CN108401838B - Automatic rubber tapping robot - Google Patents
Automatic rubber tapping robot Download PDFInfo
- Publication number
- CN108401838B CN108401838B CN201810217244.3A CN201810217244A CN108401838B CN 108401838 B CN108401838 B CN 108401838B CN 201810217244 A CN201810217244 A CN 201810217244A CN 108401838 B CN108401838 B CN 108401838B
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- Prior art keywords
- cutter
- magnetic suspension
- trunk
- cutter head
- tool bit
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/10—Tapping of tree-juices, e.g. caoutchouc, gum
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/10—Tapping of tree-juices, e.g. caoutchouc, gum
- A01G23/12—Knives or axes for tapping
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Drilling And Boring (AREA)
Abstract
The invention discloses an automatic tapping robot, which comprises a magnetic suspension tool bit and a tool bit mounting mechanism, wherein the tool bit mounting mechanism is used for attaching the magnetic suspension tool bit to a trunk and guiding the magnetic suspension tool bit to move along the surface of the trunk; the magnetic suspension cutter head comprises a base, a cutter rest elastically connected to the base and a cutter with single degree of freedom in reciprocating sliding fit with the cutter rest; the base is provided with a permanent magnet and an electromagnet opposite to the permanent magnet; the electromagnet drives the cutting knife connected with the permanent magnet to vibrate through constantly changing polarity to complete the cutting action. The robot can solve the problems of complex structure, low tapping efficiency, short service life of a motor and complex structure, difficult control and high cost of the existing automatic tapping machine tool bit.
Description
Technical Field
The invention relates to the field of robots, in particular to an automatic tapping robot.
Background
The existing tapping robot tool bit is mainly a tool bit driven by a direct current motor, and is mainly characterized by being easy to control and capable of completing tapping actions. The traditional motor consists of a stator and a rotor, wherein the stator and the rotor are connected through a mechanical bearing or have mechanical contact, so that mechanical friction exists in the moving process of the rotor. Mechanical friction not only increases the frictional resistance of the rotor, causes the abrasion of moving parts, generates mechanical vibration and noise, but also causes the heating of parts, causes the performance of a lubricant to be poor, seriously causes the non-uniform air gap of the motor, generates heat of a winding and increases temperature rise, thereby reducing the efficiency of the motor and finally shortening the service life of the motor. The magnetic suspension motor makes the rotor suspend by using the principle that like poles repel and opposite poles attract between the stator and rotor excitation magnetic fields, and simultaneously generates a propulsion force to drive the rotor to move in a suspension state. Therefore, the stator and the rotor do not have any mechanical contact, can generate higher acceleration and deceleration, have small mechanical abrasion, easy mechanical and electrical protection and convenient maintenance, overhaul and replacement, and are suitable for the fields of severe environment, extremely clean and pollution-free environment and special requirements.
The existing tapping robot generally directly drives a tool bit to move by using a traditional motor to finish tapping actions, the tool bit does not vibrate in the process, and the existing tapping robot directly finishes cutting like manual work. The tool bit driving mode can generate large vibration and seriously abrade the tool bit, and meanwhile, the rubber tapping efficiency is greatly reduced due to the existence of mechanical friction.
In addition, the existing tapping robot structure mostly adopts a two-degree-of-freedom cutting scheme, for example, a chinese patent with publication number CN106034978A discloses a tapping machine, in which two horizontal and vertical guide rails need to be arranged and two motors are used to drive the tapping machine to move along the horizontal rail and the vertical rail respectively, which is complex in structure, difficult to control and expensive in cost.
Disclosure of Invention
In view of the above, the invention provides an automatic tapping robot, which solves the problems of complicated structure, low tapping efficiency, short service life of a motor of the existing automatic tapping robot and complicated structure, difficult control and high cost of the existing automatic tapping robot.
