CN113349011A - Rubber tapping equipment and use method thereof - Google Patents

Abstract

The invention relates to the field of natural rubber harvesting tools, in particular to rubber harvesting equipment and a using method thereof, wherein the rubber harvesting equipment comprises a bottom plate, an arc-shaped groove arranged on the bottom plate, a moving member capable of moving along the track of the arc-shaped groove, a first driving mechanism used for driving the moving member to move, a rubber tapping mechanism and a rubber collecting mechanism which are arranged on the moving member and capable of moving along the direction vertical to the upper surface of the moving member, and a second driving mechanism used for driving the rubber tapping mechanism and the rubber collecting mechanism to move, the second driving mechanism comprises a first supporting block and a second supporting block which are capable of moving along the direction vertical to the upper surface of the moving member, the rubber tapping mechanism is arranged on the first supporting block, and the rubber collecting mechanism is arranged on the second supporting block. The rubber cutting and collecting integrated machine realizes rubber cutting and collecting integration through mutual matching of the two driving mechanisms, and is simple in overall structure arrangement, high in stability, convenient to control the running track and high in rubber collecting efficiency.

Description

Rubber tapping equipment and use method thereof

Technical Field

The invention relates to the technical field of natural rubber harvesting tools, in particular to rubber harvesting rubber equipment and a using method thereof.

Background

Natural rubber, which is an elastic solid obtained by coagulating and drying a rubber raw material collected from a rubber tree, has excellent resilience, insulation properties, water barrier properties, and plasticity, and is widely used in many fields; the rubber raw material is generally collected by cutting a small groove which is spiral in the longitudinal direction on a rubber tree, installing a rubber cutting basin at the lowest part of the groove, so that the rubber flows into the rubber cutting basin along the small groove, taking down the rubber cutting basin from the tree after the rubber cutting basin is fully collected, uniformly collecting the rubber in the rubber cutting basin, and storing the rubber in a closed container.

The operations are still manually completed at present, and due to the large workload, a rubber tapping worker needs to tap and collect rubber in a rubber forest very early, so that the operation is hard, and the risk of being hurt by poisonous snakes and insects is also existed; in addition, as the price of the rubber drops in recent years, the rubber tapping workers cannot obtain considerable benefits, and a plurality of rubber tapping workers have to go to other work, so that the phenomenon of rubber abandoning and cutting is serious; rubber tapping and rubber collecting are relatively mechanical work, so that the machine capable of automatically harvesting rubber is very necessary, and manpower and material resources can be greatly saved.

Most of the existing rubber harvesting tools can only perform rubber tapping operation or rubber collecting operation independently, and few rubber tapping and rubber collecting integrated equipment exist, although the prior art is Chinese patent with publication number CN105766551B, the patent discloses an automatic rubber tapping and rubber collecting system based on an unmanned system, the system specifically comprises the unmanned system, a mechanical arm arranged on the unmanned system and a rubber collecting container arranged beside the mechanical arm, the mechanical arm comprises a rubber collecting mechanical arm and a rubber tapping mechanical arm, the automation of rubber tapping and rubber collecting is realized through the arrangement of the mechanical arm, but rubber tapping and rubber collecting are performed through controlling the mechanical arm, the accuracy of the rotation angle of each joint needs to be ensured, the accuracy of the track is not easy to control, the freedom degree is too much, the stability of a mechanical structure is lower, larger errors are easy to generate in the operation process, and the cost is higher.

Disclosure of Invention

The invention aims to solve the technical problems of poor structural stability and inconvenient control of operation precision of rubber tapping and rubber collecting through a manipulator in the prior art, and provides rubber collecting and rubber tapping equipment with simple and stable structural arrangement and high operation precision and a using method thereof.

In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a rubber harvesting rubber equipment, includes the bottom plate, locates arc wall on the bottom plate, can follow moving member that the arc wall orbit removed, be used for driving moving member motion's first actuating mechanism, locate on the moving member and can along with moving member upper surface vertical's direction removal rubber tapping mechanism and receipts gum machine construct and be used for driving rubber tapping mechanism with receive the second actuating mechanism of gum machine structure motion.

The cooperation through moving member, arc wall and first actuating mechanism can realize rubber tapping mechanism and receive the rotary motion of gluey mechanism, and the up-and-down motion of rubber tapping mechanism and receipts gluey mechanism can be realized to second actuating mechanism's setting simultaneously, only can accomplish rubber tapping, receipts gluey action through mutually supporting of two actuating mechanism, and the structure sets up simply, and stability is high, and the orbit is convenient for control, and the operation accuracy is high.

