CN209806668U

CN209806668U - Self-propelled felling robot for hilly land

Info

Publication number: CN209806668U
Application number: CN201920188212.5U
Authority: CN
Inventors: 史伟; 王彬; 过奕任; 陈青; 王金鹏; 陈吉朋; 周宏平
Original assignee: Nanjing Forestry University
Current assignee: Nanjing Forestry University
Priority date: 2019-02-03
Filing date: 2019-02-03
Publication date: 2019-12-20
Anticipated expiration: 2029-02-03

Abstract

The utility model discloses a self-propelled lumbering robot for hilly area, including robot main part (4), the top of this robot main part (4) is equipped with arm assembly (6) and the execution end of arm assembly (6) is equipped with chain saw assembly (7), be equipped with the running member including four at least main feet in the lower part of robot main part (4), main foot is including adopting main foot upper limbs (2) that upper limbs motor (43) installed in robot main part (4) bottom driven and main foot low limbs (2) that lower limbs motor (34) set up in main foot upper limbs (3) driven and being located main foot low limbs (2) lower extreme, vertical elevating movement can be done relatively to main foot low limbs (2) to this foot mechanism (1); and a foot laser ranging sensor (25) for scanning and predicting the next landing point is arranged at the front end of the lower limbs (2) of the main foot. The utility model discloses a robot can carry out stable forestry operation in regions such as complicated mountain region, hills.

Description

Self-propelled felling robot for hilly land

Technical Field

The utility model belongs to the technical field of forestry felling equipment technique and specifically relates to a motion through enough marching in hilly area, through arm control chain saw is with the self-propelled felling robot who is used for hilly area that realizes the people to the control effect of chain saw and realize felling trees function.

Background

At present, the working conditions of forestry in China are poor, the working strength is high, and the young people cannot be attracted to engage in the forestry industry. The working efficiency and speed of conventional felling tools are relatively backward, and a felling machine with high automation degree is needed. However, 10% of land area in China is hilly land, and relatively gentle hilly land is more suitable for forestry work compared with mountainous land, so that the development and protection of the hilly land are needed. The Chinese patent application: 201610396453.X discloses a felling machine, but it is not suitable for more complex hilly terrain because the equipment is larger and driven by wheels, and the obstacle-crossing ability facing complex terrain is insufficient.

Disclosure of Invention

The utility model aims at solving the problem that the automatic felling equipment is not suitable for the hilly terrain, and provides a self-propelled felling robot for the hilly terrain, which can realize the control effect of a person on an oil saw and the function of felling trees by advancing in the hilly terrain and controlling the motion of a chain saw through a mechanical arm; the robot has higher automation degree, saves manpower resources and can improve the mechanization degree of the forestry machine.

The utility model aims at solving through the following technical scheme:

a self-propelled logging robot for hilly terrain, comprising a robot body, characterized in that: the robot comprises a robot main body, a chain saw assembly, a chain saw mechanism and a chain saw mechanism, wherein the top of the robot main body is provided with a mechanical arm assembly, the execution end of the mechanical arm assembly is provided with the chain saw assembly, the lower part of the robot main body is provided with a walking part comprising at least four main feet, each main foot comprises a main foot upper limb driven by an upper limb motor arranged at the bottom of the robot main body, a main foot lower limb driven by a lower limb motor arranged in the main foot upper limb and a foot mechanism positioned at the lower end of the main foot lower limb, and the foot mechanism can do vertical lifting motion relative to the main foot lower limb so that different main feet can be; and a foot laser ranging sensor for scanning and predicting the next landing point is arranged at the front end of the lower limbs of the main foot.

The upper limbs of the main feet comprise an upper limb rack, a slide block guide rod, a crank mechanism and a lower limb motor, and the upper end of the upper limb rack is arranged at the driving end of the upper limb motor, so that the upper limb motor can drive the upper limb rack to rotate; the lower limb motor is installed in the cavity of the upper limb rack, the driving end of the lower limb motor drives the crank mechanism to rotate through the speed reducer, one end of the sliding block guide rod is fixedly connected to the crank mechanism, the other end of the sliding block guide rod is arranged at the upper end of the main foot lower limb, the lower end of the upper limb rack is connected with the upper portion of the main foot lower limb through the torsion spring, the lower limb motor drives the crank mechanism to rotate through the speed reducer, the crank mechanism drives the sliding block guide rod to reciprocate along the arrangement direction of the upper limb rack so as to push the main foot lower limb, and the main foot lower.

