CN111602574A

CN111602574A - Automatic cutting rosin robot

Info

Publication number: CN111602574A
Application number: CN202010420004.0A
Authority: CN
Inventors: 何锐波; 沈晶豪; 李冰; 梁蔓安
Original assignee: Guangxi University of Science and Technology
Current assignee: Guangxi University of Science and Technology
Priority date: 2020-05-18
Filing date: 2020-05-18
Publication date: 2020-09-01

Abstract

The invention discloses an automatic rosin cutting robot which comprises a base, a lifting device, a rosin cutting mechanical arm, a cutter body and a controller, wherein the base is provided with a lifting device; the lifting device is fixedly arranged on the base; one end of the grease cutting mechanical arm is connected with the lifting device in a sliding mode, and the other end of the grease cutting mechanical arm is fixedly connected with the cutter body; the controller is arranged on the lifting device and is electrically connected with the lifting device and the grease cutting mechanical arm. The invention has the characteristics of simple structure, convenient and reliable use, stable movement, adaptability to various complex and severe operating environments and the like, and greatly solves the problems of high labor intensity and the like of cutting turpentine by adopting a robot turpentine cutting mode; the method has the characteristics of high efficiency, good fat cutting technology and good economy.

Description

Automatic cutting rosin robot

Technical Field

The invention relates to the technical field of rosin cutting, in particular to an automatic rosin cutting robot.

Background

Although the electromechanical automatic rosin collecting device uses a machine to replace manpower, the device has a complex structure and can only work on the surface of a single pine tree, so that the problems of high equipment investment cost, difficulty in popularization and use and the like are caused. Meanwhile, the pine bark layer is damaged due to the fixed mounting mode of the device, and the device is not easy to disassemble, assemble and maintain.

In the prior art, three kinds of rosin cutting equipment replace manual rosin cutting. Chinese patent CN106386386A discloses an electromechanical automatic rosin collecting device, which comprises a main machine, a working mechanism, an energy storage mechanism, a collecting device and an electronic control mechanism. The device can be automatically used for cutting the rosin on the surface of the pine tree, a straight cutting line is guaranteed to be cut, the rosin is automatically collected and collected, the quality of the collected rosin is improved to a certain extent, and the labor intensity is reduced. Chinese patent CN107864821A discloses a backpack drilling grease sampler, which drills a hole on a trunk to collect grease by a backpack design and a drilling mode. The device can improve production efficiency, ensures to gather the quality of rosin. Chinese patent CN207519314U discloses a backpack type grease collecting ditcher, which uses a gasoline engine as a power source, and the output power of the gasoline engine drives a ditching cutter to rotate through a transmission mechanism, so that the whole machine is cut into the trunk, and a middle cutting ditch or a side cutting ditch is cut along the trunk.

Although the backpack drilling and grease collecting machine reduces the labor amount to a certain extent due to the adoption of a novel grease collecting mode, the pine resin still needs to be cut manually, the drilling and grease collecting technology in China is still in an exploration test stage, and related drilling and grease collecting equipment is still not mature. Although the backpack type resin collecting ditcher improves the operation efficiency and ensures the collection amount of rosin, the full-automatic operation of grease cutting is not realized, the labor intensity of manual operation is not greatly improved, and the consistency of the cutting length, direction and depth of a side ditch at each time cannot be ensured.

Therefore, the technical personnel in the field need to solve the problem how to provide an automatic rosin cutting robot which not only has a simple structure and good working stability, but also can effectively improve the rosin cutting efficiency and reduce the labor intensity.

