CN108464218B

CN108464218B - Application method of tapping robot

Info

Publication number: CN108464218B
Application number: CN201810165679.8A
Authority: CN
Inventors: 林智勇
Original assignee: Tenon And Mortise Technology Service Wenzhou Co ltd
Current assignee: Linyi Enke Development And Construction Co ltd
Priority date: 2018-02-28
Filing date: 2018-02-28
Publication date: 2021-05-04
Anticipated expiration: 2038-02-28
Also published as: CN108464218A

Abstract

The rubber tapping robot comprises a tree wrapping belt, a rubber tapping mechanical arm, a lifting device and a controller, wherein the rubber tapping mechanical arm is connected with the lifting device, and the lifting device is connected with the tree wrapping belt; the tapping manipulator of the tapping robot comprises a tapping knife device, an arc-shaped guide rail and a daub removing device; when in use, the tree wrapping belt is arranged on each rubber tree, and an inclined rubber groove and a rubber guiding groove are formed in the bark of each rubber tree; the controller controls a cutter head of the rubber tapping knife device to cut and plane the bark along the inclined rubber groove and then reset every day, and a cleaning wheel of the rubber cement removing device moves along with the rubber tapping knife device to remove rubber cement on the inclined rubber groove; the glue of the inclined glue groove after being sliced by the cutter head flows into the glue cup along the inclined glue groove every day, when a worker harvests the glue of the glue cup under each rubber tree every day, the lifting device is utilized to lower the position of the arc-shaped guide rail, and the tapping manipulator is utilized to automatically tap the glue every morning, so that the problem of tapping of the worker in the morning is solved, and the tapping efficiency is improved.

Description

Application method of tapping robot

Technical Field

The invention relates to a use method of rubber tapping equipment of a rubber tree, in particular to a use method of a rubber tapping robot of the rubber tree.

Background

At present, the rubber tapping of the rubber tree uses a manual rubber tapping knife, the bark of the rubber tree is cut by the rubber tapping knife, and then the glue flowing out from the bark is harvested; a tapping worker cuts rubber by using a tapping knife every three to four o' clock in the morning, after the bark of a rubber tree is cut for several hours, glue flows into a rubber cup from a cut inclined rubber groove, the labor intensity of the worker for tapping is high, the tapping efficiency is low, and the tapping robot becomes the requirement of an enterprise for reducing the labor intensity of the worker and improving the tapping efficiency.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a using method of a tapping robot, which is used for reducing the labor intensity of tapping workers and improving the tapping efficiency.

The technical scheme adopted by the invention is as follows: the tapping robot comprises a tree wrapping belt, a tapping manipulator, a lifting device and a controller, wherein the tapping manipulator is connected with the lifting device, and the lifting device is connected with the tree wrapping belt; the rubber tapping mechanical arm of the rubber tapping robot comprises a rubber tapping knife device, an arc-shaped guide rail and a cement removing device, wherein the arc-shaped guide rail is fixedly connected with a tree wrapping belt, the cement removing device is connected with the rubber tapping knife device, and the rubber tapping knife device is movably matched and connected with the arc-shaped guide rail; the tapping knife device comprises a motor, a cutter head and a driving bevel gear, wherein the motor is connected with the cutter head and the driving bevel gear; the clay removing device comprises a driven helical gear and a cleaning wheel, wherein the driving helical gear is connected with the driven helical gear, and the driven helical gear is connected with the cleaning wheel; the arc-shaped guide rail is provided with a gear groove and a sliding groove, a base sliding rail of the motor is connected with the sliding groove in a movable fit manner, a motor shaft of the motor is fixedly connected with a driving bevel gear, the driving bevel gear is connected with the gear groove in a movable fit manner, the driving bevel gear is connected with the cutter head, a driven bevel gear is meshed with the driving bevel gear, a shaft sleeve of a driven bevel gear shaft is connected with the base sliding rail of the motor, the cleaning wheel is connected with the driven bevel gear, and the cleaning wheel is; the lifting device comprises a lifting nut, a lifting screw and a lifting joint, the lifting nut is fixedly connected with the tree wrapping belt, the lifting screw is connected with the lifting nut through threads, the lifting screw is connected with a lifting joint ball, and the lifting joint is fixedly connected with the arc-shaped guide rail; the controller is provided with a starting switch, a stopping switch, a tapping sensor 22 and a tapping sensing piece, the tapping sensor is arranged on a lifting joint of the lifting device, the tapping sensing piece is arranged on a base slide rail of a motor of the tapping manipulator, the controller is connected with the motor of the tapping manipulator and the tapping sensor through control lines, and the controller is provided with a battery power supply; and the controller is used for controlling the rubber tapping mechanical arm to slice and tap the barks of the rubber trees and collecting the glue flowing out of the barks.

The use method of the tapping robot comprises the following steps: when rubber tapping is started in the first day, firstly, a starting groove, an inclined rubber groove and a rubber guiding groove are cut on the bark of a rubber tree by using a common rubber tapping knife, the starting groove is communicated with the inclined rubber groove and the rubber guiding groove, a rubber receiving tongue groove is connected to the lower end of the rubber guiding groove of the bark, a rubber cup is placed below the rubber receiving tongue groove, and the rubber tapping range of the bark of the rubber tree is fixed; then, tightly wrapping the tree wrapping belt on the rubber tree by using the adhesive buckle of the tree wrapping belt, enabling a tapping hole of the tree wrapping belt to face to a bark position of the rubber tree needing tapping, enabling the tapping manipulator to be located at the tapping hole of the tree wrapping belt, enabling the cutter to be located at a starting groove, and enabling the cutter of the tapping manipulator to be in contact with an inclined rubber groove of the bark; after the tree wrapping belt is tightly wrapped on the rubber tree, the starting switch is pressed down, and the controller controls the rubber tapping robot to work according to a set program; when the rubber tapping manipulator taps rubber, the controller controls a motor of the rubber tapping manipulator to drive a driving bevel gear and a cutter head to rotate, the driving bevel gear drives a driven bevel gear and a cleaning wheel to rotate, the rotating cleaning wheel cleans the daub in the inclined rubber groove of the bark, and the rotating cutter head cuts and slices the inclined rubber groove of the bark; the driving bevel gear rolls from left to right along the gear groove of the arc-shaped guide rail, drives a base sliding rail of the motor to move from left to right along the sliding groove, and drives the rotating cutter head to move the planing piece along the inclined rubber groove of the bark from the left side of the inclined rubber groove to the right side of the inclined rubber groove; when the oblique rubber groove of the bark cut by the cutter head moves to the position of the rubber guiding groove, the rubber tapping sensing piece on the right side of the machine base sliding rail approaches the rubber tapping sensor on the right lifting joint, the rubber tapping sensor transmits a signal to the controller, the controller controls the motor to drive the driving bevel gear and the cutter head to rotate reversely, the driving bevel gear rolls from right to left along the gear groove of the arc-shaped guide rail, the machine base sliding rail of the motor is driven to move from right to left along the sliding groove, and the rotating cutter head is driven to move from right to left along the oblique rubber groove of the bark; meanwhile, the driven bevel gear moves from right to left along a base sliding rail of the motor, and the cleaning wheel moves from right to left along the bevel rubber groove along with the driven bevel gear; when a tapping sensing piece on the left side of the base sliding rail approaches a tapping sensor on the left lifting joint, the tapping sensor transmits a signal to the controller, the controller controls the motor to stop, and the driving bevel gear and the cutter head stop rotating and moving; the glue flowing out of the barks after being sliced by the cutterhead flows into the glue cup along the inclined glue groove, the glue guiding groove and the glue connecting tongue groove; when glue of a glue cup is harvested in the first day, the arc-shaped guide rail is adjusted to descend by using the left lifting screw and the right lifting screw, and the descending range of the arc-shaped guide rail is controlled by using the left scale and the right scale; setting the depth of cutting the slicing pieces for rubber tapping on the next day, and maintaining the state that the cutter head and the cleaning wheel are tightly pressed on the inclined rubber groove; the controller controls the rubber tapping manipulator to tap rubber on the barks of the rubber trees on the second day, the cutter head resets after slicing the barks along the inclined rubber groove, and the cleaning wheel on the right side of the cutter head resets after cleaning the daub along the inclined rubber groove; the circulation is continuously carried out; thereby implementing unmanned automatic rubber tapping of the rubber tree; when the tapping is required to be stopped, the stop switch is pressed down, and the tapping robot stops working.

