CN110682302B - Rubber tapping robot control system and method - Google Patents
Rubber tapping robot control system and method Download PDFInfo
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- CN110682302B CN110682302B CN201910970989.1A CN201910970989A CN110682302B CN 110682302 B CN110682302 B CN 110682302B CN 201910970989 A CN201910970989 A CN 201910970989A CN 110682302 B CN110682302 B CN 110682302B
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- 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
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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Abstract
The invention relates to a rubber tapping robot control system and a method, comprising a data acquisition module, a data processing module, a data storage module and a power supply battery, wherein the power supply battery is used for supplying power to each module; the data acquisition module transmits the acquired tapping information to the data processing module, the tapping information is processed by the data processing module and then transmitted to the tapping robot and the data storage module, and the tapping robot performs tapping operation according to the received control information and performs data storage by the data storage module. The invention achieves the requirements of rubber tapping by controlling the movement in three directions of surrounding the tree, being parallel to the tree and being vertical to the tree and controlling the rubber tapping depth and track, and has simple principle, sensitive control and good safety and stability; can be widely applied to the fields of depth, track, helix angle and the like of the novel natural rubber tapping robot.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a rubber tapping robot control system and method.
Background
The rubber tapping robot control system can be applied to the automatic cutting field of rubber tapping robots, the control accuracy is improved, the robot rubber tapping replaces the traditional manual rubber tapping, the manual operation errors can be reduced, and the rubber tapping difficulty is reduced. The rubber tapping mode of the rubber tapping instrument can be divided into traditional rubber tapping, electric rubber tapping and robot rubber tapping.
At present, most tapping apparatus are mostly dolly formula tapping robot in the market, and the structure is complicated, and control system divide into a plurality of parts, including walking control, location and a plurality of parts such as seek position control and tapping operation execution control, has covered a plurality of technical field such as machinery, electromechanics, communication, and the technical surface is wide, and the technical degree of difficulty is big, and work efficiency is low, with high costs and multiple problems such as working range is limited.
Disclosure of Invention
In view of the above problems, the present invention provides a tapping robot control system and method, which can achieve the tapping requirements by controlling the movements around the tree circumference, parallel to the tree and perpendicular to the tree, and controlling the tapping depth and trajectory, and has the advantages of simple principle, sensitive control, and good safety and stability.
In order to achieve the purpose, the invention adopts the following technical scheme: a rubber tapping robot control system comprises a data acquisition module, a data processing module, a data storage module and a power supply battery, wherein the power supply battery is used for supplying power to each module; the data acquisition module transmits the acquired tapping information to the data processing module, the tapping information is processed by the data processing module and then transmitted to the tapping robot and the data storage module, and the tapping robot performs tapping operation according to the received control information and performs data storage by the data storage module; the tapping robot comprises a clamping mechanism, a cutting mechanism and a moving mechanism; the tapping robot is fixed on a rubber tree through the clamping mechanism, the moving mechanism and the data acquisition module are arranged on the clamping mechanism and are connected with the data processing module, the data acquisition module transmits a received signal to the data processing module, and the data processing module controls the moving mechanism to act according to a received measurement signal; the cutting mechanism is arranged on the moving mechanism, and the moving mechanism drives the cutting mechanism to perform spiral motion on the clamping mechanism; the cutting mechanism is also connected with the data processing module, and the data processing module controls the work of the cutting mechanism; the clamping mechanism comprises a track toothed ring frame, an arc toothed ring frame, a clamping fixing frame and a light beam supporting rod; the number of the arc-shaped gear ring frames is two, and the end parts of the two arc-shaped gear ring frames are connected together through the light beam supporting rod respectively; two ends of each arc-shaped gear ring frame are connected into a closed structure through the clamping fixing frame; the track gear ring frames are fixedly arranged on the lower portion of the arc-shaped gear ring frame on the upper portion and the upper portion of the arc-shaped gear ring frame on the lower portion respectively and are used for being matched with the movement mechanism to act.
