CN205546777U - Automatic rubber tapping of integration is received mucilage binding and is put based on image recognition - Google Patents
Automatic rubber tapping of integration is received mucilage binding and is put based on image recognition Download PDFInfo
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- CN205546777U CN205546777U CN201620103104.XU CN201620103104U CN205546777U CN 205546777 U CN205546777 U CN 205546777U CN 201620103104 U CN201620103104 U CN 201620103104U CN 205546777 U CN205546777 U CN 205546777U
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- glue
- rubber tapping
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- mechanical hand
- tapping
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Abstract
The utility model discloses an automatic rubber tapping of integration is received mucilage binding and is put based on image recognition, include: the track, the rail mounting is in subaerial, work platform, work platform can move on the track, the arm, the arm install in work platform is last, the arm is including the rubber tapping manipulator, rubber tapping manipulator front portion is equipped with the identification system that makes a video recording, receive glue reservoir, receive glue reservoir demountable installation in work platform is last, it is located to receive glue reservoir one side of arm. The utility model discloses can realize the rubber tapping and receive the automation of gluing, have characteristics such as full automatization completion, high efficiency. And simultaneously, the utility model discloses a technique can be expanded in other economic seeds.
Description
Technical field
This utility model relates to receiving glue rubber tapping technical field, particularly relates to a kind of integration based on image recognition
Automatic rubber tapping receives adhesive dispenser.
Background technology
Rubber tapping and receipts glue are the important steps in natural rubber production.Rubber tapping was usually by rubber tapping work in morning 2
O'clock carried out manual operations, for each person every day rubber tapping 300～500 to 6 o'clock, not only the amount of labour used is big, works the most non-
The most arduous.Therefore, rubber tapping expense occupies the 70%～80% of production cost.Meanwhile, after binder removal stops,
Glue work also need to carry out receiving glue by a gum, wastes time and energy.Because the land area of rubber tree plant utilization is big,
Rubber tapping needs the rubber tapping of technology more high reason and receipts glue to fail to realize automatization always.In recent years due to natural rubber
Keeping falling of glue price, rubber tapping work runs off and Aging Problem is day by day serious, is badly in need of the rubber tapping of development automatization
With receipts adhesive dispenser.
Utility model content
In view of this, this utility model provides a kind of integrated automatic rubber tapping based on image recognition and receives mucilage binding
Putting, solving needs in prior art manually to tap rubber receives the technical problem that glue causes wasting time and energy.
The technological means that this utility model uses is as follows: a kind of integrated automatic rubber tapping based on image recognition is received
Adhesive dispenser, including:
Track, described track installation is on ground；
Work platforms, described work platforms can move on the track；
Mechanical arm, described mechanical arm is installed on described work platforms, and described mechanical arm includes mechanical hand of tapping rubber,
Described rubber tapping mechanical hand front portion is provided with imaging identification system；
Receiving glue container, described receipts glue container is installed on described work platforms, and described receipts glue container is positioned at described
One side of mechanical arm.
Preferably, described mechanical arm also includes receiving glue mechanical hand, and described receipts glue mechanical hand front portion is provided with shooting and knows
Other system.
Preferably, described receipts glue container is removably mounted on described work platforms.
A kind of integrated automatic rubber tapping based on image recognition provided by the utility model is used to receive adhesive dispenser,
Rubber tapping can be realized and receive the automatization of glue, have full-automation complete, the feature such as efficiently.Meanwhile, this reality
Other economic trees can be spread over by novel technology.
Accompanying drawing explanation
Fig. 1 is schematic flow sheet of the present utility model；
Fig. 2 is structural representation of the present utility model.
Detailed description of the invention
Being described principle of the present utility model and feature below, illustrated embodiment is served only for explaining this reality
With novel, it is not intended to limit scope of the present utility model.
As in figure 2 it is shown, a kind of integrated automatic rubber tapping based on image recognition receives adhesive dispenser, including:
Track 1, track 1 is installed on ground, for the movement of work platforms 2.
Work platforms 2, work platforms 2 can move on path 1, it is achieved comes and goes rubber tapping and receives glue.
Mechanical arm 3, mechanical arm 3 is installed on work platforms 2, and mechanical arm 3 includes receiving glue mechanical hand 31 He
Rubber tapping mechanical hand 32, receives glue mechanical hand 31 and rubber tapping mechanical hand 32 front portion is equipped with imaging identification system 33.