Preferably, the first driving mechanism comprises a first driving piece arranged on the bottom plate and a turntable swing rod connected with the output end of the first driving piece; the moving piece is connected to the swing rod of the turntable in a sliding manner, and the bottom of the moving piece is provided with a limiting wheel in sliding connection with the arc-shaped groove; through the spacing sliding fit of spacing wheel and arc wall, first driving piece drives the carousel pendulum rod and rotates the in-process, and the moving member can remove along the orbit of arc wall when gliding on the carousel pendulum rod, and such structure setting is convenient for control the movement track of moving member, has improved the operating stability and the accuracy of operation of moving member greatly.

Preferably, the second driving mechanism comprises a first supporting block and a second supporting block which can move along the direction vertical to the upper surface of the moving part, and a first power structure for driving the first supporting block and the second supporting block to move, the rubber tapping mechanism is arranged on the first supporting block, and the rubber collecting mechanism is arranged on the second supporting block; can drive rubber tapping mechanism and receive gluey mechanism through a power unit simultaneously and move in the direction with moving member upper surface vertical, whole structure sets up simply, moves stably.

Preferably, the first power structure comprises a screw rod rotatably arranged on the moving member, a first sliding block and a second sliding block sleeved on the screw rod, a second driving member for driving the screw rod to rotate, and a guide rod for guiding the first sliding block and the second sliding block to move linearly; the first sliding block is arranged on the first supporting block; the second sliding block is arranged on the second supporting block; the first supporting block and the second supporting block can be stably driven to move in the vertical direction through the matching arrangement of the screw rod, the first sliding block, the second sliding block and the guide rod.

Preferably, the tapping mechanism comprises a handle mounting piece detachably arranged on the first supporting block and a tapping knife connected with the handle mounting piece; the rubber tapping mechanism is detachably arranged on the first supporting block, so that the rubber tapping mechanism is convenient to detach and maintain at regular intervals, and the rubber tapping effect is guaranteed.

Preferably, the tapping knife comprises an assembly part and a plurality of knife head parts arranged at one end of the assembly part; the knife head part is provided with a notch for bark scraps to pass through: the assembling part is connected to the cutter handle mounting part in a sliding manner; the plurality of cutter head parts can be arranged into cutter heads with different specifications so as to meet the requirements of different tapping widths, and the arrangement of the notches at the cutter head parts can facilitate the cut barks to fall off in time, thereby effectively avoiding influencing the subsequent tapping operation; the assembling part is connected to the knife handle mounting part in a sliding mode, the position of the tapping knife connected to the knife handle mounting part can be adjusted, and then the tapping depth can be adjusted.

Preferably, the glue collecting mechanism comprises a first support, a third driving piece, a pair of grippers and a second power structure, wherein the first support is arranged on the second support block and can swing up and down; the second power structure can drive the pair of grippers to open and close, so that the tapping basin can be conveniently taken and placed; the third driving piece drives the pair of grabhooks to swing up and down through the first support, so that rubber in the rubber tapping basin can be poured into the rubber collecting barrel conveniently.

Preferably, the second power structure comprises a second bracket arranged on the first bracket, a fourth driving part arranged on the second bracket, a connecting shaft connected with the output end of the fourth driving part, a first gear connected with the connecting shaft and a second gear meshed with the first gear; the second gear is arranged on the second bracket through a rotating shaft; the pair of grippers is respectively connected with the first gear and the second gear; the opening and closing of the pair of grippers are controlled through gear transmission, and the structure arrangement saves space, and is stable in operation and low in failure rate.

Preferably, the bottom plate is provided with a glue collecting barrel, and the glue collecting barrel is provided with a glue collecting barrel cover capable of being automatically opened and closed; a glue scraping plate is arranged on the inner side of the glue collecting barrel cover in a matched manner; the arrangement of the rubber collecting barrel cover can provide a closed environment for the collected rubber body to be better stored; the rubber that glues on rubber tapping basin inner wall can be scraped down to the setting of scraping the offset plate, can guarantee that the rubber in the rubber tapping basin can be effectively collected.

The rubber tapping equipment further comprises a two-dimensional code module used for identifying the two-dimensional code on the rubber tree, and the two-dimensional code module is arranged on the second supporting block.

The use method of the rubber tapping equipment comprises the following steps:

step one is to identify a rubber tree two-dimensional code: a two-dimension code module on the rubber tapping equipment scans a two-dimension code on the rubber tree to obtain a tapping track of the rubber tree and a position where a tapping basin is placed;

step two is glue collection: after the rubber harvesting equipment moves to the corresponding position of the rubber tree, a rubber cutting basin placed on the rubber tree is grabbed through a pair of grabs, then the rubber cutting basin moves to the upper part of a rubber collecting barrel, rubber in the rubber cutting basin is poured into the rubber collecting barrel, then the rubber on the inner wall of the rubber cutting basin is scraped by a rubber scraping plate, and after the rubber collection is finished, the rubber cutting basin is finally placed back to the original position;

step three is tapping: aligning the rubber tapping knife to the rubber tapping starting point of the rubber tree, starting the first driving piece and the second driving piece to work, enabling the rubber tapping knife to move circumferentially and upwards around the rubber tree to perform rubber tapping operation, and moving to the next rubber tree to repeat the operation after the rubber tapping is finished.

