CN111685012A - Displacement control system for multi-tree rubber mining - Google Patents

Abstract

The invention relates to a displacement control system for multi-tree rubber mining, belonging to the technical field of mechanical rubber mining, comprising a walking track fixed among a plurality of trees; a traveling mechanism; the displacement mechanism is arranged on the travelling mechanism and moves synchronously with the travelling mechanism; a glue collector; the tree circumference detector is used for detecting the diameter of the tree; a position sensor which is triggered and the tree circumference detector can detect the diameter of the tree; the distance detector and the glue collector move synchronously, and the distance detector is used for detecting the distance between the glue collector and the tree surface; and the background controller is used for receiving the detection data of the tree circumference detector and the distance detector and controlling the displacement mechanism to move the rubber collector to a specified position. The suspended track type structure is adopted, so that the displacement control of rubber collection among a plurality of rubber trees is realized, the influence of terrain is eliminated, and the rubber collection management of one machine with a plurality of trees can be realized; the damage of rubber to the rubber tree caused by rubber extraction is reduced through the accurate control of displacement, and the risks of rubber production interruption, quality reduction, service life reduction and the like of the rubber tree are reduced.

Description

Displacement control system for multi-tree rubber mining

Technical Field

The invention relates to a displacement control system for multi-tree rubber mining, and belongs to the technical field of mechanical rubber mining.

Background

The natural rubber is an elastic solid substance prepared by processing procedures of coagulation, drying and the like from natural latex collected from a rubber tree, and is an important strategic material of China; natural rubber has a wide range of applications in daily life, transportation, industry, agriculture, aerospace and other fields due to its excellent characteristics such as resilience, insulation, water-barrier property and plasticity.

The existing rubber collection is still that rubber is collected by manually cutting with a traditional rubber cutter (such as the device disclosed in the publication No. CN 205213638U), a spiral rubber cutting line is cut on a rubber tree, and the rubber flowing out of the rubber cutting line is collected by a rubber cup. However, the price of natural gum is continuously low, and the income of gum workers is low, so that the gum workers are greatly lost. Meanwhile, the rubber tapping operation is changed from black to white, the environment is severe, the technical requirement is high, the labor intensity is high, the traditional rubber knife is long in training time, difficult to learn, poor in cutting and the like, so that the young people are more reluctant to rubber tapping, and the aging of rubber workers is aggravated. On the other hand, the mode of manual tapping is easy to cause great trauma to rubber trees, and physiological disorder, namely the so-called brown skin disease, is easy to occur at the continuous tapping dead skin, so that the service life of rubber is influenced and the rubber production of the tree plants is interrupted. For the above reasons, the situation of serious shortage of the current glue workers is formed, and at least 60% of glue gardens are abandoned.

In recent years, an automatic tapping tool is continuously explored in the industry to solve the current glue-tapping dilemma, but due to the particularity of tapping operation, the technical problems that old glue lines cut and wind machines, mechanical cutting scraps pollute glue, the glue cannot be cut by a negative cutter and the like cannot be solved all the time, so that the mechanization of the glue-tapping machine is a worldwide problem, and the key technical research in the last 40 years is not broken through. The solutions disclosed in the prior art, such as publication numbers CN110558198A, CN108243896A, and CN210298832U, cannot solve the above problems, especially the technical problem that the cutting chips pollute the glue, and the mechanized rubber tapping knife is difficult to meet the technical index requirements of rubber collection.

Though the hand-held reciprocating tapping equipment (publication numbers CN208480406U, CN208480405U, etc.) developed by the applicant solves the above technical problems, the hand-held reciprocating tapping equipment always needs to be held by hand, and the problems of shortage of glue workers and abandon of cutting of glue gardens still cannot be solved.

The full-automatic rubber collecting equipment in the prior art, such as rubber tapping equipment with publication numbers CN110720374A and CN110696008A, is basically conceived in a corresponding relationship of "one machine and one tree", and the above concept seems to solve the problem, but cannot be realized in practice at all because: 33 rubber trees are planted in each mu of the standardized rubber plantation, about 50-60 rubber trees are usually planted in the civil-farming rubber plantation in an over-standardized way, the area of the common rubber plantation is hundreds of mu, the minimum area is 20 mu, and the total area of the rubber plantation in three domestic rubber plantation areas is 1700 thousands of mu. Through the data, the demand of one machine for one tree on the equipment is huge, the erection and maintenance cost is far higher than the profit of a rubber garden, and the problem seems to be beautiful and can not be solved. On the other hand, the equipment of one machine with one tree is heavy, the position of the cutting line is fixed, physiological disorder still easily occurs at the continuous rubber tapping dead skin position, namely the so-called brown skin disease occurs, the service life of rubber is influenced, and the rubber production of the tree plant is interrupted, which is also an unavoidable technical problem due to the nature of the scheme.