Further, the movement mechanism comprises a driving gear, a driven gear, a first driving motor, a movement rotating shaft, an arc-shaped connecting plate, a first rolling screw pair, a second driving motor, a third driving motor and a first gear; an output shaft of the first driving motor is connected with the driving gear and transmits power to the driving gear; the driving gear is meshed with the driven gear, the driven gear is fixedly arranged on the movement rotating shaft, two ends of the movement rotating shaft are respectively provided with one first gear, the two first gears are coaxially connected with the driven gear, and the two first gears are respectively meshed with the two track gear ring frames; the two ends of the movement rotating shaft are respectively provided with the arc-shaped connecting plate, the first driving motor and the second driving motor are arranged on the arc-shaped connecting plate below the movement rotating shaft, the second driving motor is used for being connected with the first rolling screw pair arranged in the vertical direction, the second rolling screw pair is arranged on the first rolling screw pair along the horizontal direction and is in a vertical state with the first rolling screw pair, the second rolling screw pair is driven by the third driving motor, and the third driving motor is also arranged on the first rolling screw pair; and the cutting mechanism is arranged on the sliding block of the second rolling lead screw pair.
Further, the first rolling screw pair, the third driving motor and the second rolling screw pair are connected in the following manner: the second rolling screw pair is arranged on a groove-shaped connecting back plate, one end of the connecting back plate is provided with the third driving motor, and the connecting back plate is connected to the sliding block of the first rolling screw pair through an L-shaped adapter plate.
Further, the data acquisition module comprises a limit sensor, an ultrasonic sensor and a circumference limit sensor; the two ends of the connecting back plate of the first rolling lead screw pair and the two ends of the connecting back plate of the second rolling lead screw pair are respectively provided with the limiting sensors, the ultrasonic sensors are arranged below the tool apron on the sliding block of the second rolling lead screw pair, and the circumference limiting sensors are arranged at the two end parts of each arc-shaped gear rack; the data acquisition module also comprises a signal conversion circuit, and each sensor transmits acquired signals into the data processing module through the signal conversion circuit.
Further, the cutting mechanism comprises a cutter holder, a cutter handle and a rubber cutter; the tool apron is arranged on the sliding block of the second rolling screw pair, one end of the tool shank is movably connected with the tool apron, and the other end of the tool shank is connected with the rubber cutter.
Further, the data processing module comprises a central control unit; the central control unit is used for processing tapping information transmitted by each sensor and transmitting the tapping information to each driver in the tapping robot, and the drivers control the up-and-down direction movement motor, the circumferential direction movement motor and the cutter advance and retreat motor in the tapping robot to act; the circumferential direction movement motor is the first driving motor, the up-and-down movement direction motor is the second driving motor, and the cutter feeding and retracting motor is the third driving motor.
Further, the power supply battery adopts a combined structure of a 24v large-capacity lithium polymer battery and a solar energy conversion module.
A tapping robot control method based on the control system comprises the following steps: 1) receiving a tapping instruction sent by a central control unit, judging whether the self-checking of the tapping robot is normal or not, if so, actuating a circumferential direction movement motor, an up-and-down direction movement motor and a cutter feeding and retracting motor of the tapping robot, and stopping after each motor finds a positioning origin point in the movement direction through an up-and-down limiting sensor, an ultrasonic sensor and a circumferential limiting sensor to finish tapping preparation work; 2) judging whether each motor in the step 1) returns to a positioning original point or not, if the positioning original point is returned, keeping the cutter feeding and retracting motor and the motor in the circumferential direction still, enabling the motor to move in the vertical direction to work, stopping the motor from rotating after the motor reaches a tapping setting position, and scanning the tree diameter contour by an ultrasonic sensor arranged below the cutter holder; each motor is used as a motion cutting track according to the scanning information; 3) the feeding and retracting motor starts to rotate forwards, the feeding and retracting motor drives the rubber cutter to act, the ultrasonic sensor below the rubber cutter starts to work while feeding, the feeding depth information of the rubber cutter is sent out in real time, when the rubber cutter reaches the preset bark depth, the feeding action is finished, and the step 4 is carried out; 4) the feeding and retracting motor stops working, the circumferential direction movement motor and the up-down direction movement motor rotate forwards and work simultaneously at a preset speed matching relation, and the circumferential direction movement motor and the up-down direction movement motor drive the rubber cutter to perform spiral movement from bottom to top; 5) and judging whether the rubber cutter reaches a cutting end point, stopping rotating the circumferential direction motion motor and the up-down direction motion motor when the rubber cutter reaches the cutting end point, reversely rotating the cutter advancing and retracting motor, and quickly reversely rotating the circumferential direction motion motor, the up-down direction motion motor and the cutter advancing and retracting motor after the cutter point of the rubber cutter withdraws from the bark to reach a calibrated original point to finish a cutting process.
