CN111972252A - Active and passive self-adaptive rubber tapping device based on parallel actuator - Google Patents
Active and passive self-adaptive rubber tapping device based on parallel actuator Download PDFInfo
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- CN111972252A CN111972252A CN202010907981.3A CN202010907981A CN111972252A CN 111972252 A CN111972252 A CN 111972252A CN 202010907981 A CN202010907981 A CN 202010907981A CN 111972252 A CN111972252 A CN 111972252A
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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
- A01G23/12—Knives or axes for tapping
Abstract
The invention relates to an active and passive self-adaptive tapping device based on a parallel actuator. The invention mainly comprises a 3-freedom-degree parallel actuator, a pulley block balance mechanism, a magnetic induction device, a screw pair and a spiral guide rail mechanism. The 3-degree-of-freedom parallel actuator comprises an arc-shaped support, a cylinder, a hook hinge and a triangular fixing plate. The pulley block balancing mechanism comprises a rope fixer, a steel rope, a fixed pulley, a weight and a sleeve. The magnetic induction device comprises 3 magnetic induction pieces and 3 magnetic induction switches. The screw rod pair is arranged between the spiral guide rail mechanism and the arc-shaped support and used for driving the spiral line forming guide plate to move up and down. The rubber tapping machine has the characteristics of intelligence, self-adaptation and high repeated positioning precision, and plays a positive role in automatically tapping rubber for rubber trees, reducing the rubber tapping cost of the rubber trees and improving the working conditions of rubber workers.
Description
Technical Field
The invention belongs to the field of agricultural or forestry machinery, and relates to an active and passive self-adaptive rubber tapping device based on a parallel actuator.
Background
The rubber is used as a manufacturing raw material of industrial equipment and daily necessities, plays a very important role in industrial production, medical treatment and health and daily life, is one of the forward power of economic wheels in the world, and is also an important economic support in many countries.
The natural rubber has good elasticity and plasticity at normal temperature and excellent mechanical strength; small hysteresis loss, low heat generation due to multiple deformation and good flexing resistance. Because it is a non-polar material, the electric insulation performance is good, so the application is wide.
With the continuous development of industry, the demand of natural rubber is increasing, but rubber collection workload is large, difficulty is large, safety is poor, efficiency is low, and the bottleneck for limiting the development of the rubber is always. At present, most rubber parks in China still adopt manual hand-held rubber tapping knives for rubber tapping, and although electric rubber tapping knives appear in recent years, the characteristics of high rubber tapping labor intensity, low efficiency and poor safety are not changed.
In recent years, with the continuous decline of the price of the natural rubber, the problems of the loss and aging of rubber tapping workers are increasingly serious, the rubber tapping cost is increased rapidly, the natural rubber industry is challenged seriously, and the great impact is caused to the rubber industry because a large number of rubber forests are abandoned, even modified. Therefore, the current rubber garden production management and operation mode which mainly takes labor intensive type as the main mode cannot adapt to new trend requirements, the traditional rubber tapping becomes the bottleneck of rubber production, the development of rubber planting industry in China cannot be met far, and the mechanization and intellectualization of the rubber garden production operation and management will be the inevitable trend of future development.
Rubber tapping is an operation with high technical requirements, currently, rubber tapping is carried out by manually holding a rubber tapping tool in various countries in the world, and the traditional rubber tapping tool comprises a broach and a push broach. When tapping, the tapping line is required to be smooth, the depth is uniform, the tree damage is less, the skin consumption is less, and the tapping effect can be influenced by the quality of the tapping knife and the proficiency of the tapping worker. The number of cuts is preferably not more than 2 per tree where the bark is cut in a fixed direction and pattern on the trunk to obtain the latex.
The rubber tapping is divided into a male cutter and a female cutter, the male cutter is a rubber discharge surface below the tapping line, and the female cutter is a rubber discharge surface above the tapping line. Many countries have studied the tapping length and tapping frequency, and in the future, short tapping and low frequency tapping will be the focus of research. The length of the cutting line is S-S/2-S/3-S/4-S/8-5 cm (S: full spiral line) from the long cutting line to the short cutting line in sequence, and the tapping frequency is d/1-d/2-d/3-d/4-d/5-d/10-d/12-14 (d: days) from high to low.