At present, in the tapping industry, the concept is gradually changed, and the intelligent robot scheme is adopted, such as tapping robots disclosed by publication numbers CN110558196A, CN110122256A and CN109328973A, and the technologies of visual servo, integrated combined navigation of multiple sensors, wireless charging and the like are applied; through the track, the scheme such as track displacement realizes independently tapping in glue woodland, but except the present ubiquitous reasons in the aspects such as precision and control of intelligent robot, the ground environment in glue woodland is complicated, for increasing land utilization ratio supporting planting economic crop under forest usually, super rule is planted and also can lead to trees interval narrowly, simultaneously ground still can set up the escape canal, drainage slope etc. the topography is complicated under the forest, give the robot walking space narrowly, the robot is difficult to realize freely walking in glue the garden, and the design of ground rail mounted, it is big that there is the above problem to lead to the track to lay the degree of difficulty equally, easy card rail such as fallen leaves, difficult easy maintenance.

Therefore, a displacement control system which can really realize manual work removal, is suitable for the actual situation of a glue garden, can accurately position a glue collecting device and realize glue collecting automation, low cost and easy maintenance is lacked in the current industry.

Disclosure of Invention

The invention aims to provide a displacement control scheme for realizing rubber collection control of a plurality of rubber trees.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the invention discloses a displacement control system for multi-tree rubber mining, which comprises:

the walking track is suspended and fixed among the plurality of trees through the fixing frame;

the traveling mechanism is arranged on the traveling rail and can move along the traveling rail;

the displacement mechanism is arranged on the travelling mechanism and moves synchronously with the travelling mechanism;

the displacement mechanism controls the glue collector to move along the vertical direction, the circumferential direction or/and the radial direction of the tree plant respectively;

a tree circumference detector including a first distance sensor and a second distance sensor provided on the displacement mechanism, the two sensors being arranged oppositely to detect a tree diameter;

the position sensor is arranged on the travelling mechanism and moves synchronously with the travelling mechanism, and when the travelling mechanism travels to a specified position, the position sensor is triggered and the tree circumference detector can detect the diameter of a tree;

the distance detector is arranged on the glue collector and moves synchronously with the glue collector, and the distance detector is used for detecting the distance between the glue collector and the tree surface;

and the background controller is used for receiving the detection data of the tree circumference detector and the distance detector and controlling the displacement mechanism to move the rubber collector to a specified position.

Preferably, the displacement mechanism comprises a rotary arm capable of semi-encircling one side of the tree, the first distance sensor and the second distance sensor are respectively arranged at two ends of the rotary arm, and the background controller calculates the diameter and the offset of the tree according to detection data of the two sensors and controls the moving distance of the rubber picking device in the circumferential direction of the tree by combining with the radian of the rotary arm.

Preferably, the displacement mechanism further comprises a lifting mechanism, a joint rotator arranged on the lifting mechanism and used for controlling lifting action by the lifting mechanism, a rotary transmission mechanism arranged on the rotary arm and capable of moving along the rotary arm, and a depth control mechanism arranged on the rotary transmission mechanism; the rotary arm is arranged on the joint rotator and is arc-shaped, and the joint rotator can rotate one side of the rotary arm which semi-encircles the tree plant.

Preferably, the joint rotator comprises a rotation control motor, a rotation table controlled by the rotation control motor to rotate, and a fixing plate which fixes the rotation control motor and can move along with the traveling mechanism; the rotary arm is fixed on the rotary table and can rotate along with the rotary table.

Preferably, the swivel arm comprises an arc-shaped guide rail part and a toothed ring rail part, and the arc-shaped guide rail part is overlapped above the toothed ring rail part; the rotary transmission mechanism comprises a rotary table connected with the depth control mechanism, a plurality of guide rollers which are matched with and clamp the arc guide rail part and supported below the rotary table, a guide gear meshed with the toothed ring rail part and a rotary motor which drives the guide gear to enable the rotary table to move along the rotary arm.

Preferably, the depth control mechanism comprises a radial slide rail which is arranged on the rotary table and is parallel to the radial direction of the rotary arm, a radial slide block which is in sliding fit with the radial slide rail, a screw rod nut which is fixed on the radial slide block and is connected with the glue collector, a screw rod which is matched with the screw rod nut to drive the screw rod nut to move, and a depth control motor which drives the screw rod to rotate.

Preferably, the lifting mechanism comprises a first linear driving module, a connecting plate and a second linear driving module, and the first linear driving module is connected with the second linear driving module through the connecting plate and controls lifting; the second linear driving module is connected with the joint rotator and controls the joint rotator to lift; and the first linear driving module and the second linear driving module are respectively provided with a vertical guide rail and a guide rail sliding seat which can slide in a matched manner.

Preferably, the rubber extraction device is a pin drill rubber extraction device, and comprises a drill bit for drilling the tree, a quick chuck capable of quickly disassembling and assembling drill bits with different diameters, a drilling motor connected with the quick chuck and enabling the drill bit to rotate, and a pin drill base supporting the drilling motor; the needle drill base is fixed on the depth control mechanism and is controlled by the depth control mechanism to move along the radial direction of the tree.

Preferably, the glue collector is a needle-prick glue collector, and comprises a needle-prick base arranged on the depth control mechanism, a guide pillar used for radially pricking the tree, an energy storage spring arranged on the guide pillar, a rack part arranged on the guide pillar and used for enabling the energy storage spring to move backwards to store energy, a sector gear meshed with the rack part and a needle-prick motor driving the sector gear to rotate.