Furthermore, the lift angle of the spiral motion path of the rubber cutter is 20-30 degrees.
Further, the upper and lower limit sensors and the circumference limit sensor detect end point information, and the rubber cutter reaches a cutting end point.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the invention has stable control and no interference among modules, and simultaneously, each control part is easy to install and fix. 2. The invention has complete functions; the invention has the functions of automatic tapping, manual tapping, PID path correction, gum yield reminding, information management and the like, wherein the ultrasonic sensor and the inductive sensor are matched to realize depth control, a high-level signal is output after tapping is finished, corresponding judgment is made according to corresponding acquired information, and the tapping action of the robot is controlled. 3. The invention also has an anti-theft positioning function module, when the robot is disassembled, the system automatically sends an instruction to the information management system, and sends position information to the central control unit through GPS positioning according to the specific position of the robot. 4. The invention adopts wireless control, and the cutting force, the cutting depth and the helix angle are collected by the data collection module, sent to the central processing unit by the communication module and transmitted to the data storage module for storage. In addition, the central processing unit can remotely wake up the tapping robot by sending a command at regular time, so as to start tapping operation regionally and simultaneously. 5. The invention fills the market blank in the rubber tapping precision control field, and realizes various functions of PID rubber tapping path correction, rubber tree rubber tapping track pre-scanning, stress overload protection, information management and maintenance and the like; can be widely applied to the fields of depth, track, helix angle and the like of the novel natural rubber tapping robot.
Drawings
FIG. 1 is a schematic diagram of a control system according to the present invention;
FIG. 2 is a schematic diagram of the control function of the control system of the present invention;
FIG. 3 is a schematic structural view of a tapping robot according to the present invention;
FIG. 4 is a side view of FIG. 3;
FIG. 5 is a flow chart of a control method according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
As shown in fig. 1 and 2, the invention provides a tapping robot control system, which comprises a data acquisition module, a data processing module, a data storage module and a power supply battery, wherein the power supply battery is used for supplying power to each module. The data acquisition module transmits the acquired tapping information to the data processing module, the tapping information is processed by the data processing module and then transmitted to the tapping robot and the data storage module, and the tapping robot performs tapping operation according to the received control information and performs data storage by the data storage module. Wherein:
as shown in fig. 3 and 4, the tapping robot comprises a clamping mechanism, a cutting mechanism and a movement mechanism. The rubber tapping robot is fixed on a rubber tree through a clamping mechanism, the moving mechanism and the data acquisition module are arranged on the clamping mechanism and are connected with the data processing module, the data acquisition module transmits received signals to the data processing module, and the data processing module controls the moving mechanism to act according to the received measurement signals. The cutting mechanism is arranged on the moving mechanism, and the moving mechanism drives the cutting mechanism to perform spiral motion on the clamping mechanism; and the cutting mechanism is also connected with the data processing module, and the data processing module controls the work of the cutting mechanism.
In a preferred embodiment, the clamping mechanism comprises an arc-shaped gear ring frame 1, a light beam support rod 2, a clamping fixing frame 3 and a track gear ring frame 4. The number of the arc-shaped tooth ring frames 1 is two, and the end parts of the two arc-shaped tooth ring frames 1 are connected together through a light beam supporting rod 2 respectively; two ends of each arc-shaped gear ring frame 1 are connected into a closed structure through a clamping and fixing frame 3. The lower part of the arc-shaped tooth ring frame 1 positioned at the upper part and the upper part of the arc-shaped tooth ring frame 1 positioned at the lower part are respectively and fixedly provided with a track tooth ring frame 4 which is used for cooperating with a movement mechanism.
