Acquisition robot
In forestry production, the collection of tree cones has been a problem, although a variety of cone collection machines have been developed at home and abroad, such as lifts, tree trunk vibrators, etc., but because these machines themselves have one or another shortcomings, so it is not widely used. At present, in the forest area, hand-held special tools are still mainly used to pick tree cones, which is not only the labor intensity of workers, poor operation safety, low productivity, but also more damage to the mother tree. In order to solve this problem, Northeast Forestry University developed a cone collecting robot. The robot can pick a large number of seeds in a short tree cone maturity period, which is of great significance for forest ecological protection, forest renewal and forest sustainable development.
The cone collecting robot is composed of manipulator, walking mechanism, hydraulic drive system and single chip microcomputer control system. The manipulator is composed of a turntable, a column, a large arm, a small arm and a collecting claw, and the whole manipulator has 5 degrees of freedom. When collecting tree cones, park the robot 3-5 meters away from the mother tree, and manipulate the manipulator rotary motor to align the manipulator with one of the mother trees. Then the single-chip microcomputer system controls the large and forearm of the manipulator to rise to a certain height at the same time, the collecting claw opens and swings, aims at the branch to be collected, and the large and forearm move at the same time, so that the collecting claw approaches 1.5-2 meters along the growth direction of the branch, and then the comb teeth of the collecting claw clamp the fruit branch, and the large and forearm drive the collecting claw to pull back in the original way, and comb the cones on the branch. Finish one pick and repeat. After pulling several branches, the cones are poured into a fruit collection box at the back of the tractor. After collecting one tree, turn the manipulator to target the next one.
Tests have shown that each cone collecting robot can collect 500 kilograms of larch cones, which is 30-35 times more than that picked by artificial trees. In addition, the replacement of comb teeth with different tooth spacing can be used for collecting various tree cones. This kind of robot has little damage to the mother tree and high net rate, which is beneficial to the protection of forest ecological environment and the sustainable development of forestry.