CN114258835A - Rubber tapping robot - Google Patents
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- CN114258835A CN114258835A CN202210011071.6A CN202210011071A CN114258835A CN 114258835 A CN114258835 A CN 114258835A CN 202210011071 A CN202210011071 A CN 202210011071A CN 114258835 A CN114258835 A CN 114258835A
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Abstract
The invention relates to the technical field of intelligent tapping robots, and provides a tapping robot which comprises a walking single rail, a charging room and a plurality of rubber trees, wherein the walking single rail is connected with the rubber trees; the walking robot moves along the walking monorail, is close to or far away from one of the rubber trees after moving, comprises a first mechanical arm and is rotationally arranged on the sliding trolley; the second mechanical arm is hinged to the first mechanical arm; the rubber tapping device is arranged at the output end of the second mechanical arm and comprises a base which is arranged at the output end of the walking robot; the first embracing arm and the second embracing arm are rotatably arranged on the base, and the first embracing arm and the second embracing arm approach each other to form a circular ring after rotating or are away from each other to form an opening; the rubber tapping knife is rotatably arranged on the first cohesion arm or the second cohesion arm, and the rubber tapping knife is obliquely arranged; through the technical scheme, the problem that in the prior art, one robot is used for each tree, and the production cost is high is solved.
Description
Technical Field
The invention relates to the technical field of intelligent tapping robots, in particular to a tapping robot.
Background
The rubber industry is one of the important basic industries of national economy, and has wide functions in military industry, automobile and airplane manufacturing and daily life of people.
After one rubber tree is put into operation, the labor investment of rubber tapping accounts for more than 70% of the total labor investment of the whole rubber production, particularly, as the demand of natural rubber is continuously increased, the research on rubber tapping instruments is also advanced to a certain extent, a plurality of rubber tapping instruments aiming at the problems of low rubber acquisition efficiency, high acquisition technology difficulty and the like are developed at home and abroad in succession, particularly as the computer technology and the sensor technology are continuously developed, the rubber tapping instruments are developed towards the intelligent and practical directions, and the labor amount of manpower is reduced.
Most of rubber parks are mountainous regions and uneven roads, and automatic rubber cutters are developed at present, but one rubber is needed for each tree; although the problem of uneven back and forth walking of the road is solved, the rubber garden has high cost due to more trees, and the application is poor due to the difficult improvement of the quality.
Disclosure of Invention
The invention provides a rubber tapping robot, which solves the problem that in the related technology, one robot is used for each tree, and the production cost is high.
The technical scheme of the invention is as follows:
a tapping robot, comprising
The walking monorail is connected with each rubber tree and is connected with the charging room;
the walking robot moves along the walking monorail and then moves close to or away from one of the rubber trees;
a tapping device provided at an output end of the walking robot, the tapping device including
A base provided at an output end of the walking robot;
the first embracing arm and the second embracing arm are rotatably arranged on the base, and the first embracing arm and the second embracing arm approach each other to form a circular ring after rotating or are away from each other to form an opening; and
and the rubber tapping knife is rotatably arranged on the first cohesion arm or the second cohesion arm, and the rubber tapping knife is obliquely arranged.
According to a further technical scheme, the first cohesion arm and the second cohesion arm are provided with a rotating end and a cohesion end, and the rubber tapping device further comprises
The two gears are respectively arranged on one side of the embracing ends of the first embracing arm and the second embracing arm, and the gears are detachably connected with the embracing ends;
the sliding rod is arranged on the base in a sliding manner; and
and two racks are arranged and are respectively arranged on two sides of the sliding rod, and the two racks are respectively meshed with the two gears.
According to a further technical scheme, the embracing end of the first embracing arm is of a conical groove structure, the embracing end of the second embracing arm is of a conical convex structure, and after the first embracing arm and the second embracing arm are embraced, the conical convex structure is inserted into the conical groove structure.
According to a further technical scheme, the first embracing arm and the second embracing arm are provided with at least three distance measuring sensors.
The further technical proposal also comprises
And the radio frequency cards are arranged on the walking monorail and correspond to the rubber trees one to one.
In a further technical scheme, the tapping device also comprises
The tool apron is arranged on the first embracing arm or the second embracing arm in a sliding mode;
and one end of the elastic component is connected with the cutter holder, and the other end of the elastic component is connected with the tapping knife.