The rubber tree comprises a budding tree and a seedling tree, wherein the trunk of the budding tree is cylindrical, and the cutting height is about 130-150 cm. The trunk of the seedling tree is conical, and the height of the first cutting surface from the ground is about 50-80 cm. The two rubber tapping indexes are rubber tapping depth and rubber consumption. The tapping depth is the depth of cutting from the surface of the bark along the direction pointing to the center of the tree, and the tapping depth of the bud grafting tree is 1.2-1.8mm away from the xylem; the tapping depth of the seedling trees (including the low bud grafting trees) is 1.6-2.0mm away from the xylem. The skin consumption is also called as cutting thickness, and refers to the vertical distance between two adjacent processing surfaces, under the cutting condition of d/2-d/3, the skin consumption of each knife of the male wire is about 1.4mm, and the skin consumption of each knife of the female knife is about 1.8 mm; under the d/4 cutting condition, the skin consumption of the male knife per knife is about 1.6mm, and the skin consumption of the female knife per knife is about 2.0 mm.
No matter manual tapping or automatic tapping, tapping depth and consumed rubber amount are two important indexes which must be met, and in order to achieve the indexes, the contact ratio of tapping spiral lines at each time is guaranteed to be very critical during tapping. However, the stump of the natural rubber tree is similar to an ellipse in shape, the surface of the bark is uneven, and in order to ensure high contact ratio, the prepared tapping device has the functions of intellectualization, self-adaption and high repeated positioning, so that the factors are considered when the automatic tapping device is designed.
Disclosure of Invention
The invention aims to solve the 3 main problems (intellectualization, self-adaption and high repeated positioning) in the prior art and provide an active and passive self-adaption rubber tapping device based on a parallel actuator.
The technical scheme of the invention is as follows:
the invention mainly comprises a 3-freedom-degree parallel actuator, a pulley block balance mechanism, a magnetic induction device, a screw pair and a spiral guide rail mechanism.
The 3-degree-of-freedom parallel actuator comprises an arc-shaped bracket, a cylinder, a hook hinge and a triangular fixing plate; the left side and the right side of the upper part of the arc-shaped bracket are symmetrically provided with cylinder push rods; and an air cylinder push rod is also arranged in the middle of the lower part, one end of the air cylinder push rod is connected with the arc-shaped support through a front flange and a floating joint, and the other end of the air cylinder push rod is connected with three angles of the triangular fixing plate through a rear flange, so that the rotary motion with three degrees of freedom is realized.
The pulley block balancing mechanism comprises a rope fixer, a steel rope, a fixed pulley, a weight and a sleeve; the front end of the steel rope is fixed in the middle of the arc-shaped support by a rope fixer and then bypasses a fixed pulley arranged at the top of the triangular fixing plate, the rear end of the steel rope is vertically hung downwards on a hook of a weight, and the weight is arranged in the sleeve to ensure the weight to move up and down; the pulley block balance mechanism is used for balancing the additional vertical downward gravity generated by the 3-degree-of-freedom parallel actuator during the operation of the cylinder push rod.
The magnetic induction device consists of 3 magnetic induction sheets and 3 magnetic induction switches, wherein the magnetic induction sheets are arranged on the rubber tree and distributed in an isosceles triangle shape; the magnetic induction switches are arranged on an arc-shaped bracket at the front end of the 3-degree-of-freedom parallel actuator and distributed in an isosceles triangle shape; the positions of the front isosceles triangle and the rear isosceles triangle are the same in the vertical direction of the tree, the difference is a distance D in the radial direction of the tree, and the distance is a scalar and is set according to different tree diameters.
The screw rod pair is arranged between the spiral guide rail mechanism and the arc-shaped support and used for driving the spiral line forming guide plate to move up and down.
Furthermore, the spiral guide rail cutting mechanism consists of a spiral line forming guide plate, a linear rail sliding block, a stepping motor, a flexible cutting mechanism and a monocular camera. The back arc part of the spiral line forming guide plate is provided with two linear guide rails for mounting linear guide rail sliding blocks; a cylindrical gear is designed between the two linear guide rails and meshed with a pinion on the flexible cutting mechanism. The stepping motor drives the pinion to rotate, so that the flexible cutting mechanism is driven to rotate on the cylindrical gear to form a spiral line. The monocular camera is used for finding out the starting point of the cutting line required to be cut each time, and intelligent tapping is achieved.
Furthermore, 4 compression springs are arranged on the flexible cutting mechanism and used for ensuring that the rotary cutter and the guide rod are always attached to the bark in the cutting process, and the cutting depth and the bark consumption are ensured.