Compared with the prior art, the invention has the beneficial effects that:

1) according to the rubber tapping mechanism, the rotating motion of the rubber tapping mechanism and the rubber collecting mechanism can be realized through the matching of the moving member, the arc-shaped groove and the first driving mechanism, meanwhile, the vertical motion of the rubber tapping mechanism and the rubber collecting mechanism can be realized through the arrangement of the second driving mechanism, the rubber tapping and the rubber collecting actions can be completed only through the mutual matching of the two driving mechanisms, the structure is simple to arrange, the stability is high, the operation track is convenient to control, and the operation accuracy is high;

2) the invention fully utilizes the characteristic that the tapping basin is 20-30cm lower than the tapping starting point, two sliding blocks are simultaneously arranged on the screw rod, and the vertical movement of the tapping mechanism and the rubber collecting mechanism can be completed through the rotation of one screw rod;

3) the arrangement of the arc-shaped groove ensures that the rotating center of the moving piece is not at the center of a circle of circular motion but has a certain eccentric distance, thereby not only saving space for the bottom plate, but also successfully realizing 180-degree rotation of the glue collecting mechanism on the moving piece which can only rotate 70 degrees by matching with the mounting position of the glue collecting mechanism;

4) the rubber harvesting machine not only can harvest rubber, but also can harvest rubber, realizes the integration of rubber harvesting and rubber harvesting, is convenient to use, can complete the harvesting of the whole rubber forest, has very strong practicability, greatly saves manpower and material resources, and also improves the rubber harvesting efficiency.

Drawings

FIG. 1 is a schematic view of the overall structure of the rubber tapping apparatus of the present invention;

FIG. 2 is a top view of the base plate of the present invention;

FIG. 3 is a schematic structural diagram of a swing link of the turntable according to the present invention;

FIG. 4 is a schematic view of the track drive mechanism of the present invention coupled to a base plate;

FIG. 5 is an enlarged view at A in FIG. 4;

FIG. 6 is a schematic view of the tapping mechanism, the first vision module and the first support block of the present invention connected together;

FIG. 7 is a schematic structural view of the tapping knife of the present invention;

FIG. 8 is a schematic view of the connection of the glue collecting mechanism, the first vision module, the two-dimensional code module and the second support block according to the present invention;

fig. 9 is a schematic structural view of the glue collecting barrel of the invention.

In the drawings: 1-a bottom plate, 11-an arc-shaped groove, 2-a moving piece, 21-a limiting wheel, 22-an extending plate, 3-a tapping mechanism, 31-a knife handle installing piece, 311-an installing part, 312-a cutting knife fixing part, 313-a fixing hole, 32-a tapping knife, 321-an installing part, 322-a knife head part, 323-an assembling hole, 324-a cutting tip part, 325-a notch, 33-a first supporting block, 4-a tapping mechanism, 41-a first bracket, 42-a third driving piece, 43-a pair of grabs, 431-a tapping basin, 44-a fourth driving piece, 45-a connecting shaft, 46-a first gear, 47-a second gear, 48-a rotating shaft, 49-a second bracket, 5-a first driving mechanism and 51-a first driving piece, 52-a turntable swing rod, 521-a turntable part, 522-a light shaft part, 523-a limiting part, 6-a second driving mechanism, 61-a screw rod, 611-a first through hole, 62-a first slide block, 63-a second slide block, 64-a second driving part, 65-a guide rod, 651-a second through hole, 66-a limiting block, 7-a second supporting block, 81-a glue collecting barrel, 811-a glue collecting barrel chassis, 812-a support, 82-a glue collecting barrel cover, 83-a connecting piece, 84-a fifth driving part, 85-a third support, 86-a glue scraping plate, 87-a sixth driving part, 88-a fourth support, 91-a driving motor, 92-a first fixing plate, 93-a second fixing plate, 94-a driving wheel, 95-a driving wheel and 96-a crawler belt, 101-a first vision module frame, 102-a first vision module wide-angle lens, 103-a first vision module wifi extension version, 104-a second vision module frame, 105-a second vision module wide-angle lens, 106-a second vision module wifi extension version, 10-a two-dimensional code module, 107-a two-dimensional code module frame, 108-a two-dimensional code identification scanner.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "long", "short", etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the drawings, it is only for convenience of description and simplicity of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.