The use method of the tapping manipulator of the tapping robot comprises the following steps: when the rubber tapping manipulator of the rubber tapping robot is used, an inclined rubber groove with the left side higher than the right side is cut by a common rubber tapping knife in a rubber tapping range prior to the bark of a rubber tree, a starting groove and a vertical rubber guiding groove are cut by the common rubber tapping knife, the left side of the inclined rubber groove is communicated with the upper end of the starting groove, the right side of the inclined rubber groove is communicated with the upper end of the rubber guiding groove, the lower end of the rubber guiding groove of the bark is connected with a rubber receiving tongue groove, and a rubber cup is placed below the rubber receiving tongue groove; then, tightly wrapping the tree wrapping belt on the rubber tree by using the adhesive buckle of the tree wrapping belt, enabling a tapping hole of the tree wrapping belt to face a tapping range of a bark of the rubber tree to be tapped, enabling the tapping manipulator to be located at a starting groove position of an inclined rubber groove of the tapping hole of the tree wrapping belt, enabling the cutter to be located, and enabling the cutter of the tapping manipulator to be in contact with the inclined rubber groove of the bark; after the tree wrapping belt is tightly wrapped on a rubber tree, a starting switch is pressed, a controller controls a motor of a rubber tapping manipulator to rotate, the motor drives a driving bevel gear to rotate through a motor shaft of the motor, the driving bevel gear drives a cutter head to rotate through a first spring, the rotating cutter head cuts and digs the inclined rubber groove of the bark, and the cutter head is tightly attached to the inclined rubber groove by the aid of elasticity of the first spring; meanwhile, the driving helical gear drives the driven helical gear to rotate, the driven helical gear drives the cleaning wheel to rotate, the rotating cleaning wheel rotates in a manner of clinging to the helical glue groove under the action of the elastic force of a second spring, and the cleaning wheel is used for cleaning the daub in the helical glue groove of the bark; a driving bevel gear of the rubber tapping knife device continuously rolls from left to right along a gear groove of the arc-shaped guide rail, a base sliding rail of the motor is driven to move from left to right along a sliding groove, and a rotating cutter head is driven to move a planing piece along an inclined rubber groove of a bark from the left side of the inclined rubber groove to the right side of the inclined rubber groove; a daub removing device connected with the base slide rail moves from the left side of the inclined glue groove to the right side of the inclined glue groove along with the base slide rail, and the daub in the inclined glue groove in front of the cutter head is removed by a cleaning wheel of the daub removing device; the cutter head which continuously moves from left to right cuts and slices the inclined rubber groove of the bark; when the oblique rubber groove of the bark cut by the cutter head moves to the position of the rubber guiding groove, a right rubber tapping sensing piece on the machine base sliding rail approaches a right rubber tapping sensor on the right lifting joint, the right rubber tapping sensor transmits a signal to the controller, the controller controls the motor to drive the driving bevel gear and the cutter head to rotate reversely, the driving bevel gear rolls from right to left along the gear groove of the arc-shaped guide rail, the machine base sliding rail of the motor is driven to move from right to left along the sliding groove, and the rotating cutter head is driven to move from right to left along the oblique rubber groove of the bark; meanwhile, the cleaning wheel of the daub removing device moves from right to left along the sliding groove along the base sliding rail of the motor; when the cutter head moves to the left edge of the inclined rubber groove, a left rubber tapping sensing piece on the base sliding rail approaches a left rubber tapping sensor on the left lifting joint, the left rubber tapping sensor transmits a signal to the controller, the controller controls the motor to stop, and the driving bevel gear, the cutter head and the cleaning wheel stop rotating and stop moving; after the bark is sliced by the cutter head, glue flows out from the inclined glue groove of the bark, and after a plurality of hours, the glue continuously flows into the glue cup along the inclined glue groove, the glue guiding groove and the glue tongue connecting groove, so that unmanned automatic rubber tapping of the rubber tree is implemented.

The invention has the beneficial effects that: the tapping robot comprises a tree wrapping belt, a tapping manipulator, a lifting device and a controller, wherein the tapping manipulator is connected with the lifting device, and the lifting device is connected with the tree wrapping belt; the tapping manipulator of the tapping robot comprises a tapping knife device, an arc-shaped guide rail and a daub removing device; when the rubber tapping machine is used, according to the specification of each rubber tree and the position of the bark of each rubber tree needing rubber tapping, the arc-shaped guide rail with the corresponding specification is installed on the rubber tree by using the tree wrapping belt, and an inclined rubber groove and a rubber guiding groove are formed in the bark of the rubber tree; the controller controls a cutter head of the rubber tapping knife device to cut and plane the bark along the inclined rubber groove and then reset every day, and a cleaning wheel of the rubber cement removing device moves along with the rubber tapping knife device to remove rubber cement on the inclined rubber groove; the glue of the inclined rubber groove after being sliced by the cutter head flows into the rubber cup along the inclined rubber groove every day, when a worker harvests the glue of the lower rubber cup of each rubber tree every day, the lifting device is used for lowering the position of the arc-shaped guide rail, the rubber tapping manipulator is used for automatically tapping in the morning every day, and the worker collects the glue of the rubber cup after the rubber tapping is very bright every day, so that the problem that the labor intensity of the worker is high in the early morning is solved, and the rubber tapping efficiency is improved.

Drawings

FIG. 1 is a schematic structural diagram of a tapping robot;

FIG. 2 is a left side view of FIG. 1;

fig. 3 is a top view of fig. 1.

