Application of Robot Technology in Forestry and Woodworking Machinery

Robotics, application in forestry and woodworking machinery Kong Qinghua, Northeast Forestry University, Harbin, Heilongjiang 15, 40 Due to the continuous development and maturity of robotics, its application fields are constantly expanding. For more than 20 years, with the support of the Seventh-Nine Project and the National Sixth Plan, my country's robotics technology has achieved remarkable development and progress in various application fields. Northeast Forestry University Some bold and effective attempts have been made in the application of forestry and woodworking machinery, and certain results have been achieved.

1. Forest cone collecting robot This robot can not only collect a large number of pine seeds during the short maturity period of forest cones, but also has important significance for the ecological protection of the forest, the renewal of the forest and the sustainable development of the forest.

1.1 Structure and working principle The forest cone harvesting robot is mainly composed of a manipulator walking mechanism 50 tractor hydraulic drive system and a single-chip microcomputer control system. When collecting forest cones, park the robot at a distance of 35m from the mother tree, and manipulate the rotary motor of the manipulator to make the manipulator aim at one of the mother trees. Then the single-chip system controls the big and small arms of the manipulator to flexibly raise to a certain degree at the same time, and the collecting claw opens and swings. When aiming at the branch to be collected, the upper and lower arms move at the same time, so that the collecting claws approach 1.52 in the direction of the growth of the branch, and then the comb teeth of the collecting claws clamp the fruit branches. The upper and lower arms drive the collecting claw to push back according to the original path, comb the cones on the lower branches, complete the picking, and then lower 81.2 to take them to the lower branches, repeat the above actions, and pour the cones into the back of the tractor after several consecutive strokes. After picking a tree, turn the manipulator to aim at the next tree.

The main performance parameters The maximum working slope is 12.

The project won the Science and Technology Progress Award of the State Forestry Administration.

2 The structure and working principle of the new intelligent root cleaning robot is modified from a hydraulic excavator. It is dual-purpose, fully hydraulically driven, computer controlled, and has a certain visual function. It removes the bucket of the excavator and installs The end effector of the upper robot is a cutting head for root cleaning and rotary cutting. The rotary cutting head has a cylindrical structure. Two hydraulic motors drive a cylindrical cutter with serrations at the lower end to cut the root. After the root is cut, another The claw clamp in the cylinder wall is driven by a hydraulic cylinder to clamp the cutting root, and under the combined action of the big and small arms, the cutting root is pulled up and stacked to the designated position.

The operation procedure of the cutting root cleaning robot is as follows: the driver operates the hydraulically driven walking system to enter the operation site, and manually adjusts the position of the rotary cutting head; press the operation start button, the robot enters the automatic operation state, and the grate machine first drives with six freedoms The robot rotates and scans with a high degree of rotation, and finds the position of the felling root through the camera vision function; then performs servo positioning, rotary cutting, clamping, pulling up and returning to the pile, the single-chip control system is installed in the cab of the robot, and the operator uses the camera and 5.5-inch monitor The composed real-time monitoring system searches for the root of the job target, and the robot uses an advanced liquid crystal display. 240128D displays various information, overcomes the disadvantage that only a few professionals can understand the conventional 103 signal display method, and various information residences can be read directly from the screen promotion application.

2.2 Main performance parameters The maximum working radius of the manipulator is 8m; the minimum working radius of the manipulator is 4m; the maximum rotation speed of the rotary cutting device is 300rAnin; the rotation speed of the robot arm is 5rrain; the maximum working pressure of the hydraulic system is 16MPa; After clearing the roots, the diameter of the pits, the working efficiency, the quality of the whole vehicle, the overall dimensions of the vehicle, and the results of the experiment and application are obvious. This cutting root cleaning robot can clean about 100 cutting roots per shift, which is 50 times that of manual digging of tree roots. It can be used for different cutting sites and areas by replacing rotary cutting and lifting devices of different diameters and lengths. The less damage to the ground caused by the root clearing and the less soil erosion is conducive to the full utilization of the logging residues, which can promote artificial regeneration and afforestation and protect the ecological environment.

3. Structure and working principle of the rotary cutting intelligent centering and loading robot The large-scale rotary cutting intelligent centering and loading robot is mainly based on industrial camera video control, supplemented by manipulator contact detection. This set of mechanisms and methods can change the most advanced laser detection centering in the world to make the log rotate 360, and use 5 laser rangefinders to pick points for detection, which can greatly reduce the detection equipment. Investment, and save energy 60., or more, but also improve the centering accuracy.

The small rotary cutting intelligent centering robot is mainly used in the production of plywood for small diameter wood rotary cutting core boards. It is the most widely used centering machine in China. It has a large production volume and has broad prospects for promotion. It realizes dynamic detection in the process of cutting and makes full use of small-diameter wood resources. It is a popular product of rotary cutting intelligent centering wood robots.

The working requirement of the intelligent centering and wood-loading robot is to first pick up the log and send it into the eye field of view composed of two industrial cameras for centering. Centering optimization calculation to find the best theoretical center.

The software of rotary cutting intelligent centering wood robot is developed with the most popular in the world, this +6.0. According to actual needs, the software is divided into a basic module, a video data acquisition and processing module, a mechanical centering parameter acquisition and processing module, a centering optimization module and a drive control module, and finally linked into executable programs. The acquisition, processing and analysis of the cross-sectional images, respectively, calculates the maximum inner circle and the center coordinates of the two cross-sections; the mechanical centering parameter acquisition and processing module completes the collection and processing of the centering parameters of the 2-section and the 3-section, and the centering is based on 6 points. According to the theory of centering optimization, the centering optimization module calculates the coordinates of the largest enclosed cylinder and the center of rotation from the circle and center coordinates of the above four sections; drive The control module drives the actuator according to the above calculation results, and sends the log to the clamping point of the rotary cutter to be clamped to complete a working cycle.

Main performance parameters: The travel range of the robot to grab the log is l.53.2ra; the lifting range of the robot to grab the log is l.5l.9m; the diameter of the robot to grab the log is O.3l.6m; the length of the robot to grab the log is l.82.6m; The maximum weight of the robot to grab the log is 3.0t; the robot's visual centering accuracy is 1.0mm; after identification, the robot can increase the veneer yield rate by 3.5 on average. There are more than 3,000 plywood factories in my country, of which there are large-scale manufacturers that can use robots. There are more than 300 factories, and the average output of these manufacturers is 8,000 per unit. If calculated at 2,400 yuan3, the annual economic benefit can reach about 240 million yuan, and its industrialization prospects are extremely broad.