In a further aspect, the resilient member comprises
The outer sleeve rod is connected with the cutter holder;
one end of the inner rod is arranged in the outer sleeve rod in a sliding mode, and the other end of the inner rod is connected with the tapping knife; and
and one end of the spring is abutted to the cutter holder, the other end of the spring is abutted to the tapping knife, and a supporting wheel is further arranged on one side of the knife back of the tapping knife.
As a further technical scheme, still include and receive gluey subassembly, set up walking robot's output, receive gluey subassembly including
The rubber collecting bowls are used for being fixed on the rubber trees and are arranged in a one-to-one correspondence manner;
the glue sucking assembly is arranged at the output end of the walking robot; and
and one end of the rubber tube is connected with the rubber suction assembly, and the other end of the rubber tube is used for extending into the rubber collecting bowl.
According to a further technical scheme, the walking robot is connected with the walking monorail through a sliding trolley, and the walking robot comprises
The first mechanical arm is rotatably arranged on the sliding trolley;
the second mechanical arm is hinged to the first mechanical arm; and
the connecting piece rotates the output that sets up at the second arm, forms walking robot's output, the connecting piece respectively with inhale the gluey subassembly and the base is connected.
According to a further technical scheme, the glue suction end of the glue suction assembly is of a conical structure, and the glue collection assembly further comprises
The rubber barrel is arranged on the sliding trolley;
the air pump is arranged on the base of the walking robot, and the air exhaust end of the air pump are connected with the cylinder barrel of the glue sucking component through a control valve; and
and the weighing sensor is arranged on the glue sucking assembly and used for measuring the weight of glue solution in the glue sucking assembly.
The working principle and the beneficial effects of the invention are as follows:
1. the invention lays a walking monorail in a rubber garden for connecting each rubber tree and a charging house, so that a walking robot can move back and forth between each rubber tree and between the rubber trees and the charging house along the walking monorail, the problem of movement of the walking robot in mountainous regions is solved, the walking robot can accurately reach the position of each rubber tree, when the walking robot reaches the position of one rubber tree, the walking robot stops moving, a first cohesion arm and a second cohesion arm of a rubber cutting device are opened, the formed opening is larger than the diameter of the rubber tree, then the walking robot drives the rubber cutting device to be close to the rubber tree, so that the rubber tree passes through the opening, then the first cohesion arm and the second cohesion arm rotate and then are mutually cohesive to form a circular ring, the diameter of the circular ring is larger than the diameter of the rubber tree, at the moment, the rubber tree is surrounded by the circular rings cohesive by the first cohesion arm and the second cohesion arm, then the rubber tapping knife moves along the circular ring, the rubber barks are cut by the cutting edge, meanwhile, the first mechanical arm and the second mechanical arm of the walking robot drive the base to vertically move downwards, the two cohesion arms are driven to move downwards, the rubber tapping knife makes spiral downward cutting motion relative to the rubber tree, and a spiral cut is cut on the rubber tree.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic view of the structure of the present invention (without a tapping knife);
FIG. 2 is a schematic structural view of a tapping device according to the present invention;
FIG. 3 is a front view of the tapping device of the present invention;
FIG. 4 is a side view of the present invention (without the tapping knife installed);
in the figure: 100. the walking monorail comprises a walking monorail body, 110, a sliding trolley body, 200, a walking robot body, 210, a first mechanical arm, 220, a second mechanical arm, 230, a connecting piece, 300, a glue cutting device, 310, a base, 311, a sliding groove, 320, a first cohesion arm, 321, a rotating end, 322, a cohesion end, 330, a second cohesion arm, 340, a glue cutting knife, 350, a gear, 351, a sliding rod, 352, a rack, 360, a distance measuring sensor, 370, a knife holder, 380, an elastic component, 381, an outer sleeve rod, 382, an inner rod, 383, a spring, 384, a supporting wheel, 400, a glue collecting component, 410, a glue sucking component, 411, a weighing sensor, 412, a cylinder barrel, 413, an air pump, 420, a rubber pipe, 430 and a glue barrel.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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 be included within the scope of protection of the present invention.