Detailed Description

The invention is further described with reference to the following detailed description of embodiments and with reference to the accompanying drawings in which:

the tapping robot shown in fig. 1 is a schematic structural diagram, a left side view of fig. 1 is shown in fig. 2, and a top view of fig. 1 is shown in fig. 3; the tapping robot comprises a tree wrapping belt 1, a tapping manipulator 2, a lifting device 3 and a controller 4, wherein the tapping manipulator 2 is connected with the lifting device 3, and the lifting device 3 is connected with the tree wrapping belt 1; the rubber tapping manipulator 2 of the rubber tapping robot comprises a rubber tapping knife device 5, an arc-shaped guide rail 6 and a cement removing device 7, wherein the arc-shaped guide rail 6 is fixedly connected with the tree wrapping belt 1, the cement removing device 7 is connected with the rubber tapping knife device 5, and the rubber tapping knife device 5 is movably matched and connected with the arc-shaped guide rail 6; the tapping knife device 5 comprises a motor 8, a cutter head 9 and a driving bevel gear 10, wherein the motor 8 is connected with the cutter head 9 and the driving bevel gear 10; the plaster removing device 7 comprises a driven bevel gear 11 and a cleaning wheel 12, wherein the driving bevel gear 10 is connected with the driven bevel gear 11, and the driven bevel gear 11 is connected with the cleaning wheel 12; the arc-shaped guide rail 6 is provided with a gear groove 13 and a sliding groove 14, a base sliding rail 15 of the motor 8 is in movable fit connection with the sliding groove 14, a motor shaft of the motor 8 is fixedly connected with a driving helical gear 10, the driving helical gear 10 is in movable fit connection with the gear groove 13, the driving helical gear 10 is connected with the cutter head 9, a driven helical gear 11 is meshed with the driving helical gear 10, a shaft sleeve 16 of a wheel shaft of the driven helical gear 11 is connected with the base sliding rail 15 of the motor 8, a cleaning wheel 12 is connected with the driven helical gear 11, and the cleaning wheel 12 is positioned on the; the lifting device 3 comprises a lifting nut 17, a lifting screw 18 and a lifting joint 19, the lifting nut 17 is fixedly connected with the tree wrapping belt 1, the lifting screw 18 is connected with the lifting nut 17 through threads, the lifting screw 18 is connected with the lifting joint 19 through a ball, and the lifting joint 19 is fixedly connected with the arc-shaped guide rail 6; the controller 4 is provided with a starting switch 20, a stopping switch 21, a rubber tapping sensor 22 and a rubber tapping sensing piece 23, the rubber tapping sensor 22 is arranged on a lifting joint 19 of the lifting device 3, the rubber tapping sensing piece 23 is arranged on a base slide rail 15 of a motor 8 of the rubber tapping manipulator 2, the controller 4 is connected with the motor 8 of the rubber tapping manipulator 2 and the rubber tapping sensor 22 through control lines, and the controller 4 is provided with a battery power supply; the controller 4 is used for controlling the rubber tapping mechanical arm 2 to cut the bark 25 of the rubber tree 24 and collecting the glue flowing out of the bark 25.

In order to implement automatic slicing and tapping of the bark 25 of the rubber tree 24 by using the tapping manipulator 2 every morning in the tapping period, and harvesting glue flowing out of the bark 25; the lifting nut 17 of the lifting device 3 comprises a left lifting nut 26 and a right lifting nut 27, the lifting screw 18 comprises a left lifting screw 28 and a right lifting screw 29, and the lifting joint 19 comprises a left lifting joint 30 and a right lifting joint 31; the left lifting nut 26 and the right lifting nut 27 are fixedly connected with the tree wrapping belt 1, the left lifting screw 28 is connected with the left lifting nut 26 through threads, the right lifting screw 29 is connected with the right lifting nut 27 through threads, the left lifting screw 28 is connected with the left lifting joint 30 ball, the right lifting screw 29 is connected with the right lifting joint 31 ball, the left lifting joint 30 is fixedly connected with the left end 32 of the arc-shaped guide rail 6, and the right lifting joint 31 is fixedly connected with the right end 33 of the arc-shaped guide rail 6; the left lifting screw 28 is provided with a left scale 34, and the right lifting screw 29 is provided with a right scale 35; the arc-shaped guide rail 6 is adjusted to move up and down by the left and

right lifting screws

28 and 29, and the lifting range of the arc-shaped guide rail 6 is controlled by the left and

right scales

34 and 35.

In order to implement the automatic slicing of the cutterhead 9 of the tapping manipulator 2 from left to right along the bark 25 of the rubber tree 24 and back from right to left; two tapping sensors 22 are arranged, one tapping sensor is arranged on the left lifting joint 30, and the other tapping sensor is arranged on the right lifting joint 31; the rubber tapping sensing parts 23 are two, one rubber tapping sensing part is arranged on the left side of the base slide rail 15 of the rubber tapping knife device 5, and the other rubber tapping sensing part is arranged on the right side of the base slide rail 15 of the rubber tapping knife device 5; the tapping sensor 22 comprises a left tapping sensor 36 and a right tapping sensor 37, the left tapping sensor 36 is arranged on the left lifting joint 30, and the right tapping sensor 37 is arranged on the right lifting joint 31; the tapping sensing piece 23 comprises a left tapping sensing piece 38 and a right tapping sensing piece 39, the left tapping sensing piece 38 is arranged on the left side of the base slide rail 15 of the motor 8, and the right tapping sensing piece 39 is arranged on the right side of the base slide rail 15 of the motor 8 and is used for controlling the cutter head 9 of the tapping manipulator 2 to move left and right along the bark 25 of the rubber tree 24; the initial state of the tapping manipulator 2 is as follows: the left tapping induction piece 21 on the base slide rail 15 of the motor 8 of the tapping knife device 5 approaches the left tapping sensor 22 of the arc-shaped guide rail 6.

In order to implement parallel lifting of the arc-shaped guide rail 6, the threads of the left lifting nut 26 and the right lifting nut 27 are the same, and the threads of the left lifting screw 28 and the right lifting screw 29 are the same; when the left lifting screw 28 and the right lifting screw 29 rotate for the same number of turns, the left lifting joint 30 and the right lifting joint 31 lift for the same distance.

In order to drive the driving bevel gear 10 and the driven bevel gear 11 of the tapping manipulator 2 to rotate by using the motor 8, the axis of the driving bevel gear 10 of the tapping manipulator 2 is parallel to a horizontal line, and the axis of the driven bevel gear 11 is parallel to the horizontal line; the axis of the driving bevel gear 10 is on the same horizontal plane with the axis of the driven bevel gear 11.

In order to implement the unidirectional cutting and slicing of the bark 25 by the cutterhead 9, the rotation direction of the cutterhead 9 of the tapping manipulator 2 for cutting and slicing the bark 25 is clockwise, and when the cutterhead 9 rotates anticlockwise, the cutterhead 9 does not cut and slice the bark 25; the width of the starting groove 52 is equal to the radius of the cutterhead 9, so as to avoid the cutterhead 9 sliding down along the starting groove 52.