Disclosure of Invention

At present, the traditional manual cutting mode is still adopted in the domestic rosin cutting operation, and the rosin cutting mechanical equipment is not popularized and applied. On one hand, the manual rosin cutting has high labor intensity and low rosin cutting speed, on the other hand, the technical requirements for rosin cutting cannot be met, the sizes of the cut rosin grooves are difficult to unify, and even the rosin cutting method is improper, so that the yield of the rosin is reduced or the quality of the rosin is not high. And the full-automatic rosin cutting mode is adopted, manual operation is not needed, the rosin cutting track and the rosin cutting depth can be controlled by the control system according to a set program, the labor intensity of workers and the technical difficulty of rosin cutting can be reduced to the greatest extent, and meanwhile, the rosin yield is improved. Moreover, due to the rising of labor cost, mechanization and automation of grease cutting will be the main development trend of the grease cutting technology in the future. In view of this, the invention provides an automatic rosin cutting robot.

In order to solve the technical problems, the invention adopts the following technical scheme:

an automatic rosin cutting robot comprises a base, a lifting device, a rosin cutting mechanical arm, a cutter body and a controller; the lifting device is fixedly arranged on the base; one end of the grease cutting mechanical arm is connected with the lifting device in a sliding mode, and the other end of the grease cutting mechanical arm is fixedly connected with the cutter body; the controller is arranged on the lifting device and is electrically connected with the lifting device and the grease cutting mechanical arm;

the grease cutting mechanical arm comprises a rack, a mechanical large arm, a mechanical small arm and a synchronous belt structure; one end of the rack is connected with the lifting device in a sliding manner, and the other end of the rack is connected with one end of the mechanical large arm in a pivoting manner through a first connecting piece; the other end of the mechanical large arm is also in pivotable connection with one end of the mechanical small arm through a second connecting piece, and the other end of the mechanical small arm is fixedly connected with the cutter body; the synchronous belt structure is used for driving the mechanical big arm and the mechanical small arm to rotate.

Preferably, the lifting device comprises a bearing plate, an aluminum profile, a ball screw, a polish rod, a coupler and a triangular bracket; one end of the bearing plate is fixedly connected with the base, and the other end of the bearing plate is fixedly connected with the aluminum profile; the ball screw and the polished rod are connected with the aluminum profile in a shaft joint mode through the shaft coupling; the triangular support is used for stabilizing the connection between the base and the aluminum profile.

Preferably, one end of the frame is slidably connected with the ball screw and the polish rod.

Preferably, still include the motor, the motor sets up to a plurality ofly, and sets up the aluminium alloy top with the frame top.

Preferably, the first connecting piece and the second connecting piece are both bolts.

Preferably, a clamping sleeve for stabilizing is arranged at the joint of the large mechanical arm and the small mechanical arm.

Preferably, the mechanical boom is arranged obliquely.

Preferably, the cutter body consists of a cutter, a limiting mechanism, a motor for driving the cutter to rotate, a corresponding cutter frame and a sensor.

Compared with the prior art, the invention has the following technical effects:

1) the practicality is high: the design has the characteristics of simple structure, convenient and reliable use, stable movement, adaptability to various complex and severe operating environments and the like, the problem of high labor intensity of rosin cutting is greatly solved by adopting a robot rosin cutting mode, the automatic rosin cutting robot is conveyed to the front of pine trees by a cableway or a track to carry out automatic rosin cutting operation, and a middle ditch and a side ditch required by rosin collection can be cut by using one machine;

2) high efficiency and good fat cutting technology: compared with the traditional manual grease cutting mode, the grease cutting operation is carried out by the automatic cutting turpentine robot, the time is saved by at least ten times, the grease can be cut in 24 hours in a full-automatic mode, and even the grease can be cut in rainy days; meanwhile, as the program is adopted to control the fat cutting, the adaptive automatic fat cutting of each pine can be ensured, the fat cutting precision and the fat cutting amount are ensured, and the fat cutting service life of the pine is effectively protected;

3) good economical efficiency: compared with the prior art, this design long service life, dismouting easy maintenance uses an automatic cutout rosin robot just can cut fat operation to a certain pine forest, cuts fat relatively the manual work moreover, and the cost reduces by a wide margin.

