the limiting plate 10 moves smoothly.

[0029] The first fixed base 3 and the second fixed base 6 are each provided with a first motor 15. The output shafts of the two sets of first motors 15 rotate through the first fixed base 3 and the second fixed base 6 respectively and are connected to one end of the second rotating shaft 4.

[0030] The first rotating shaft 2 is fixedly fitted with a first gear 16 at one end inside the base 1. The base 1 is provided with a second motor 17 and the output shaft of the second motor 17 is connected to a second gear 18. The second gear 18 meshes with the first gear 16.

[0031] The base 1 has an annular groove 19 on its top. The bottom ends of the first fixed seat 3 are rotatably connected to rollers 20 via brackets. The rollers 20 are rotatably connected in the annular groove 19. The annular groove 19 restricts the movement trajectory of the rollers 20, ensuring that the first arm 5 and the second arm 7 remain stable during the turning process, and avoiding the first arm 5 and the second arm 7 from tipping over or being damaged due to unstable turning.

[0032] The mechanical claw 8 includes a mounting base 21, which is connected to the second arm 7. Two sets of grippers 22 are slidably connected to the front end of the mounting base 21. A third motor 23 is provided at the bottom of the mounting base 21, and the output shaft of the third motor 23 is connected to a transmission rod 24. Arc-shaped rods 25 are rotatably connected to both ends of the transmission rod 24. The other end of the arc-shaped rods 25 is rotatably connected to the grippers 22. The output shaft of the third motor 23 drives the transmission rod 24 to rotate. The arc-shaped rods 25 at both ends of the transmission rod 24 swing as the transmission rod 24 rotates. Since the other end of the arc-shaped rods 25 is rotatably connected to the grippers 22, the swinging of the arc-shaped rods 25 will cause the grippers 22 to slide on the mounting base 21, thereby enabling the grippers 22 to open and close by sliding on the mounting base 21. Thus, the opening and closing grippers 22 can be used to grab logging tools such as chainsaws or chainsaws.

[0033] This forestry logging robot works by continuously acquiring images of the surrounding environment through a high-definition camera (not shown in the attached diagram) on its base 1. After preprocessing such as grayscale conversion, filtering, and sharpening, deep learning algorithms such as convolutional neural networks are used to extract features such as the shape and texture of trees, identify and calculate the coordinates of the trees in the image coordinate system, and then convert them to the robot coordinate system through camera calibration. At the same time, a multi-line lidar (not shown in the attached diagram) on the robot base 1 emits laser beams at a high frequency to acquire three-dimensional point cloud data. After filtering and downsampling to remove noise and redundant data, a clustering algorithm (such as the DBSCAN algorithm) is used to cluster the tree point cloud, extract features such as the center position of the tree trunk, and determine the position of the tree in the robot coordinate system. Subsequently, algorithms such as Kalman filtering are used to synchronize and fuse the tree position information obtained by visual recognition and lidar, thereby improving the accuracy and reliability of positioning.

[0034] After localization, the robot constructs a two-dimensional or three-dimensional map based on the fused location information, covering the location of trees and the distribution of obstacles. This map is updated in real time during the operation. Using algorithms such as A* and Dijkstra's algorithm, a preliminary path from the current location to the target tree is planned on the global map, taking into account factors such as path length and safety. Then, local path planning is performed using methods such as dynamic windowing and artificial potential field to avoid obstacles that appear in real time. After planning, the path is smoothed to reduce the robot arm's sharp turns and jitter. At the same time, the path is checked to see if it meets the robot arm's kinematic and dynamic constraints, such as joint angles and maximum speed limits. If it does not meet the constraints, adjustments are made. Finally, an executable harvesting path is generated, which the harvesting robot can then use to harvest trees.

[0035] When the logging path is determined and the working direction of the logging robot needs to be adjusted, the second motor 17 is started. The output shaft of the second motor 17 drives the second gear 18 to rotate. Since the second gear 18 meshes with the first gear 16, and the first gear 16 is fixedly mounted on the first rotating shaft 2, the first gear 16 will rotate with the rotation of the second gear 18, thereby driving the first rotating shaft 2 to rotate. The rotation of the first rotating shaft 2 causes the first fixed seat 3 mounted on it and the entire robotic arm to rotate around the center of the base 1, realizing the adjustment of the robot's rotation angle in the horizontal direction by 360°.

[0036] Then the multi-degree-of-freedom robotic arm begins to work. Drive motors such as the first motor 15 and the second motor 17 control the rotation of joints such as the first rotating shaft 2 and the second rotating shaft 4 according to the path planning results. When adjusting the angle of the first arm 5, the first motor 15 on the surface of the first fixed base 3 is activated. The output shaft of the first motor 15 drives the second rotating shaft 4 to rotate. Since the first arm 5 is connected to the second rotating shaft 4, the first arm 5 will rotate around the second rotating shaft 4 within the first fixed base 3, thereby adjusting the angle of the first arm 5. Similarly, when adjusting the angle of the second arm 7, the first motor 15 on the surface of the second fixed base 6 is activated, driving the second arm 7 to rotate around the second rotating shaft 4 within the second fixed base 6. The first motor 15 drives the second rotating shaft 4 to rotate, causing the first arm 5 to rotate around the second rotating shaft 4. 4. The first fixed base 3 rotates within the first fixed base 3, thereby adjusting the angle and position of the first robotic arm 5 and the second robotic arm 7. When the first fixed base 3 rotates, the roller 20 at its bottom rolls within the annular groove 19, providing stable support and guidance for the turning of the first fixed base 3. The cooperation between the roller 20 and the annular groove 19 reduces the friction during the rotation process, making the turning of the first fixed base 3 smoother. At the same time, the annular groove 19 also restricts the movement trajectory of the roller 20, ensuring that the first robotic arm 5 and the second robotic arm 7 remain stable during the turning process, avoiding the first robotic arm 5 and the second robotic arm 7 from tipping over or being damaged due to unstable turning. The movement of the first robotic arm 5 and the second robotic arm 7 is controlled by the robot's control system to ensure that the robotic arm can move accurately according to the planned path.

