CN110558196A - Rubber tapping robot - Google Patents
Rubber tapping robot Download PDFInfo
- Publication number
- CN110558196A CN110558196A CN201910649174.3A CN201910649174A CN110558196A CN 110558196 A CN110558196 A CN 110558196A CN 201910649174 A CN201910649174 A CN 201910649174A CN 110558196 A CN110558196 A CN 110558196A
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- CN
- China
- Prior art keywords
- feed
- chassis
- laser radar
- dimensional laser
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a tapping robot, which relates to the technical field of tapping tools and comprises the following components: a mobile chassis, a three-dimensional laser radar, a power supply, a controller and a cutting mechanism which are arranged on the mobile chassis, the fixed part of the three-dimensional laser radar is fixedly arranged on the movable chassis, the movable part of the three-dimensional laser radar is fixedly arranged on the cutting mechanism, the fixed part is electrically connected with the movable part, the movable chassis moves to adjust the cutting position of the cutting mechanism, the cutting mechanism is used for cutting rubber, the movable chassis, the three-dimensional laser radar and the cutting mechanism are all electrically connected with the controller, the movable chassis, the three-dimensional laser radar and the cutting mechanism are all electrically connected with the power supply so as to realize automatic rubber tapping of the rubber tapping robot, therefore, the defects of high labor intensity and shortage of glue workers in the conventional manual glue tapping are overcome, the labor intensity of glue tapping can be reduced, and the glue tapping efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of tapping tools, in particular to a tapping robot.
Background
Rubber tapping of rubber trees is as long as 30-40 years, and the labor investment of rubber tapping accounts for more than 60% of the total labor investment of the whole rubber production, so that rubber tapping is the most important link in rubber production. The quality of the tapping technology and the tapping system not only influences the yield of the rubber trees, but also influences the rubber production life of the rubber trees; meanwhile, the yield of the rubber trees is closely related to the temperature, the humidity and the illumination in the field environment, artificial rubber tapping is mainly adopted at the present stage, in order to ensure the rubber yield, rubber tapping is usually carried out in the early morning, and the heavy physical strength and the severe working environment cause the shortage of rubber workers to become a new normality of the whole natural rubber industry development and also severely restrict the natural rubber development. Therefore, how to reduce the labor intensity of manual tapping and improve the tapping labor productivity is the bottleneck of the development of the current natural rubber industry.
Disclosure of Invention
The invention aims to provide a rubber tapping robot, which aims to solve the problems in the prior art, can reduce the labor intensity of rubber tapping and is further beneficial to improving the yield of rubber.
In order to achieve the purpose, the invention provides the following scheme:
The invention provides a tapping robot which comprises a moving chassis, a three-dimensional laser radar, a power supply, a controller and a cutting mechanism, wherein the power supply, the controller and the cutting mechanism are arranged on the moving chassis, a fixed part of the three-dimensional laser radar is fixedly arranged on the moving chassis, a movable part of the three-dimensional laser radar is fixedly arranged on the cutting mechanism, the movable part of the three-dimensional laser radar is electrically connected with the fixed part of the three-dimensional laser radar, the moving chassis is used for adjusting the cutting position of the cutting mechanism, the cutting mechanism is used for cutting rubber, the moving chassis, the three-dimensional laser radar and the cutting mechanism are electrically connected with the controller, and the moving chassis, the three-dimensional laser radar, the cutting mechanism and the controller are electrically connected with the power supply.
Preferably, the mobile chassis comprises a crawler chassis, an installation frame and a motor, wherein the installation frame is fixedly arranged on the crawler chassis, the motor is fixedly arranged on the installation frame, the controller is electrically connected with the motor, an output shaft of the motor is fixedly connected with the crawler chassis, and the power supply is electrically connected with the motor.
Preferably, the cutting mechanism comprises a mechanical arm fixing plate, a mechanical arm, a feed mechanism fixing frame and a feed mechanism; the mechanical arm fixing plate is fixedly connected with the mounting rack, the mechanical arm is electrically connected with the controller, one end of the mechanical arm is fixedly connected with the mechanical arm fixing plate, the free end of the mechanical arm is fixedly connected with the feed mechanism fixing frame, and the feed mechanism is fixedly arranged on the feed mechanism fixing frame.
Preferably, the feed mechanism comprises a feed driving device, a cutting knife and a feed control device, the feed driving device is fixedly arranged on the feed mechanism fixing frame, the output end of the feed driving device is fixedly connected with the cutting knife, the feed control device is electrically connected with the feed driving device, and the controller is electrically connected with the feed control device.