In the above embodiment, the inner side of the arc-shaped rack 1 is provided with the rubber fixing foot seats 5, the inner side of the clamping fixing frame 3 is also provided with the rubber fixing foot seats 5, and the connecting end of the rubber fixing foot seats 5 is a bolt rod, is in threaded connection with the arc-shaped rack 1 and the clamping fixing frame 3, and can be adjusted in a telescopic manner through threads. When the rubber tapping robot is used, the rubber fixing foot seats 5 and the barks of the rubber trees are adjusted and fastened together through threads, and then the whole rubber tapping robot is clamped on the rubber trees.
In the above embodiments, the U-shaped support frame 6 is disposed outside the arc-shaped rack 1, the U-shaped support frame 6 is disposed corresponding to the rubber fixing foot seat 5 inside the arc-shaped rack 1, and the bolt rod of the rubber fixing foot seat 5 passes through the arc-shaped rack 1 and is in threaded connection with the U-shaped support frame 6.
In a preferred embodiment, the motion mechanism comprises a driving gear 7, a driven gear 8, a first driving motor 9, a motion rotating shaft 10, a first gear 11, an arc-shaped connecting plate 12, a first rolling screw pair, a second rolling screw pair 13, a second driving motor 14 and a third driving motor 15. An output shaft of the first driving motor 9 is connected with the driving gear 7 and transmits power to the driving gear 7; the driving gear 7 is meshed with the driven gear 8, the driven gear 8 is fixedly arranged on the movement rotating shaft 10, two ends of the movement rotating shaft 10 are respectively provided with a first gear 11, the two first gears 11 are coaxially connected with the driven gear 8, the two first gears 11 are respectively meshed with the two track ring gear frames 4, power is transmitted to the movement rotating shaft 10 through the driven gear 8 by the driving gear 7, and the movement rotating shaft 10 drives the two first gears 11 to move on the two track ring gear frames 4. And arc-shaped connecting plates 12 are respectively arranged at two ends of the moving rotating shaft 10, and the arc-shaped connecting plates 12 are positioned at the inner side of the arc-shaped toothed ring frame 1 and are used for supporting the first driving motor 9, the first rolling screw pair, the second rolling screw pair 13, the second driving motor 14, the third driving motor 15 and the cutting mechanism so as to drive the components to move along the circumferential direction of the track toothed ring frame 4. The first driving motor 9 and the second driving motor 14 are both arranged on the arc-shaped connecting plate 12 located below, the second driving motor 14 is used for being connected with a first rolling screw pair arranged in the vertical direction, the second rolling screw pair 13 is arranged on the first rolling screw pair along the horizontal direction and is in a vertical state with the first rolling screw pair, the second rolling screw pair 13 is driven by the third driving motor 15, and the third driving motor 15 is also arranged on the first rolling screw pair.
In the above embodiment, the connection manner of the first rolling screw pair, the third driving motor 15 and the second rolling screw pair 13 is as follows: the second rolling screw pair 13 is arranged on a groove-shaped connecting back plate, a third driving motor 15 is arranged at one end of the connecting back plate, and the connecting back plate is connected to the sliding block of the first rolling screw pair through an L-shaped adapter plate 16.
In the above embodiments, the cutting mechanism is provided on the slider of the second rolling screw pair 13.
In the above embodiments, the first driving motor 9, the second driving motor 14 and the third driving motor 15 are all connected to the data processing module.
In a preferred embodiment, the cutting mechanism includes a knife holder 17, a knife handle, and a glue knife. The tool apron 17 is arranged on a sliding block of the second rolling screw pair 13, one end of the tool shank is movably connected with the tool apron 17, the other end of the tool shank is connected with the rubber cutter, and the depth of the rubber cutter cutting into the bark of the rubber tree is controlled by the second rolling screw pair 13 through the telescopic movement of the tool shank in the tool apron 17.