In order to tighten the tree wrapping tape 1 on the rubber tree 24, the tree wrapping tape 1 is provided with a sticking buckle 45 for fixing the lifting nut 17 on the rubber tree 24 by using the tree wrapping tape 1; the tree wrapping belt 1 is provided with a tapping hole 46, the tapping manipulator 2 is positioned at the tapping hole 46 of the tree wrapping belt 1, and the area of the tapping hole 46 is about the area of the bark 25 needing tapping; the bark 25 at the tapping mouth 46 is tapped by the tapping robot 2.

The use method of the tapping robot comprises the following steps: when tapping is started in the first day, a starting groove 52, an inclined rubber groove 47 and a rubber guiding groove 48 are cut by a common rubber tapping knife before the bark 25 of the rubber tree 24, the starting groove 52 is communicated with the inclined rubber groove 47 and the rubber guiding groove 48, a rubber receiving tongue groove 49 is connected to the lower end of the rubber guiding groove 48 of the bark 25, a rubber cup 50 is placed below the rubber receiving tongue groove 49, and the rubber tapping range of the bark 25 of the rubber tree 24 is fixed; then, the tree wrapping belt 1 is tightly wrapped on the rubber tree 24 by using the sticking buckle 45 of the tree wrapping belt 1, so that the tapping hole 46 of the tree wrapping belt 1 faces to the position of the bark 25 of the rubber tree 24 needing tapping, the tapping manipulator 2 is positioned at the tapping hole 46 of the tree wrapping belt 1, the cutter head 9 is positioned at the position of the starting groove 52, and the cutter head 9 of the tapping manipulator 2 is in contact with the inclined rubber groove 47 of the bark 25; after the tree wrapping belt 1 is tightly wrapped on the rubber tree 24, the starting switch 20 is pressed, and the controller 4 controls the rubber tapping robot to work according to a set program; when the tapping manipulator 2 taps, the controller 4 controls the motor 8 of the tapping manipulator 2 to drive the driving bevel gear 10 and the cutter head 9 to rotate, the driving bevel gear 10 drives the driven bevel gear 11 and the cleaning wheel 12 to rotate, the rotating cleaning wheel 12 removes the daub 44 in the inclined rubber slot 47 of the bark 25, and the rotating cutter head 9 cuts and slices the inclined rubber slot 47 of the bark 25; the driving bevel gear 10 rolls from left to right along the gear groove 13 of the arc-shaped guide rail 6, drives the base slide rail 15 of the motor 8 to move from left to right along the slide groove 14, and drives the rotating cutter head 9 to move a planing piece along the inclined rubber groove 47 of the bark 25 from the left side of the inclined rubber groove 47 to the right side of the inclined rubber groove 47; when the inclined rubber groove 47 of the bark 25 cut by the cutter head 9 moves to the position of the rubber guiding groove 48, the rubber tapping sensing piece on the right side of the machine base slide rail 15 approaches the rubber tapping sensor on the right lifting joint 31, the rubber tapping sensor transmits a signal to the controller 4, the controller 4 controls the motor 8 to drive the driving bevel gear 10 and the cutter head 9 to rotate reversely, the driving bevel gear 10 rolls from right to left along the gear groove 13 of the arc-shaped guide rail 6, the machine base slide rail 15 of the motor 8 is driven to move from right to left along the slide groove 14, and the rotating cutter head 9 is driven to move from right to left along the inclined rubber groove 47 of the bark 25; meanwhile, the driven bevel gear 11 moves from right to left along with the base slide rail 15 of the motor 8, and the cleaning wheel 12 moves from right to left along the bevel groove 47 along with the driven bevel gear 11; when a tapping sensing piece on the left side of the machine base sliding rail 15 approaches a tapping sensor on the left lifting joint 30, the tapping sensor transmits a signal to the controller 4, the controller 4 controls the motor 8 to stop, and the driving bevel gear 10 and the cutter head 9 stop rotating; the glue flowing out of the barks 25 after being sliced and cut by the cutter head 9 flows into the glue cup 50 along the inclined glue groove 47, the glue guiding groove 48 and the glue tongue receiving groove 49; when the glue of the glue cup 50 is harvested on the first day, the arc-shaped guide rail 6 is adjusted to descend by using the left lifting screw 28 and the right lifting screw 29, and the descending range of the arc-shaped guide rail 6 is controlled by using the left scale 34 and the right scale 35; setting the depth of cutting the shaving pieces for rubber tapping on the next day, and maintaining the state that the cutter head 9 and the cleaning wheel 12 are tightly pressed on the inclined rubber groove 47; the controller 4 controls the rubber tapping manipulator 2 to tap the bark 25 of the rubber tree 24 on the next day, the cutter disc 9 cuts and slices the bark 25 along the inclined rubber groove 47 and then resets, and the cleaning wheel 12 positioned on the right side of the cutter disc 9 resets after cleaning the rubber mud along the inclined rubber groove 47; the circulation is continuously carried out; thereby implementing unmanned automatic tapping of the rubber tree 24.

In order to make the arc-shaped guide rail 6 descend along with the left lifting screw 28 and the right lifting screw 29, when the lifting device 3 is used, the left lifting screw 28 and the right lifting screw 29 are rotated simultaneously, the number of rotation turns of the left lifting screw 28 and the right lifting screw 29 is the same, the left lifting joint 30 descends along with the left lifting screw 28, the right lifting joint 31 descends along with the right lifting screw 29, the arc-shaped guide rail 6 descends along with the left lifting screw 28 and the right lifting screw 29, the motor 8 on the arc-shaped guide rail 6 descends along with the arc-shaped guide rail 6, and the cutter head 9 and the cleaning wheel 12 are tightly attached to the inclined rubber groove 47.

In order to carry out unmanned automatic tapping of the whole tapping hole 46 of the bark 25 of the rubber tree 24 in the whole tapping season, the controller 4 is provided with an automatic tapping program, a programming input interface and a programmer; when the rubber tapping machine is used, the number of rubber tapping days of the rubber tapping manipulator 2 in the whole rubber tapping season and the time for starting rubber tapping of the rubber tapping manipulator 2 every day are set by using a programmer; after the rubber tapping days and the time for starting rubber tapping every day are set, the starting switch 20 is pressed down, and the controller 4 controls the rubber tapping robot to work according to the set program; the controller 4 controls the cutter head 9 of the rubber tapping manipulator 2 to move from left to right along the inclined rubber groove 47 of the bark 25 of the rubber tree 24 to dig out the surface of the bark 25 in the inclined rubber groove 47 every day, and after the cutter head 9 moves to the right to reach the position of the rubber guiding groove 48, the controller 4 controls the cutter head 9 of the rubber tapping manipulator 2 to return to the position of the starting groove 52; the glue flowing out of the barks 25 after being sliced and cut by the cutter head 9 flows into the glue cup 50 along the inclined glue groove 47, the glue guiding groove 48 and the glue tongue connecting groove 49, and the process is circulated continuously; the problem that the tapping worker needs to tap glue three to four o' clock every morning is solved, and the tapping worker only needs to collect the glue in the glue cup 50 every day in the daytime.