Furthermore, the screw pair consists of a shaft fixing seat, an optical axis, a box-type sliding block, a screw bearing seat, a screw and a screw nut. The axle fixing base is installed on the left angle aluminium of arc type support, and upper and lower respectively installs 1 for fastening the optical axis. And a box-type sliding block is arranged on the optical axis and is fixedly connected to the left side of the spiral line forming guide plate. The lead screw bearing blocks are arranged on the angle aluminum on the right side of the arc-shaped support, and 1 lead screw is arranged up and down respectively and used for mounting a lead screw. Install screw nut on the lead screw, screw nut links firmly on the right of helix shaping deflector simultaneously, and when the rotary motion was done to the lead screw, the drive screw nut was done and is slided from top to bottom, and the helix shaping deflector that the drive linked firmly on screw nut and slider simultaneously reciprocates.
Furthermore, the 3-degree-of-freedom parallel actuator is driven by gas, the rubber tapping device is controlled to be actively attached to the trunk by controlling the air pressure and the ventilation time, and meanwhile, the rubber tapping device passively rebounds due to the hysteresis and the gas compressibility of the air cylinder, so that the purpose of active and passive self-adaptive control of the rubber tapping device is achieved.
The invention has the beneficial effects that: the invention provides an end effector for a mobile tapping robot, namely an active and passive self-adaptive tapping device based on a parallel actuator. The device possesses intelligent (initiative passively), self-adaptation and high repeated positioning accuracy, has filled a great deal of not enough of automatic rubber tapping equipment on the market at present, to the automatic rubber tapping of rubber tree, reduces rubber tree rubber tapping cost, improves gluer's operating condition and has all played the positive role. The active and passive self-adaptive tapping device based on the parallel actuator has the characteristics of simple structure, strong self-adaptive capacity, high positioning precision, high tapping efficiency and the like, and has great popularization and use values.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a schematic view of the installation position of the magnetic sensor on the stump;
FIG. 4 is a schematic view of magnetic induction according to the present invention;
FIG. 5 is a schematic view of the positioning of the present invention;
reference numerals:
140 cylinder 2 arc support 3 helix shaping deflector
Floating joint of 4-angle aluminum 5 front connecting flange 6
732 cylinder 8 Hooke joint 9 steel rope
10-pulley mounting bracket 11 fixed pulley 12 triangular fixing plate
13-weight 14-sleeve 1542 stepping motor
16 pinion 17 flexible rubber tapping mechanism 18 monocular camera
19-shaft fixing seat 20 optical shaft 21 lead screw nut
22 lead screw 23 lead screw fixing seat 24 rope fixer
25-box type slide block 26 cutter motor 101 magnetic induction sheet
102 positioning device 103 magnetic induction switch 104 spring sheet
105 cylinder assembly 106 mounts 107 stump.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting.
The invention mainly comprises a 3-freedom-degree parallel actuator, a pulley block balance mechanism, a magnetic induction device, a screw pair and a spiral guide rail mechanism.
The 3-degree-of-freedom parallel actuator is composed of an arc-shaped support, a front flange, a rear flange, a floating joint, a cylinder, a Hooke's hinge and a triangular fixing plate. The left side and the right side of the arc-shaped support at the upper end position are symmetrically provided with 32mm cylinder diameter air cylinder push rods; the lower end position arc support, the intermediate position, installation 40mm cylinder diameter cylinder push rod constitutes an isosceles triangle. In the same way, the connecting flanges at the tail part of the cylinder are respectively fixed on the triangular fixing plate to form an isosceles triangle with equal amplification. The front isosceles triangle and the rear isosceles triangle are connected through a front flange, a floating joint, a cylinder, a Hooke's hinge and a rear flange in sequence to form a mechanism which realizes rotary motion with three degrees of freedom by replacing six actuators in a typical Stewart parallel mechanism with three support rods.
The pulley block balance mechanism consists of a rope fixer, a steel rope, a fixed pulley, a pulley mounting bracket, weights and a sleeve. The front end of the steel rope is fixed in the middle of the arc-shaped support through the rope fixer and then bypasses a fixed pulley arranged at the top of the triangular fixing plate, the rear end of the steel rope is vertically hung downwards on a hook of a weight, and the weight is arranged in the sleeve to ensure the up-and-down movement of the weight. The pulley block mechanism mainly plays a role in balancing the additional vertical downward gravity generated by the 3-degree-of-freedom parallel actuator during the operation of the cantilever.