The data acquisition module comprises an upper limit sensor 18, a lower limit sensor 18, an ultrasonic sensor 19 and a circumference limit sensor 20. An upper limiting sensor 18 and a lower limiting sensor 18 are respectively arranged at two ends of a connecting back plate of the first rolling lead screw pair 13 and two ends of a connecting back plate of the second rolling lead screw pair 13, an ultrasonic sensor 19 is arranged on a sliding block of the second rolling lead screw pair 13 below a tool apron 17, the limiting positions of the sliding block movement of the first rolling lead screw pair 13 and the second rolling lead screw pair 13 are realized through the upper limiting sensor 18 and the lower limiting sensor 18, and when the limiting positions are reached, the sliding blocks automatically; the adjustment of the feeding depth of the rubber cutter is realized through the ultrasonic sensor 19, and when the change of the bark surface is discontinuous, the rubber cutter can be subjected to avoidance treatment: when the distance between the rubber cutter and the surface of the bark is continuously measured by the ultrasonic sensor 19 and gradually reduced to reach the set threshold value, the data processing module controls the rubber cutter to lift by a preset height so as to avoid the obstacle to complete the cutting operation. The circumference limit sensors 20 are arranged at two end parts of each arc-shaped tooth ring frame 1, when the cutting mechanism moves to the limit position, the circumference limit sensors 20 transmit the acquired signals to the data processing module, and the data processing module controls the movement mechanism to return the cutting mechanism to the starting point according to the original path; the up-and-down movement sliding block can carry out cutting movement between two photoelectric sensors of the cutting mechanism, and when the cutting mechanism reaches the limit position, the cutting mechanism automatically stops returning to the starting point.
The data acquisition module also comprises a signal conversion circuit, and each sensor transmits acquired signals into the data processing module through the signal conversion circuit.
In the above embodiment, the upper and lower limit sensors 18 are photoelectric sensors; the circumferential limit sensor 20 is an inductive sensor.
The data processing module comprises a central control unit; the central control unit is used for processing the tapping information transmitted by each sensor and transmitting the tapping information to each driver in the tapping robot, and the drivers control the up-and-down motion motor, the circumferential motion motor and the cutter advance and retreat motor of the tapping robot to act; wherein, the motor of the circumferential direction movement is a first driving motor 9, the motor of the up-and-down direction movement is a second driving motor 14, and the cutter feeding and retracting motor is a third driving motor 15;
the power supply battery adopts a combined structure of a 24v high-capacity lithium polymer battery and a solar energy conversion module, the solar energy conversion module stores solar energy into the lithium polymer battery, and the solar energy conversion module can be used for circularly charging and discharging to provide a power supply for a control system, and has the characteristics of long operation time, high safety performance and the like.
In the above embodiments, the present invention further includes an alarm module, the alarm module is connected to the central control unit, the central control unit transmits the alarm information to the alarm module, and the alarm module alarms according to the received information.
In the above embodiments, the present invention further includes a touch control screen, where the touch control screen is connected to the central control unit, and the touch control screen inputs instruction information into the central control unit. The touch control screen is provided with keys for automatic processing, manual processing, PID path correction, robot initialization, emergency stop, motion instruction, timing start input and the like.
In each embodiment, the tapping robot control system can be remotely started or stopped through the terminal, and meanwhile, the tapping robot control system has multiple functions of ambient air humidity monitoring, temperature monitoring, rubber output condition monitoring, tapping robot running state monitoring and the like, so that the manual maintenance cost can be reduced, and the accuracy of system control is improved.
As shown in fig. 5, the present invention further provides a tapping robot control method, which comprises the following steps:
1) receiving a tapping instruction sent by a central control unit, judging whether the self-checking of the tapping robot is normal or not, if so, enabling a circumferential direction movement motor, an up-and-down direction movement motor and a cutter advance and retreat motor of the tapping robot to act, enabling each motor to find a positioning origin point in the movement direction of the motor through an up-and-down limiting sensor 18, an ultrasonic sensor and a circumferential limiting sensor 20, and then stopping (the origin point is a starting point), and completing the tapping preparation work;
wherein, the upper and lower limit sensors 18 adopt photoelectric sensors; the circumference limit sensor 20 adopts an inductive sensor;
the motor for circumferential motion is a first driving motor 9, the motor for up-and-down motion is a second driving motor 14, and the motor for advancing and retracting is a third driving motor 15;
2) judging whether each motor in the step 1) returns to a positioning original point or not, if the positioning original point is returned, the cutter feeding and retracting motor and the motor in the circumferential direction are not moved, the motor in the up-and-down direction moves to work, after the positioning position of tapping is reached, the motor in the up-and-down direction stops rotating, and the ultrasonic sensor 19 arranged below the cutter holder 17 scans the tree diameter contour; each motor is used as a motion cutting track according to the scanning information;
3) the feeding and retracting motor starts to rotate forwards, the feeding and retracting motor drives the rubber cutter to act, the ultrasonic sensor 19 below the rubber cutter starts to work while feeding, the feeding depth information of the rubber cutter is sent out in real time, when the rubber cutter reaches the preset bark depth, the feeding action is finished, and the step 4 is carried out);
4) the feeding and retracting motor stops working, the circumferential direction movement motor and the up-down direction movement motor rotate forwards and work simultaneously at a preset speed matching relation, and the circumferential direction movement motor and the up-down direction movement motor drive the rubber cutter to perform spiral movement from bottom to top;
wherein the lift angle of the spiral motion path of the rubber cutter is 20-30 degrees;
the preset speed matching relationship between the circular direction motion motor and the up-down direction motion motor is as follows: the time from the movement of the circular direction movement motor to the end point of the up-down direction movement motor is the same.
