A robot adaptive gripping mechanism for tree felling

Abstract

The utility model discloses a kind of robot adaptive clamping mechanisms for forest felling, belong to forest felling equipment technical field, including mounting block, mounting frame and adaptive clamping mechanism, the adaptive clamping mechanism includes clamping arm by rotating lever rotation connection in mounting frame, and slidable abutting strip, the inclined plane is formed in the both sides of the abutting strip, the lower end of the clamping arm is connected with gyro wheel, the gyro wheel and the inclined plane of the abutting strip are abutted, the abutting strip is reset by spring, the front end of the clamping arm is also connected with secondary clamping mechanism, and secondary locking is realized by linkage rod and hook claw.The utility model utilizes the contact force of forest to drive clamping arm adaptive clamping, without external power source and control system, simple structure, different diameter of forest can be automatically adapted to, and double locking is realized by secondary clamping mechanism, clamping is stable and reliable, and safety is high.

Description

Technical Field

[0001] This utility model relates to the field of timber harvesting equipment technology, and in particular to a robotic adaptive gripping mechanism for timber harvesting. Background Technology

[0002] The use of robots and automated equipment is becoming increasingly widespread in timber harvesting and transportation operations. As the end effector of robots, the gripping mechanism's core function is to stably and reliably grasp and secure the felled timber, making it a key component for achieving automated harvesting processes.

[0003] Most existing robotic gripping mechanisms used for logging employ hydraulic, pneumatic, or electric drive systems to control the opening and closing of the gripping arms. These active gripping systems require corresponding power sources, control systems, and complex piping or circuitry. This not only increases the overall weight and manufacturing cost of the equipment, but also makes these complex systems more prone to failure and maintenance difficulties in the harsh forestry working environments. Furthermore, the continuous energy consumption limits the robot's endurance.

[0004] More importantly, the trees in the forest vary in diameter and have irregular shapes. Traditional active clamping mechanisms, in order to adapt to trees of different sizes, must rely on sensors to detect the size of the trees and then use complex control algorithms to adjust the clamping stroke and force. This process not only reduces operational efficiency, but also, if the sensors or control system malfunction, it may lead to excessive clamping force that damages the wood, or insufficient clamping force that causes the tree to slip, posing a safety hazard. Therefore, existing technologies generally lack a mechanism that is simple in structure, requires no external power to drive clamping, and can automatically adapt to different tree sizes and achieve reliable clamping.

[0005] Therefore, this utility model proposes a robotic adaptive gripping mechanism for logging to address the shortcomings of existing technologies. Utility Model Content

[0006] To overcome the above shortcomings, this utility model provides a robotic adaptive clamping mechanism for logging, which aims to improve the problems of complex structure, reliance on external power source and control system for clamping, difficulty in automatically adapting to trees of different diameters, and insufficient reliability in the existing technology.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a robot adaptive gripping mechanism for logging, comprising a mounting block; and a mounting frame, wherein the mounting frame is fixedly connected to the lower part of the mounting block, and the robot adaptive gripping mechanism for logging further comprises an adaptive gripping mechanism; The adaptive clamping mechanism includes a clamping arm, an abutment bar, rollers, a telescopic rod, a spring, and a limiting cone. The clamping arm is rotatably connected to the mounting frame via a rotating rod. The abutment bar can slide vertically relative to the mounting block, and both sides of the abutment bar have inclined surfaces. The rollers are rotatably connected to the lower end of the clamping arm and abut against the inclined surfaces of the abutment bar, thereby converting the axial sliding of the abutment bar into the radial clamping motion of the clamping arm. Furthermore, one end of the telescopic rod is fixedly connected to the bottom of the mounting block, and the other end is fixedly connected to the top of the limiting cone, for guiding and supporting the sliding stroke of the abutment strip. The spring is sleeved on the outside of the telescopic rod, and both ends of the spring abut against the bottom of the mounting block and the top of the abutment strip, respectively, for providing a restoring force. The limiting cone is fixedly connected to the bottom of the abutment strip. Preferably, the clamping arm is fixedly connected to the side facing the abutment bar with anti-slip teeth to increase the friction during clamping and prevent slippage; Preferably, it further includes a first mounting rod, the roller is rotatably connected to the first mounting rod, and both ends of the first mounting rod are fixedly connected to the clamping arm to provide a stable rotation axis for the roller; Preferably, it also includes a limiting sleeve, which is sleeved on the first mounting rod and located on both sides of the roller, for axially limiting the roller and preventing it from moving during movement; Preferably, it also includes a secondary clamping mechanism, which is connected between the front end of the clamping arm and the mounting frame to achieve dual clamping and improve safety; Preferably, the secondary clamping mechanism includes a third mounting rod and a hook, the third mounting rod is fixedly connected to the foremost end of the clamping arm, and the hook is sleeved on and rotatably connected to the third mounting rod; Preferably, the secondary clamping mechanism further includes a rotating block and a linkage rod, one end of which is rotatably connected to the rotating block and the other end of which is rotatably connected to the hook, forming a linkage structure that drives the hook to rotate; Preferably, it further includes a second mounting rod, which is installed in the groove of the mounting bracket, and the rotating block is sleeved and rotatably connected to the second mounting rod, providing a stable rotation base point for the linkage structure; Preferably, it also includes a casing, which is fitted over the outside of the mounting block to protect the internal mechanism.