Magnetic induction device comprises 3 magnetic induction pieces and 3 magnetic induction switches, and wherein the magnetic induction piece is installed on rubber tree, is isosceles triangle and distributes, and magnetic induction switch installs on the arc support of 3 degree of freedom parallel actuator front ends, is isosceles triangle and distributes. The positions of the front isosceles triangle and the rear isosceles triangle are the same in the vertical direction of the tree, the difference is a distance D in the radial direction of the tree, the distance is a scalar, and the isosceles triangles can be set according to different tree diameters. After the tapping position is determined, the 3-freedom parallel actuator drives the tapping device to be attached to the stump, so that the subsequent tapping is facilitated.
The screw pair consists of a shaft fixing seat, an optical shaft, a box-type sliding block, a screw bearing seat, a screw and a screw nut. The axle fixing base is installed on the left angle aluminium of arc type support, and upper and lower respectively installs 1 for fastening the optical axis. The box-type sliding block is arranged on the optical axis and can slide up and down, and the box-type sliding block is fixedly connected to the left side of the spiral line forming guide plate. The lead screw bearing blocks are arranged on the angle aluminum on the right side of the arc-shaped support, and 1 lead screw is arranged up and down respectively and used for mounting a lead screw. Install screw nut on the lead screw, screw nut links firmly on the right of helix shaping deflector simultaneously, and when the rotary motion was done to the lead screw, the drive screw nut was done and is slided from top to bottom, and the helix shaping deflector that the drive linked firmly on screw nut and slider simultaneously reciprocates.
The spiral guide rail cutting mechanism mainly comprises a spiral line forming guide plate, a linear rail sliding block, a 42 stepping motor, a flexible cutting mechanism and a monocular camera. Two mounting supports are respectively arranged on the left side and the right side of the spiral line forming guide plate and are fixedly connected with the box type sliding block and the lead screw nut respectively; the back arc part of the spiral line forming guide plate is provided with two linear guide rails for mounting a linear rail sliding block, and a cylindrical gear is arranged between the two linear guide rails and meshed with a pinion on the flexible cutting mechanism. The 42 stepping motor drives the pinion to rotate, so that the flexible cutting mechanism is driven to rotate on the cylindrical gear to form a spiral line. 4 pressure springs are arranged on the flexible cutting mechanism, so that the rotary cutting knife and the guide rod are guaranteed to be attached to barks constantly in the cutting process, and the cutting depth and the bark consumption are guaranteed.
The 3-degree-of-freedom parallel actuator is driven by gas, and is used for controlling the rubber tapping device to be actively attached to the trunk by controlling the air pressure and the ventilation time, and meanwhile, the rubber tapping device is passively rebounded due to the hysteresis and the gas compressibility of the cylinder, so that the purpose of active and passive self-adaptive control of the rubber tapping device is achieved.
The pulley block balance mechanism is connected with the 3-freedom-degree parallel actuator and the weight through the steel rope, and the weight moves up and down in the sleeve in the extending and contracting process of the cylinder and is used for balancing the influence of the self gravity on the motion track of the 3-freedom-degree parallel actuator during cantilever operation.
Magnetic induction device installs magnetic switch, through the distance between response and the magnetic induction piece to control tapping device stops at the same position of trunk at every turn, plays high accuracy repeated location function.
The screw pair can drive the spiral line forming guide plate to move up and down, and the visual servo system finds out the cutting line starting point needing to be cut each time through the monocular camera on the flexible rubber tapping device, so that the intelligent rubber tapping target is achieved.
The spiral guide rail cutting mechanism can ensure that spiral lines with the same track can be obtained after cutting every time. Therefore, when cutting each time, a new cutting line can be cut only by moving the cutting starting point downwards.
Example (b):
fig. 1 is a front view of the present invention, and fig. 2 is a perspective view of the present invention. The device mainly comprises a 3-degree-of-freedom parallel actuator, a pulley block balance mechanism, a magnetic induction device, a screw pair and a spiral guide rail mechanism.