5) Judging whether the rubber cutter reaches a cutting end point, stopping rotating the circumferential direction motion motor and the up-down direction motion motor when the rubber cutter reaches the cutting end point, reversely rotating the cutter feeding and retracting motor, and quickly reversely rotating the circumferential direction motion motor, the up-down direction motion motor and the cutter feeding and retracting motor after the cutter point of the rubber cutter withdraws from the bark to reach a calibration original point to finish a cutting process;
when both the upper and lower limit sensors 18 and the circumferential limit sensor 20 detect the end point information, the glue cutter reaches the cutting end point.
In the above steps, the ultrasonic sensor 19 is used for controlling the tapping depth and the tree diameter scanning contour, and the method has the advantages of high precision, strong anti-interference capability and wide measurement range. The ultrasonic sensor 19 can also set the delay time, and the accuracy of the depth of the cutting is enhanced by calling the data acquired in the previous time sequence.
In the above steps, various combined measurement and positioning modes are adopted: the ultrasonic sensor 19 adopts a measuring mode of real-time measuring and positioning, the upper limiting sensor 18 and the lower limiting sensor 18 limit the cutting height, the circumferential limiting sensor 20 limits the maximum tapping angle, and all the sensors run cooperatively. The performance characteristics of the ultrasonic sensor, the photoelectric sensor, the inductive sensor and the like are comprehensively utilized, the advantages are complemented, and the precision and the efficiency of cutting measurement are improved.
In conclusion, the tapping device can be used in the field of robot tapping, and solves the problems of low tapping precision, poor tapping functionality and the like of other similar products and manual operation.
The above embodiments are only for illustrating the present invention, and the steps may be changed, and on the basis of the technical solution of the present invention, the modification and equivalent changes of the individual steps according to the principle of the present invention should not be excluded from the protection scope of the present invention.
Claims (7)
1. The utility model provides a rubber tapping robot control system which characterized in that: the system comprises a data acquisition module, a data processing module, a data storage module and a power supply battery, wherein the power supply battery is used for supplying power to each module; the data acquisition module transmits the acquired tapping information to the data processing module, the tapping information is processed by the data processing module and then transmitted to the tapping robot and the data storage module, and the tapping robot performs tapping operation according to the received control information and performs data storage by the data storage module;
the tapping robot comprises a clamping mechanism, a cutting mechanism and a moving mechanism; the tapping robot is fixed on a rubber tree through the clamping mechanism, the moving mechanism and the data acquisition module are arranged on the clamping mechanism and are connected with the data processing module, the data acquisition module transmits a received signal to the data processing module, and the data processing module controls the moving mechanism to act according to a received measurement signal; the cutting mechanism is arranged on the moving mechanism, and the moving mechanism drives the cutting mechanism to perform spiral motion on the clamping mechanism; the cutting mechanism is also connected with the data processing module, and the data processing module controls the work of the cutting mechanism;