Example 1
As shown in fig. 1 to 3, the present embodiment provides a tapping robot, which includes
The walking monorail 100 is connected with each rubber tree and is connected with the charging room;
a walking robot 200 moving along the walking monorail 100 and approaching or departing from one of the rubber trees;
a tapping device 300 provided at an output end of the walking robot 200, the tapping device 300 including
A base 310 provided at an output end of the walking robot 200;
the first embracing arm 320 and the second embracing arm 330 are rotatably arranged on the base 310, and the first embracing arm 320 and the second embracing arm 330 approach each other to form a ring after rotating or leave each other to form an opening; and
the rubber tapping knife 340 is rotatably arranged on the first embracing arm 320 or the second embracing arm 330, and the rubber tapping knife 340 is obliquely arranged.
In this embodiment, in order to solve the problem of high production cost due to one robot per tree, a rubber tapping robot is designed, a walking monorail 100 is laid in a rubber garden and used for connecting each rubber tree with a charging room, so that the walking robot 200 can go back and forth between each rubber tree and between the rubber tree and the charging room along the walking monorail 100, the problem of movement of the walking robot 200 in mountainous regions is solved, the walking robot 200 can accurately reach the position of each rubber tree, when the walking robot 200 reaches the position of one rubber tree, the walking robot 200 stops moving, a first cohesion arm 320 and a second cohesion arm 330 of the rubber tapping device 300 are opened, the formed opening is larger than the diameter of the rubber tree, then the walking robot 200 drives the rubber tapping device 300 to approach the rubber tree, so that the rubber tree passes through the opening, and then the first cohesion arm 320 and the second cohesion arm 330 are mutually cohesive after rotating, forming a circular ring, wherein the diameter of the circular ring is larger than that of the rubber tree, at the moment, the rubber tree is surrounded by the circular ring surrounded by the first surrounding arm 320 and the second surrounding arm 330, then the rubber cutter 340 moves along the circular ring, the cutting edge is inserted into the rubber tree, meanwhile, the walking robot 200 drives the base 310 to move vertically downwards, drives the first surrounding arm 320 and the second surrounding arm 330 to move downwards, so that the rubber cutter 340 performs spiral cutting movement relative to the rubber tree, and cuts a spiral cut on the rubber tree; this walking robot 200 and rubber tapping device 300's cooperation is used, make whole rubber garden dispose one set of device and can accomplish the rubber tapping of whole rubber garden, the rubber tapping cost problem in rubber garden has been solved greatly, and walking robot 200 can take rubber tapping device 300 to remove and get into the room that charges, when need not to receive the rubber tapping, walking robot 200 charges in the room that charges, the peripheral mountable camera of room that charges is in order to prevent stealing or destroying, need not worry that every robot fixes on every rubber tree, also need expose outside during the shutdown, do not use for a long time and become rotten by the air, stop walking robot 200 into the room that charges, be convenient for carry out maintenance and charge, first cohesion arm 320 and second cohesion arm 330 are the semicircle that the radius is 25cm, and be the stainless steel guide rail, the frictional force is little, be convenient for the removal of rubber tapping sword 340.
As shown in fig. 1 to 3, each of the first clasping arm 320 and the second clasping arm 330 has a rotating end 321 and a clasping end 322, and the rubber tapping device 300 further includes
Two gears 350 are provided, the two gears 350 are respectively arranged on one side of the clasping ends 322 of the first clasping arm 320 and the second clasping arm 330, and the gears 350 are detachably connected with the clasping ends 322;
the sliding rod 351 is arranged on the base 310 in a sliding mode; and
two racks 352 are provided and are respectively disposed at both sides of the sliding rod 351, and the two racks 352 are respectively engaged with the two gears 350.
In this embodiment, in order to realize the clasping and opening operations of the first clasping arm 320 and the second clasping arm 330, the rubber tapping device 300 can be easily clasped around the rubber tree to tap the rubber tree or separated from the rubber tree, the walking robot 200 can be easily moved to the next rubber tree to operate, a sliding rod 351 is slidably arranged on the base 310, a sliding groove 311 is arranged on the base 310, a linear driving element such as a telescopic cylinder drives the sliding rod 351 to move along the sliding groove 311 of the base 310 to drive a rack 352 to move, the racks 352 on two sides move to drive two gears 350 meshed with the racks to rotate, the two gears 350 respectively drive the first embracing arm 320 and the second embracing arm 330 to rotate around the axes of the two gears 350, the rack 350 moves to the positions of the first embracing arm 320 and the second embracing arm 330 to enable the first embracing arm 320 and the second embracing arm 330 to open to form an opening, and the rack 350 moves to the positions far away from the first embracing arm 320 and the second embracing arm 330 to enable the first embracing arm 320 and the second embracing arm 330 to embrace to form a circular ring.