The technical scheme of the invention is further described in detail by the following specific embodiments in combination with the attached drawings:

examples

Fig. 1 to 9 show an embodiment of a rubber tapping device and a method for using the same, which includes a bottom plate 1, a moving member 2, a first driving mechanism 5, a second driving mechanism 6, a rubber tapping mechanism 3, and a rubber tapping mechanism 4, wherein the bottom plate 1 is a metal plate for supporting the whole device, specifically, one side of the bottom plate 1 is an arc-shaped structure, and the arc-shaped structure is configured to adapt to the shape of a rubber tree.

The bottom plate 1 adjacent to the arc-shaped side edge is provided with an arc-shaped groove 11, wherein the moving member 2 can move along the track of the arc-shaped groove 11, the arc-shaped groove 11 enables the rotation center of the moving member 2 not to be at the center of a circle of circular motion, but to have a certain eccentric distance, and the rotatable angle of the moving member 2 is 70 degrees in the embodiment; the moving member 2 is a metal block, the bottom of the moving member 2 is provided with a limiting wheel 21, the limiting wheel 21 is a bull-eye wheel, the limiting wheel 21 is limited in the arc-shaped groove 11, and when the moving member 2 moves, the limiting wheel 21 slides in the arc-shaped groove 11; wherein rubber tapping mechanism 3 and receipts rubber mechanism 4 all set up on this moving member 2, can drive rubber tapping mechanism 3 around the trunk and carry out the rubber tapping when moving member 2 gliding in arc wall 11 in-process, also can drive receipts rubber mechanism 4 and accomplish and receive gluey work.

Wherein first actuating mechanism 5 cooperatees with moving member 2 for drive moving member 2 slides along arc wall 11, it is specific, this first actuating mechanism 5 includes first driving piece 51 and carousel pendulum rod 52, this first driving piece 51 drives carousel pendulum rod 52 and rotates in the horizontal direction, this first driving piece 51 is the ordinary 60kg steering wheel that can directly purchase on the market, specific structure and principle are no longer repeated here, this first driving piece 51 locates the lower surface of bottom plate 1.

The turntable swing rod 52 is located above the bottom plate 1, specifically, the turntable swing rod 52 includes a turntable portion 521, a smooth shaft portion 522 and a limiting portion 523, the smooth shaft portion 522 is two parallel smooth sliding rods, one end of the smooth shaft portion 522 is connected with the turntable portion 521, the other end of the smooth shaft portion 522 is connected with the limiting portion 523, the output end of the first driving member 51 penetrates through the bottom plate 1 and is connected with the turntable portion 521 through a metal rudder plate, the moving member 2 can slide on the smooth shaft portion 522, a through hole for the smooth shaft portion 522 to pass through is formed in the moving member 2, and specifically, the moving member 2 is installed on the smooth shaft portion 522 through a linear bearing.

When the harvester moves to just face the rubber tree, under the driving of the first driving piece 51, the turntable swing rod 52 can move in the horizontal direction, and under the limiting matching of the limiting wheel 21 and the arc-shaped sliding groove 11, the moving piece 2 can move along the track of the arc-shaped groove 11 while sliding on the turntable swing rod 52, and then the rubber tapping mechanism 3 can move around the periphery of the rubber tree in the circumferential direction.

Wherein, the second driving mechanism 6 is arranged on the moving member 2, the second driving mechanism 6 is used for driving the rubber tapping mechanism 3 and the rubber collecting mechanism 4 to move in the direction vertical to the upper surface of the moving member 2, in particular, the second driving mechanism 6 comprises a first supporting block 33, a second supporting block 7 and a first power structure, the first power structure can drive the first supporting block 33 and the second supporting block 7 to move in the vertical direction, the first supporting block 33 is arranged above the second supporting block 7, wherein the rubber tapping mechanism 3 is arranged on the first supporting block 3, the rubber collecting mechanism 4 is arranged on the second supporting block 7, since the location of the tapping basin 431 is 20-30cm lower than the lowest point of the tapping position in practical situations, the space between the first supporting block 33 and the second supporting block 7 is set to 30cm in this embodiment, which facilitates the tapping and tapping operations.

Specifically, the first power structure comprises a screw 61, a first slide block 62, a second slide block 63, a second driving element 64 and a guide rod 65; wherein moving member 2 upper end is equipped with extension board 22, and wherein lead screw 61 is located on extension board 22 perpendicularly, and the lower extreme of lead screw 61 passes extension board 2 links to each other with second driving piece 64, and this second driving piece 64 is the ordinary servo motor that can directly purchase on the market, and concrete structure and principle are no longer repeated here, and this second driving piece 64 passes through the screw fixation in the below of extension board 22, and lead screw 61 passes through flange bearing and installs in extension board 22.