The 3-freedom-degree parallel actuator consists of an arc-shaped support 2 (1 in each of the upper part and the lower part), flanges 5 (1 in each of the front part and the rear part), a floating joint 6, a cylinder 7, a Hooke's joint 8 and a triangular fixing plate 12. The arc-shaped support 2 is arranged at the upper end, and 32mm cylinder diameter air cylinder push rods are symmetrically arranged at the left side and the right side of the arc-shaped support; the lower end position arc support 2, the intermediate position, installation 40mm cylinder diameter cylinder push rod constitutes an isosceles triangle. In the same way, the connecting flanges 5 at the tail part of the cylinder are respectively fixed on the triangular fixing plates to form an isosceles triangle with equal amplification. The front isosceles triangle and the rear isosceles triangle are connected through the front flange 5, the floating joint 6, the air cylinder 7, the Hooke joint 8 and the rear flange 5 in sequence to form a mechanism which realizes the rotary motion of three degrees of freedom by replacing six actuators in a typical Stewart parallel mechanism with three support rods.
The pulley block balance mechanism consists of a rope fixer 24, a steel rope 9, a fixed pulley 11, a pulley mounting bracket 10, a hook and weight 13 and a sleeve 14. As shown in particular in fig. 2.
The magnetic induction device is composed of 3 magnetic induction sheets 101 and 3 magnetic induction switches 103, as shown in fig. 4.
The screw assembly is composed of a shaft fixing seat 19, an optical axis 20, a box-type sliding block 25, a screw bearing seat 23, a screw 22 and a screw nut 21, and is specifically shown in fig. 2.
The spiral guide rail cutting mechanism consists of a spiral line forming guide plate 3, a linear guide rail sliding block (integrated with the spiral line forming guide plate 3), a 42 stepping motor 15, a pinion 16, a flexible cutting mechanism 17 and a monocular camera 18. As shown in particular in figure 1.
An active and passive self-adaptive tapping device (hereinafter referred to as tapping device) based on a parallel actuator is arranged at the tail end of the mobile tapping robot and is used as an end effector of the tapping robot. The movable rubber tapping robot is stopped after reaching the designated position of the stump through a GPS navigation system, and the 3-degree-of-freedom parallel actuator drives a cylinder push rod to be radially close to the stump. At the fixing position of the stump 107, 3 magnetic induction sheets 101 are installed, and are distributed in an isosceles triangle shape, as shown in fig. 3 and 4. When the magnetic induction switch senses a specified distance, the air cylinder stops advancing, and the magnetic induction switch 101 on the tapping device and the magnetic induction sheets 107 on the stumps are kept at the corresponding positions in pairs in height, as shown in fig. 4.
Next, the screw pair starts to work to drive the helical line forming guide plate 3 to move up and down, and simultaneously, the 42 stepping motor 15 in the helical guide rail mechanism starts to work to drive the pinion 16 to make a helical motion from bottom to top on the cylindrical gear to perform tool return work. And after finding out the starting point of the cutting line required to be cut each time through the monocular camera 18 on the spiral guide rail cutting mechanism, the visual servo system finishes tool return and stops the screw pair. And then the 3-freedom parallel actuator continues to work, the positioning device 102 is pushed to be close to the stump, at the moment, the steel rope 9 in the pulley block balancing mechanism is pulled, and the weight 13 moves upwards to balance the gravity generated when the cantilever of the 3-freedom parallel actuator works. When the spring plate 104 at the front end of the tapping device completely clings to the stump and the 3 magnetic induction switches detect the set distance, the positioning device 102 (all components connected with the front end of the cylinder are collectively called) stops advancing and positioning is completed, as shown in fig. 5.
After the positioning is finished, the cutting knife motor 26 on the flexible cutting mechanism 17 rotates, the rotary cutting knife starts cutting, and simultaneously, the 42 stepping motor 15 in the spiral guide rail mechanism is started again to drive the flexible cutting mechanism 17 to perform spiral motion from top to bottom, so that a new spiral line is cut on the stump. In the process, the pressure spring on the flexible rubber tapping mechanism 17 always ensures that the rotary cutter and the guide rod are always attached to the tree to obtain the same rubber tapping depth.