Preferably, the feed driving device is a motor.
Preferably, the mechanical arm is a six-axis mechanical arm.
Preferably, the tapping robot further comprises a feeding limiting mechanism fixing frame and a feeding limiting mechanism, wherein the feeding limiting mechanism fixing frame is fixedly arranged on the feeding mechanism fixing frame, and the feeding limiting mechanism is fixedly arranged on the feeding limiting mechanism fixing frame.
Preferably, the movable part of the three-dimensional laser radar comprises a light source and a camera, the light source and the camera are both fixedly arranged on the fixed frame of the feed limiting mechanism, and the light source and the camera are both electrically connected with the controller.
Compared with the prior art, the invention has the following technical effects:
The invention provides a rubber tapping robot which comprises a moving chassis, a three-dimensional laser radar, a power supply, a controller and a cutting mechanism, wherein the power supply, the controller and the cutting mechanism are arranged on the moving chassis, the three-dimensional laser radar monitors the surrounding environment of the cutting mechanism and sends monitoring information to the controller, and the controller controls the moving chassis to move and the cutting mechanism to cut rubber according to the monitoring condition of the three-dimensional laser radar, so that the rubber tapping robot can automatically cut the rubber, the labor intensity of rubber tapping is reduced, and the yield of the rubber is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is an isometric view of a tapping robot provided in the present invention;
Fig. 2 is a partially enlarged view of a in fig. 1.
Wherein: the system comprises a crawler chassis 1, a battery 2, a controller 3, a mounting frame 4, a feed mechanism mounting frame 5, a feed mechanism 6, a cutter 7, a feed limiting mechanism 8, a camera 9, a light source 10, a feed limiting mechanism mounting frame 11, a six-axis mechanical arm 12, a mechanical arm fixing plate 13, a micro host 14, a three-dimensional laser radar 15 and a motor 16.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
the invention aims to provide a rubber tapping robot, which aims to solve the problems in the prior art, can reduce the labor intensity of rubber tapping and is further beneficial to improving the yield of rubber.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in FIGS. 1-2: the embodiment provides a tapping robot, which comprises a movable chassis, a three-dimensional laser radar 15, a power supply arranged on the movable chassis, a controller 3 and a cutting mechanism, wherein the movable chassis is electrically connected with the controller 3, a fixed part of the three-dimensional laser radar 15 is fixedly arranged on the movable chassis, the movable chassis moves to adjust the cutting position of the cutting mechanism, the cutting mechanism is used for cutting rubber, a movable part of the three-dimensional laser radar 15 is fixedly arranged on the cutting mechanism and used for monitoring the cutting environment around the cutting mechanism and transmitting monitoring information to the controller 3, the controller 3 controls the movable chassis to move to a proper position according to the monitoring information, the cutting mechanism performs cutting action, the movable chassis, the three-dimensional laser radar 15, the cutting mechanism and the controller 3 are electrically connected with the power supply, and the power supply is used for connecting the movable chassis, The three-dimensional laser radar 15, the cutting mechanism and the controller 3 provide electric energy, and the power supply is preferably a battery 2, so that automatic rubber tapping of the rubber tapping robot is realized, and therefore, the rubber tapping labor intensity is favorably reduced, and the rubber yield is favorably improved.
the mobile chassis comprises a crawler chassis 1, a mounting frame 4 and a motor, the mounting frame 4 is fixedly arranged on the crawler chassis 1, the motor 16 is fixedly arranged on the mounting frame 4, the controller 3 is electrically connected with the motor 16, the controller 3 controls the motor 16 to work, an output shaft of the motor 16 is fixedly connected with the crawler chassis 1, and a power supply is electrically connected with the motor 16 and used for providing electric energy for the motor 16.
The cutting mechanism comprises a mechanical arm fixing plate 13, a mechanical arm, a feed mechanism fixing frame 5 and a feed mechanism 6; arm fixed plate 13 and mounting bracket 4 fixed connection, the arm is connected with 3 electricity of controller, arm one end and arm fixed plate 13 fixed connection, arm free end and feed mechanism mount 5 fixed connection, feed mechanism 6 is fixed to be set up on feed mechanism mount 5, controller 3 is used for controlling the arm and takes place the position change to the free end of messenger arm removes the position of the feed mechanism cutting rubber of being convenient for.