In order to implement unmanned automatic tapping on the whole rubber tree 24 forest, when the tapping robot is used, the tapping robot is arranged on each rubber tree 24 of the rubber tree forest, the tapping robot on each rubber tree 24 automatically taps in the morning according to a set program every day, and a tapping worker only needs to collect glue in the glue cup 50 every day.

In order to realize the reciprocating movement of the cutter head 9 along the inclined rubber groove 47, when the cutter head 9 of the rubber tapping manipulator 2 slices the barks 25, the motor 8 drives the driving bevel gear 10 to rotate clockwise, the driving bevel gear 10 is meshed with the groove tooth 42 at the bottom of the gear groove 13 of the arc-shaped guide rail 6, and the driving bevel gear 10 moves from left to right along the gear groove 13 of the arc-shaped guide rail 6; when the cutter head 9 returns, the motor 8 drives the driving bevel gear 10 to rotate in the anticlockwise direction, the driving bevel gear 10 is meshed with the groove teeth 42 at the bottom of the gear groove 13 of the arc-shaped guide rail 6, and the driving bevel gear 10 moves from right to left along the gear groove 13 of the arc-shaped guide rail 6.

In order to implement the unidirectional rotation slicing of the bark 25 of the rubber tree 24 of the cutter head 9, when the rubber tapping manipulator 2 taps rubber, the motor 8 drives the cutter head 9 to rotate clockwise, the cutter head 9 moves from left to right downhill along the inclined rubber groove 47 of the bark 25, and the cutter head 9 rotating clockwise slices the inclined rubber groove 47 of the bark 25; when the cutter disc 9 returns, the motor 8 drives the cutter disc 9 to rotate in the anticlockwise direction, the cutter disc 9 moves from right to left along the inclined rubber groove 47 of the bark 25, and the cutter disc 9 rotating in the anticlockwise direction does not dig the inclined rubber groove 47 of the bark 25.

In order to clean the solidified daub 44 remained in the last slicing of the bark 25 of the rubber tree 24, the influence of the daub 44 on the slicing of the cutter disc 9 is reduced; when the daub removing device 7 removes the daub 44 in the oblique daub groove 47, the driving helical gear 10 drives the driven helical gear 11 to rotate in the counterclockwise direction, the driven helical gear 11 drives the cleaning wheel 12 to rotate in the counterclockwise direction, and the cleaning wheel 12 moves from left to right along with the driving helical gear 10 while the cleaning wheel 12 rotates in the counterclockwise direction; when the daub removing device 7 returns, the driving bevel gear 10 drives the driven bevel gear 11 to rotate clockwise, and the cleaning wheel 12 moves from right to left along with the driving bevel gear 10.

In order to implement the function of cleaning the oblique rubber groove 47 by the cleaning wheel 12 and to ensure that the cleaning wheel 12 does not rotate along with the driven helical gear 11 when being reset, the cleaning wheel 12 is a one-way transmission cleaning wheel 12, when the driven helical gear 11 rotates along with the anticlockwise direction, the cleaning wheel 12 rotates along with the driven helical gear 11 along with the anticlockwise direction, and when the driven helical gear 11 rotates along with the clockwise direction, the cleaning wheel 12 does not rotate.

In order to utilize the tapping manipulator 2 to tap the bark 25 to be tapping, the height of the tapping hole 46 of the wrapping belt 1 is greater than the height of the position of the bark 25 to be tapping, so as to ensure that the tapping manipulator 2 can move at the tapping hole 46.

In order to prevent the cleaning wheel 12 from damaging the barks 25, the cleaning wheel 12 is made of an elastic material, the cleaning wheel 12 is provided with teeth on its periphery, the hardness of the cleaning wheel 12 is lower than that of the barks 25, and the cleaning wheel 12 rotates to contact with the daub 44 on the inclined grooves 47 of the barks 25 to remove the daub 44.

In order to implement the elastic slicing of the rubber tree 24 and the bark 25 by the cutter head 9 of the rubber tapping manipulator 2 of the rubber tapping robot, the driving bevel gear 10 is connected with the cutter head 9 through a first spring 40, one end of the first spring 40 is fixedly connected with the driving bevel gear 10, and the other end of the first spring 40 is fixedly connected with the cutter head 9; when the cutter disc 9 is not in contact with the oblique rubber groove 47, the axis of the cutter disc 9 is the same as the axis of the first spring 40, and the axis of the first spring 40 is the same as the axis of the driving helical gear 10; after the cutter disc 9 is contacted with the inclined rubber groove 47, the axis of the cutter disc 9 is different from the axis of the first spring 40, and the axis of the first spring 40 is different from the axis of the driving bevel gear 10.

In order to avoid the cleaning wheel 12 of the plaster removing device 7 from obstructing the movement of the rubber tapping knife device 5, the plaster removing device 7 is provided with a second spring 51, a shaft sleeve 16 of a wheel shaft of the driven bevel gear 11 is connected with the wheel shaft of the cleaning wheel 12 through the second spring 51, one end of the second spring 51 is fixedly connected with the wheel shaft of the driven bevel gear 11, and the other end of the second spring 51 is fixedly connected with the wheel shaft of the cleaning wheel 12.

In order to implement the rubber tapping robot, the cutter head 9 of the rubber tapping manipulator 2 moves along with the arc-shaped rubber tree 24, the arc-shaped guide rail 6 is arc-shaped, the arc-shaped guide rail 6 is made of elastic materials, and the arc shape of the arc-shaped guide rail 6 is similar to that of the rubber tree 24; the arc-shaped guide rail 6 is provided with a plurality of specifications which are suitable for rubber trees 24 with different specifications; the shape of the gear groove 13 of the arc-shaped guide rail 6 is arc-shaped, the shape of the driving bevel gear 10 is arc-shaped, and the arc-shaped shape of the driving bevel gear 10 is the same as the arc-shaped shape of the gear groove 13; the shape of the sliding chute 14 of the arc-shaped guide rail 6 is arc-shaped, the shape of the base sliding rail 15 of the motor 8 is arc-shaped, and the arc-shaped shape of the base sliding rail 15 is the same as the arc-shaped shape of the sliding chute 14; the groove bottom 41 of the gear groove 13 is provided with groove teeth 42, and the driving helical gear 10 is engaged with the groove teeth 42 of the gear groove 13.

In order to realize the smooth movement of the base slide rail 15 of the motor 8 in the chute 14, a ball 43 is arranged between the base slide rail 15 of the motor 8 and the chute 14, a gap is reserved between the base slide rail 15 and the chute 14, and the ball 43 is movably matched and connected with the base slide rail 15 and the chute 14.

In order to implement the slicing of the bark 25 of the arc-shaped rubber tree 24 by the cutter head 9 of the tapping manipulator 2, the axis of the cutter head 9 is inclined to the horizontal line, the included angle between the axis of the cutter head 9 and the horizontal line is 5-8 degrees, the friction between the end surface of the cutter head 9 and the bark 25 is avoided, and the axis of the cutter head 9 points to the rubber tree 24.