The first sliding block 62 and the second sliding block 63 are respectively sleeved on the screw rod 61, the upper end of the screw rod 61 is provided with a limit block 66, and the limit block 66 is arranged to prevent the first sliding block 62 and the second sliding block 63 from slipping off the screw rod 61; the first sliding block 62 is arranged on the first supporting block 33, the first sliding block 62 is a common flange nut, and the first sliding block 62 is fixed on the first supporting block 33 through bolts; the second sliding block 63 is arranged on the second supporting block 7, the second sliding block 63 is a common flange nut, and the second sliding block 63 is fixed on the second supporting block 7 through a bolt; the first supporting block 33 and the second supporting block 7 are provided with a first through hole 611 for the screw rod 61 to pass through.

The two guide rods 65 are used for guiding the first sliding block 62 and the second sliding block 63 to do linear motion, the two guide rods 65 are respectively located at two sides of the screw rod 61, one end of each guide rod 65 is connected with the extending plate 22, the other end of each guide rod 65 is connected with the limiting block 66, and the first supporting block 33 and the second supporting block 7 are respectively provided with a second through hole 651 for the guide rods 65 to pass through.

The second driving piece 64 drives the screw rod 61 to rotate, and in the process of rotating the screw rod 61, under the guiding action of the guide rod 65, the first sliding block 62 and the second sliding block 63 can do linear motion along the screw rod 61, so that the first supporting block 33 can drive the rubber tapping mechanism 3 to move in the vertical direction, and the second supporting block 7 can drive the rubber collecting mechanism 4 to move in the vertical direction.

Wherein the tapping mechanism 3 is used for carrying out the tapping operation, and is concrete, and the tapping mechanism 3 includes handle of a knife installed part 31 and tapping knife 32, and wherein handle of a knife installed part 31 includes installation department 311 and cutting knife fixed part 312, and wherein installation department 311 is a disc structure, is equipped with a plurality of screw holes on this installation department 311's the circumferencial direction, and this installation department 311 accessible screw fixation is on first supporting block 33.

The cutting knife fixing portion 312 is of an "L" shape, the end of the long side portion of the cutting knife fixing portion 312 is fixed on the mounting portion 311, the short side portion of the cutting knife fixing portion 312 is of a hollow structure, and a plurality of fixing holes 313 are formed in the cutting knife fixing portion, in this embodiment, two fixing holes 313 are formed.

Wherein rubber tapping knife 32 includes assembly portion 321 and sword head portion 322, even being equipped with a plurality of pilot holes 323 of interval on this assembly portion 321, this pilot hole 323 is equipped with 8 altogether in this embodiment, this pilot hole 323 sets up to the screw hole, when installing rubber tapping knife 32 on handle of a knife installed part 31, only need insert assembly portion 321 to the hollow structure of the short limit portion of cutting knife fixed part 312 in to align the pilot hole 323 on the assembly portion 321 with the fixed orifices 313 on the handle of a knife installed part, can through the bolt fastening.

The extending length of the tapping knife 32 can be adjusted by adjusting the hole positions of the fixing holes 313 and the assembling holes 323, so that the tapping depth can be adjusted; in addition, the handle mounting part 31 is detachably matched with the first supporting block 33, so that only the screw of the fixed mounting part 311 needs to be taken down, the handle mounting part 31 is rotated by a certain angle, then the mounting part 311 is fixed on the first supporting block 33 again through the screw, the rubber tapping angle of the rubber tapping knife 32 can be adjusted, and the operation is simple and convenient.

Wherein the head 322 of the tapping knife 32 is an irregular quadrangle, the head 322 includes a cutting tip 324 and a notch 325, the cutting tip 324 contacts with the bark and cuts the bark during tapping, the notch 325 is arranged in a triangle structure for bark chips to pass through; the cutter head part 322 can be designed with cutter heads with different specifications to meet the requirements of different tapping widths, in the embodiment, the cutter head part 322 is provided with two cutter heads with the widths of 10mm and 20mm respectively, the tapping width can be changed only by changing the installation mode of the tapping cutter, namely, which cutter head needs to be used to install the tapping cutter head right against the bark; wherein the depth of the contact between the tapping knife 32 and the bark is the tapping depth.

The rubber collecting mechanism 4 is used for collecting rubber, and specifically, the rubber collecting mechanism 4 comprises a first support 41, a third driving part 42, a pair of grippers 43 and a second power structure; wherein third driving piece 42 is the 35KG biax steering wheel that can directly purchase on the market, and this third driving piece 42 passes through the rudder frame 421 and installs the lateral part at second supporting shoe 7, and this first support 41 is U type structure, and two output shafts of this first support 41 and third driving piece 42 link to each other, and then third driving piece 42 can drive first support 41 luffing motion.