During rubber tapping, the imaging identification system 33 on glue mechanical hand 31 of receiving, can be at this when recognizing a rubber tree
The trunk middle position of tree temporarily ceases movement, then takes pictures this tree and identifies further, it is determined that glue bowl is put
The parameters such as the position put and direction, including: whether there is glue tongue on rubber tree position, rubber tree, whether have receipts
Glue frame and glue bowl, the putting position of glue bowl and direction are the most accurate.Thus judge whether this tree taps rubber.As
Fruit need not tap rubber, and continues downward one tree and moves, if needing rubber tapping, then sends finger to receipts glue mechanical hand
Order, is well placed glue bowl and sends enabled instruction to rubber tapping mechanical hand 32.After rubber tapping mechanical hand 32 starts, right
Face existing to rubber tree is taken pictures and is identified further, identifies the position of the position of secant, front and back waterline,
The trend of secant and the rubber tapping degree of depth, send instruction to the automatic rubber tapping cutter on rubber tapping mechanical hand 32, tap rubber.
After having cut this tree, one tree moves downwards, repeats said process.After cutting the rubber forest that complete slice sets,
Power supply can be closed along track 1 auto-returned original position.When receiving glue, receive the shooting on glue mechanical hand 31 and know
Other system 33, when recognizing a rubber tree, temporarily ceases movement, then in the trunk middle position of this tree
Identify the position of glue bowl, send instruction to receiving glue mechanical hand 31, carry out receiving glue.Receive glue mechanical hand 31 simultaneously
On imaging identification system 33 identify receive glue container 4 position, order receive glue mechanical hand 31 accurately by glue bowl
In glue pour into receipts glue container 4, subsequently glue bowl is reversely put back on the receipts glue frame of each tree.Complete full wafer to set
After the receipts glue work of fixed rubber forest, power supply can be closed along track 1 auto-returned original position.Here need
It is noted that receipts glue mechanical hand 31 and rubber tapping mechanical hand 32 not necessarily to be arranged simultaneously, can use
Other modes are tapped rubber, and arrange receipts glue mechanical hand 31 for automatically receiving glue；Or, rubber tapping mechanical hand 32 is set
For automatic rubber tapping, adopt and realize in other ways receiving glue.
Receive glue container 4, receive glue container 4 and be installed on work platforms 2, receive glue container 4 and be positioned at mechanical arm 3
On one side.After receiving glue, glue work only need to collect the latex of receipts glue container 4 in track 1 original position.
In order to save the energy, receive glue container 4 and be removably installed on work platforms, during rubber tapping on work platforms 2
Receipts glue container 4 can not laid, lay again during due-in glue.
As shown in Figure 1 and Figure 2, a kind of integrated automatic rubber tapping based on image recognition receives the worked of adhesive dispenser
Journey is as follows with method:
First, the receipts glue mechanical hand 31 that can carry along the work platforms 2 that track 1 moves is utilized, by receiving
Imaging identification system 33 on glue mechanical hand 31 judges position and direction that rubber tree position, glue bowl put etc.
Parameter, sends instruction to receipts glue mechanical hand 31 and decides whether to tap rubber this tree, if as being then well placed glue bowl also
Instruction is sent to rubber tapping mechanical hand 32.
Secondly, utilization can be equipped with the rubber tapping of imaging identification system 33 along the work platforms 2 that track 1 moves
Mechanical hand 32, sends instruction by imaging identification system 33 to rubber tapping mechanical hand 32, and rubber tapping mechanical hand 32 is pressed
Command request is tapped rubber.
Then, utilization can be equipped with the receipts glue of imaging identification system 33 along the work platforms 2 that track 1 moves
Mechanical hand 31, sends instruction by imaging identification system 33 to receiving glue mechanical hand 31, receives glue mechanical hand 31 and presses
Command request is received glue and is reversely put back to by glue bowl on receipts glue frame original on rubber tree.Need exist for explanation,
A kind of integrated automatic rubber tapping based on image recognition of the present utility model can be used to receive adhesive dispenser automatically cut
Glue, uses other devices to receive glue；Or use other devices to tap rubber, use one of the present utility model based on
The integrated automatic rubber tapping of image recognition is received adhesive dispenser and is automatically received glue.As can be seen here, employing this utility model can
To realize rubber tapping and to receive the automatization of glue, have full-automation complete, the feature such as efficiently.Meanwhile, this practicality
Novel technology can spread over other economic trees.