The use method of the tapping manipulator of the tapping robot comprises the following steps: when the rubber tapping robot rubber tapping manipulator is used, firstly, a common rubber tapping knife is used for cutting an inclined rubber groove 47 with the left side higher than the right side in the rubber tapping range of the bark 25 of the rubber tree 24, a vertical starting groove 52 and a rubber guiding groove 48 are cut by the common rubber tapping knife, the left side of the inclined rubber groove 47 is communicated with the upper end of the starting groove 52, the right side of the inclined rubber groove 47 is communicated with the upper end of the rubber guiding groove 48, the lower end of the rubber guiding groove 48 of the bark 25 is connected with a rubber receiving tongue groove 49, and a rubber cup 50 is placed below the rubber receiving tongue groove 49; then, the tree wrapping belt 1 is tightly wrapped on the rubber tree 24 by using the sticking buckle 45 of the tree wrapping belt 1, so that the tapping hole 46 of the tree wrapping belt 1 faces to the tapping range position of the bark 25 of the rubber tree 24 needing tapping, the tapping manipulator 2 is positioned at the inclined rubber groove 47 position of the tapping hole 46 of the tree wrapping belt 1, the cutter head 9 is positioned at the starting groove 52 position, and the cutter head 9 of the tapping manipulator 2 is in contact with the inclined rubber groove 47 of the bark 25; after the tree wrapping belt 1 is tightly wrapped on a rubber tree 24, a starting switch 20 is pressed, a controller 4 controls a motor 8 of a rubber tapping manipulator 2 to rotate, the motor 8 drives a driving bevel gear 10 to rotate through a motor shaft of the motor 8, the driving bevel gear 10 drives a cutter head 9 to rotate through a first spring 40, the rotating cutter head 9 cuts and slices the oblique rubber groove 47 of the bark 25, and the cutter head 9 is tightly attached to the oblique rubber groove 47 through the elasticity of the first spring 40; meanwhile, the driving bevel gear 10 drives the driven bevel gear 11 to rotate, the driven bevel gear 11 drives the cleaning wheel 12 to rotate, the rotating cleaning wheel 12 rotates by clinging to the inclined rubber groove 47 under the action of the elastic force of the second spring 51, and the cleaning wheel 12 is used for removing the daub 44 in the inclined rubber groove 47 of the bark 25; the driving bevel gear 10 of the tapping knife device 5 continuously rolls from left to right along the gear groove 13 of the arc-shaped guide rail 6, drives the base slide rail 15 of the motor 8 to move from left to right along the slide groove 14, and drives the rotating cutter head 9 to move the planing piece along the inclined rubber groove 47 of the bark 25 from the left side of the inclined rubber groove 47 to the right side of the inclined rubber groove 47; the daub removing device 7 connected with the base slide rail 15 moves from the left side of the inclined glue groove 47 to the right side of the inclined glue groove 47 along with the base slide rail 15, and the cleaning wheel 12 of the daub removing device 7 is used for removing daub in the inclined glue groove 47 in front of the cutter head 9; the cutter head 9 which continuously moves from left to right cuts and slices the inclined rubber groove 47 of the bark 25; when the inclined rubber groove 47 of the bark 25 cut by the cutter head 9 moves to the position of the rubber guiding groove 48, the right rubber tapping sensing part 39 on the machine base slide rail 15 approaches the right rubber tapping sensor 37 on the right lifting joint 31, the right rubber tapping sensor 37 transmits a signal to the controller 4, the controller 4 controls the motor 8 to drive the driving bevel gear 10 and the cutter head 9 to rotate reversely, the driving bevel gear 10 rolls from right to left along the gear groove 13 of the arc-shaped guide rail 6, the machine base slide rail 15 of the motor 8 is driven to move from right to left along the slide groove 14, and the rotating cutter head 9 is driven to move from right to left along the inclined rubber groove 47 of the bark 25; meanwhile, the cleaning wheel 12 of the daub removing device 7 moves from right to left along the sliding chute 14 along with the base sliding rail 15 of the motor 8; when the cutter head 9 moves to the left edge of the inclined rubber groove 47, the left rubber tapping sensing piece 38 on the machine base slide rail 15 approaches the left rubber tapping sensor 36 on the left lifting joint 30, the left rubber tapping sensor 36 transmits a signal to the controller 4, the controller 4 controls the motor 8 to stop, and the driving bevel gear 10, the cutter head 9 and the cleaning wheel 12 stop rotating; after the barks 25 are sliced and cut by the cutterhead 9, glue flows out of the inclined glue grooves 47 of the barks 25, and after a plurality of hours, the glue flows into the glue cup 50 along the inclined glue grooves 47, the glue guiding grooves 48 and the glue tongue receiving grooves 49 without cutting off, so that unmanned automatic glue cutting of the rubber trees 24 is implemented.

In order to implement the automatic tapping of the tapping robot tapping manipulator 2, the initial state of the tapping manipulator 2 is as follows: a left tapping sensing piece 38 on a base slide rail 15 of a motor 8 of the tapping knife device 5 approaches a left tapping sensor 36 on the left lifting joint 30; the left side of the oblique glue groove 47 is higher than the right side of the oblique glue groove 47, so that glue in the oblique glue groove 47 can automatically flow to the glue guiding groove 48.

In order to make the cutterhead 9 tightly attached to the inclined rubber groove 47 and make the cutterhead 9 elastically contact with the inclined rubber groove 47, after the inclined rubber groove 47 on the bark 25 of the rubber tree 24 is opened, the rubber tapping manipulator 2 is in the initial state: the axes of the motor 8 and the driving bevel gear 10 are parallel to the horizontal line, the first spring 40 fixedly connected with the driving bevel gear 10 is bent, and the axis of the cutter head 9 fixedly connected with the first spring 40 is inclined, so that the cutter head 9 is tightly pressed on the inclined rubber groove 47 of the bark 25; the axis of the driven bevel gear 11 is parallel to the horizontal line, a second spring 51 fixedly connected with the driven bevel gear 11 is bent, and a cleaning wheel 12 fixedly connected with the second spring 51 is tightly pressed on the bevel rubber groove 47; the distance from the axis of the motor 8 to the bottom of the base slide rail 15 of the motor 8 is less than the distance from the axis of the cutter head 9 to the bottom of the base slide rail 15 of the motor 8.

In order to keep the cutter head 9 in elastic contact with the inclined rubber groove 47, when the cutter head 9 is tightly attached to the inclined rubber groove 47, the driving bevel gear 10 coaxially connected with a motor shaft of the motor 8 is connected with the cutter head 9 through the first spring 40, the driving bevel gear 10 applies a downward acting force to the first spring 40 to deform the first spring 40, the first spring 40 applies a downward elastic force to the cutter head 9, so that the cutter head 9 applies an elastic force to the inclined rubber groove 47, and the cutter head 9 is tightly attached to the inclined rubber groove 47 under the action of the elastic force; after the inclined rubber groove 47 is sliced by the cutter head 9, the distance from the axis of the cutter head 9 to the bottom of the base slide rail 15 of the motor 8 is reduced, and the elasticity applied by the cutter head 9 to the inclined rubber groove 47 is reduced; after the cutterhead 9 cuts the barks 25 in the inclined rubber groove 47 each time, the height of the arc-shaped guide rail 6 is adjusted to be lower by the lifting device 3, so that the distance from the axis of the motor 8 to the bottom of the base slide rail 15 of the motor 8 is smaller than the distance from the axis of the cutterhead 9 to the bottom of the base slide rail 15 of the motor 8, the axis of the cutterhead 9 is higher than the axis of the motor 8, and the cutterhead 9 maintains a state of elastic pressure on the inclined rubber groove 47.