The automatic tapping robot comprises a magnetic suspension cutter head and a cutter head mounting mechanism, wherein the cutter head mounting mechanism is used for attaching the magnetic suspension cutter head to a trunk and guiding the magnetic suspension cutter head to move along the surface of the trunk; the magnetic suspension cutter head comprises a base, a cutter rest elastically connected to the base and a cutter with single degree of freedom in reciprocating sliding fit with the cutter rest; the base is provided with a permanent magnet and an electromagnet opposite to the permanent magnet; the electromagnet drives the cutting knife connected with the permanent magnet to vibrate by constantly changing polarity to complete cutting action;
further, a first guide wheel which is used for being matched with the surface of the trunk in a rolling manner is arranged on the tool rest;
furthermore, the bottom of the cutting knife is provided with a connecting hole, and the top of the permanent magnet is fixedly provided with a connecting column in sliding fit with the connecting hole;
furthermore, a guide post which is inserted into the tool rest and guides the tool rest to reciprocate along the longitudinal direction of the cutting knife is fixed on the top surface of the base, and a spring is sleeved outside the guide post;
further, the tool bit mounting mechanism comprises two feed screw nut mechanisms which are oppositely fixed on the trunk, and a rack guide rail which is connected between nuts of the two feed screw nut mechanisms and is used for guiding the magnetic suspension tool bit to move along the surface of the trunk; a connecting bracket is fixed on the base of the magnetic suspension tool bit, and the connecting bracket is rotatably connected with a guide gear meshed with the rack guide rail;
furthermore, an outward convex semi-arc surface is formed on the back surface of the rack guide rail, and a second guide wheel in rolling fit with the back surface of the rack guide rail is rotatably connected to the connecting support; the circumferential surface of the second guide wheel is an inwards concave semi-circular arc surface;
further, the cutter head mounting mechanism also comprises a fixing ring used for being sleeved on the trunk, hoops uniformly distributed around the axis of the fixing ring and connecting rods connected between the hoops and the fixing ring;
further, the feed screw and nut mechanism comprises a fixed frame fixedly connected to the fixed ring, a feed screw rotatably connected in the fixed frame, a nut matched with the feed screw, a slide block fixed on the nut, and a longitudinal motor for driving the feed screw to rotate; the end of the rack guide rail is connected to the slider.
The invention has the beneficial effects that: in the automatic tapping robot, the stator and the rotor of the magnetic suspension motor do not have any mechanical contact, higher acceleration and deceleration can be generated, the mechanical abrasion is small, the mechanical and electrical protection is easy, the maintenance, the overhaul and the replacement are convenient, and the automatic tapping robot is suitable for severe environments. In addition, the magnetic suspension cutter head of the tapping robot can stretch out and draw back along with the shape of the rubber tree, so that the tapping depth is ensured. This rubber tapping robot adopts the cutting of single degree of freedom scheme, only use a motor drive leading gear to move and accomplish the cutting action on rack guide rail, simple structure has, control is easy, with low costs, high efficiency, be applicable to the characteristics of adverse circumstances work, the high-speed cutting speed of rubber tapping in-process has been guaranteed, the stability of rubber tapping process has been improved simultaneously, adverse circumstances has been reduced to rubber tapping robot's influence, the cutting problem that causes because rubber tree surface unevenness has been solved, the efficiency of whole cutting process has been improved simultaneously.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is an overall assembly view of the present invention;
FIG. 2 is a schematic diagram of a magnetically levitated cutter head of the present invention;
FIG. 3 is a schematic view of the magnetic levitation tool head of the present invention engaged with a rack rail;
fig. 4 is a cross-sectional view of a magnetically suspended tool head of the present invention.