The feed mechanism 6 comprises a feed driving device, a cutting knife 7 and a feed control device, the feed driving device is fixedly arranged on a feed mechanism fixing frame 5, the output end of the feed driving device is fixedly connected with the cutting knife 7 through a chuck, the feed control device is electrically connected with the feed driving device and used for controlling whether the feed driving device is opened or not and the driving direction of the feed driving device, and the controller 3 is electrically connected with the feed control device and used for controlling whether the feed control device is opened or not.
The feed driving device is a driving motor.
The robot arm is a six-axis robot arm 12.
The rubber tapping robot further comprises a feeding limiting mechanism fixing frame 11 and a feeding limiting mechanism 8, wherein the feeding limiting mechanism fixing frame 11 is fixedly arranged on the feeding mechanism fixing frame 5, the feeding limiting mechanism 8 is fixedly arranged on the feeding limiting mechanism fixing frame 11 and used for limiting the position of a cutting knife 7 on the feeding mechanism, and the feeding limiting mechanism 8 is an existing feeding limiting mechanism in the prior art.
Three-dimensional laser radar 15's movable part includes light source 10 and camera 9, camera 9 is used for scanning the cutting environment all around, light source 10 is used for improving the luminance in scanning area, be favorable to improving the definition of scanning the picture, light source 10 and camera 9 all fix the setting on feed stop gear mount 11, light source 10 and camera 9 all are connected with controller 3 electricity, controller 3 is used for controlling whether light source 10 and camera 9 open, and, the picture of camera 9 scanning need be through the processing of miniature host computer 14 in the three-dimensional laser radar 15 fixed part, information transmission after miniature host computer 14 handles gives controller 3, rethread controller 3 controls subsequent cutting action.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A tapping robot which is characterized in that: including removing chassis, three-dimensional laser radar and setting up power, controller and cutting mechanism on the removal chassis, three-dimensional laser radar's fixed part is fixed to be set up on the removal chassis, three-dimensional laser radar's movable part is fixed to be set up on the cutting mechanism, three-dimensional laser radar's fixed part with three-dimensional laser radar's movable part electricity is connected, remove the chassis and remove and be used for adjusting cutting mechanism's cutting position, cutting mechanism is used for cutting rubber, remove the chassis three-dimensional laser radar with cutting mechanism all with the controller electricity is connected, remove the chassis three-dimensional laser radar cutting mechanism with the controller all with the power electricity is connected.
2. Tapping robot as claimed in claim 1, characterized in that: the mobile chassis comprises a crawler chassis, a mounting frame and a motor, the mounting frame is fixedly arranged on the crawler chassis, the motor is fixedly arranged on the mounting frame, the controller is electrically connected with the motor, an output shaft of the motor is fixedly connected with the crawler chassis, and the power supply is electrically connected with the motor.
3. Tapping robot as claimed in claim 2, characterized in that: the cutting mechanism comprises a mechanical arm fixing plate, a mechanical arm, a feed mechanism fixing frame and a feed mechanism; the mechanical arm fixing plate is fixedly connected with the mounting rack, the mechanical arm is electrically connected with the controller, one end of the mechanical arm is fixedly connected with the mechanical arm fixing plate, the free end of the mechanical arm is fixedly connected with the feed mechanism fixing frame, and the feed mechanism is fixedly arranged on the feed mechanism fixing frame.
4. Tapping robot as claimed in claim 3, characterized in that: the feed mechanism comprises a feed driving device, a cutting knife and a feed control device, the feed driving device is fixedly arranged on the feed mechanism fixing frame, the output end of the feed driving device is fixedly connected with the cutting knife, the feed control device is electrically connected with the feed driving device, and the controller is electrically connected with the feed control device.
5. Tapping robot as claimed in claim 4, characterized in that: the feed driving device is a driving motor.
6. Tapping robot as claimed in claim 3, characterized in that: the mechanical arm is a six-shaft mechanical arm.
7. Tapping robot as claimed in claim 3, characterized in that: the automatic feeding device is characterized by further comprising a feeding limiting mechanism fixing frame and a feeding limiting mechanism, wherein the feeding limiting mechanism fixing frame is fixedly arranged on the feeding mechanism fixing frame, and the feeding limiting mechanism is fixedly arranged on the feeding limiting mechanism fixing frame.