And a guide groove is formed in the cavity of the upper limb rack and used for ensuring that the reciprocating motion of the slide block guide rod is not deviated.

The main foot lower limbs comprise a lower limb rack, a gear mechanism and a lifting motor, the lifting motor located in a lower cavity of the lower limb rack is used for driving the gear mechanism, the gear mechanism can be meshed with a straight rack in the foot mechanism, and the gear mechanism and the straight rack are driven by the lifting motor to be meshed with each other, so that the foot mechanism can do vertical lifting motion relative to the main foot lower limbs.

And a guide clamping wheel used for ensuring the stable meshing of the gear mechanism and the spur rack is also arranged in the lower limb rack cavity.

The foot mechanism comprises a main foot pad and a spur rack, and the main foot pad is positioned at the bottom end of the spur rack.

The walking part further comprises at least two auxiliary feet, each auxiliary foot comprises an auxiliary foot rack, an auxiliary foot pad, a hinge and an auxiliary foot motor, the auxiliary foot pads are mounted at the lower end of the auxiliary foot racks through the hinges, the auxiliary foot motors which are arranged at the upper ends of the auxiliary foot racks and used for driving the auxiliary foot racks are respectively arranged on the side walls of the robot main body through auxiliary foot connecting mechanisms, and therefore the auxiliary feet and the main feet are not on the same straight line and the auxiliary feet are located on the outer sides of the corresponding main feet.

The robot comprises a robot main body and is characterized in that a vision and ultrasonic obstacle avoidance module is arranged at the top of the robot main body, the vision and ultrasonic obstacle avoidance module comprises a trunk vision sensor and ultrasonic obstacle avoidance sensors, the trunk vision sensor is used for carrying out route selection and judgment on a working object, and the ultrasonic obstacle avoidance sensors are arranged at four corners of the top of the robot main body and are used for judging whether obstacles influencing the robot to walk and moving targets around the robot or not; the trunk vision sensor and the ultrasonic obstacle avoidance sensor are respectively connected with the central processing unit through corresponding circuits.

The mechanical arm assembly comprises a mechanical arm base fixedly mounted at the top of the robot main body, the mechanical arm base is connected with one end of a first mechanical arm driven by a first hinge motor through a hinge, the other end of the first mechanical arm is connected with one end of a second mechanical arm driven by a second hinge motor through a hinge, the other end of the second mechanical arm is connected with a power box driven by a third hinge motor through a hinge, the output end of a power motor in the power box is connected with a chain saw through a transmission shaft, and the transmission shaft and the chain saw form a chain saw assembly; and a mechanical arm vision and distance module consisting of a mechanical arm vision sensor and a mechanical arm distance sensor is arranged at the top of the front end of the power box and used for accurately positioning the felling target.

The robot is characterized in that a central processing unit and a storage battery for supplying power are arranged in the robot main body, the central processing unit is connected with an intermediate relay through a circuit to control the intermediate relay and receive information feedback of the intermediate relay, the intermediate relay is respectively connected and controlled with a corresponding upper limb motor, a corresponding lower limb motor and a corresponding lifting motor through a wiring terminal row, the intermediate relay is respectively connected and controlled with a corresponding auxiliary foot motor through a wiring terminal row, and the intermediate relay is respectively connected and controlled with a corresponding first hinge motor, a corresponding second hinge motor and a corresponding third hinge motor through a wiring terminal row; the central processing unit is respectively connected with the trunk vision sensor, the ultrasonic obstacle avoidance sensor, the GPS navigation module, the foot laser ranging sensor, the mechanical arm vision and distance module through circuits to receive signals.