Detailed Description
FIG. 1 is an overall assembly view of the present invention; fig. 2 is a schematic view of the structure of a magnetically levitated cutter head 18 of the present invention; as shown in the figure: the automatic tapping robot of the embodiment comprises a magnetic suspension cutter head 18 and a cutter head mounting mechanism, wherein the cutter head mounting mechanism is used for attaching the magnetic suspension cutter head 18 to a trunk and guiding the magnetic suspension cutter head 18 to move along the surface of the trunk; the magnetic suspension cutter head 18 comprises a base 1, a cutter rest 6 elastically connected to the base 1 and a cutting knife 8 in single-degree-of-freedom reciprocating sliding fit on the cutter rest 6, as shown in fig. 2, the cutter rest 6 is provided with a waist-shaped hole, a cylindrical pin 9 in sliding fit with the waist-shaped hole is fixed on a cutter handle of the cutting knife 8, and the cutting knife 8 can slide in a reciprocating manner relative to the cutter rest 6 along the length direction of the waist-shaped hole to perform cutting action; the base 1 is provided with a permanent magnet and an electromagnet 3 opposite to the permanent magnet 2; the electromagnet 3 drives the cutting knife 8 connected with the permanent magnet 2 to reciprocate by constantly changing polarity to complete cutting action; the stator (the electromagnet 3 and the base 1) and the rotor (the permanent magnet 2 and the cutting knife 8) of the magnetic suspension motor in the embodiment do not have any mechanical contact, can generate higher acceleration and deceleration, has small mechanical abrasion, is easy to mechanically and electrically protect, is convenient to maintain, overhaul and replace, and is suitable for severe environments.
In this embodiment, be equipped with on the knife rest 6 and be used for rolling complex first leading wheel 7 with trunk surface, during the tapping, make first leading wheel 7 compress tightly on the trunk surface all the time through spring 5, when there is the arch on the trunk surface, first leading wheel 7 drives cutting knife 8 through cylindric lock 9 and retracts, and this in-process compression spring 5, base 1 remain motionless, and through protruding back, spring 5 replies, and cutting knife 8 stretches out, continues the cutting.
In the embodiment, the bottom of the cutting knife 8 is provided with a connecting hole 22, the top of the permanent magnet 2 is fixed with a connecting column 23 which is in sliding fit with the connecting hole 22, the top surface of the base is fixed with a guide column which is inserted into a knife rest and guides the knife rest to reciprocate along the longitudinal direction of the cutting knife, a spring is sleeved outside the guide column, and the base is internally provided with an installation position for fixedly installing the electromagnet 3 and an installation groove which is arranged along the cutting direction of the cutting knife 8 and is used for installing the permanent magnet 2; permanent magnet 2 only can follow cutting knife 8 cutting direction reciprocating sliding after installing in the mounting groove, this kind of arrangement can ensure that the interval between electro-magnet 3 and the permanent magnet 2 remains unanimous throughout, avoid at the tapping in-process, the drive power that cutting knife 8 received produces undulantly, in addition, because adopt spliced pole 23 to be connected between permanent magnet 2 and the cutting knife 8, and spliced pole 23 can slide in connecting hole 22, consequently, permanent magnet 2 only can be to vibration about cutting knife 8 transmission, can not influence cutting knife 8 in the tapping and stretch out and draw back along with the undulation on trunk surface.
In this embodiment, the tool bit mounting mechanism includes two feed screw nut mechanisms fixed to the trunk in an opposite manner (the two feed screw nut mechanisms are respectively arranged on both sides of the trunk during tapping), and a rack guide rail 17 connected between nuts of the two feed screw nut mechanisms and used for guiding the magnetic suspension tool bit 18 to move along the surface of the trunk; a connecting bracket 20 is fixed on the base 1 of the magnetic suspension tool bit 18, and the connecting bracket 20 is rotatably connected with a guide gear 19 meshed with the rack guide rail 17; the back of the rack guide rail 17 forms an outward convex semi-arc surface, and a second guide wheel 21 which is in rolling fit with the back of the rack guide rail 17 is rotatably connected to the connecting bracket 20; the circumferential surface of the second guide wheel 21 is a concave semi-circular arc surface; as shown in fig. 3, the connecting bracket 20 is a triangular structure, the guide gear 19 is installed on one vertex, the two second guide wheels 21 are respectively installed on the other two vertices, and the second guide wheels 21 are matched with the back surface of the rack guide rail 17 to prevent the whole magnetic suspension cutter head 18 from falling off from the rack guide rail 17; during the tapping, usable motor drives guide gear 19 and rotates and then drives whole magnetic suspension tool bit and remove along rack guide 17 and accomplish a tapping action, then this motor reversal drives the magnetic suspension tool bit and resets, because the cutting knife has two mutually symmetrical cutting edges, consequently, at the in-process that resets, the cutting knife can carry out the tapping again, has improved tapping efficiency greatly.