Preferably, the fixing frame comprises an upper fixing support, a lower fixing support and a supporting rod, the supporting rod is connected between the upper fixing support and the lower fixing support, and the upper fixing support is encircled and fixed on a tree plant through a plurality of jacking studs on the inner side of the upper fixing support; the walking track is fixed on one side of the fixing frame and is I-shaped or inverted T-shaped.

The technical test of the acupuncture cement-mining calcium carbide stimulation is carried out in the agricultural reclamation of the 20 th century and the 80 th century, and the test of the acupuncture cement-mining calcium carbide stimulation is also carried out in red hillock farms in Chengmei county of Hainan province; the needling glue collection in the 90 s is also a hot research trend in various countries, but because the glue collection method is not ideal, the glue cutter glue cutting method is adopted later, and the needling glue collection in the field can not be considered any more; the reason for abandoning the method is that the dead bark cutting stopping rate of the rubber tree adopting the rubber tapping method by using a rubber cutter is far lower than that of the rubber tree adopting the rubber by needling, and the rubber by needling causes serious damage to a conveying and conducting system of the bark, thereby causing nutrient circulation obstruction and abnormal physiological metabolism of local bark to cause dead bark; the technical scheme overcomes the technical prejudice, and the drilling depth is controlled mechanically and accurately, so that the drilling depth is only up to the point that the inner layer of the sand skin and the yellow skin can be gum-discharged, the water pocket skin is not damaged, and the damage to a conveying and guiding system of the bark is avoided; in fact, when the rubber is cut by the manual rubber cutter, the process of gradually probing the depth is also adopted in the process of continuously cutting the bark, the cutting can be stopped when water is discharged, but when the rubber is drilled manually, the depth cannot be accurately controlled, the phenomenon that the water sac skin is damaged due to too deep drilling is often caused, and therefore the rubber tree is cut and stopped.

The invention has the beneficial effects that:

1. in the scheme, the displacement control system controls vertical displacement by the lifting mechanism, controls circumferential displacement by the rotary transmission mechanism, and controls radial displacement by the depth control mechanism, so that the displacement control of the lifting mechanism, the rotary transmission mechanism and the depth control mechanism is relatively independent, thereby facilitating the accurate control of the position of a rubber picking hole, ensuring that the rubber picking hole depth only reaches the inner layer of a sand skin and the yellow skin layer can be used for glue discharging, and not damaging the water sac skin, thereby avoiding the damage to a conveying and guiding system of barks and avoiding the dead bark of rubber trees from stopping cutting;

2. in the scheme, the position of the tree circumference and the position of the tree circumference relative to the rotary arm are detected by using the tree circumference detector, the diameter of the tree plant is detected by using the tree circumference detector, the detected data are converted by the background controller to obtain the data such as the diameter of the tree plant, the offset of the tree plant relative to the rotary arm and the like, and the data are combined with certain fixed parameters, such as: the radian parameters of the rotary arm can accurately control the position and the moving distance of the rubber sampling device, and the intervals of rubber sampling holes can be the same, so that the number of holes surrounded by each circle of trees can be accurately controlled, the rubber sampling amount can be controlled according to the requirement, and the spiral rubber tapping and rubber sampling can not be realized; the spiral rubber tapping is adopted for rubber extraction, and after the rubber lines are cut, because the length of each rubber line is fixed, no matter how much rubber is produced, each rubber line can only be passively accepted, and the condition of excessive or insufficient rubber extraction amount can occur; however, according to the technical scheme, the purpose of controlling the glue yield can be achieved by accurately controlling the number of the glue collecting holes of each circle; in addition, the depth control mechanism can control the radial position of the rubber sampling device to obtain the corresponding rubber sampling hole depth, so that the rubber sampling hole depth can be controlled in real time, and the tree is prevented from being damaged by too deep or the yield is reduced by too shallow;

3. the rubber tapping device in the displacement control system can adopt a needle drilling or needle pricking mode to open rubber tapping holes on the trunk of the rubber tree and also can adopt a proper traditional rubber tapping knife, thereby being beneficial to the transition of the traditional rubber tapping mode; if the mode of mining the glue holes is adopted, the technical problems that an old glue line cuts and winds a machine, mechanical cutting scraps pollute glue, the glue cannot be cut by a negative cutter and the like can be effectively solved, and the automation of glue mining agricultural technology is realized; meanwhile, the technical bias is overcome, compared with the existing rubber tapping operation, the damage to the rubber tree is smaller, only 5-8 rubber collecting holes are needed to be formed in the tree plant, the damage to the rubber tree caused by the rubber collecting operation is reduced, the restriction of a rubber collecting position is avoided, the rubber can be collected around the whole tree, and the risks of rubber production interruption, quality reduction, service life reduction and the like in the rubber tree are reduced;