As shown in fig. 2 to 3, the clasping end 322 of the first clasping arm 320 is a tapered groove structure, the clasping end 322 of the second clasping arm 330 is a tapered convex structure, and after the first clasping arm 320 and the second clasping arm 330 are clasped, the tapered convex structure is inserted into the tapered groove structure.
In this embodiment, the conical convex structure of the embracing end 322 of the second embracing arm 330 is inserted into the conical groove structure of the embracing end 322 of the first embracing arm 320, so that after the first embracing arm 320 and the second embracing arm 330 are embraced, the first embracing arm 320 and the second embracing arm 330 are stably inserted into each other, the surfaces of the first embracing arm and the second embracing arm are smooth, the concave-convex surface is not generated, the stability of the movement of the rubber tapping knife 340 is ensured, and the rubber tapping effect and the rubber tapping quality are ensured.
As shown in fig. 2 to 3, the first clasping arm 320 and the second clasping arm 330 are provided with at least three distance measuring sensors 360, so as to ensure that the clasping arms are concentric with the tree.
In this embodiment, at least three distance measuring sensors 360 are disposed on the first embracing arm 320 and the second embracing arm 330, after the first embracing arm 320 and the second embracing arm 330 are embracing, a circular ring is formed, and the three distance measuring sensors 360 are arranged along the circumference of the circular ring and are used for measuring the distance between the circular ring (the first embracing arm 320 and the second embracing arm 330) and the rubber tree meter, so that the rubber tree and the circular ring after the embracing of the two embracing arms are concentric and coaxial, and the stability of the rubber tapping knife 340 during moving rubber tapping is ensured.
As shown in fig. 2 to 3, further comprises
The radio frequency cards are arranged on the walking monorail (100) and correspond to the rubber trees one to one, and the radio frequency cards record information corresponding to the rubber trees.
In this embodiment, a radio frequency card is installed on the walking monorail 100 beside each rubber tree, after the walking robot 200 detects the radio frequency card, the walking robot stops moving to cut rubber, and the radio frequency card is used as an identification card of the rubber tree and is bound with each tree one by one to position the rubber tree and bind the information of the tree with the radio frequency card; the walking robot 200 walks to a fixed position, stops moving after detecting the radio frequency card, and the walking robot 200 drives the rubber tapping device 300 to tap rubber for the rubber tree.
As shown in fig. 2 to 3, the tapping device 300 further includes
A tool holder 370 slidably disposed on the first clasping arm 320 or the second clasping arm 330;
one end of the elastic component 380 is connected with the knife holder 370, and the other end is connected with the tapping knife 340.
In this embodiment, in order to ensure the smoothness and stability of tapping, a knife holder 370 is disposed on the first clasping arm 320 or the second clasping arm 330, when the first clasping arm 320 and the second clasping arm 330 enclose a rubber tree and clasp the rubber tree into a ring, the knife holder 370 is provided with a stepping motor to drive the knife holder 370 to move on the ring at a constant speed, so as to drive the tapping knife 340 to move, and meanwhile, an elastic component 380 is disposed between the knife holder 370 and the tapping knife 340 to enable the tapping knife 340 to stick to the bark all the time, and the depth of the tapping knife 340 to cut the bark is 1.5mm, thereby ensuring the optimal rubber outflow effect.
As shown in fig. 2-3, the elastic component 380 comprises
An outer sleeve rod 381 connected with the tool apron 370;
an inner rod 382, one end of which is slidably arranged in the outer sleeve rod 381, and the other end of which is connected with the tapping knife 340; and
one end of the spring 383 is abutted against the tool apron 370, the other end of the spring 383 is abutted against the tapping knife 340, and a supporting wheel 384 is further arranged on one side of the knife back of the tapping knife 340.
In this embodiment, the elastic component 380 includes an outer sleeve rod 381 connected with the tool post 370 and an inner rod 382 connected with the rubber tapping knife 340, the inner rod 382 is slidably disposed in the outer sleeve rod 381, one end of the spring 383 is abutted to the tool post 370, and the other end is abutted to the rubber tapping knife 340, so that the elastic component 380 has a certain acting force on the rubber tapping knife 340, and the cutting depth of the rubber tapping knife 340 during rubber tapping is ensured to be 1.5mm, when a scar of a rubber tree is encountered, the total length of the inner rod 382 and the table sleeve rod 381 is shortened, so that the cutting depth of the rubber tapping knife 340 is always 1.5mm, and the phenomenon of clamping stagnation caused by too deep cutting depth when the scar is encountered is avoided, and the rubber tapping efficiency is affected; the back of the rubber tapping knife 340 is provided with a supporting wheel 384, the supporting wheel 384 is always tightly attached to the cut bark and walks along the rubber tapping line, and the supporting wheel 384 and the elastic component 380 together solve the problems of short tree diameter or scars.
