Application of Robot Technology in Forestry and Woodworking Machinery
Robotics, applications in forestry and woodworking machinery Kong Qinghua Northeast Forestry University. Harbin. Heilongjiang 15,40 Due to the continuous development and maturation of robotics technology, its application fields are constantly expanding. For more than 20 years, under the support of the July 9th issue and the National 6th Plan. China’s robotics technology has achieved remarkable development and progress in various application fields. Under the support of the National Sixth Plan and the State Forestry Administration. Northeast Forestry University has made some bold and effective attempts to use robots in forestry and woodworking machinery, and has achieved definite results.
1 Tree Cone Collector The robot can not only collect large numbers of pine seeds during the shortest tree conifers mature period,but also has important implications for the renewal of the ecologically protected forest of the forest and the sustainable development of the forest.
1.1 Structure and working principle The forest tree cone collecting robot is mainly composed of 50 tractor hydraulic driving system and single-chip microcomputer control system. The manipulator consists of a large arm and a collection claw. The total manipulator has 5 degrees of freedom. When collecting the wood cones, the robot is parked 35m away from the mother tree and the manipulator's slewing motor is maneuvered to align the robot to the mother tree. Then the SCM system controls the small arms of the manipulator while the flexibility rises up to a certain degree. The acquisition claws open and swing. When aligning the branches to be collected, the small and large arms move at the same time so that the collection claws approach 1.52 in the direction of the growth of the branches and then The comb teeth of the collecting claws are used to pinch the fruit branches, and the small arms drive the collection claws to return to the original path and comb the branches on the lower branches to complete the second picking. Then drop 81.2 to align the next branch and repeat the above action, After several consecutive encounters,the cones were dumped into the fruit container at the back of the tractor. After finishing the tree, turn the robot to align the next tree.
The main performance parameters of the maximum operating slope 12.
The project won the Science and Technology Progress Award from the State Forestry Administration.
2 New intelligent cutting root cleaning robot structure and working principle The cutting root cleaning robot is converted from a hydraulic excavator. The machine is dual-purpose, fully hydraulically driven, computer controlled and has a fixed visual function. Remove the excavator's bucket and install the robot's end effector to remove the rotary cutting head. The rotary cutting head is a barrel type structure, and a cutting blade is used for cutting the root by two cylindrical motors with serrated teeth driven by two hydraulic motors. After the swarf is cut off, another claw fixture in the cylinder wall of the hydraulic cylinder clamps the swarf, and the swarf is pulled out and stacked in the designated position under the joint action of the large and small arms.
The operating procedure of the cutting-root cleaning robot is as follows: The driver controls the hydraulically-driven walking system to enter the job site, and manually adjusts the position of the rotary cutting head; pressing the operation start key, the robot enters the automatic operation state. The gyroscope first drives a six-degree-of-freedom manipulator to scan and find the position of the cutting root through the visual function of the camera; then, the servo positioning, peeling, clamping, and pull-out are performed. The SCM control system is installed in the cab of the robot. The operator uses a real-time monitoring system consisting of a camera and a 5.5-inch display to search the job target. The robot uses advanced LCD display, 240,128 D for display of various information, overcomes the shortcomings that only a few professionals can understand using the conventional 103 signal display mode, and various information places can be read directly from the screen.
2.2 The main performance parameters Manipulator maximum operating radius of 8m; manipulator minimum operating radius of 4m; rotary cutting device maximum rotation speed 300rAnin; manipulator arm rotation speed 5rrain; hydraulic system maximum working pressure 16MPa; maximum operating slope of 12; clearing cutting root maximum diameter class 550mm; After clearing the roots, the operating efficiency of the pits diameter and the overall dimensions of the vehicle The dimensions and results of the tests show that this type of cutting and cleaning robot can remove about 100 roots per shift, which is 50 times more than manual excavation of roots. Replacement of rotary cutting and lifting devices of different diameters and lengths can be used for different cutting sites and areas. The use of the robot for cutting roots to reduce the damage to the ground and reduce the amount of water and soil loss in the area conducive to the full use of the remaining residues can promote the artificial reforestation and protect the ecological environment.
3 Rotary cutting intelligent centering robot structure and working principle Large rotary peeling intelligent centering robot is based on industrial video camera control, manipulator contact detection is supplemented, in order to maintain the log without rotating under the premise of realizing rotary cutting wood The best centering. This set of mechanisms and methods can change the current world's most advanced laser detection centering to rotate the log 360, and the detection method by 5 laser rangefinders can not only greatly reduce the investment of the testing instruments, but also save energy. ., Above, but also mentions centering accuracy.
The small-sized rotary-shearing intelligent centering robot is mainly used in the plywood production of small-diameter wood rotary-cutting core boards. It is the most widely used centering machine in China, and has a large production volume and broad prospects for promotion. It can realize dynamic detection in the process of quick-rotary cutting, make full use of the wood resources of small trails, and is a popular type product of the rotary centering intelligent centering robot.
The work requirement for the intelligent centering robot is to first clamp the logs and send them to the center of the eye formed by two industrial cameras. Based on the shape of the two end surfaces and the mid-curvature conditions, the metering machine will perform intelligent calculation of the centering of the wood and find the optimal theoretical center.
Rotary cutting intelligent centering robot software is developed with the most popular international +6.0. According to actual needs, the software is divided into a basic module video data acquisition and processing module mechanical centering parameter acquisition and processing module centering optimization module and drive control module, and finally linked into an executable program, such as, meaning video data acquisition and processing module to complete a cross-section and 4 The acquisition, processing and analysis of the cross-sectional images respectively calculate the maximum inner inclusion circle and center-center coordinates of the two sections; the mechanical centering parameter acquisition and processing module completes the acquisition and processing of the 2-section and 3-section cross-centering parameters, and centers the 6 points. The theory calculates the maximum inner inclusion circle and center coordinates of these two sections respectively. The centering optimization module calculates the maximum inner inclusion circle and the rotation center coordinates from the circle and circle center coordinates of the above four sections according to the centering optimization theory. The control module drives the actuator according to the above calculation result and clamps the log to the clamping point of the rotary cutter to complete a working cycle.
The main performance parameters of the robot to grasp the log range l.53.2ra; robots grab the log lifting range l.5l.9m; robots grab the log diameter range O.3l.6m; robots grab the log length range l.82.6m; The robot grabs logs with a maximum mass of 3.0 t; the robot's visual centering accuracy is 1.0 mm; after identification, the robot can raise the average veneer yield to 3.5. There are more than 3,000 veneer plants in China, of which there are robot manufacturers More than 300, the average output of these manufacturers in the 8000 per, if calculated by 2,400 yuan 3, the annual economic increase of up to 240 million yuan, its industrialization prospect is extremely broad.