4. adopt unsettled rail mounted's structural design in this scheme, eliminate the influence of topography, do not hinder under the forest cash crop and plant, effectively utilize gluey garden middle part space, and can adapt to the gluey garden of super standard planting, when gluey garden area increases, thereby also can augment the track at any time and realize the collection and cutting to planting the rubber tree newly, equipment cost is low, erects in a flexible way, easy maintenance, can really realize the management is glued in adopting of a tractor serves several trees.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a diagram showing an exemplary arrangement of an automatic needling and glue collecting device among trees;

FIG. 2 is a diagram showing an exemplary structure of an automatic needling gel collecting apparatus;

FIG. 3 is a diagram showing the state of the automatic needling glue collecting device in place;

FIG. 4 is a detailed illustration of an automated glue application fixture;

FIG. 5 is an enlarged view of portion A of FIG. 2;

FIG. 6 is an exemplary view of a travel mechanism;

FIG. 7 is an illustration of another travel mechanism;

FIG. 8 is a detailed illustration of the lift mechanism;

FIG. 9 is an enlarged view of portion B of FIG. 2;

FIG. 10 is a view illustrating a rotation state of the joint rotator;

FIG. 11 is a detail view of the swivel arm;

FIG. 12 is a block diagram of the rotary drive mechanism, depth control mechanism, and pin drill cement extractor;

FIG. 13 is a detail view of the pin drill stripper and depth control mechanism;

FIG. 14 is a detail view of the rotation transmission mechanism in cooperation with the rotation arm;

FIG. 15 is a view showing the construction of the needle punch;

FIG. 16 is a detailed view of the needle punch glue collector;

FIG. 17 is another perspective view of the detail of the needle punch applicator;

FIG. 18 is a view showing the usage of the deflector, the collecting rubber bowl and the rubber bowl support.

Reference numerals: 1-rubber tree, 2-walking track, 3-fixed mount, 301-upper fixed mount, 302-support rod, 303-lower fixed mount, 304-tightening stud, 4-walking mechanism, 401-connecting seat, 402-gear seat, 403-walking motor, 404-first driving gear, 405-first driven wheel, 406-transverse guide wheel, 407-vertical guide wheel, 408-first walking roller, 409-second driving gear, 4010-second driven wheel, 4011-second walking roller, 5-in-place detector, 501-position sensor, 502-position trigger, 6-lifting mechanism, 601-first linear driving module, 602-connecting plate, 603-second linear driving module, 604-first lifting arm rod, 605-a second lifting arm rod, 606-a vertical guide rail, 607-a guide rail slide carriage, 608-a first drive motor, 609-a second drive motor, 610-a cover body, 7-a girth detector, 701-a first distance sensor, 702-a second distance sensor, 703-a sensor seat, 8-a joint rotator, 801-a rotation control motor, 802-a fixed plate, 803-a rotation coupler, 804-a rotation table, 9-a rotation arm, 901-an arc guide rail part, 902-a toothed ring rail part, 903-a ridge part, 10-a rotation transmission mechanism, 1001-a rotation motor, 1002-a connection table, 1003-a rotation table, 1004-a guide gear, 1005-a roller connection column, 1006-a guide roller, 11-a depth control mechanism, 1101-a depth control motor, 1102-a connector, 1103-a screw rod, 1104-a radial slide block, 1105-a screw rod nut, 1106-a front support plate, 1107-a radial slide rail, 1108-a rear support plate, 12-a needle drilling and glue collecting device, 1201-a drilling motor, 1202-a motor bracket, 1203-a needle drilling coupler, 1204-a drill bit, 1205-a quick chuck, 1206-a needle drilling base, 13-a distance detector, 14-a needle drilling and glue collecting device, 1401-a needle drilling motor, 1402-a needle drilling base, 1403-a reduction gear, 1404-a sector gear, 1405-a front guide column table, 1406-a guide column, 1407-an energy storage spring, 1408-a rear guide column table, 1409-a rack part, 1410-a power gear, 1411-a transmission gear, 1412-a shell, 15-flow guiding rubber ring, 16-collecting rubber bowl and 17-rubber bowl support.

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.

As shown in the attached drawings, the invention designs a complete set of automatic acupuncture gel production equipment, which comprises a suspended track mechanism, a walking mechanism 4, an in-place detector 5, a lifting mechanism 6, a tree circumference detector 7, a joint rotator 8, a revolving arm 9, a revolving transmission mechanism 10, a depth control mechanism 11, a needle drilling gel production device 12, a distance detector 13, a diversion rubber ring 15, a collection rubber bowl 16, a rubber bowl support 17 and other structures; the suspended track mechanism, the traveling mechanism 4, the in-place detector 5, the lifting mechanism 6, the tree circumference detector 7, the joint rotator 8, the rotary arm 9, the rotary transmission mechanism 10, the depth control mechanism 11, the distance detector 13 and other components form a displacement control system for picking the glue.

As shown in fig. 1, the suspended track mechanism includes a fixed frame 3 and a traveling track 2, the fixed frame 3 surrounds and is fixed to a trunk portion of the rubber tree, the traveling track 2 is fixedly connected with the fixed frame 3 and is suspended, and the traveling track 2 is connected with a plurality of rubber trees; the walking track 2 can be connected end to form a ring shape, and can also be in other shapes, which is determined according to the tree distribution of the rubber forest; only the structure of the endless running rail 2 is disclosed in this embodiment.