In this embodiment, the cutter head mounting mechanism further includes a fixing ring for being sleeved on the trunk, hoops 10 uniformly distributed around the axis of the fixing ring, and connecting rods 11 connected to the hoops 10 between the fixing ring and the hoops 10; connecting rod 11 articulates on the retainer plate through the hinge, and staple bolt 10 is fixed on the trunk, and consequently, this mounting mechanism can adapt to the not trunk of equidimension to along with the growth of trunk, connecting rod 11 can rotate for the retainer plate, makes staple bolt 10 outwards open, with the growth of adaptation trees.
In this embodiment, the feed screw and nut mechanism comprises a fixed frame 4 fixedly connected to the fixed ring (the frame 4 comprises an upper fixed plate 12 and a lower fixed plate 12 and a fixed rod 13 connected between the two fixed plates 12), a feed screw 14 rotatably connected in the fixed frame 4, a nut 15 matched with the feed screw 14, a slide block 16 fixed on the nut 15, and a longitudinal motor for driving the feed screw 14 to rotate; the end of the rack guide rail 17 is connected to the slider, and the position of the nut can be adjusted by driving the screw rod of the screw rod nut mechanism to rotate, so that the position and the track of the gear guide rail 17 can be adjusted.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (8)
1. The utility model provides an automatic tapping robot which characterized in that: the device comprises a magnetic suspension cutter head and a cutter head mounting mechanism, wherein the cutter head mounting mechanism is used for attaching the magnetic suspension cutter head to a trunk and guiding the magnetic suspension cutter head to move along the surface of the trunk; the magnetic suspension cutter head comprises a base, a cutter rest elastically connected to the base and a cutter with single degree of freedom in reciprocating sliding fit with the cutter rest; the cutter rest is provided with a waist-shaped hole, and a cylindrical pin in sliding fit with the waist-shaped hole is fixed on a cutter handle of the cutter, so that the cutter can slide back and forth relative to the cutter rest along the length direction of the waist-shaped hole to perform cutting action; the base is provided with a permanent magnet and an electromagnet opposite to the permanent magnet; the electromagnet drives the cutting knife connected with the permanent magnet to vibrate through constantly changing polarity to complete the cutting action.
2. The automatic tapping robot of claim 1, wherein: and the tool rest is provided with a first guide wheel which is used for being matched with the surface of the trunk in a rolling way.
3. The automatic tapping robot of claim 2, wherein: the bottom of the cutting knife is provided with a connecting hole, and the top of the permanent magnet is fixedly provided with a connecting column in sliding fit with the connecting hole.
4. The automatic tapping robot of claim 3, wherein: and a guide column which is inserted into the tool rest and guides the tool rest to reciprocate longitudinally along the cutting tool is fixed on the top surface of the base, and a spring is sleeved outside the guide column.
5. The automatic tapping robot of claim 4, wherein: the cutter head mounting mechanism comprises two feed screw nut mechanisms which are oppositely fixed on the trunk, and a rack guide rail which is connected between nuts of the two feed screw nut mechanisms and is used for guiding the magnetic suspension cutter head to move along the surface of the trunk; the base of the magnetic suspension tool bit is fixed with a connecting support, and the connecting support is rotatably connected with a guide gear meshed with the rack guide rail.
6. The automatic tapping robot of claim 5, wherein: the back of the rack guide rail forms an outward convex semi-arc surface, and a second guide wheel in rolling fit with the back of the rack guide rail is rotatably connected to the connecting support; the circumferential surface of the second guide wheel is an inwards concave semi-circular arc surface.
7. The automatic tapping robot of claim 6, wherein: the tool bit installation mechanism further comprises a fixing ring used for being sleeved on the trunk, hoops wound on the fixing ring in an evenly distributed mode and connecting rods connected between the hoops and the fixing ring and between the hoops.