Compared with the prior art, the utility model has the following advantages:

the utility model discloses a set up the main sufficient upper limbs of imitative people's thigh, the main sufficient low limbs of imitative people's shank and the foot mechanism that can go up and down vertically and constitute the walking main foot of robot, cooperate foot laser ranging sensor, truck vision sensor and ultrasonic wave to keep away the scanning of barrier sensor to the topography and the analysis of central processing unit, can adapt to the complicated topography of geomorphology to guarantee the relative level of robot main part, guaranteed that arm assembly and chain saw assembly can keep steady operation all the time; this robot changes little road surface with four legs walking in the topography, only can launch vice foot when meetting higher slope, therefore control is comparatively simple, can solve current hilly area forest fell operation in-process large-scale machinery inconvenient, crawler-type or wheeled machinery face the problem that complicated topography hinders the ability not enough more, realize at complicated mountain region, forestry operation is carried out in regions such as hilly, and the equipment size of this robot is less, it can replace personnel to carry out the high fell operation of danger degree in operation in hilly area forest to change, the degree of automation of forestry operation is improved.

Drawings

FIG. 1 is a schematic perspective view of a self-propelled felling robot according to the present invention;

FIG. 2 is a schematic diagram of the main foot structure of the present invention;

FIG. 3 is a schematic view showing a state in which the upper limbs of the main feet and the lower limbs of the main feet of the present invention are combined;

FIG. 4 is a schematic diagram of the construction of the components of the robot body of the present invention;

FIG. 5 is a schematic diagram of the structure of the secondary foot of the present invention;

FIG. 6 is a schematic view of the robot arm assembly and chain saw assembly of the present invention in combination;

FIG. 7 is one of the main-foot and auxiliary-foot cooperative operation diagrams of the self-propelled felling robot of the present invention;

FIG. 8 is a second schematic diagram of the cooperative operation of the main foot and the auxiliary foot of the self-propelled felling robot of the present invention;

FIG. 9 is a third schematic view of the cooperative operation of the main foot and the auxiliary foot of the self-propelled felling robot of the present invention;

fig. 10 is a control schematic diagram of the self-propelled felling robot of the present invention.

Wherein: 1-a foot mechanism; 11-main foot pad; 12-straight rack; 2, controlling the lower limbs of the feet; 20-a lower limb frame; 21-a gear mechanism; 22-a lifting motor; 23-guiding the clamping wheel; 24-torsion spring; 25-foot laser ranging sensor; 3-main upper limb of foot; 30-upper limb frame; 31-a slider guide; 32-a crank mechanism; 33-a guide groove; 34-a lower limb motor; 4-robot body; 41-visual and ultrasonic obstacle avoidance module; 42-auxiliary foot connecting mechanism; 43-upper limb motor; 5-minor foot; 50-a subpod rack; 51-sub-foot pad; 52-a hinge; 53-secondary foot motor; 6, a mechanical arm assembly; 61-mechanical arm base; 62 — a first robot arm; 63-a second mechanical arm; 64-a power box; 65-a first hinge motor; 66 — a second hinge motor; 67 — a third hinge motor; 68-robotic vision and distance module; 7-a chain saw assembly; 71-chain saw; 72-drive shaft.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and examples.

As shown in fig. 1-6: a self-propelled hilly self-balancing felling robot comprises a robot main body 4, wherein a mechanical arm assembly 6 is arranged at the top of the robot main body 4, a chain saw assembly 7 is arranged at an execution end of the mechanical arm assembly 6, a walking part comprising at least four main feet is arranged at the lower part of the robot main body 4, each main foot comprises a main foot upper limb 3 driven by an upper limb motor 43 arranged at the bottom of the robot main body 4, a main foot lower limb 2 driven by a lower limb motor 34 arranged in the main foot upper limb 3 and a foot mechanism 1 positioned at the lower end of the main foot lower limb 2, and the foot mechanism 1 can vertically move up and down relative to the main foot lower limb 2, so that different main feet can be respectively positioned at different positions on a horizontal plane and can keep the balance of the robot main body 4; in addition, a foot laser ranging sensor 25 is arranged at the front end of the lower limbs 2 of the main foot, and the foot laser ranging sensor 25 is used for scanning and predicting the next landing point of the main foot and feeding the next landing point back to a central processing unit in the robot main body 4.