the clamping mechanism comprises a track toothed ring frame, an arc toothed ring frame, a clamping fixing frame and a light beam supporting rod; the number of the arc-shaped gear ring frames is two, and the end parts of the two arc-shaped gear ring frames are connected together through the light beam supporting rod respectively; two ends of each arc-shaped gear ring frame are connected into a closed structure through the clamping fixing frame; the track gear ring frames are fixedly arranged on the lower part of the arc-shaped gear ring frame on the upper part and the upper part of the arc-shaped gear ring frame on the lower part respectively and are used for being matched with the motion mechanism to act;
the movement mechanism comprises a driving gear, a driven gear, a first driving motor, a movement rotating shaft, an arc-shaped connecting plate, a first rolling lead screw pair, a second driving motor, a third driving motor and a first gear; an output shaft of the first driving motor is connected with the driving gear and transmits power to the driving gear; the driving gear is meshed with the driven gear, the driven gear is fixedly arranged on the movement rotating shaft, two ends of the movement rotating shaft are respectively provided with one first gear, the two first gears are coaxially connected with the driven gear, and the two first gears are respectively meshed with the two track gear ring frames; the two ends of the movement rotating shaft are respectively provided with the arc-shaped connecting plate, the first driving motor and the second driving motor are arranged on the arc-shaped connecting plate below the movement rotating shaft, the second driving motor is used for being connected with the first rolling screw pair arranged in the vertical direction, the second rolling screw pair is arranged on the first rolling screw pair along the horizontal direction and is in a vertical state with the first rolling screw pair, the second rolling screw pair is driven by the third driving motor, and the third driving motor is also arranged on the first rolling screw pair; the cutting mechanism is arranged on the sliding block of the second rolling lead screw pair;
the first rolling screw pair, the third driving motor and the second rolling screw pair are connected in the following mode: the second rolling screw pair is arranged on a groove-shaped connecting back plate, one end of the connecting back plate is provided with the third driving motor, and the connecting back plate is connected to the sliding block of the first rolling screw pair through an L-shaped adapter plate;
the data acquisition module comprises a limit sensor, an ultrasonic sensor and a circumference limit sensor; the two ends of the connecting back plate of the first rolling lead screw pair and the two ends of the connecting back plate of the second rolling lead screw pair are respectively provided with the limiting sensors, the ultrasonic sensors are arranged below the tool apron on the sliding block of the second rolling lead screw pair, and the circumference limiting sensors are arranged at the two end parts of each arc-shaped gear rack; the data acquisition module also comprises a signal conversion circuit, and each sensor transmits acquired signals into the data processing module through the signal conversion circuit.
2. The control system of claim 1, wherein: the cutting mechanism comprises a cutter holder, a cutter handle and a rubber cutter; the tool apron is arranged on the sliding block of the second rolling screw pair, one end of the tool shank is movably connected with the tool apron, and the other end of the tool shank is connected with the rubber cutter.
3. The control system according to claim 1 or 2, wherein: the data processing module comprises a central control unit; the central control unit is used for processing tapping information transmitted by each sensor and transmitting the tapping information to each driver in the tapping robot, and the drivers control the up-and-down direction movement motor, the circumferential direction movement motor and the cutter advance and retreat motor in the tapping robot to act; the circumferential direction movement motor is the first driving motor, the up-and-down movement direction motor is the second driving motor, and the cutter feeding and retracting motor is the third driving motor.
4. The control system according to claim 1 or 2, wherein: the power supply battery adopts a combined structure of a 24v high-capacity lithium polymer battery and a solar energy conversion module.