Drawings

FIG. 1 is a schematic perspective view of an automatic rosin cutting robot according to the present invention;

FIG. 2 is a schematic front view of an automatic rosin cutting robot according to the present invention;

FIG. 3 is a schematic partial cross-sectional view of an automatic rosin cutting robot according to the present invention;

FIG. 4 is a schematic cross-sectional view of a lifting device of an automatic rosin cutting robot according to the present invention;

FIG. 5 is a schematic structural diagram of a joint of a large mechanical arm and a small mechanical arm of the automatic rosin cutting robot according to the present invention;

FIG. 6 is a schematic structural diagram of a timing belt structure of an automatic rosin cutting robot according to the present invention;

in the figure: 1. a base; 2. a lifting device; 21. a bearing plate; 22. an aluminum profile; 23. a ball screw; 24. a polish rod; 25. a coupling; 26. a triangular bracket; 3. a grease cutting mechanical arm; 31. a frame; 32. a mechanical big arm; 33. a mechanical forearm; 34. a synchronous belt structure; 4. a cutter body; 5. a first bolt; 6. a second bolt; 7. a motor; 8. and (4) a ferrule.

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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

Referring to fig. 1, the automatic rosin cutting robot comprises an automatic rosin cutting robot, and the automatic rosin cutting robot comprises a base 1, a lifting device 2, a rosin cutting mechanical arm 3, a cutter body 4 and a controller, wherein the lifting device 2 is fixedly installed on the base 1; one end of the grease cutting mechanical arm 3 is connected with the lifting device 2 in a sliding manner, and the other end of the grease cutting mechanical arm is fixedly connected with the cutter body 4; the controller is arranged on the lifting device 2 and is electrically connected with the lifting device 2 and the grease cutting mechanical arm 3;

the grease cutting mechanical arm 3 comprises a rack 31, a mechanical big arm 32, a mechanical small arm 33 and a synchronous belt structure 34; one end of the frame 31 is connected with the lifting device 2 in a sliding way, and the other end of the frame is connected with one end of the mechanical big arm 32 in a pivoting way through a first bolt 5; the other end of the mechanical big arm 32 is also connected with one end of the mechanical small arm 33 in a pivoting way through a second bolt 6, and the other end of the mechanical small arm 33 is fixedly connected with the cutter body; the synchronous belt structure 34 is used for driving the mechanical big arm 32 and the mechanical small arm 33 to rotate; a clamping sleeve 8 for stabilizing is arranged at the joint of the large mechanical arm 32 and the small mechanical arm 33; the mechanical large arm 32 is disposed obliquely.

The lifting device 2 comprises a bearing plate 21, an aluminum profile 22, a ball screw 23, a polish rod 24, a coupler 25 and a triangular bracket 26; one end of the bearing plate 21 is fixedly connected with the base 1, and the other end of the bearing plate is fixedly connected with the aluminum profile 22; the ball screw 23 and the polish rod 24 are connected with the aluminum profile 22 through a coupling 25 in a shaft coupling manner; the triangular brackets 26 serve to stabilize the connection between the base 1 and the aluminium profile 22.

One end of the frame 31 is slidably connected with the ball screw 23 and the polish rod 24.

In some embodiments, the aluminum profile further comprises a motor 7, and the motor 7 is arranged in a plurality and is arranged above the aluminum profile 22 and above the frame 31.

In other embodiments, the tool body 4 is composed of a tool, a limiting mechanism, a motor for driving the tool to rotate, a corresponding tool rest and a sensor.