As shown in fig. 4, the fixing frame 3 includes an upper fixing support 301, a support rod 302, a lower fixing support 303, a tightening stud 304, and the like, the upper fixing support 301 and the lower fixing support 303 are both annular, the upper fixing support 301 and the lower fixing support 303 surround the trunk of the rubber tree, the plurality of support rods 302 are vertically connected between the upper fixing support 301 and the lower fixing support 303, the tightening studs 304 are arranged along the circumferential direction of the upper fixing support 301, the tightening stud 304 is matched with the upper fixing support 301 and can stretch out and draw back along the radial direction of the upper fixing support 301 to tighten the trunk, so that the fixing frame 3 is fixed to the trunk of the rubber tree.

The walking track 2 is fixed on one side of the fixing frame 3, and the walking track 2 is I-shaped or inverted T-shaped.

The in-place detector 5 comprises a position sensor 501 and a position trigger 502, wherein the position sensor 501 is arranged on the travelling mechanism 4, and the position trigger 502 is arranged on the fixed frame 3 or the travelling track 2 at each tree; when the position sensor 501 reaches the position of the traveling mechanism 4 along with the tree and is triggered by the position trigger 502 to generate a position signal, the traveling mechanism 4 stops traveling.

As shown in fig. 6, the traveling mechanism 4 is a single-wheel driving structure, and includes a connecting seat 401, a gear seat 402, a traveling motor 403, a first driving gear 404, a first driven wheel 405, a transverse guide wheel 406, a vertical guide wheel 407, a first traveling roller 408, and other components; the connecting seat 401 is U-shaped, two groups of vertical guide wheels 407 are arranged on the left side of the inner side of the connecting seat 401, one group of vertical guide wheels 407 and a combination of one vertical guide wheel 407 and a first walking roller 408 are arranged on the right side of the inner side of the connecting seat 401, the three groups of vertical guide wheels 407 are arranged up and down, and the transverse part of the lower part of the walking track 2 is clamped between the two vertical guide wheels 407 in the same group; the first walking roller 408 is positioned above the lower transverse part of the walking rail 2 and is matched with a vertical guide wheel 407 to clamp the walking rail 2; two sides of the upper part of the connecting seat 401 are respectively provided with a transverse guide wheel 406, and the two transverse guide wheels 406 are matched with and clamp the vertical part of the traveling track 2; the gear seat 402 is in an inverted L shape and is connected to the right outer side of the connecting seat 401, the first driving gear 404 is arranged between the gear seat 402 and the connecting seat 401, the walking motor 403 is fixed on the gear seat 402, the rotating shaft of the walking motor 403 is coaxially connected with the first driving gear 404, and the first driven wheel 405 is meshed with the first driving gear 404 and is coaxially connected with the first walking roller 408; when the first travel roller 408 is rotated by the travel motor 403, the travel mechanism 4 can travel or retreat along the travel rail 2.

As shown in fig. 7, the traveling mechanism 4 may adopt a two-wheel driving structure, which further includes a second driving gear 409, a second driven wheel 4010 and a second traveling roller 4011, compared to the structure of fig. 6, the second traveling roller 4011 is disposed at the opposite side of the first traveling roller 408, the second driven wheel 4010 is disposed at the left side of the connecting seat 401 and is coaxial with the second traveling roller 4011, and the second driving gear 409 is meshed with the second driven wheel 4010 and is coaxially connected with the first driving gear 404 and synchronously rotates; the vertical guide wheel 407 below the second walking roller 4011 or the first walking roller 408 may be spaced apart from the connecting seat 401 by a distance, so that the vertical guide wheels 407 on the same side of the connecting seat 401 are not in the same plane.

As shown in fig. 8, the lifting mechanism 6 includes a first linear driving module 601, a connecting plate 602, a second linear driving module 603, a first lifting arm 604, a second lifting arm 605, a vertical guide rail 606, a guide rail sliding seat 607, a first driving motor 608, a second driving motor 609, a cover, and so on, the first driving motor 608 and the first lifting arm 604 belong to a part of the first linear driving module 601, the first linear driving module 601 and the second linear driving module 603 can be purchased directly from the market, the first driving motor 608 is used for controlling the lifting action of the first lifting arm 604, the connecting plate 602 is fixed at the lower end of the first lifting arm 604, the first linear driving module 601 is fixed on the connecting seat 401 of the traveling mechanism 4, the second linear driving module 603 is fixed on the connecting plate 602, the vertical guide rail 606 is fixed outside the housing of the first linear driving module 601, a guide rail sliding seat 607 is fixed on the outer side of the shell of the second linear driving module 603, the guide rail sliding seat 607 can slide up and down along a vertical guide rail 606, a second driving motor 609 can drive the second lifting arm rod 605 to lift, and the joint rotator 8 is fixed at the lower end of the second lifting arm and is controlled by the second linear driving module 603 and the second linear driving module 603 to lift; a cover body is arranged outside the first linear driving module 601 and the second linear driving module 603, and the cover body covers the traveling mechanism 4 at the same time.