The pair of grippers 43 is disposed on the first bracket 41 through a second power structure, and the second power structure can drive the pair of grippers 43 to open and close, specifically, the second power structure includes a fourth driving member 44, a connecting shaft 45, a first gear 46, a second gear 47, a rotating shaft 48 and a second bracket 49, wherein the second bracket 49 is mounted on the first bracket 41, the fourth driving member 44 is mounted on the second bracket 49, the fourth driving member 44 is a common 30KG steering engine directly available on the market, and specific structures and principles are not described herein again; the output end of the fourth driving member 44 is connected to a connecting shaft 45, the connecting shaft 45 is connected to a first gear 46, the first gear 46 is engaged with a second gear 47, the second gear 47 is disposed on a second bracket 49 through a rotating shaft 48, the second gear 47 is sleeved on one end of the rotating shaft 48, and the other end of the rotating shaft 48 is rotatably connected to the second bracket 49 through a bearing.

The pair of grippers 43 are respectively connected with the first gear 46 and the second gear 47, the clamping ends of the pair of grippers 43 are both arc-shaped structures, and silica gel films are arranged inside the clamping ends, so that friction force can be increased, and clamping stability can be improved; the fourth driving member 44 drives the first gear 46 to rotate through the connecting shaft 45, and then the first gear 46 drives the second gear 47 to rotate, and the first gear 46 and the second gear 47 can drive the two grippers to be away from or close to each other in the rotating process, so that the pair of grippers 43 can grab the tapping basin 431.

For the rubber in the rubber tapping basin 431 to collect in unison, be provided with on this bottom plate 1 and receive gluey bucket 81, specifically, be equipped with on this bottom plate 1 and receive gluey bucket chassis 811, should receive gluey bucket chassis 811 and install on bottom plate 1 through many spinal branchs post 812, should receive gluey bucket 81 and erect and receive gluey bucket chassis 811, should receive to still connect on the gluey bucket 81 and be equipped with one and receive gluey bung 82 that can open and shut, should receive gluey bung 82's setting can provide airtight environment for the rubber body of collection with better storage.

Should receive gluey bung 82 and cooperate with receipts gluey bucket 81 through connecting piece 83, install fifth driving piece 84 on this connecting piece 83, this fifth driving piece 84 is the ordinary 30KG steering wheel that can directly purchase on the market, and this fifth driving piece 84 is installed on receiving gluey bucket 81's outer wall through third support 85, and this fifth driving piece 84 accessible drive connecting piece 83 realizes receiving gluey bung 82's automatic switch.

A rubber scraping plate 86 is arranged on the inner side of the rubber collecting barrel cover 82, and the rubber scraping plate 86 is made of rubber; should scrape offset 86 and receive the gluey bung 82 through sixth driving piece 87 and be connected, and is concrete, and this sixth driving piece 87 is the ordinary 30KG steering wheel that can directly purchase on the market, and this sixth driving piece 87 is installed on receiving gluey bung 82 through fourth support 88, and the output of this sixth driving piece 87 links to each other with scraping offset 86, can realize scraping offset 86's swing through this sixth driving piece 87, and then can scrape the rubber that glues on the inner wall of rubber cutting basin 431 down.

In order to facilitate the harvester to move in complex terrains in rubber forests, a crawler-type moving mechanism is arranged on the base plate 1 in a matched mode, and specifically comprises a driving motor 91, a first fixing plate 92, a second fixing plate 93, a driving wheel 94, a plurality of driving wheels 95, a crawler 96, a connecting shaft and a driving shaft, wherein the upper end of the first fixing plate 92 is connected with the base plate 1, the lower end of the first fixing plate 92 is connected with the second fixing plate 93 through bolts, the second fixing plate 93 is connected with the plurality of driving wheels 95, specifically, the driving wheels 95 are matched with the second fixing plate 93 through connecting shafts, the driving wheels 95 are sleeved on one ends of the connecting shafts, and the other ends of the connecting shafts are connected with the second fixing plate 93 through bearings;

wherein driving motor 91 is located on second fixed plate 93, and this driving motor 91 is used for driving drive wheel 94 to rotate, and this driving motor 91 is the ordinary motor that can directly purchase on the market, and concrete structure and principle are no longer repeated here, and is specific, and this drive wheel 94 cover is established in one of drive shaft and is served, and the other end of this drive shaft passes second fixed plate 93 and links to each other with this driving motor 91 output, and the drive shaft pass through the bearing with second fixed plate 93 links to each other.

The caterpillar 96 is sleeved on the driving wheel 94 and the plurality of driving wheels 95, grooves matched with the driving wheel 94 and the plurality of driving wheels 95 are formed in the inner side of the caterpillar 96, and the driving motor 91 drives the driving wheel 94 to rotate through the driving shaft and drives the whole caterpillar to move under the matching of the plurality of driving wheels 95.

The first support block 33 is provided with a first vision module, and the first vision module is used for collecting the height of the first support block 33 from the ground and the distance information between the first support block 33 and the bark; specifically, the first vision module comprises a first vision module frame 101, a first vision module wide-angle lens 102 and a first vision module wifi extension version 103; the first visual module frame 101 is arranged on the first supporting block 33, and the first visual module wide-angle lens 102 and the first visual module wifi expansion board 103 are arranged on the first visual module frame 101; the first visual module wide-angle lens 102 and the first visual module wifi extension version 103 are both products that can be purchased directly on the market, and the specific structure and principle are not repeated here.