As shown in Figure 1 and Figure 2, following steps are specifically included:
Step 101: lay a railway track: after a piece of rubber forest reaches to open the standard of cutting, lays track in plantation in advance
1, in the row surrounded by mountains intending rubber tapping one side and plantation, preferably lay ground rail 1, ground rail 1 regards plantation
Depending on landform, can be single track can also be double track, be provided with on path 1 and can move on path 1
Work platforms 2, work platforms 2 is provided with mechanical arm 3, and mechanical arm 3 includes receiving glue mechanical hand 31 and cutting
Glue mechanical hand 32, receives glue mechanical hand 31 and rubber tapping mechanical hand 32 front portion is equipped with imaging identification system 33.
Step 201: rubber tapping in advance: rubber tapping counsellor or glue work by specialty carry out face planning, on rubber tree
Hold before and after's waterline successfully, every rubber tree installs glue tongue, receives glue frame, glue bowl, and 1 cutter of accurately tapping rubber
Above, generally cut 2～3 cuttves, cut out the face that may be used for image recognition.
Step 301: judge and put glue bowl: instruct or control electric power starting, work when needing to tap rubber by mobile phone
Make platform 2 can move along rubber tree distributed areas in a piece of glue woods, by the work of track-movable
The imaging identification system 33 received on glue mechanical hand 31 carried on platform 2 identifies rubber tree, imaging identification system
System 33, when recognizing a rubber tree, can temporarily cease movement in the trunk middle position of this tree, then clap
According to identifying further, gathering glue bowl parameter, glue bowl parameter includes: position that rubber tree position, glue bowl are put,
Glue bowl placing direction, glue tongue position, receipts glue rack position, do not have in glue tongue, receipts glue frame and glue bowl if collecting
Any one, then downwards one tree moves, if the placing direction collecting glue bowl is incorrect, then to receiving glue
Mechanical hand 31 sends instruction, is well placed glue bowl and sends instruction to rubber tapping mechanical hand 32, the instruction bag sent
Include: downward one tree of not tapping rubber moves, is well placed glue bowl, starts rubber tapping mechanical hand 32.Because of in a piece of glue woods,
Because of partial rubber tree not up to hold the standard of cutting or occur dead bark can not tap rubber, can by rubber tree not
The mode installing glue tongue, glue bowl and receipts glue frame sends instruction of not tapping rubber to system.
Step 401: rubber tapping: when being judged to need rubber tapping, rubber tapping mechanical hand 32 starts work.Rubber tapping machinery
Imaging identification system 33 face existing to rubber tree on hands 32 is taken pictures identification further, and collection is cut
Glue parameter, rubber tapping parameter includes: rubber tree position, tapped part of rubber tree, secant position, the rubber tapping degree of depth.Take the photograph
As identification system 33 sends to rubber tapping mechanical hand 32 and automatic rubber tapping cutter thereon according to the rubber tapping parameter gathered
Instruction, command request rubber tapping pressed by rubber tapping mechanical hand 32；Wherein, send instruction to include: rubber tree position, cut
Glue original position, secant trend, the rubber tapping degree of depth, rubber tapping final position, automatic rubber tapping cutter is turned on and off.
After having cut this tree, one tree moves downwards, repeats above-mentioned 301,401 step process.Cut complete slice to set
After fixed rubber forest, power supply can be closed along track 1 auto-returned original position.