As shown in fig. 9 and 10, the joint rotator 8 includes a rotation control motor 801, a fixing plate 802, a rotation coupling 803, and a rotation table 804, wherein the rotation control motor 801 is fixed to a lower portion of the fixing plate 802, the fixing plate 802 is connected to a second lift arm 605 of the second linear driving module 603, the rotation table 804 is disposed above the fixing plate 802, the rotation table 804 is connected to the rotation arm 9, and a bottom of the rotation table 804 is connected to a rotation shaft of the rotation control motor 801 through the rotation coupling 803; the rotation control motor 801 drives the swing arm 9 to rotate in the horizontal direction through the rotation table 804.

As shown in fig. 11, the swivel arm 9 is in a semicircular arc shape and includes an arc-shaped rail portion 901 and a toothed ring rail portion 902, the toothed ring rail portion 902 is disposed at a lower portion of the arc-shaped rail portion 901, a plurality of tooth structures are disposed on an arc-shaped outer side of the toothed ring rail portion 902, and ridge portions 903 are disposed on inner and outer sides of the arc-shaped rail portion 901 respectively.

As shown in fig. 12, the distance detector 13 is fixed above the motor bracket 1202 and is used for detecting the distance from the rubber cutter to the surface of the tree; the trunk circumference detector 7 is arranged on the rotary arm 9, the trunk circumference detector 7 comprises a first distance sensor 701, a second distance sensor 702, a sensor seat 703 and other components, the first distance sensor 701 and the second distance sensor 702 are oppositely arranged and are respectively fixed at two ends of the rotary arm 9 through the sensor seat 703, the first distance sensor 701 and the second distance sensor 702 are positioned on the same straight line and are used for detecting the trunk diameter of the rubber tree, and the trunk circumference of the trunk is converted through the measured trunk diameter.

As shown in fig. 13 and 14, the rotary transmission mechanism 10 includes a rotary motor 1001, a connecting table 1002, a rotary table 1003, a guide gear 1004, a roller connecting column 1005, a guide roller 1006, and the like, wherein the rotary motor 1001 is fixed below the connecting table 1002; a guide gear 1004 is connected to a rotating shaft of the rotating motor 1001, provided on the connecting table 1002, and connected to the rotating table 1003, and the guide gear 1004 is engaged with the toothed ring rail portion 902 of the rotating arm 9; the connecting table 1002 is fixedly connected below the rotary table 1003; four guide rollers 1006 are further arranged below the turntable 1003, each guide roller 1006 is connected with the turntable 1003 through a roller connecting column 1005, a groove is formed in the circumferential middle of each guide roller 1006 and is matched with the ridge portion 903 of the arc-shaped guide rail portion 901, and the corresponding guide rollers 1006 are arranged on the inner side and the outer side of the arc-shaped guide rail portion 901 respectively so as to clamp the turntable 9; the rotation motor 1001 is rotated to drive the turntable 1003 to move along the rotation arm 9.

As shown in fig. 12 and 13, a depth control mechanism 11 is provided above the turntable 1003, the depth control mechanism 11 comprises a depth control motor 1101, a connector 1102, a lead screw 1103, a radial slide block 1104, a lead screw nut 1105, a rear support plate 1108, a radial slide rail 1107 and a front support plate 1106, wherein the rear support plate 1108 and the front support plate 1106 are parallel to each other and are vertically connected to the rotary table 1003, the radial slide rail 1107 is arranged between the front support plate 1106 and the rear support plate 1108, the radial slide rail 1107 is arranged along the radial direction of the rotary arm 9, the radial slide block 1104 which is matched with the radial slide rail 1107 to slide is arranged on the radial slide rail 1107, the lead screw nut 1105 is fixed on the radial slide block 1104, the lead screw 1103 is arranged in the middle of the lead screw nut 1105 and is matched with the lead screw nut 1105, the front end of the lead screw 1103 is rotatably connected with the front support plate, the rear end of the lead screw; when the depth control motor 1101 rotates, the lead screw 1103 drives the lead screw nut 1105 to move along the radial direction of the rotary arm 9.

As shown in fig. 13, a needle drilling and glue producing device 12 moving with the lead screw nut 1105 is arranged on the lead screw nut 1105, and the needle drilling and glue producing device 12 comprises a drilling motor 1201, a motor bracket 1202, a needle drilling coupling 1203, a drill bit, a quick chuck 1205, a needle drilling base 1206 and other parts; wherein the needle bores base 1206 and is the L type, the lower part and the feed screw nut 1105 fixed connection of needle bores base 1206, motor support 1202 is connected on upper portion, drilling motor 1201 fixes on motor support 1202, a axostylus axostyle is connected through needle drill shaft coupling 1203 in drilling motor 1201's the pivot, the other end of axostylus axostyle is passed and is connected with quick chuck 1205 behind the needle bores base 1206, this quick chuck 1205 is used for connecting the drill bit, this needle bores and adopts gluey ware 12 by the radial movement of depth control mechanism 11 control along swivel arm 9 to punch to the trunk position of rubber tree.