As shown in fig. 2-3, the upper limb 3 of the main foot comprises an upper limb frame 30, a slider guide rod 31, a crank mechanism 32 and a lower limb motor 34, wherein the upper end of the upper limb frame 30 is mounted at the driving end of an upper limb motor 43, so that the upper limb motor 43 can drive the upper limb frame 30 to rotate; the lower limb motor 34 is arranged in a cavity of the upper limb rack 30, a driving end of the lower limb motor 34 drives the crank mechanism 32 to rotate through the speed reducer, one end of the sliding block guide rod 31 is fixedly connected to the crank mechanism 32, the other end of the sliding block guide rod is arranged at the upper end of the main foot lower limb 2, the lower end of the upper limb rack 30 is connected with the upper portion of the main foot lower limb 2 through the torsion spring 24, the lower limb motor 34 drives the crank mechanism 32 to rotate through the speed reducer, the crank mechanism 32 drives the sliding block guide rod 31 to reciprocate along the arrangement direction of the upper limb rack 30 so as to push the main foot lower limb 2, and the main foot lower limb 2. In addition, a guide groove 33 is formed in the cavity of the upper limb frame 30, and the guide groove 33 is used for ensuring that the reciprocating motion of the slide block guide rod 31 is not deviated.

As shown in fig. 2-3, the lower limbs 2 of the main foot comprise a lower limb frame 20, a gear mechanism 21, a lifting motor 22 and a guiding clamping wheel 23, the lifting motor 22 located in a lower cavity of the lower limb frame 20 is used for driving the gear mechanism 21, the gear mechanism 21 can be meshed with the spur rack 12 in the foot mechanism 1, the guiding clamping wheel 23 is used for ensuring the mutual meshing of the gear mechanism 21 and the spur rack 12, and the lifting motor 22 drives the mutually meshed gear mechanism 21 and the spur rack 12, so that the foot mechanism 1 can perform vertical lifting movement relative to the lower limbs 2 of the main foot. The foot mechanism 1 comprises a main foot pad 11 and a spur rack 12, and the main foot pad 11 is positioned at the bottom end of the spur rack 12.

In addition to the above structure, as shown in fig. 5, the walking member further includes at least two sub-feet 5, the sub-feet 5 include a sub-foot frame 50, a sub-foot pad 51, a hinge 52, and a sub-foot motor 53, the sub-foot pad 51 is mounted on the lower end of the sub-foot frame 50 through the hinge 52, and the sub-foot motors 53 provided on the upper end of the sub-foot frame 50 and used to drive the sub-foot frame 50 are respectively provided on the side walls of the robot main body 4 through the sub-foot connecting mechanisms 42, so that the sub-feet 5 are not on the same straight line with the main feet and the sub-feet 5 are located on the outer sides of the corresponding main feet.

As shown in fig. 4, a vision and ultrasonic obstacle avoidance module 41 is disposed at the top of the robot main body 4, and the vision and ultrasonic obstacle avoidance module 41 includes a trunk vision sensor and an ultrasonic obstacle avoidance sensor, wherein the trunk vision sensor is used for performing route selection and judgment of a working object, and the ultrasonic obstacle avoidance sensors are disposed at four corners of the top of the robot main body 4 and used for judging whether obstacles influencing the robot to walk and moving targets are present around the robot; the trunk vision sensor and the ultrasonic obstacle avoidance sensor are respectively connected with the central processing unit through corresponding circuits, and the central processing unit further feeds back to a motor for controlling foot movement to plan a circuit to implement obstacle avoidance.

As shown in fig. 6, the robot arm assembly 6 includes a robot arm base 61 fixedly mounted on the top of the robot main body 4, the robot arm base 61 is connected to one end of a first robot arm 62 driven by a first hinge motor 65 through a hinge, the other end of the first robot arm 62 is connected to one end of a second robot arm 63 driven by a second hinge motor 66 through a hinge, the other end of the second robot arm 63 is connected to a power box 64 driven by a third hinge motor 67 through a hinge, an output end of a power motor in the power box 64 is connected to a chain saw 71 through a transmission shaft 72, and the transmission shaft 72 and the chain saw 71 form a chain saw assembly 7; and a mechanical arm vision and distance module 68 consisting of a mechanical arm vision sensor and a mechanical arm distance sensor is arranged at the top of the front end of the power box 64 and used for accurately positioning the felling target.

As shown in fig. 10, a central processing unit and a storage battery for supplying power are arranged in the robot main body 4, the central processing unit is connected with an intermediate relay through a circuit to control the intermediate relay and receive information feedback of the intermediate relay, the intermediate relay is respectively connected with and controlled by the corresponding upper limb motor 43, the lower limb motor 34 and the lifting motor 22 through a terminal strip, the intermediate relay is respectively connected with and controlled by the corresponding auxiliary foot motor 53 through a terminal strip, and the intermediate relay is respectively connected with and controlled by the corresponding first hinge motor 65, the second hinge motor 66 and the third hinge motor 67 through a terminal strip; in addition, the central processing unit is respectively connected with the trunk vision sensor, the ultrasonic obstacle avoidance sensor, the GPS navigation module, the foot laser ranging sensor and the mechanical arm vision and distance module 68 through circuits to receive signals.