[0037] When the second robotic arm 7 reaches the target tool position, the robot's control system starts the third motor 23. The output shaft of the third motor 23 drives the transmission rod 24 to rotate. The arc-shaped rods 25 at both ends of the transmission rod 24 swing as the transmission rod 24 rotates. Since the other end of the arc-shaped rod 25 is rotatably connected to the gripper 22, the swinging of the arc-shaped rod 25 will cause the gripper 22 to slide on the mounting base 21. This allows the gripper 22 to open and close by sliding on the mounting base 21. When it is necessary to grab the logging tool, the third motor 23 rotates forward to drive the gripper 22 to move closer together and close, clamping the tool tightly. When it is necessary to release the tool, the third motor 23 rotates in reverse to drive the gripper 22 to open and release the tool. This allows the robotic claw 8 to flexibly grab and operate different types of logging tools, improving work efficiency.

[0038] After the first arm 5 and the second arm 7 grasp the logging tool and adjust it to a suitable logging angle, the robot's control system controls the cylinder 9 to start working. The piston rod inside the cylinder 9 extends according to the extension length preset by the control system and pushes the limiting plate 10 to slide. During this process, the guide rod 14 cooperates with the slide groove 13 to ensure that the limiting plate 10 moves smoothly. When the limiting plate 10 moves to a certain position, the teeth 12 on it engage with the toothed disc 11 to fix the angle of the first arm 5 and the second arm 7. This engagement method can effectively resist external interference, ensure the stability of the robotic arm during operation, and prevent the second rotating shaft 4 from rotating due to external force.

[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A forestry logging robot, characterized in that, include: The base (1) has a first fixed seat (3) rotatably connected to the top center of the base (1) via a first rotating shaft (2). The first fixed seat (3) has a first machine arm (5) rotatably connected to it via a second rotating shaft (4). One end of the first machine arm (5) is connected to a second fixed seat (6), and the second fixed seat (6) also has a second machine arm (7) rotatably connected to it via a second rotating shaft (4). One end of the second machine arm (7) is connected to a mechanical claw (8). The limiting component has two sets and is respectively located at the rotation points of the two sets of second rotating shafts (4) and the first fixed seat (3) and the second fixed seat (6), and is used to limit the first arm (5) and the second arm (7) after rotation. The limiting component includes a cylinder (9), which has two sets and is respectively located on the surface of the first fixed seat (3) and the second fixed seat (6). The first fixed seat (3) and the second fixed seat (6) are each provided with a limiting plate (10) and the limiting plate (10) is engaged with the gear plate (11) on the two sets of second rotating shafts (4).

2. The forestry logging robot according to claim 1, characterized in that: The gear disc (11) is fixedly mounted on one end of the second rotating shaft (4), and a plurality of teeth (12) are connected to the surface of the limiting plate (10), which engage with the gear disc (11).

3. The forestry logging robot according to claim 1, characterized in that: The first fixed seat (3) and the second fixed seat (6) are each provided with two sets of sliding grooves (13) and guide rods (14) are slidably connected in the sliding grooves (13). One end of the guide rod (14) is connected to the limiting plate (10). The piston rods of the two sets of cylinders (9) respectively move through the first fixed seat (3) and the second fixed seat (6) and are connected to the limiting plate (10).

4. The forestry logging robot according to claim 1, characterized in that: The first fixed seat (3) and the second fixed seat (6) are each provided with a first motor (15). The output shafts of the two sets of first motors (15) rotate through the first fixed seat (3) and the second fixed seat (6) respectively and are connected to one end of the second rotating shaft (4).

5. A forestry logging robot according to claim 1, characterized in that: The first shaft (2) is fixedly fitted with a first gear (16) at one end inside the base (1). The base (1) is provided with a second motor (17) and the output shaft of the second motor (17) is connected to a second gear (18). The second gear (18) meshes with the first gear (16).

6. A forestry logging robot according to claim 1, characterized in that: The base (1) has an annular groove (19) at the top, and the bottom ends of the first fixed seat (3) are rotatably connected to rollers (20) by brackets. The rollers (20) are rotatably connected in the annular groove (19).

7. A forestry logging robot according to claim 1, characterized in that: The mechanical gripper (8) includes a mounting base (21), which is connected to the second arm (7). Two sets of grippers (22) are slidably connected to the front end of the mounting base (21).

8. A forestry logging robot according to claim 7, characterized in that: The mounting base (21) has a third motor (23) at its bottom and the output shaft of the third motor (23) is connected to a transmission rod (24). Both ends of the transmission rod (24) are rotatably connected to an arc rod (25), and the other end of the arc rod (25) is rotatably connected to a gripper (22).

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