Step 501: receive glue: after receiving the glue time, again by mobile phone instruction or control electric power starting, passes through
The imaging identification system 33 on glue mechanical hand 31 of receiving gathers receives glue parameter, receives glue parameter and includes: rubber tree position
Put, glue bowl position, receive glue container 4 position, imaging identification system 33 according to gather receipts glue parameter to receive glue
Mechanical hand 31 sends instruction, receives glue mechanical hand 31 and presses command request receipts glue；Wherein, send instruction to include:
The instruction sent includes: the position of rubber tree, the receipts position of glue frame, the original position of glue bowl, glue bowl and receipts
The distance of glue container 4, the duration of the bowl of falling glue.Specifically, imaging identification system 33 is recognizing a rubber
During tree, temporarily cease movement in the trunk middle position of this tree, then identify the position of glue bowl, to receiving glue machine
Tool hands 31 sends instruction, carries out receiving glue.The imaging identification system 33 on glue mechanical hand 31 of simultaneously receiving identifies to be received
The position of glue container 4, makes receipts glue mechanical hand 31 that the glue in glue bowl is poured into receipts glue container 4 accurately, with
After glue bowl reversely put back on the receipts glue frame of each tree.After completing the receipts glue work of the rubber forest that full wafer sets,
System can close power supply along track 1 auto-returned original position；Glue work only need to be received in track 1 original position
The latex of glue container 4 received by collection.In order to save the energy, can be uneasy when rubber tapping on work platforms 2
Put receipts glue container 4, lay again during due-in glue.
In sum, a kind of integration based on image recognition provided by the utility model is used automatically to cut
Adhesive dispenser received by glue, it is possible to achieve taps rubber and receives the automatization of glue, have full-automation complete, the spy such as efficiently
Point.Meanwhile, technology of the present utility model can spread over other economic trees.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model,
All within spirit of the present utility model and principle, any modification, equivalent substitution and improvement etc. done,
Should be included within the scope of this utility model protection.
Claims (3)
1. an integrated automatic rubber tapping based on image recognition receives adhesive dispenser, it is characterised in that including:
Track, described track installation is on ground；
Work platforms, described work platforms can move on the track；
Mechanical arm, described mechanical arm is installed on described work platforms, and described mechanical arm includes mechanical hand of tapping rubber,
Described rubber tapping mechanical hand front portion is provided with imaging identification system；
Receiving glue container, described receipts glue container is installed on described work platforms, and described receipts glue container is positioned at described
One side of mechanical arm.
A kind of integrated automatic rubber tapping based on image recognition the most according to claim 1 receives adhesive dispenser,
It is characterized in that, described mechanical arm also includes receiving glue mechanical hand, and described receipts glue mechanical hand front portion is provided with shooting and knows
Other system.
A kind of integrated automatic rubber tapping based on image recognition the most according to claim 1 and 2 receives mucilage binding
Put, it is characterised in that described receipts glue container is removably mounted on described work platforms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620103104.XU CN205546777U (en) | 2016-02-02 | 2016-02-02 | Automatic rubber tapping of integration is received mucilage binding and is put based on image recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620103104.XU CN205546777U (en) | 2016-02-02 | 2016-02-02 | Automatic rubber tapping of integration is received mucilage binding and is put based on image recognition |
Publications (1)
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|---|---|
| CN205546777U true CN205546777U (en) | 2016-09-07 |
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| CN201620103104.XU Active CN205546777U (en) | 2016-02-02 | 2016-02-02 | Automatic rubber tapping of integration is received mucilage binding and is put based on image recognition |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109122198A (en) * | 2018-09-21 | 2019-01-04 | 海南天然橡胶产业集团股份有限公司 | A kind of cutter head of automatic intelligent rubber cutting machine |
| CN110122256A (en) * | 2019-05-21 | 2019-08-16 | 中国农业大学 | A kind of rubber tapping robot system and method for tapping rubber |
| CN110291953A (en) * | 2019-08-15 | 2019-10-01 | 中国热带农业科学院 | A kind of rail mounted adopts glue machine automatically |
-
2016
- 2016-02-02 CN CN201620103104.XU patent/CN205546777U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109122198A (en) * | 2018-09-21 | 2019-01-04 | 海南天然橡胶产业集团股份有限公司 | A kind of cutter head of automatic intelligent rubber cutting machine |
| CN109122198B (en) * | 2018-09-21 | 2024-02-20 | 海南天然橡胶产业集团股份有限公司 | Automatic change tool bit of intelligent rubber tapping machine |
| CN110122256A (en) * | 2019-05-21 | 2019-08-16 | 中国农业大学 | A kind of rubber tapping robot system and method for tapping rubber |
| CN110291953A (en) * | 2019-08-15 | 2019-10-01 | 中国热带农业科学院 | A kind of rail mounted adopts glue machine automatically |
| CN110291953B (en) * | 2019-08-15 | 2024-02-13 | 中国热带农业科学院 | Rail type automatic glue picking machine |
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| GR01 | Patent grant |