As shown in fig. 14 and 15, a needle stick gel collector 14 moving with the lead screw nut 1105 can also be arranged on the lead screw nut 1105, the needle stick gel collector 14 has a needle stick motor 1401, a needle stick base 1402, a reduction gear 1403, a sector gear 1404, a front guide column platform 1405, a guide column 1406, an energy storage spring 1407, a rear guide column platform 1408, a rack portion 1409, a power gear 1410, a transmission gear 1411 and the like, wherein the lower side of the needle stick base 1402 is fixed on the lead screw nut 1105, the front guide column platform 1405 and the rear guide column platform 1408 are respectively arranged on the needle stick base 1402, the front end and the rear end of the guide column 1406 respectively pass through the front guide column platform 1405 and the rear guide column 1406 and can move axially, the rack portion 1409 and the energy storage spring 1407 are arranged in the middle of the guide column 1406, the energy storage spring 1407 is pressed between the rack portion 1409 and the rear guide column platform, the sector gear guide column 1404 and the reduction gear 1403 are coaxially and rotatably arranged on the needle stick base 1402, the needle stick motor 1401 is fixed on the, the needle prick base 1402 is further provided with a transmission gear 1411, the transmission gear 1411 is a double-layer gear and is respectively meshed with the power gear 1410 and the reduction gear 1403, the needle prick motor 1401 can drive the sector gear 1404 to rotate after being started, the sector gear 1404 is meshed with the rack portion 1409 and pushes the guide pillar 1406 to move backwards, and when the gear teeth of the sector gear 1404 are disengaged from the rack portion 1409, the energy storage spring 1407 releases the elastic potential energy thereof to prick the front section of the guide pillar 1406 towards the trunk of the rubber tree; the housing houses the needle punch 14 therein.

As shown in fig. 18, the diversion rubber ring 15, the collection rubber bowl 16, the rubber bowl support 17 and other components are arranged below the revolving arm 9, the diversion rubber ring 15 surrounds the trunk, the diversion rubber ring 15 is provided with an annular groove, the bottom of the diversion rubber ring 15 is provided with a rubber tongue, the rubber liquid flows into the collection rubber bowl 16 below the rubber tongue through the rubber tongue, and the collection rubber bowl 16 is fixed by the rubber bowl support 17.

When the automatic needling glue collecting equipment works, the travelling mechanism 4 travels along the travelling track 2, and when the in-place detector 5 is triggered, the travelling mechanism 4 stops; the lifting mechanism 6 stretches and retracts to enable the rotary arm 9 to reach a set height, the joint rotator 8 drives the rotary arm 9 to rotate and laterally surround the rubber tree, the sensor of the tree circumference detector 7 can detect the diameter of the tree through position adjustment of the in-place detector 5, then corresponding data are sent to the background controller, the tree circumference data of the tree are obtained through conversion, the rotary transmission mechanism 10 drives the needle drilling and rubber collecting device 12/the needle pricking and rubber collecting device 14 to reach a specified position to form a rubber collecting hole, the distance detector 13 detects the distance between the needle drilling and rubber collecting device 12 and the skin of the tree, and the feeding depth of the needle drilling and rubber collecting device 12 or the needle pricking and rubber collecting device 14 is controlled through the depth control mechanism 11; wherein, the drilling and rubber-extracting device 12 needs to control the drilling depth thereof by the depth control mechanism 11; after the data detected by the tree circumference detector 7 and the distance detector 13 are converted by a background controller, the moving distance of the rotary transmission mechanism 10 is controlled, so that the distances of the adjacent rubber mining holes in the circumferential direction of the same rubber tree are ensured to be the same, and the distance of the adjacent rubber mining holes in the vertical direction is controlled by the lifting mechanism 6; a plurality of rubber collecting holes are often formed in the same tree, and rubber liquid flowing out of the rubber collecting holes sequentially flows into the flow guide rubber ring 15 and the collecting rubber bowl 16.

The foregoing examples are provided for clarity of illustration only and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are intended to be within the scope of the invention.

Claims (10)

1. The utility model provides a displacement control system that glues is adopted to many trees which characterized in that includes:

the walking track (2) is suspended and fixed among a plurality of trees through a fixing frame (3);

the traveling mechanism (4) is arranged on the traveling rail (2) and can move along the traveling rail (2);

the displacement mechanism is arranged on the traveling mechanism (4) and moves synchronously with the traveling mechanism;

the displacement mechanism controls the glue collector to move along the vertical direction, the circumferential direction or/and the radial direction of the tree plant respectively;

a tree circumference detector (7) including a first distance sensor (701) and a second distance sensor (702) provided on the displacement mechanism, the two sensors being arranged oppositely to detect a tree diameter;

the position sensor (501) is arranged on the travelling mechanism (4) and moves synchronously with the travelling mechanism, and when the travelling mechanism (4) travels to a specified position, the position sensor (501) is triggered and the tree circumference detector (7) can detect the diameter of a tree;

the distance detector (13) is arranged on the glue collector and moves synchronously with the glue collector, and the distance detector (13) is used for detecting the distance between the glue collector and the tree table;

and the background controller is used for receiving the detection data of the tree circumference detector (7) and the distance detector (13) and controlling the displacement mechanism to move the rubber sampler to a specified position.