In order to implement the cleaning wheel 12 tightly attached to the oblique rubber groove 47, the cleaning wheel 12 is elastically contacted with the oblique rubber groove 47, and the distance from the axis of the motor 8 to the bottom of the base slide rail 15 of the motor 8 is less than the distance from the axis of the cleaning wheel 12 to the bottom of the base slide rail 15 of the motor 8; when the cleaning wheel 12 is tightly attached to the oblique rubber groove 47, the driven bevel gear 11 engaged with the driving bevel gear 10 is connected to the cleaning wheel 12 through the second spring 51, the driven bevel gear 11 applies a downward acting force to the second spring 51 to deform the second spring 51, and the second spring 51 applies a downward elastic force to the cleaning wheel 12 to enable the cleaning wheel 12 to apply an elastic force to the oblique rubber groove 47, so that the cleaning wheel 12 is tightly attached to the oblique rubber groove 47 under the action of the elastic force.

In order to keep the cleaning wheel 12 in elastic contact with the inclined rubber groove 47, after the inclined rubber groove 47 is sliced by the cutter head 9, the distance from the axis of the cleaning wheel 12 to the bottom of the base slide rail 15 of the motor 8 is reduced, and the elastic force applied by the cleaning wheel 12 to the inclined rubber groove 47 is reduced; after the cutterhead 9 cuts and slices the barks 25 in the inclined rubber groove 47 each time, the height of the arc-shaped guide rail 6 is reduced, so that the distance from the axis of the motor 8 to the bottom of the base slide rail 15 of the motor 8 is less than the distance from the axis of the cleaning wheel 12 to the bottom of the base slide rail 15 of the motor 8, the axis of the cleaning wheel 12 is higher than the axis of the motor 8, and the cleaning wheel 12 maintains a state of elastic pressure on the inclined rubber groove 47.

After the inclined rubber grooves 47 of the barks 25 are sliced by the cutterhead 9, the height of the inclined rubber grooves 47 is reduced; after the height of the arc-shaped guide rail 6 is adjusted to be lower by the lifting device 3, the first spring 40 is kept in a bending state, so that the cutter head 9 is kept in a state of being pressed on the inclined rubber groove 47; the second spring 51 is bent to maintain the cleaning wheel 12 in a state of being pressed against the inclined rubber groove 47.

Claims

1. The using method of the tapping robot comprises a tree wrapping belt (1), a tapping manipulator (2), a lifting device (3) and a controller (4), wherein the tapping manipulator (2) is connected with the lifting device (3), and the lifting device (3) is connected with the tree wrapping belt (1); the rubber tapping manipulator (2) comprises a rubber tapping knife device (5), an arc-shaped guide rail (6) and a rubber cement removing device (7), the rubber tapping knife device (5) comprises a motor (8), a cutter head (9) and a driving bevel gear (10), the rubber cement removing device (7) comprises a driven bevel gear (11) and a cleaning wheel (12), the lifting device (3) comprises a lifting nut (17), a lifting screw (18) and a lifting joint (19), and the controller (4) is provided with a starting switch (20), a stopping switch (21), a rubber tapping sensor (22) and a rubber tapping induction part (23); the lifting nut (17) of the lifting device (3) comprises a left lifting nut (26) and a right lifting nut (27), the lifting screw (18) comprises a left lifting screw (28) and a right lifting screw (29), and the lifting joint (19) comprises a left lifting joint (30) and a right lifting joint (31); two tapping sensors (22) are arranged, one tapping sensor is arranged on the left lifting joint (30), and the other tapping sensor is arranged on the right lifting joint (31); the two tapping sensing parts (23) are arranged, one tapping sensing part is arranged on the left side of a base sliding rail (15) of the tapping knife device (5), the other tapping sensing part is arranged on the right side of the base sliding rail (15) of the tapping knife device (5), the driving bevel gear (10) is connected with the cutter head (9) through a first spring (40), and the driven bevel gear (11) is connected with the cleaning wheel (12) through a second spring (51);