The working principle is as follows:

when the automatic cutting rosin robot starts to cut rosin, according to the diameter of each pine, the controller controls the rosin cutting mechanical arm to enable the cutter head to be located at the starting position of middle groove cutting, then the automatic cutting rosin robot works according to a set program, the lifting mechanism is used for driving the cutter to cut a vertical middle groove, the controller enables the automatic cutting rosin robot to respectively cut a straight and flat lateral groove by taking the middle groove as the left side and the right side of the axis through the corresponding program after the middle groove cutting is completed, and the lateral groove and the upper portion of the middle groove form an angle of 30 degrees. And then, according to the working process of cutting the side ditch, the controller controls the lifting mechanism to lower the position of the grease cutting mechanical arm, and the cutting of a new side ditch is started at a position 1 mm below the original side ditch every day, so that unmanned automatic grease cutting is realized. The diameter range of pine trees suitable for the automatic rosin cutting robot is 150-170 mm.

At present, the traditional manual cutting mode is still adopted in the domestic rosin cutting operation, and the rosin cutting mechanical equipment is not popularized and applied. On one hand, the manual rosin cutting has high labor intensity and low rosin cutting speed, on the other hand, the technical requirements for rosin cutting cannot be met, the sizes of the cut rosin grooves are difficult to unify, and even the rosin cutting method is improper, so that the yield of the rosin is reduced or the quality of the rosin is not high. And the full-automatic rosin cutting mode is adopted without manual operation, and the rosin cutting track and the rosin cutting depth can be controlled by the control system according to a set program, so that the labor intensity of workers and the technical difficulty of rosin cutting can be reduced to the greatest extent, and the rosin yield is improved. Moreover, due to the rising of labor cost, mechanization and automation of grease cutting will be the main development trend of the grease cutting technology in the future.

The invention achieves the following technical effects:

The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.

Claims

1. The utility model provides an automatic cut rosin robot, includes base (1), elevating gear (2), cuts fat arm (3), cutter body (4) and controller, its characterized in that: the lifting device (2) is fixedly arranged on the base (1); one end of the grease cutting mechanical arm (3) is connected with the lifting device (2) in a sliding mode, and the other end of the grease cutting mechanical arm is fixedly connected with the cutter body (4); the controller is arranged on the lifting device (2) and is electrically connected with the lifting device (2) and the grease cutting mechanical arm (3);

the grease cutting mechanical arm (3) comprises a rack (31), a mechanical big arm (32), a mechanical small arm (33) and a synchronous belt structure (34); one end of the rack (31) is connected with the lifting device (2) in a sliding way, and the other end of the rack is connected with one end of the mechanical large arm (32) in a pivoting way through a first connecting piece (5); the other end of the mechanical large arm (32) is also in pivotable connection with one end of the mechanical small arm (33) through a second connecting piece (6), and the other end of the mechanical small arm (33) is fixedly connected with the cutter body; the synchronous belt structure (34) is used for driving the mechanical large arm (32) and the mechanical small arm (33) to rotate.

2. The robot for automatically cutting turpentine according to claim 1, wherein said lifting device (2) comprises a bearing plate (21), an aluminum profile (22), a ball screw (23), a polish rod (24), a coupling (25) and a tripod (26); one end of the bearing plate (21) is fixedly connected with the base (1), and the other end of the bearing plate is fixedly connected with the aluminum profile (22); the ball screw (23) and the polish rod (24) are connected with the aluminum profile (22) in a shaft coupling mode through the coupling (25); the triangular support (26) is used for stabilizing the connection between the base (1) and the aluminum profile (22).

3. The robot for automatically cutting rosin according to claim 2, wherein said frame (31) is slidably connected at one end to said ball screw (23) and said polish rod (24).

4. The robot for automatically cutting rosin according to claim 1, characterized by further comprising a plurality of motors (7), wherein the motors (7) are arranged above the aluminum profiles (22) and above the frame (31).

5. The robot for automatically cutting turpentine according to claim 1, wherein said first connector (5) and said second connector (6) are both bolts.

6. The robot for automatically cutting turpentine according to claim 1, wherein a clamping sleeve (8) for stabilizing is arranged at the joint of the large mechanical arm (32) and the small mechanical arm (33).

7. The robot for automatically cutting rosin according to claim 1, characterized in that said large mechanical arm (32) is disposed obliquely.