2. The displacement control system for multi-tree rubber mining according to claim 1, wherein the displacement mechanism comprises a rotary arm (9) capable of semi-encircling one side of a tree, the first distance sensor (701) and the second distance sensor (702) are respectively arranged at two ends of the rotary arm (9), and the background controller calculates the diameter and the offset of the tree according to the detection data of the two sensors and controls the moving distance of the rubber mining device in the circumferential direction of the tree by combining the radian of the rotary arm (9).

3. The displacement control system for collecting multi-tree rubber according to claim 1 or 2, wherein the displacement mechanism further comprises a lifting mechanism (6), a joint rotator (8) arranged on the lifting mechanism (6) and used for controlling the lifting action, a rotary transmission mechanism (10) arranged on the rotary arm (9) and capable of moving along the rotary arm (9), and a depth control mechanism (11) arranged on the rotary transmission mechanism (10); the rotary arm (9) is arranged on the joint rotator (8) and is in an arc shape, and the joint rotator (8) can rotate one side of the rotary arm (9) which is used for semi-encircling a tree plant.

4. The displacement control system for collecting glue from multiple trees according to claim 3, wherein said joint rotator (8) comprises a rotation control motor (801), a rotation table (804) controlled by said rotation control motor (801) and a fixing plate (802) fixed to said rotation control motor (801) and movable with said traveling mechanism (4); the rotary arm (9) is fixed on the rotary table (804), and the rotary arm (9) can rotate along with the rotary table (804).

5. The displacement control system for multi-tree rubber mining according to claim 3, wherein the swivel arm (9) comprises an arc-shaped guide rail part (901) and a toothed ring rail part (902), the arc-shaped guide rail part (901) is overlapped above the toothed ring rail part (902); the rotary transmission mechanism (10) comprises a rotary table (1003) connected with the depth control mechanism (11), a plurality of guide rollers (1006) which are matched with and clamp the arc-shaped guide rail part (901) and supported below the rotary table (1003), a guide gear (1004) meshed with the toothed ring rail part (902), and a rotary motor (1001) which drives the guide gear (1004) to enable the rotary table (1003) to move along a rotary arm (9).

6. The displacement control system for multi-tree rubber tapping according to claim 5, wherein the depth control mechanism (11) comprises a radial slide rail (1107) which is arranged on the rotary table (1003) and is parallel to the radial direction of the rotary arm (9), a radial slide block (1104) which is in sliding fit with the radial slide rail (1107), a screw nut (1105) which is fixed on the radial slide block (1104) and is connected with the rubber tapping device, a screw rod (1103) which is in fit with and drives the screw nut to move, and a depth control motor (1101) which drives the screw rod (1103) to rotate.

7. The displacement control system for collecting multi-tree rubber according to claim 3, wherein the lifting mechanism comprises a first linear driving module (601), a connecting plate (602) and a second linear driving module (603), the first linear driving module (601) is connected with the second linear driving module (603) through the connecting plate (602) and controls lifting; the second linear driving module (603) is connected with the joint rotator (8) and controls the lifting of the joint rotator; and a vertical guide rail (606) and a guide rail sliding seat (607) which can be matched with each other to slide are respectively arranged on the first linear driving module (601) and the second linear driving module (603).

8. The displacement control system for multi-tree rubber tapping according to claim 3, wherein the rubber tapping device is a pin drilling rubber tapping device (12) comprising a drill bit for tree drilling, a quick chuck capable of quickly disassembling and assembling drill bits of different diameters, a drilling motor (1201) connected to the quick chuck and rotating the drill bit, and a pin drilling base (1206) supporting the drilling motor (1201); the pin drill base (1206) is fixed on the depth control mechanism (11) and is controlled by the depth control mechanism to move along the radial direction of the tree.

9. The displacement control system for multi-tree rubber mining according to claim 1 or 2, characterized in that the rubber mining device is a needle-prick rubber mining device (14) which comprises a needle-prick base (1402) arranged on the depth control mechanism (11), a guide pillar (1406) for radially pricking a tree, an energy-storage spring (1407) arranged on the guide pillar (1406), a rack part (1409) arranged on the guide pillar (1406) and enabling the energy-storage spring (1407) to move backwards to store energy, a sector gear (1404) meshed with the rack part (1409), and a needle-prick motor (1401) driving the sector gear (1404) to rotate.

10. The displacement control system for collecting glue from multiple trees according to claim 1, wherein the fixing frame (3) comprises an upper fixing support (301), a lower fixing support (303) and a supporting rod (302), the supporting rod (302) is connected between the upper fixing support (301) and the lower fixing support (303), and the upper fixing support (301) surrounds and is fixed on a tree plant through a plurality of tightening studs (304) on the inner side of the upper fixing support; the walking track (2) is fixed on one side of the fixing frame (3) and is I-shaped or inverted T-shaped.

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