As shown in fig. 1 to 3, the robot further includes a glue collecting assembly 400 disposed at an output end of the walking robot 200, wherein the glue collecting assembly 400 includes
The rubber collecting bowls are used for being fixed on the rubber trees and are arranged in a one-to-one correspondence manner;
a glue sucking assembly 410 disposed at an output end of the walking robot 200; and
and one end of the rubber tube 420 is connected with the rubber suction assembly 410, and the other end of the rubber tube is used for extending into the rubber collecting bowl.
In this embodiment, each rubber tree is provided with a rubber collecting bowl which is a plastic bowl, the cost is low, the operation of binding the bowl during each rubber tapping is greatly saved, the labor cost is reduced, after 4 hours of rubber tapping is completed, the robot 200 walks to the side of the rubber tree, the output end of the walking robot 200 is further provided with a rubber suction component 410, the rubber suction component 410 comprises a cylinder 412 and an air pump 413, the cylinder and the air pump 413 are connected through a connecting pipe (not shown), the air pump 413 is arranged on the base of the walking robot 200, the connecting pipe is arranged on the first mechanical arm 210 and the second mechanical arm 220, the rubber pipe 420 is arranged at the input end of the rubber suction component 410, namely the cylinder 412, namely the rubber pipe 420 is connected with the cylinder 412, the walking robot 200 moves to stretch the rubber pipe 420 into the rubber collecting bowl, the air pump 413 performs vacuum pumping, so that vacuum is formed in the cylinder 412 of the rubber suction component 410, the rubber in the rubber is sucked into the cylinder 412 of the rubber suction component 420 along the rubber suction pipe 420, and finishing glue collection. The design capacity of the cylinder 412 is far larger than the glue yield of each tree, so that after the rubber liquid of the glue collecting bowl is completely absorbed, a part of air can be absorbed, the glue is completely recovered into the cylinder 412, after the automatic weighing, the robot 200 adjusts the first mechanical arm 210 and the second mechanical arm 220, the rubber pipe 420 is moved to the upper part of the glue barrel 430, the air pump 413 discharges compressed air into the cylinder and discharges the glue into the glue barrel 430, and when the rubber liquid is discharged, a part of air can be discharged, so that the air flow impacts the rubber pipe 420 to prevent the rubber liquid from solidifying and blocking the rubber pipe 420; after the glue is collected, the robot 200 walks to the next tree and performs the glue collecting operation on the next tree.
As shown in FIGS. 1 to 3, the walking robot 200 is connected to the walking monorail 100 through a sliding trolley 110, and the walking robot 200 comprises
The first mechanical arm 210 is rotatably arranged on the sliding trolley 110;
the second mechanical arm 220 is hinged to the first mechanical arm 210; and
and a connecting member 230 rotatably disposed at an output end of the second robot arm 220 to form an output end of the walking robot 200, wherein the connecting member 230 is connected to the glue suction assembly 410 and the base 310, respectively.
In this embodiment, the walking robot 200 is connected with the monorail 100 of walking through the sliding trolley 110, the sliding trolley 110 drives the walking robot 200 to move or stop along the monorail 100 of walking, the first mechanical arm 210 can rotate 360 degrees horizontally, rotate 180 degrees vertically, the second mechanical arm 220 is connected with the first mechanical arm 210, and rotate 180 degrees vertically, the connecting piece 230 is connected with the glue absorbing component 410 and the base 310 respectively, when the walking robot 200 moves, the base 310 can be driven to move vertically, and the levelness of the base 310 is guaranteed, so that the circular ring formed by the first cohesion arm 320 and the second cohesion arm 330 is parallel to the axis of the trunk.
As shown in fig. 1 to 2, the glue-sucking end of the glue-sucking component 410 is a conical structure, and the glue-collecting component 400 further includes a glue barrel 430 disposed on the sliding trolley 110; and
and the weighing sensor 411 is arranged on the glue sucking component 410 and used for measuring the weight of glue liquid in the glue sucking component 410.