5. A tapping robot control method based on the control system as claimed in claims 1 to 4, characterized by comprising the steps of:
1) receiving a tapping instruction sent by a central control unit, judging whether the self-checking of the tapping robot is normal or not, if so, actuating a circumferential direction movement motor, an up-and-down direction movement motor and a cutter feeding and retracting motor of the tapping robot, and stopping after each motor finds a positioning origin point in the movement direction through an up-and-down limiting sensor, an ultrasonic sensor and a circumferential limiting sensor to finish tapping preparation work;
2) judging whether each motor in the step 1) returns to a positioning original point or not, if the positioning original point is returned, keeping the cutter feeding and retracting motor and the motor in the circumferential direction still, enabling the motor to move in the vertical direction to work, stopping the motor from rotating after the motor reaches a tapping setting position, and scanning the tree diameter contour by an ultrasonic sensor arranged below the cutter holder; each motor is used as a motion cutting track according to the scanning information;
3) the feeding and retracting motor starts to rotate forwards, the feeding and retracting motor drives the rubber cutter to act, the ultrasonic sensor below the rubber cutter starts to work while feeding, the feeding depth information of the rubber cutter is sent out in real time, when the rubber cutter reaches the preset bark depth, the feeding action is finished, and the step 4 is carried out;
4) the feeding and retracting motor stops working, the circumferential direction movement motor and the up-down direction movement motor rotate forwards and work simultaneously at a preset speed matching relation, and the circumferential direction movement motor and the up-down direction movement motor drive the rubber cutter to perform spiral movement from bottom to top;
5) and judging whether the rubber cutter reaches a cutting end point, stopping rotating the circumferential direction motion motor and the up-down direction motion motor when the rubber cutter reaches the cutting end point, reversely rotating the cutter advancing and retracting motor, and quickly reversely rotating the circumferential direction motion motor, the up-down direction motion motor and the cutter advancing and retracting motor after the cutter point of the rubber cutter withdraws from the bark to reach a calibrated original point to finish a cutting process.
6. The control method according to claim 5, characterized in that: the lift angle of the spiral motion path of the rubber cutter is 20-30 degrees.
7. The control method according to claim 5, characterized in that: and the upper and lower limit sensors and the circumference limit sensor detect the end point information, and the rubber cutter reaches the cutting end point.
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| CN111149651A (en) * | 2020-01-15 | 2020-05-15 | 北京理工大学 | Portable automatic tapping robot's mechanism of holding tightly |
| CN111213564A (en) * | 2020-01-15 | 2020-06-02 | 北京理工大学 | Cutting motion module of automatic tapping robot |
| CN111149652A (en) * | 2020-01-15 | 2020-05-15 | 北京理工大学 | Automatic rubber tapping robot's 15 cutter feed mechanisms of slope |
| CN111387009B (en) * | 2020-04-29 | 2021-12-28 | 江苏南翔橡胶制品有限公司 | Rubber preparation raw material collection pretreatment process |
| CN111657095A (en) * | 2020-05-25 | 2020-09-15 | 中国热带农业科学院橡胶研究所 | Acupuncture rubber sampling robot |
| CN111657094A (en) * | 2020-05-25 | 2020-09-15 | 中国热带农业科学院橡胶研究所 | Automatic acupuncture rubber sampling equipment |
| CN111685012A (en) * | 2020-05-25 | 2020-09-22 | 中国热带农业科学院橡胶研究所 | Displacement control system for multi-tree rubber mining |
| CN111990210A (en) * | 2020-07-21 | 2020-11-27 | 北京理工华汇智能科技有限公司 | Self-adaptive feed structure used on rubber tapping mechanism |
| CN114680016B (en) * | 2020-12-31 | 2023-07-25 | 宁波中创瀚维科技有限公司 | Rubber tapping machine and rubber tapping method |
| CN113273474A (en) * | 2021-06-11 | 2021-08-20 | 高忠文 | Rubber tapping robot control device |
| 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 |
| CN116171826B (en) * | 2022-10-11 | 2024-06-14 | 海南时空科技股份公司 | Rubber tapping robot control circuit and rubber tapping robot |
| CN116076325A (en) * | 2023-03-14 | 2023-05-09 | 海南大学 | Automatic rubber tapping machine of compound motion type natural rubber |
| CN117581763B (en) * | 2024-01-18 | 2024-04-05 | 河南科技学院 | Multi-source data-based tapping path dynamic adjustment method |
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| CN105052675B (en) * | 2015-08-28 | 2017-10-27 | 青岛中创瀚维精工科技有限公司 | A kind of rubber cutting machine and rubber tapping method |
| CN106034980A (en) * | 2016-07-13 | 2016-10-26 | 武汉市享昱科技有限公司 | Automatic rubber cutting robot |
| CN108432590B (en) * | 2018-04-19 | 2024-04-19 | 中国热带农业科学院农业机械研究所 | Rubber tapping equipment with double-blade structure |
| CN109328973B (en) * | 2018-10-25 | 2021-07-16 | 湘潭大学 | Intelligent rubber tapping system for rubber trees and control method of intelligent rubber tapping system |
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