The self-propelled hill self-balancing logging robot provided by the invention is further explained by specific embodiments.

As shown in fig. 1-6 and 10, the self-propelled hill self-balancing felling robot comprises a main foot, a secondary foot 5, a robot body 4, a four-degree-of-freedom mechanical arm assembly 6, a chain saw assembly 7 and a driving mechanism for driving the main foot and the secondary foot 5 in a distributed manner.

The main foot comprises a foot mechanism 1, a main foot lower limb 2 and a main foot upper limb 3, wherein the lifting part comprises a spur rack 12 in the foot mechanism 1, a lifting motor 22 positioned in a lower limb rack 20, a gear mechanism 21 and a guide clamping wheel 23. In the moving process of the robot, the foot laser ranging sensor 25 at the front end of the lower limb rack 20 is used for scanning and predicting the next landing point of the main foot pad 11, judging whether the ground is uneven or not, judging whether the robot is in a relatively horizontal state or not after the main foot pad 11 in the current state lands by measuring and calculating the distance, if not, the lifting motor 22 works to drive the gear rack mechanism formed by the gear mechanism 21 and the straight rack 12 to move, and further, the height of the main foot pad 11 is controlled, and the robot is in a relatively horizontal state. The mutual matching of the four main foot pads 11 of the robot enables the robot main body 4 to be always kept in a relatively horizontal state, and the influence of the terrain on the whole mechanism is reduced. The upper leg 3 of the main foot imitating the thigh is connected with the lower leg 2 of the main foot imitating the lower leg through a hinge with a torsion spring 24, the motion of the lower leg relative to the thigh is driven by a crank slide block mechanism consisting of a crank mechanism 32 and a slide block guide rod 31, the crank mechanism 32 is driven by a lower leg motor 34 through a speed reducer to rotate, the slide block guide rod 31 reciprocates along a guide groove 34 to push the lower leg to move, and the lower leg is relatively shaken relative to the thigh. The four main feet of the robot in the scheme move coordinately, so that the robot can move forwards, backwards and turn on a flat road.

The two auxiliary feet 5 are respectively positioned at the outer sides of the corresponding main feet of the robot main body 4, namely the main feet and the auxiliary feet 5 are not on the same straight line, and the auxiliary feet 5 are connected with the robot main body 4 and driven by an auxiliary foot motor 53. When the robot walks on a flat ground, the auxiliary foot 5 keeps being lifted and is not contacted with the ground, and the robot moves by four main feet; when the road surface has a large step-shaped terrain, the auxiliary feet 5 start to work when the four main feet are only relied on and the good balance can not be kept. When the auxiliary feet 5 are in contact with the ground, six feet of the robot are in contact with the ground, and when the robot crosses a step or a slope with a certain height, the two auxiliary feet 5 play a role in supporting and stabilizing balance.

The mechanical arm vision sensor and the mechanical arm distance sensor which are arranged on the four-degree-of-freedom mechanical arm assembly 6 can accurately position a felling target, and the transmission shaft 72 connected with the chain saw 71 is arranged at the tail end of the mechanical arm assembly 6 and can simulate a person to operate a chain saw to perform operation. The first mechanical arm 62 and the second mechanical arm 63 can rotate at a certain angle, the power box 64 can incline at a certain angle relative to the second mechanical arm 63, so that the chain saw 71 has a certain inclination angle during working, and the robot can complete actions similar to manual operation of a chain saw through the cooperation of the three hinge motors. When the robot is about to start felling work, the mechanical arm assembly 6 aligns the saw chain 71 to a proper position according to the information conduction of the mechanical arm vision and distance module 68, the power box 64 controls the start and stop of the chain saw 71, and in the working process, the movement of the mechanical arm assembly 6 drives the movement of the chain saw 71 to realize the function of felling.