The second visual module is arranged on the second supporting block 7 and used for collecting the height of the second supporting block 7 from the ground and the distance information between the second supporting block 7 and the bark, and specifically comprises a second visual module frame 104, a second visual module wide-angle lens 105 and a second visual module wifi extension board 106; the second visual module frame 104 is installed on the side of the second sliding block 63, the second visual module wide-angle lens 105 and the second visual module wifi extension version 106 are installed on the second visual module frame 104, the second visual module wide-angle lens 105 and the second visual module wifi extension version 106 are both products which can be directly purchased in the market, and specific structures and principles are not repeated here.

The second supporting block 7 is further provided with a two-dimensional code module 10, the two-dimensional code module 10 is used for identifying numbers on the rubber trees, and the number on each rubber tree corresponds to the rubber tapping track of the rubber tree and the placement position of the rubber tapping basin 431; specifically, the two-dimensional code module 10 includes a two-dimensional code module frame 107 and a two-dimensional code identification scanner 108; this two-dimensional code module frame 107 is installed on second supporting shoe 7, and this two-dimensional code identification scanner 108 is located on this two-dimensional code module frame 107, and this two-dimensional code identification scanner 108 is the product that can directly purchase on the market, and concrete structure and principle are no longer repeated here.

The invention also provides a corresponding controller and other control structures, the controller feeds back signals collected by each vision module and the two-dimensional code module to the controller, and the controller sends corresponding instructions to each driving part to complete corresponding actions.

A use method of rubber tapping equipment comprises the following steps:

step one is to identify a rubber tree two-dimensional code: the driving motor 94 is started, the rubber harvesting device moves to the front of the rubber tree, the unique two-dimension code on each tree is searched through the second vision module on the second supporting block 7, the serial number of the rubber tree is obtained by scanning the two-dimension code on the rubber tree through the two-dimension code module 10, and then the rubber tapping track of the rubber tree and the position where the rubber tapping basin 431 is placed can be obtained.

Step two is glue collection: the driving motor 94 is started to move the rubber harvester to the corresponding position of each tree, the fourth driving part 44 is driven to enable two claws in the pair of claws 43 to be away from each other, the second supporting block 7 is lifted to the position corresponding to the position of the two-dimensional code module 10, the two claws are aligned to the rubber cutting basin 431, the fourth driving part 44 enables the two claws to be close to each other again, the rubber cutting basin 431 is grasped, the first driving part 51 is driven to enable the moving part 2 to move along the arc-shaped groove 11, the rubber cutting basin 431 is located right above the rubber collecting barrel 81, the fifth driving part 84 on the driving connecting part 83 opens the rubber collecting barrel cover 82, the third driving part 42 is driven to enable the pair of claws 43 to swing downwards, further, the rubber in the rubber cutting basin 431 flows into the rubber collecting barrel 81 by means of gravity, the sixth driving part 87 is driven after a meeting, the sixth driving part 87 drives the rubber scraping plate 86 to scrape the rubber on the wall of the rubber cutting basin 431, after the rubber is collected, the rubber cutting basin 431 is placed back to the original position, the fifth driving piece 84 on the driving connecting piece 83 closes the rubber collecting barrel cover 82, and a sealing condition is provided for rubber storage.

Step three is tapping: the rubber harvester is moved to the corresponding position of a rubber tree by starting the driving motor 94, the first driving piece 51 is driven by the moving piece 2 to enable the rubber tapping knife 32 to be aligned to a rubber tapping initial point, the distance between the rubber tapping knife 32 and the bark is detected through the first vision module on the first supporting block 7, the distance between the harvester and the rubber tree is adjusted through the driving motor 94, the first driving piece 51 is driven to simultaneously drive the second driving piece 64 to enable the rubber tapping knife 32 to perform circumferential and upward movement around the rubber tree, the rubber tapping can be performed around a trunk at 70 degrees every time under the condition that the harvester is not moved, if the rubber tapping range is larger than 70 degrees, the harvester is repositioned, and the steps are repeated.

And after the rubber tapping operation is finished, the rubber tapping device moves to the next rubber tree, and the steps are repeated.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. 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. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. The utility model provides a rubber harvesting rubber equipment which characterized in that: the glue tapping mechanism comprises a base plate (1), an arc-shaped groove (11) arranged on the base plate (1), a moving member (2) capable of moving along the track of the arc-shaped groove (11), a first driving mechanism (5) used for driving the moving member (2) to move, a glue tapping mechanism (3) and a glue collecting mechanism (4) which are arranged on the moving member (2) and capable of moving along the direction vertical to the upper surface of the moving member (2), and a second driving mechanism (6) used for driving the glue tapping mechanism (3) and the glue collecting mechanism (4) to move.