In this embodiment, the rubber barrel 430 is disposed on the sliding trolley 110, when more rubber liquid is absorbed in the cylinder 412 of the rubber absorption component 410, the weighing sensor 411 weighs the rubber, the walking robot 200 drives the rubber absorption component 410 to move to the top of the rubber barrel 430, so that the rubber tube 420 is located above the rubber barrel 430, the air pump 413 acts on the rubber barrel 412, air is filled in the cylinder 412, pressurization is performed, the rubber liquid is fed into the rubber barrel 430 through the rubber tube 420, the rubber absorption end of the rubber absorption component 410 is of a conical structure, namely, the connection between the cylinder 412 and the rubber tube 420 is conical, the rubber liquid can be extruded conveniently, and residue can be avoided.
The working process is as follows:
when the walking robot 200 needs to cut rubber in a charging room at ordinary times or is started through the control of the mobile phone APP, the sliding trolley 110 runs under a rubber tree to be cut, a radio frequency card of the rubber tree is detected, and after the card number is identified, the second mechanical arm 220 is extended to the side of the tree;
the first cohesion arm 320 and the second cohesion arm 330 are cohesive into a circular ring to encircle a tree for a circle, the distance measuring sensor 360 measures the distance between the first cohesion arm 320 and the second cohesion arm 330 and the tree, the walking robot 200 corrects the positions of the first cohesion arm 320 and the second cohesion arm 330, the rubber tapping knife 340 moves from one side to the other section at a constant speed, meanwhile, the first mechanical arm 210 and the second mechanical arm 220 drive the connecting piece 230 to move downwards at a constant speed, the track of the rubber tapping knife 340 is spiral downwards, and after rubber tapping of one tree is finished, the walking robot 200 moves to perform rubber tapping of the next tree;
after the rubber tapping is finished, the rubber tapping knife 340 returns, the first cohesion arm 320 and the second cohesion arm 330 which are cohesive are separated, and the first mechanical arm 210 and the second mechanical arm 220 are retracted; after a period of time, the walking robot 200 moves, glue is sequentially collected from the first rubber tapping tree, when the glue is collected, the connecting piece 230 rotates, the connecting piece 230 moves to the position above a glue collecting bowl, the rubber pipe 420 extends downwards to the bottom of the bowl, the air pump 413 of the glue suction assembly 410 vacuumizes the cylinder barrel 412 to suck the glue in the bowl, after the glue collecting cylinder is weighed, the connecting piece 230 moves to the position above the glue barrel 430 again, the air pump 413 pressurizes the filled air in the cylinder barrel 412, and the rubber is hydraulically pressed into the glue barrel 430;
the walking robot 200 moves to the next position;
after the rubber tapping or the rubber collection is finished (the rubber tapping of the rubber garden is started in the middle of the night, all trees need to be tapped, the rubber collection is started at 8 o' clock in the next morning, and the walking robot 200 returns to the charging room for charging instead of cutting one tree and immediately collecting the rubber).
Wherein, each rubber tree has its own number and is bound with the radio frequency card number.
In operation, the walking robot 200 monitors data for each tree including
A horizontal angle, a vertical angle, a horizontal angle, and a vertical angle of the first mechanical arm 210 during tapping, and during glue collection;
the vertical angle when the second mechanical arm 220 cuts the glue, the vertical angle when the glue is collected;
the vertical angle of the ring after cohesion during tapping is convenient for calculating the cutting height and the stopping height;
the angle between the bracket of the tapping knife 340 and the knife holder 370 is calculated every time when each tree taps, and the diameter of the tree is finally calculated;
the starting and ending positions of the tapping knife 340; and
the gum harvest weight per tree per day; and store the data in a data table:
the data are stored in the database of the walking robot 200, the walking robot 200 is connected with a mobile phone, the operation and stop of the walking robot 200 can be controlled, and parameters such as the position of each tree, the tree diameter, the glue collecting amount and the initial glue cutting position can be stored in the robot memory and inquired through the mobile phone.