An embodiment using the auxiliary foot 5 to cooperate with walking is shown in fig. 7-9, in fig. 7, the robot is about to step up a step-shaped slope, at this time, the auxiliary foot 5 is lowered, the auxiliary foot 5 and the rear foot are used for keeping balance, and the front foot is lifted up to step up; in fig. 8, the secondary foot 5 is in balance with the forefoot and the hindfoot is raised; in fig. 9, after the hind foot steps up the step and remains stable, the forefoot and hind foot remain balanced and the secondary foot 5 is stowed away.

The walking main foot of the robot is formed by arranging the main foot upper limb 3 imitating human thigh, the main foot lower limb 2 imitating human shank and the foot mechanism 1 capable of vertically lifting, and the walking main foot of the robot is matched with the scanning of the foot laser ranging sensor 25, the trunk vision sensor and the ultrasonic obstacle avoidance sensor to the terrain and the analysis of the central processing unit, so that the robot can adapt to the terrain with complex landform, the relative level of the robot main body 4 is ensured, and the mechanical arm assembly 6 and the chain saw assembly 7 can always keep stable operation; this robot changes little road surface with four legs walking in the topography, only can launch vice foot 5 when meetting higher slope, therefore control is comparatively simple, can solve current hilly area forest fell operation in-process large-scale machinery inconvenient, crawler-type or wheeled machinery face the problem that complicated topography hinders the ability not enough more, realize at complicated mountain region, forestry operation is carried out in regions such as hilly, and the equipment size of this robot is less, it can replace personnel to carry out the high fell operation of danger degree in operation in hilly area forest to change, the degree of automation of forestry operation is improved.

The above embodiments are only for explaining the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical scheme according to the technical idea provided by the present invention all fall within the protection scope of the present invention; the technology not related to the utility model can be realized by the prior art.

Claims

1. A self-propelled logging robot for hilly terrain, comprising a robot body (4), characterized in that: the robot comprises a robot main body (4), a mechanical arm assembly (6) is arranged at the top of the robot main body (4), a chain saw assembly (7) is arranged at the executing end of the mechanical arm assembly (6), a walking part comprising at least four main feet is arranged at the lower part of the robot main body (4), each main foot comprises a main foot upper limb (3) driven by an upper limb motor (43) arranged at the bottom of the robot main body (4), a main foot lower limb (2) driven by a lower limb motor (34) arranged in the main foot upper limb (3), and a foot mechanism (1) positioned at the lower end of the main foot lower limb (2), and the foot mechanism (1) can vertically move up and down relative to the main foot lower limb (2), so that different main feet can be respectively positioned at different positions on a horizontal plane and can keep the balance of the robot main body (4); and a foot laser ranging sensor (25) for scanning and predicting the next landing point is arranged at the front end of the lower limbs (2) of the main foot.

2. Self-propelled logging robot for hilly terrain according to claim 1, characterized in that: the upper limbs (3) of the main feet comprise an upper limb rack (30), a slide block guide rod (31), a crank mechanism (32) and a lower limb motor (34), wherein the upper end of the upper limb rack (30) is installed at the driving end of an upper limb motor (43), so that the upper limb motor (43) can drive the upper limb rack (30) to rotate; lower limbs motor (34) install in the cavity of upper limbs frame (30) and the drive end of lower limbs motor (34) drives crank mechanism (32) rotation through the reduction gear, the one end of slider guide arm (31) links firmly on crank mechanism (32), and its other end sets up the upper end of main sufficient low limbs (2) and the lower extreme of upper limbs frame (30) is connected with the upper portion of main sufficient low limbs (2) through torsional spring (24), lower limbs motor (34) drive crank mechanism (32) rotation through the reduction gear, crank mechanism (32) drive slider guide arm (31) along the direction reciprocating motion that sets up of upper limbs frame (30) in order to promote main sufficient low limbs (2), make main sufficient low limbs (2) for main sufficient upper limbs (3) relative rocking.

3. Self-propelled logging robot for hilly terrain according to claim 2, characterized in that: a guide groove (33) is formed in a cavity of the upper limb rack (30), and the guide groove (33) is used for ensuring that the reciprocating motion of the sliding block guide rod (31) is not deviated.