2. A rubber harvesting gluing apparatus according to claim 1, wherein: the first driving mechanism comprises a first driving piece (51) arranged on the bottom plate (1) and a rotary disc swing rod (52) connected with the output end of the first driving piece (51); the moving piece (2) is connected to the turntable swing rod (52) in a sliding mode, and a limiting wheel (21) connected with the arc-shaped groove (11) in a sliding mode is arranged at the bottom of the moving piece (2).

3. A rubber harvesting gluing apparatus according to claim 1, wherein: the second driving mechanism comprises a first supporting block (33) and a second supporting block (7) which can move along the direction vertical to the upper surface of the moving part (2) and a first power structure used for driving the first supporting block (33) and the second supporting block (7) to move, the rubber tapping mechanism is arranged on the first supporting block (33), and the rubber collecting mechanism is arranged on the second supporting block (7).

4. A rubber harvesting gluing apparatus according to claim 3, wherein: the first power structure comprises a screw rod (61) which is rotatably arranged on the moving part (2), a first sliding block (62) and a second sliding block (63) which are sleeved on the screw rod (61), a second driving part (64) which is used for driving the screw rod (61) to rotate, and a guide rod (65) which is used for guiding the first sliding block (62) and the second sliding block (63) to do linear motion; the first sliding block (62) is arranged on the first supporting block (33); the second sliding block (63) is arranged on the second supporting block (7).

5. A rubber harvesting gluing apparatus according to claim 3, wherein: the tapping mechanism comprises a knife handle mounting piece (31) detachably arranged on the first supporting block (33) and a tapping knife (32) connected with the knife handle mounting piece (31).

6. A rubber harvesting gluing device according to claim 5, wherein: the tapping knife (32) comprises an assembling part (321) and a plurality of knife head parts (322) arranged at one end of the assembling part (321); the knife head part (322) is provided with a notch (325) for bark scraps to pass through: the assembling part (321) is connected to the handle mounting part (31) in a sliding manner.

7. A rubber harvesting gluing apparatus according to claim 3, wherein: the glue collecting mechanism comprises a first support (41) which is arranged on the second support block (7) and can swing, a third driving piece (42) which is used for driving the first support (41) to swing, a pair of grippers (43) which are arranged on the first support (41), and a second power structure which is used for driving the pair of grippers (43) to open and close.

8. A rubber harvesting gluing apparatus according to claim 7, wherein: the second power structure comprises a second bracket (49) arranged on the first bracket (41), a fourth driving part (44) arranged on the second bracket (49), a connecting shaft (45) connected with the output end of the fourth driving part (44), a first gear (46) connected with the connecting shaft (45) and a second gear (47) meshed with the first gear (46); the second gear (47) is arranged on the second bracket (49) through a rotating shaft (48); the pair of grippers (43) are connected to the first gear (46) and the second gear (47), respectively.

9. A rubber harvesting gluing apparatus according to any one of claims 1 to 8, wherein: a glue collecting barrel (81) is arranged on the bottom plate (1), and a glue collecting barrel cover (82) capable of being automatically opened and closed is arranged on the glue collecting barrel (81); and a glue scraping plate (86) is arranged on the inner side of the glue collecting barrel cover (82) in a matching way.

10. A method of using a rubber tapping apparatus as claimed in any one of claims 1-9, characterized in that:

the rubber tapping equipment also comprises a two-dimensional code module (10) for identifying a two-dimensional code on the rubber tree, wherein the two-dimensional code module (10) is arranged on the second supporting block (7);

the use method of the rubber tapping equipment comprises the following steps:

step one is to identify a rubber tree two-dimensional code: a two-dimension code module (10) on the rubber tapping equipment scans a two-dimension code on the rubber tree to obtain a tapping track of the rubber tree and a position where a tapping basin is placed;

step two is glue collection: after the rubber harvesting rubber equipment is moved to the corresponding position of a rubber tree, a rubber tapping basin placed on the rubber tree is grabbed through a pair of grabs (43), then the rubber tapping basin is moved to the upper part of a rubber collecting barrel (81), rubber in the rubber tapping basin is poured into the rubber collecting barrel (81), the rubber on the inner wall of the rubber tapping basin is scraped by a rubber scraping plate (86), and after the rubber collection is finished, the rubber tapping basin is finally placed back to the original position;

step three is tapping: aligning the rubber tapping knife (32) to the rubber tapping starting point of the rubber tree, starting the first driving piece (51) and the second driving piece (64) to work, enabling the rubber tapping knife (32) to move circumferentially and upwards around the rubber tree to perform rubber tapping operation, and moving to the next rubber tree to repeat the operation after the rubber tapping is finished.

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