8. The automatic tapping robot of claim 7, wherein: the screw rod and nut mechanism comprises a fixed frame fixedly connected with the fixed ring, a screw rod rotatably connected in the fixed frame, a nut matched with the screw rod, a sliding block fixed on the nut and a longitudinal motor used for driving the screw rod to rotate; the end of the rack guide rail is connected to the slider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810217244.3A CN108401838B (en) | 2018-03-16 | 2018-03-16 | Automatic rubber tapping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810217244.3A CN108401838B (en) | 2018-03-16 | 2018-03-16 | Automatic rubber tapping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108401838A CN108401838A (en) | 2018-08-17 |
| CN108401838B true CN108401838B (en) | 2020-07-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810217244.3A Active CN108401838B (en) | 2018-03-16 | 2018-03-16 | Automatic rubber tapping robot |
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| CN (1) | CN108401838B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111972250A (en) * | 2019-05-21 | 2020-11-24 | 宁波中创瀚维科技有限公司 | Rubber tapping machine and rubber tapping method |
| CN111972251B (en) * | 2019-05-21 | 2023-09-12 | 宁波中创瀚维科技有限公司 | Rubber tapping machine and rubber tapping method |
| CN110337899B (en) * | 2019-08-14 | 2023-06-23 | 南京林业大学 | Efficient nondestructive cutting head for sisal hemp leaf cutting device and use method thereof |
| CN111109041B (en) * | 2020-01-13 | 2024-06-04 | 北京工业大学 | Tree holding fixing mechanism for mobile rubber tapping robot |
| CN111149651A (en) * | 2020-01-15 | 2020-05-15 | 北京理工大学 | Portable automatic tapping robot's mechanism of holding tightly |
| CN111528040B (en) * | 2020-05-19 | 2023-05-26 | 江西农业大学 | Intelligent self-adaptation pine resin sampling groove cutting device |
| CN111820100B (en) * | 2020-07-23 | 2022-03-01 | 浙江盛丰橡塑科技有限公司 | Natural rubber raw material collection system |
| CN111972252B (en) * | 2020-09-02 | 2022-03-04 | 中国计量大学 | Active and passive self-adaptive rubber tapping device based on parallel actuator |
| CN112335516B (en) | 2020-09-30 | 2022-09-20 | 北京工业大学 | Full-automatic intelligent rubber tapping robot |
| WO2022227322A1 (en) * | 2021-04-29 | 2022-11-03 | 海南天然橡胶产业集团股份有限公司 | Single-drive rubber tapping machine |
| CN113841583A (en) * | 2021-10-13 | 2021-12-28 | 华南农业大学 | Automatic rubber tapping machine |
| CN114568247B (en) * | 2022-03-07 | 2023-09-29 | 哈尔滨理工大学 | Single-degree-of-freedom automatic rubber tapping machine |
| CN114516053A (en) * | 2022-03-24 | 2022-05-20 | 江苏财经职业技术学院 | Crawler-type automatic tapping robot control system and use method thereof |
| CN115777485B (en) * | 2022-09-21 | 2024-10-15 | 海南时空科技股份公司 | Natural rubber collecting robot and rubber tapping method thereof |
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| CN206221505U (en) * | 2016-08-09 | 2017-06-06 | 李智慧 | High-speed magnetic levitation bearing pneumatic main shaft |
| CN107466801A (en) * | 2017-08-15 | 2017-12-15 | 中国农业大学 | A kind of suspension type rubber cutting apparatus and mechanization rubber tapping method |
| CN107494194A (en) * | 2017-07-24 | 2017-12-22 | 中国农业大学 | One kind rubber tapping robot |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203156792U (en) * | 2013-04-09 | 2013-08-28 | 东莞燊安塑胶模具有限公司 | Cutter provided with suspending cutter body |
| CN106034980A (en) * | 2016-07-13 | 2016-10-26 | 武汉市享昱科技有限公司 | Automatic rubber cutting robot |
| CN206221505U (en) * | 2016-08-09 | 2017-06-06 | 李智慧 | High-speed magnetic levitation bearing pneumatic main shaft |
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| CN108401838A (en) | 2018-08-17 |
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