the method is characterized in that: the use method of the tapping robot comprises the following steps: when tapping is started in the first day, a starting groove (52), an inclined rubber groove (47) and a rubber guiding groove (48) are cut by a common rubber tapping knife before the bark (25) of the rubber tree (24), the starting groove (52) is communicated with the inclined rubber groove (47) and the rubber guiding groove (48), the lower end of the rubber guiding groove (48) of the bark (25) is connected with a rubber receiving tongue groove (49), a rubber cup (50) is placed below the rubber receiving tongue groove (49), and the rubber tapping range of the bark (25) of the rubber tree (24) is fixed; then, tightly wrapping the tree wrapping belt (1) on the rubber tree (24) by using an attaching buckle (45) of the tree wrapping belt (1), enabling a tapping hole (46) of the tree wrapping belt (1) to face to a position of a bark (25) of the rubber tree (24) needing tapping, enabling the tapping manipulator (2) to be located at the position of the tapping hole (46) of the tree wrapping belt (1), enabling the cutter head (9) to be located at the position of a starting groove (52), and enabling the cutter head (9) of the tapping manipulator (2) to be in contact with an inclined rubber groove (47) of the bark (25); after the tree wrapping belt (1) is tightly wrapped on the rubber tree (24), the starting switch (20) is pressed down, and the controller (4) controls the rubber tapping robot to work according to a set program; when the rubber tapping manipulator (2) taps rubber, the controller (4) controls a motor (8) of the rubber tapping manipulator (2) to drive a driving bevel gear (10) and a cutter head (9) to rotate, the driving bevel gear (10) drives a driven bevel gear (11) and a cleaning wheel (12) to rotate, the rotating cleaning wheel (12) cleans daub (44) of an inclined rubber groove (47) of a bark (25), and the rotating cutter head (9) cuts and slices the inclined rubber groove (47) of the bark (25); the driving bevel gear (10) rolls from left to right along a gear groove (13) of the arc-shaped guide rail (6), drives a machine base slide rail (15) of the motor (8) to move from left to right along a slide groove (14), and drives a rotating cutter head (9) to move a planing piece from the left side of the oblique rubber groove (47) to the right side of the oblique rubber groove (47) along the oblique rubber groove (47) of the bark (25); when the inclined rubber groove (47) of the bark (25) cut by the cutter head (9) moves to the position of the rubber guiding groove (48), the rubber tapping sensing piece on the right side of the machine base sliding rail (15) approaches the rubber tapping sensor on the right lifting joint (31), the rubber tapping sensor transmits a signal of the rubber tapping sensing piece to the controller (4), the controller (4) controls the motor (8) to drive the driving bevel gear (10) and the cutter head (9) to rotate reversely, the driving bevel gear (10) rolls from right to left along the gear groove (13) of the arc-shaped guide rail (6), the machine base sliding rail (15) of the motor (8) is driven to move from right to left along the sliding groove (14), and the rotating cutter head (9) is driven to move from right to left along the inclined rubber groove (47) of the bark (25); meanwhile, the driven bevel gear (11) moves from right to left along the base slide rail (15) of the motor (8), and the cleaning wheel (12) moves from right to left along the bevel rubber groove (47) along with the driven bevel gear (11); when a tapping sensing piece on the left side of the base sliding rail (15) approaches a tapping sensor on the left lifting joint (30), the tapping sensor transmits a signal to the controller (4), the controller (4) controls the motor (8) to stop, and the driving bevel gear (10) and the cutter head (9) stop rotating; glue flowing out of the barks (25) after being sliced and cut by the cutter head (9) flows into the glue cup (50) along the inclined glue groove (47), the glue guiding groove (48) and the glue tongue connecting groove (49); when glue of a glue cup (50) is harvested on the first day, the arc-shaped guide rail (6) is adjusted to descend by using the left lifting screw (28) and the right lifting screw (29), and the descending range of the arc-shaped guide rail (6) is controlled by using the left scale (34) and the right scale (35); the controller (4) controls the rubber tapping manipulator (2) to tap rubber on the bark (25) of the rubber tree (24) on the next day, the cutter disc (9) cuts and slices the bark (25) along the inclined rubber groove (47) and then resets, and the cleaning wheel (12) positioned on the right side of the cutter disc (9) resets after cleaning the daub along the inclined rubber groove (47); the circulation is continuously carried out; thereby implementing unmanned automatic tapping of the rubber tree (24); the rotating direction of the cutter head (9) of the tapping manipulator (2) for cutting and slicing the barks (25) is clockwise, and when the cutter head (9) rotates anticlockwise, the cutter head (9) does not cut and slice the barks (25); the controller (4) is provided with an automatic tapping program, a programming input interface and a programmer; when the rubber tapping machine is used, the number of rubber tapping days of the rubber tapping manipulator (2) in the whole rubber tapping season and the time for starting rubber tapping of the rubber tapping manipulator (2) every day are set by using a programmer; after the rubber tapping days and the time for starting rubber tapping every day are set, a starting switch (20) is pressed, and a controller (4) controls the rubber tapping robot to work according to a set program; the controller (4) controls a cutter head (9) of the rubber tapping manipulator (2) to move from left to right along an inclined rubber groove (47) of a bark (25) of a rubber tree (24) for slicing, the surface of the bark (25) of the inclined rubber groove (47) is cut, and after the cutter head (9) moves to the right to reach the position of a rubber guiding groove (48), the controller (4) controls the cutter head (9) of the rubber tapping manipulator (2) to return to the position of a starting groove (52); glue flowing out of the barks (25) after being sliced and cut by the cutter head (9) flows into the glue cup (50) along the inclined glue groove (47), the glue guiding groove (48) and the glue tongue connecting groove (49), and the process is circulated continuously; when a cutter head (9) of the tapping manipulator (2) slices the barks (25), a motor (8) drives a driving bevel gear (10) to rotate clockwise, the driving bevel gear (10) is meshed with a groove tooth (42) at the bottom of a gear groove (13) of the arc-shaped guide rail (6), and the driving bevel gear (10) moves from left to right along the gear groove (13) of the arc-shaped guide rail (6); when the cutter head (9) returns, the motor (8) drives the driving bevel gear (10) to rotate in the anticlockwise direction, the driving bevel gear (10) is meshed with groove teeth (42) at the bottom of a gear groove (13) of the arc-shaped guide rail (6), and the driving bevel gear (10) moves from right to left along the gear groove (13) of the arc-shaped guide rail (6); when the daub removing device (7) is used for removing daub (44) in the inclined daub groove (47), the driving bevel gear (10) drives the driven bevel gear (11) to rotate in the anticlockwise direction, the driven bevel gear (11) drives the cleaning wheel (12) to rotate in the anticlockwise direction, and the cleaning wheel (12) moves from left to right along with the driving bevel gear (10) while rotating in the anticlockwise direction; when the daub removing device (7) returns, the driving bevel gear (10) drives the driven bevel gear (11) to rotate clockwise, and the cleaning wheel (12) moves from right to left along with the driving bevel gear (10); the cleaning wheel (12) is a one-way transmission cleaning wheel (12), when the driven helical gear (11) rotates in the anticlockwise direction, the cleaning wheel (12) rotates in the anticlockwise direction along with the driven helical gear (11), and when the driven helical gear (11) rotates in the clockwise direction, the cleaning wheel (12) does not rotate.

2. The use method of the tapping robot as claimed in claim 1, wherein: when elevating gear (3) use, rotate left lifting screw (28) and right lifting screw (29) simultaneously, the number of turns that makes left lifting screw (28) and right lifting screw (29) rotatory is the same, left lifting joint (30) are followed left lifting screw (28) and are descended, right lifting joint (31) are followed right lifting screw (29) and are descended, left lifting screw (28) and right lifting screw (29) are followed in arc guide rail (6) and are descended, motor (8) on arc guide rail (6) are followed arc guide rail (6) and are descended, make blade disc (9) and cleaning wheel (12) hug closely oblique gluey groove (47).

3. The use method of the tapping robot as claimed in claim 2, wherein: when the rubber tapping robot is used, each rubber tree (24) of the rubber forest is provided with one rubber tapping robot, the rubber tapping robot on each rubber tree (24) automatically taps rubber according to a set program every morning, and a rubber tapping worker only needs to collect glue of the rubber cup (50) every day.

4. The use method of the tapping robot as claimed in claim 3, wherein: when the rubber tapping manipulator (2) taps rubber, the motor (8) drives the cutter head (9) to rotate clockwise, the cutter head (9) moves from left to right downhill along the inclined rubber groove (47) of the bark (25), and the cutter head (9) rotating clockwise slices the inclined rubber groove (47) of the bark (25); when the cutter disc (9) returns, the motor (8) drives the cutter disc (9) to rotate counterclockwise, the cutter disc (9) moves from right to left along the inclined rubber groove (47) of the bark (25) and goes up the slope, and the cutter disc (9) rotating counterclockwise does not dig the inclined rubber groove (47) of the bark (25).

5. The use method of the tapping robot as claimed in claim 4, wherein: the height of a tapping hole (46) of the tree wrapping belt (1) is larger than that of a position where the rubber bark (25) needs to be tapped, so that the rubber tapping mechanical arm (2) can move at the tapping hole (46).

6. The use method of the tapping robot as claimed in claim 5, wherein: the cleaning wheel (12) is made of elastic materials, comb teeth are arranged on the periphery of the cleaning wheel (12), and the cleaning wheel (12) is in contact with the daub (44) on the inclined daub groove (47) of the bark (25) when rotating to remove the daub (44).