4. Self-propelled logging robot for hilly terrain according to claim 1, characterized in that: main foot low limbs (2) include low limbs frame (20), gear mechanism (21), elevator motor (22) that are located the lower part cavity of low limbs frame (20) are used for driving gear mechanism (21), gear mechanism (21) can with the meshing of spur rack (12) in foot mechanism (1), through elevator motor (22) drive intermeshing's gear mechanism (21) and spur rack (12) for vertical elevating movement can be done to main foot low limbs (2) relatively in foot mechanism (1).

5. The self-propelled logging robot for hilly terrain according to claim 4, characterized in that: and a guide clamping wheel (23) used for ensuring the stable meshing of the gear mechanism (21) and the spur rack (12) is also arranged in the cavity of the lower limb rack (20).

6. Self-propelled logging robot for hilly terrain according to claim 1 or 4, characterized in that: the foot mechanism (1) comprises a main foot pad (11) and a spur rack (12), wherein the main foot pad (11) is positioned at the bottom end of the spur rack (12).

7. Self-propelled logging robot for hilly terrain according to claim 1, characterized in that: the walking part further comprises at least two auxiliary feet (5), each auxiliary foot (5) comprises an auxiliary foot rack (50), an auxiliary foot pad (51), a hinge (52) and an auxiliary foot motor (53), the auxiliary foot pads (51) are mounted at the lower end of the auxiliary foot racks (50) through the hinges (52), and the auxiliary foot motors (53) which are arranged at the upper ends of the auxiliary foot racks (50) and used for driving the auxiliary foot racks (50) are respectively arranged on the side walls of the robot main body (4) through auxiliary foot connecting mechanisms (42), so that the auxiliary feet (5) and the main feet are not on the same straight line, and the auxiliary feet (5) are located on the outer sides of the corresponding main feet.

8. Self-propelled logging robot for hilly terrain according to claim 1, characterized in that: the robot comprises a robot main body (4), wherein a vision and ultrasonic obstacle avoidance module (41) is arranged at the top of the robot main body (4), the vision and ultrasonic obstacle avoidance module (41) comprises a trunk vision sensor and an ultrasonic obstacle avoidance sensor, the trunk vision sensor is used for carrying out route selection and judgment on a working object, and the ultrasonic obstacle avoidance sensors are arranged at four corners of the top of the robot main body (4) and are used for judging whether obstacles influencing the robot to walk and moving targets around the robot or not; the trunk vision sensor and the ultrasonic obstacle avoidance sensor are respectively connected with the central processing unit through corresponding circuits.

9. Self-propelled logging robot for hilly terrain according to claim 1, characterized in that: the mechanical arm assembly (6) comprises a mechanical arm base (61) fixedly mounted at the top of the robot main body (4), the mechanical arm base (61) is connected with one end of a first mechanical arm (62) driven by a first hinge motor (65) through a hinge, the other end of the first mechanical arm (62) is connected with one end of a second mechanical arm (63) driven by a second hinge motor (66) through a hinge, the other end of the second mechanical arm (63) is connected with a power box (64) driven by a third hinge motor (67) through a hinge, the output end of a power motor in the power box (64) is connected with a chain saw (71) through a transmission shaft (72), and the transmission shaft (72) and the chain saw (71) form a chain saw assembly (7); and a mechanical arm vision and distance module (68) consisting of a mechanical arm vision sensor and a mechanical arm distance sensor is arranged at the top of the front end of the power box (64) and used for accurately positioning the felling target.

10. Self-propelled logging robot for hilly areas according to any one of claims 1, 8, 9, characterized in that: the robot is characterized in that a central processing unit and a storage battery for supplying power are arranged in the robot main body (4), the central processing unit is connected with an intermediate relay through a circuit to control the intermediate relay and receive information feedback of the intermediate relay, the intermediate relay is respectively connected and controlled with a corresponding upper limb motor (43), a corresponding lower limb motor (34) and a corresponding lifting motor (22) through a wiring terminal row, the intermediate relay is respectively connected and controlled with a corresponding auxiliary foot motor (53) through a wiring terminal row, and the intermediate relay is respectively connected and controlled with a corresponding first hinge motor (65), a corresponding second hinge motor (66) and a corresponding third hinge motor (67) through a wiring terminal row; the central processing unit is respectively connected with the trunk vision sensor, the ultrasonic obstacle avoidance sensor, the GPS navigation module, the foot laser ranging sensor and the mechanical arm vision and distance module (68) through circuits to receive signals.