When the rotary cutter reaches the spiral line retracting position, the cutter motors 26 and 42 and the stepping motor 15 stop rotating, and the 3-freedom parallel actuator starts to retract until the cylinder is completely contracted, so that the reset is completed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (5)
1. Active passive self-adaptation rubber tapping device based on parallel actuator mainly comprises 3 degree of freedom parallel actuator, assembly pulley balance mechanism, magnetic induction system, lead screw pair, helical guideway mechanism, its characterized in that:
the 3-degree-of-freedom parallel actuator comprises an arc-shaped bracket, a cylinder, a hook hinge and a triangular fixing plate; the left side and the right side of the upper part of the arc-shaped bracket are symmetrically provided with cylinder push rods; an air cylinder push rod is also arranged in the middle of the lower part, one end of the air cylinder push rod is connected with the arc-shaped bracket through a front flange and a floating joint, and the other end of the air cylinder push rod is connected with three angles of the triangular fixing plate through a rear flange, so that the rotary motion with three degrees of freedom is realized;
the pulley block balancing mechanism comprises a rope fixer, a steel rope, a fixed pulley, a weight and a sleeve; the front end of the steel rope is fixed in the middle of the arc-shaped support by a rope fixer and then bypasses a fixed pulley arranged at the top of the triangular fixing plate, the rear end of the steel rope is vertically hung downwards on a hook of a weight, and the weight is arranged in the sleeve to ensure the weight to move up and down; the pulley block balance mechanism is used for balancing the additional vertical downward gravity generated by the 3-degree-of-freedom parallel actuator when the cylinder push rod works;
the magnetic induction device consists of 3 magnetic induction sheets and 3 magnetic induction switches, wherein the magnetic induction sheets are arranged on the rubber tree and distributed in an isosceles triangle shape; the magnetic induction switches are arranged on an arc-shaped bracket at the front end of the 3-degree-of-freedom parallel actuator and distributed in an isosceles triangle shape; the positions of the front isosceles triangle and the rear isosceles triangle are the same in the vertical direction of the tree, and the difference is a distance D in the radial direction of the tree, wherein the distance is a scalar and is set according to different tree diameters;
the screw rod pair is arranged between the spiral guide rail mechanism and the arc-shaped support and used for driving the spiral line forming guide plate to move up and down.
2. The active and passive adaptive tapping device based on parallel actuators as claimed in claim 1, wherein: the spiral guide rail cutting mechanism consists of a spiral line forming guide plate, a linear guide rail sliding block, a stepping motor, a flexible cutting mechanism and a monocular camera; the back arc part of the spiral line forming guide plate is provided with two linear guide rails for mounting linear guide rail sliding blocks; a cylindrical gear is designed between the two linear guide rails and is meshed with a pinion on the flexible cutting mechanism; the stepping motor drives the pinion to rotate, so that the flexible cutting mechanism is driven to rotate on the cylindrical gear to form a spiral line; the monocular camera is used for finding out the starting point of the cutting line required to be cut each time, and intelligent tapping is achieved.
3. The active and passive adaptive tapping device based on parallel actuators as claimed in claim 1, wherein: the flexible cutting mechanism is provided with 4 pressure springs and is used for ensuring that the rotary cutter and the guide rod are always attached to barks in the cutting process, and the cutting depth and the bark consumption are ensured.
4. The active and passive adaptive tapping device based on parallel actuators as claimed in claim 1, wherein: the screw pair consists of a shaft fixing seat, an optical shaft, a box-type sliding block, a screw bearing seat, a screw and a screw nut; the shaft fixing seat is arranged on the angle aluminum on the left side of the arc-shaped bracket, and 1 shaft fixing seat is arranged up and down and used for fastening an optical axis; a box-type sliding block is arranged on the optical axis and is fixedly connected to the left side of the spiral line forming guide plate; the screw rod bearing blocks are arranged on the angle aluminum on the right side of the arc-shaped bracket, and 1 screw rod bearing block is arranged at the upper part and the lower part respectively and used for mounting a screw rod; install screw nut on the lead screw, screw nut links firmly on the right of helix shaping deflector simultaneously, and when the rotary motion was done to the lead screw, the drive screw nut was done and is slided from top to bottom, and the helix shaping deflector that the drive linked firmly on screw nut and slider simultaneously reciprocates.
5. The active and passive adaptive tapping device based on parallel actuators as claimed in claim 1, wherein: the 3-degree-of-freedom parallel actuator is driven by gas, and is used for controlling the rubber tapping device to be actively attached to the trunk by controlling the air pressure and the ventilation time, and meanwhile, the rubber tapping device is passively rebounded due to the hysteresis and the gas compressibility of the cylinder, so that the purpose of active and passive self-adaptive control of the rubber tapping device is achieved.
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| CN202010907981.3A CN111972252B (en) | 2020-09-02 | 2020-09-02 | Active and passive self-adaptive rubber tapping device based on parallel actuator |
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| CN202010907981.3A CN111972252B (en) | 2020-09-02 | 2020-09-02 | Active and passive self-adaptive rubber tapping device based on parallel actuator |
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