[0008] This utility model has the following beneficial effects: 1. This utility model, by setting up a purely mechanical linkage structure consisting of a contact bar, rollers and clamping arms, directly drives the clamping arms to tighten by utilizing the contact force of the trees. This solves the problems of existing clamping mechanisms that rely on electric or hydraulic systems, are difficult to automatically adapt to trees of different sizes and have high energy consumption. It achieves the effects of passive adaptive clamping, energy saving and improved system reliability.

[0009] 2. This utility model solves the problem of insufficient safety in the prior art where single clamping may loosen due to vibration or external force by adding a secondary clamping mechanism consisting of a linkage rod and a hook at the front end of the clamping arm. This mechanism is triggered by the tightening action of the clamping arm, thus achieving the effect of double locking, more stable clamping, and higher operational safety.

[0010] 3. This utility model solves the problems of inaccurate positioning and slippage of the contact surface in the early stage of clamping by setting a limiting cone at the bottom of the abutment strip for embedding into the surface of the tree and setting anti-slip teeth on the clamping arm. It achieves the effects of stable initial positioning, high clamping friction, and effective prevention of slippage. Attached Figure Description

[0011] Figure 1 This is a perspective view of a robot adaptive gripping mechanism for logging proposed in this utility model; Figure 2 This is a schematic diagram of the roller structure of a robot adaptive gripping mechanism for logging proposed in this utility model; Figure 3 This is a schematic diagram of the mounting frame structure of a robot adaptive gripping mechanism for logging proposed in this utility model; Figure 4 This is a schematic diagram of the hook structure of an adaptive gripping mechanism for logging robots proposed in this utility model. Figure 5 for Figure 4 Enlarged view of point A in the middle.

[0012] Legend: 1. Mounting block; 2. Housing; 3. Adaptive clamping mechanism; 301. Abutment bar; 302. Limiting cone; 303. Clamping arm; 304. Roller; 305. Mounting bracket; 306. Rotating rod; 307. Limiting sleeve; 308. Anti-slip teeth; 309. First mounting rod; 310. Spring; 311. Telescopic rod; 4. Secondary clamping mechanism; 401. Linkage rod; 402. Rotating block; 403. Second mounting rod; 404. Hook; 405. Third mounting rod. Detailed Implementation

[0013] 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.

[0014] Reference Figures 1-5 The present invention provides an embodiment of a robot adaptive gripping mechanism for logging, comprising a mounting block 1, a mounting frame 305 fixedly connected to the lower part of the mounting block 1, and a housing 2 fitted onto the outside of the mounting block 1. It also includes an adaptive clamping mechanism 3, which includes a clamping arm 303 rotatably connected to the mounting frame 305 via a rotating rod 306; the adaptive clamping mechanism 3 also includes an abutment bar 301, which can slide vertically relative to the mounting block 1, and the abutment bar 301 has inclined surfaces on both sides; the adaptive clamping mechanism 3 also includes a roller 304, which is rotatably connected to the lower end of the clamping arm 303 and abuts against the inclined surfaces of the abutment bar 301; the adaptive clamping mechanism 3 further includes an adaptive clamping mechanism 3; the adaptive clamping mechanism 3 ... The clamping mechanism 3 also includes a telescopic rod 311, one end of which is fixedly connected to the bottom of the mounting block 1, and the other end of which is fixedly connected to the top of the limiting cone 302; the adaptive clamping mechanism 3 also includes a spring 310, which is sleeved on the outside of the telescopic rod 311, and the two ends of the spring 310 abut against the bottom of the mounting block 1 and the top of the abutment strip 301, respectively; the adaptive clamping mechanism 3 also includes a limiting cone 302, which is fixedly connected to the bottom of the abutment strip 301; To achieve a reliable connection and stable rotation between the roller 304 and the clamping arm 303, the adaptive clamping mechanism 3 also includes a first mounting rod 309. The roller 304 is rotatably connected to the first mounting rod 309, and both ends of the first mounting rod 309 are fixedly connected to the lower end of the clamping arm 303. To ensure the axial stability of the roller 304 during rolling, a limiting sleeve 307 is also included. The limiting sleeve 307 is sleeved on the first mounting rod 309 and located on both sides of the roller 304. This structure, which is connected by the mounting rod and limited by the limiting sleeve, ensures that the roller 304 can rotate smoothly and transmit motion accurately when pushed by the inclined surface of the abutment bar 301. Meanwhile, in order to enhance the gripping effect of the clamping arm 303 on the trees, anti-slip teeth 308 are fixedly connected to the side of the clamping arm 303 facing the abutment bar 301. The anti-slip teeth 308 can increase the friction with the surface of the trees or embed into the surface of the trees when the clamping arm 303 clamps towards the center. This structure with anti-slip teeth on the clamping surface greatly improves the reliability of the clamping and effectively prevents the heavy objects from slipping. The secondary clamping mechanism 4 includes a third mounting rod 405 and a hook 404. The third mounting rod 405 is fixedly connected to the foremost end of the clamping arm 303, and the hook 404 is sleeved on and rotatably connected to the third mounting rod 405, for reinforcing and locking the trees at the end of the clamping action. To drive the hook 404, the secondary clamping mechanism 4 also includes a rotating block 402 and a linkage rod 401. One end of the linkage rod 401 is rotatably connected to the rotating block 402, and the other end of the linkage rod 401 is rotatably connected to the hook 404. To provide a stable rotation fulcrum for the linkage mechanism, a second mounting rod 403 is also included. The second mounting rod 403 is installed in the groove of the mounting bracket 305, and the rotating block 402 is sleeved and rotatably connected to the second mounting rod 403. Through this complete linkage structure, the clamping motion of the clamping arm 303 can be converted into the rotational gripping motion of the hook 404.