When the walking robot 200 is abnormal, the fault code is transmitted to the mobile phone, and the rubber garden owner is informed to solve the fault on site, so that the rubber tapping work can be normally carried out.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A tapping robot is characterized by comprising
The walking monorail (100) is connected with each rubber tree and is connected with the charging room;
a walking robot (200) moving along the walking monorail (100) and approaching or departing from one of the rubber trees after moving;
a tapping device (300) disposed at an output end of the walking robot (200), the tapping device (300) including a base (310) disposed at the output end of the walking robot (200);
the first embracing arm (320) and the second embracing arm (330) are rotatably arranged on the base (310), and the first embracing arm (320) and the second embracing arm (330) are close to each other to form a circular ring after rotating or are far away from each other to form an opening; and
the rubber tapping knife (340) is rotatably arranged on the first embracing arm (320) or the second embracing arm (330), and the rubber tapping knife (340) is obliquely arranged.
2. The tapping robot as claimed in claim 1, wherein the first looping arm (320) and the second looping arm (330) each have a rotating end (321) and a looping end (322), and the tapping device (300) further comprises
Two gears (350) are arranged, the two gears (350) are respectively arranged on one side of the embracing end (322) of the first embracing arm (320) and the second embracing arm (330), and the gears (350) are detachably connected with the embracing end (322);
the sliding rod (351) is arranged on the base (310) in a sliding mode; and two racks (352) are arranged and are respectively arranged on two sides of the sliding rod (351), and the two racks (352) are respectively meshed with the two gears (350).
3. The tapping robot as claimed in claim 2, wherein the looping end (322) of the first looping arm (320) is of a tapered groove structure, the looping end (322) of the second looping arm (330) is of a tapered convex structure, and the tapered convex structure is inserted into the tapered groove structure after the first looping arm (320) and the second looping arm (330) are looped.
4. The tapping robot as claimed in claim 3, wherein at least three distance measuring sensors (360) are arranged on the first looping arm (320) and the second looping arm (330).
5. A tapping robot as claimed in claim 3, further comprising
And the radio frequency cards are arranged on the walking monorail (100) and correspond to the rubber trees one by one.
6. The tapping robot according to claim 1, wherein the tapping device (300) further comprises a tool holder (370) slidably disposed on the first looping arm (320) or the second looping arm (330);
and one end of the elastic component (380) is connected with the cutter holder (370), and the other end of the elastic component is connected with the tapping knife (340).
7. Tapping robot as claimed in claim 6, characterized in that said elastic assembly (380) comprises
An outer sleeve rod (381) connected with the tool apron (370);
an inner rod (382), one end of which is arranged in the outer sleeve rod (381) in a sliding way, and the other end of which is connected with the tapping knife (340); and
and one end of the spring (383) is abutted against the cutter holder (370), the other end of the spring is abutted against the tapping knife (340), and a supporting wheel (384) is further arranged on one side of the knife back of the tapping knife (340).
8. The tapping robot as claimed in claim 1, further comprising a glue collecting assembly (400) disposed at an output end of the walking robot (200), wherein the glue collecting assembly (400) comprises
The rubber collecting bowls are used for being fixed on the rubber trees and are arranged in a one-to-one correspondence manner;
a glue suction assembly (410) provided at an output end of the walking robot (200); and
and one end of the rubber tube (420) is connected with the rubber suction assembly (410), and the other end of the rubber tube is used for extending into the rubber collecting bowl.
9. Tapping robot as in claim 8, characterized in that said walking robot (200) is connected to said walking monorail (100) by means of a sliding trolley (110), said walking robot (200) comprising
The first mechanical arm (210) is rotatably arranged on the sliding trolley (110);
the second mechanical arm (220) is hinged on the first mechanical arm (210); and
and the connecting piece (230) is rotatably arranged at the output end of the second mechanical arm (220) to form the output end of the walking robot (200), and the connecting piece (230) is respectively connected with the glue sucking component (410) and the base (310).
10. The tapping robot as claimed in claim 9, wherein the glue sucking end of the glue sucking component (410) is a conical structure, and the glue collecting component (400) further comprises
The glue barrel (430) is arranged on the sliding trolley (110);
the air pump (413) is arranged on the base of the walking robot (200), and the air suction end and the air exhaust end of the air pump (413) are connected with the cylinder (412) of the glue sucking component (410) through a control valve; and
and the weighing sensor (411) is arranged on the glue sucking component (410) and is used for measuring the weight of glue liquid in the glue sucking component (410).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210011071.6A CN114258835B (en) | 2022-01-06 | 2022-01-06 | Rubber tapping robot |
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| CN114258835B (en) | 2023-06-09 |
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