8. The tapping robot of claim 7, wherein: the movable part of the three-dimensional laser radar comprises a light source and a camera, wherein the light source and the camera are fixedly arranged on the feed limiting mechanism fixing frame, and the light source and the camera are electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910649174.3A CN110558196A (en) | 2019-07-18 | 2019-07-18 | Rubber tapping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910649174.3A CN110558196A (en) | 2019-07-18 | 2019-07-18 | Rubber tapping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110558196A true CN110558196A (en) | 2019-12-13 |
Family
ID=68773065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910649174.3A Pending CN110558196A (en) | 2019-07-18 | 2019-07-18 | Rubber tapping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110558196A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111448967A (en) * | 2020-04-26 | 2020-07-28 | 北京金自能源科技发展有限公司 | Movable rubber tapping robot |
| CN111469149A (en) * | 2020-04-13 | 2020-07-31 | 中国农业大学 | Robot end effector based on hand-eye servo |
| CN113063349A (en) * | 2021-03-12 | 2021-07-02 | 中国农业大学 | Rubber tree cutting point detection system and detection method |
| CN114654483A (en) * | 2022-04-29 | 2022-06-24 | 哈尔滨理工大学 | Intelligent rubber tapping robot system implementation method based on Aliyun Internet of things |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2011089467A1 (en) * | 2010-01-20 | 2011-07-28 | Mathew Zakariahs | Motorised rubber tapping machine |
| CN105766551A (en) * | 2016-03-04 | 2016-07-20 | 中国热带农业科学院橡胶研究所 | Automatic gum tapping and collecting system based on unmanned driving system |
| CN107494194A (en) * | 2017-07-24 | 2017-12-22 | 中国农业大学 | One kind rubber tapping robot |
| CN207204798U (en) * | 2017-07-21 | 2018-04-10 | 徐伯琴 | A kind of product oil internal floating roof tank cleaning robot |
| CN108621119A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of rotation displacement material carrying machine arm and its working method |
| CN109702707A (en) * | 2019-01-04 | 2019-05-03 | 中科开创（广州）智能科技发展有限公司 | A kind of distribution network live line work robot |
| CN109732555A (en) * | 2019-01-30 | 2019-05-10 | 华能汕头海门发电有限责任公司 | A kind of robot system of robot arm end effector that playing leak stopping with twirl |
| CN208852298U (en) * | 2018-08-28 | 2019-05-14 | 中信重工开诚智能装备有限公司 | A kind of large size fire-fighting fire extinguishing reconnaissance robot |
-
2019
- 2019-07-18 CN CN201910649174.3A patent/CN110558196A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011089467A1 (en) * | 2010-01-20 | 2011-07-28 | Mathew Zakariahs | Motorised rubber tapping machine |
| CN105766551A (en) * | 2016-03-04 | 2016-07-20 | 中国热带农业科学院橡胶研究所 | Automatic gum tapping and collecting system based on unmanned driving system |
| CN207204798U (en) * | 2017-07-21 | 2018-04-10 | 徐伯琴 | A kind of product oil internal floating roof tank cleaning robot |
| CN107494194A (en) * | 2017-07-24 | 2017-12-22 | 中国农业大学 | One kind rubber tapping robot |
| CN108621119A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of rotation displacement material carrying machine arm and its working method |
| CN208852298U (en) * | 2018-08-28 | 2019-05-14 | 中信重工开诚智能装备有限公司 | A kind of large size fire-fighting fire extinguishing reconnaissance robot |
| CN109702707A (en) * | 2019-01-04 | 2019-05-03 | 中科开创（广州）智能科技发展有限公司 | A kind of distribution network live line work robot |
| CN109732555A (en) * | 2019-01-30 | 2019-05-10 | 华能汕头海门发电有限责任公司 | A kind of robot system of robot arm end effector that playing leak stopping with twirl |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111469149A (en) * | 2020-04-13 | 2020-07-31 | 中国农业大学 | Robot end effector based on hand-eye servo |
| CN111448967A (en) * | 2020-04-26 | 2020-07-28 | 北京金自能源科技发展有限公司 | Movable rubber tapping robot |
| CN111448967B (en) * | 2020-04-26 | 2022-01-28 | 北京金自能源科技发展有限公司 | Movable rubber tapping robot |
| CN113063349A (en) * | 2021-03-12 | 2021-07-02 | 中国农业大学 | Rubber tree cutting point detection system and detection method |
| CN114654483A (en) * | 2022-04-29 | 2022-06-24 | 哈尔滨理工大学 | Intelligent rubber tapping robot system implementation method based on Aliyun Internet of things |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191213 |
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| RJ01 | Rejection of invention patent application after publication |