[0015] Working principle: During the clamping operation, the entire clamping mechanism moves forward to abut against the tree. Under the pushing force of the tree, the abutting bar 301 overcomes the elastic force of the spring 310 and slides backward. The bottom limiting cone 302 is embedded in the surface of the tree for initial limiting. As the abutting bar 301 slides, the inclined surfaces on both sides of the abutting bar 301 push the roller 304 to move outward. Since the roller 304 is connected to the clamping arm 303 through the first mounting rod 309, the outward movement of the roller 304 will drive the clamping arm 303 to rotate around the rotating rod 306 towards the center. The anti-slip teeth 308 on the inner side of the clamping arm 303 then clamp the tree, completing the initial adaptive clamping. As the clamping arm 303 clamps towards the center, the secondary clamping mechanism 4 installed at the front end of the clamping arm 303 is triggered. The rotation of the clamping arm 303 changes the relative position of the linkage rod 401 and the mounting frame 305, thereby pulling the linkage rod 401. The linkage rod 401 drives the rotating block 402 to rotate around the second mounting rod 403 installed on the mounting frame 305. This rotation is then transmitted to the hook 404 through the linkage rod 401, causing the hook 404 to rotate inward around the third mounting rod 405 fixed on the clamping arm 303, further gripping the tree, thus completing the secondary enhanced clamping.

Claims

1. A robotic adaptive gripping mechanism for logging, comprising: Install block (1); Mounting bracket (305) is fixedly connected to the lower part of the mounting block (1); Its characteristic is that it further includes: An adaptive clamping mechanism (3) comprising: A clamping arm (303) is rotatably connected to the mounting frame (305) via a rotating rod (306). Abutting strip (301) is slidable relative to the mounting block (1) in a vertical direction, and the abutting strip (301) has inclined surfaces on both sides; A roller (304) is rotatably connected to the lower end of the clamping arm (303) and abuts against the inclined surface of the abutment bar (301); Telescopic rod (311), one end of which is fixedly connected to the bottom of the mounting block (1), and the other end is fixedly connected to the top of the limiting cone (302); Spring (310), the spring (310) is sleeved on the outside of the telescopic rod (311), and the two ends of the spring (310) respectively abut against the bottom of the mounting block (1) and the top of the abutment strip (301); The limiting cone (302) is fixedly connected to the bottom of the abutment strip (301).

2. The adaptive gripping mechanism for logging robots according to claim 1, characterized in that: The clamping arm (303) is fixedly connected to the side facing the abutment bar (301) with anti-slip teeth (308).

3. The adaptive gripping mechanism for logging robots according to claim 1, characterized in that: It also includes a first mounting rod (309), the roller (304) is rotatably connected to the first mounting rod (309), and the two ends of the first mounting rod (309) are fixedly connected to the clamping arm (303).

4. The adaptive gripping mechanism for logging robots according to claim 3, characterized in that: It also includes a limiting sleeve (307), which is fitted onto the first mounting rod (309) and located on both sides of the roller (304).

5. The adaptive gripping mechanism for logging robots according to claim 1, characterized in that: It also includes a secondary clamping mechanism (4), which is connected between the front end of the clamping arm (303) and the mounting bracket (305).

6. The adaptive gripping mechanism for logging robots according to claim 5, characterized in that: The secondary clamping mechanism (4) includes a third mounting rod (405) and a hook (404). The third mounting rod (405) is fixedly connected to the front end of the clamping arm (303), and the hook (404) is sleeved on and rotatably connected to the third mounting rod (405).

7. The adaptive gripping mechanism for logging robots according to claim 6, characterized in that: The secondary clamping mechanism (4) further includes a rotating block (402) and a linkage rod (401). One end of the linkage rod (401) is rotatably connected to the rotating block (402), and the other end is rotatably connected to the hook (404).

8. The adaptive gripping mechanism for logging robots according to claim 7, characterized in that: It also includes a second mounting rod (403), which is installed in the groove of the mounting bracket (305), and the rotating block (402) is sleeved and rotatably connected to the second mounting rod (403).

9. The adaptive gripping mechanism for logging robots according to claim 1, characterized in that: It also includes a housing (2), which is fitted onto the outside of the mounting block (1).

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