CN208047568U - A kind of rubber tapping manipulator of rubber tapping robot - Google Patents

Abstract

A kind of rubber tapping manipulator of rubber tapping robot, the rubber tapping robot include to wrap up in tree belt, rubber tapping manipulator, lifting gear and controller, and rubber tapping manipulator is connect with lifting gear, and lifting gear is connect with tree belt is wrapped up in；The mechanical hand of rubber tapping includes having rubber tapping knife system, arc-shaped guide rail and clay remove device；It is installed on every rubber tree in use, tree belt will be wrapped up in, an oblique glue groove is opened in the bark of every rubber tree and draws glue groove；The cutterhead of daily controller control rubber tapping knife system resets after the oblique glue groove cutting flaking of bark, and the cleaning wheel of clay remove device follows rubber tapping knife system movement, removes the clay in oblique glue groove；It is flowed in glue cup along oblique glue groove by the glue of the oblique glue groove after cutterhead flaking daily, when worker harvests the glue of glue cup under every rubber tree daily, the position of arc-shaped guide rail is reduced using lifting gear, utilize rubber tapping manipulator morning automatic rubber tapping, it solves the problems, such as that worker's morning taps rubber, improves the efficiency of rubber tapping.

Description

A kind of rubber tapping manipulator of rubber tapping robot

Technical field

The utility model is related to a kind of rubber tapping equipment of rubber tree, more particularly to a kind of rubber tapping robot of rubber tree is cut Glue manipulator.

Background technology

Currently, the rubber tapping of rubber tree, is used a kind of manual tapping knife, the tree of rubber tree is cut open using tapping knife Then skin harvests the glue of bark outflow；Rubber tapping worker daily morning three just gets up to four is tapped rubber using tapping knife, rubber After the bark of tree is cut open several hours, glue is flowed to by the oblique glue groove cut open in glue cup, and the labor intensity of worker's rubber tapping is larger, It taps rubber less efficient, a kind of rubber tapping manipulator of rubber tapping robot, it has also become enterprise reduces labor intensity and improves and cuts The needs of glue efficiency.

Invention content

The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of rubber tapping manipulator of rubber tapping robot, For reducing the labor intensity of worker's rubber tapping and the efficiency of raising rubber tapping.

The utility model is adopted the technical scheme that：Rubber tapping robot includes to wrap up in tree belt, rubber tapping manipulator, lifting Device and controller, rubber tapping manipulator are connect with lifting gear, and lifting gear is connect with tree belt is wrapped up in；A kind of rubber tapping robot The mechanical hand of rubber tapping includes having rubber tapping knife system, arc-shaped guide rail and clay remove device, arc-shaped guide rail to be fixedly connected with tree belt is wrapped up in, Clay remove device is connect with rubber tapping knife system, rubber tapping knife system and the dynamic mating connection of arc-shaped guide rail；Rubber tapping knife system include Motor, cutterhead and active oblique gear, motor are connect with cutterhead and active oblique gear；Clay remove device includes passive oblique Gear and cleaning wheel, active oblique gear are connect with passive helical gear, and passive helical gear is connect with cleaning wheel；Arc-shaped guide rail is equipped with Gear grooved and sliding slot, engine base sliding rail and the dynamic mating connection of sliding slot of motor, the motor shaft of motor is fixed with active oblique gear to be connected It connects, active oblique gear is connect with the dynamic mating connection of gear grooved, active oblique gear with cutterhead, and passive helical gear is nibbled with active oblique gear It closes, the axle sleeve of passive helical gear wheel shaft and the engine base sliding rail of motor connect, and cleaning wheel is connect with passive helical gear, and cleaning wheel is located at The right of cutterhead；Lifting gear includes lifting nut, lifting screw and lifting connector, and lifting nut fixes company with tree belt is wrapped up in It connects, lifting screw is connected through a screw thread with lifting nut, and lifting screw is connect with lifting connector ball, lifts connector and arc-shaped guide rail It is fixedly connected；Controller is equipped with starting switch, shutdown switch, rubber tapping sensor 22 and rubber tapping induction pieces, and rubber tapping sensor is set In the lifting connector of lifting gear, rubber tapping induction pieces are set on the engine base sliding rail of the motor of rubber tapping manipulator, and controller passes through control Line processed is connect with the motor of rubber tapping manipulator and rubber tapping sensor, and controller is equipped with battery supply；It is cut using controller control Glue manipulator carries out flaking rubber tapping to the bark of rubber tree, and collects the glue of bark outflow.

It is a kind of rubber tapping robot application method be：When daystart is tapped rubber, the bark prior to rubber tree is used commonly Tapping knife open cut one start slot, an oblique glue groove and one draw glue groove, beginning slot and oblique glue groove and draw glue groove and be connected to, in The lower end for drawing glue groove of bark connects one and connects glue glossal canal, a glue cup is placed in the lower section for connecing glue glossal canal, by rubber tree bark Rubber tapping range be fixed up；Then, tree belt will be wrapped up in by, which being buckled using the patch for wrapping up in tree belt, wraps in the rubber tapping on rubber tree, making to wrap up in tree belt The bark position that mouth needs to tap rubber against rubber tree, and rubber tapping manipulator is made to be located at the position for the rubber tapping mouth for wrapping up in tree belt, make cutterhead Positioned at the position for starting slot, the cutterhead for making rubber tapping manipulator is contacted with the oblique glue groove of bark；Tree belt is wrapped up in wrap after on rubber tree, Starting switch is pressed, controller control rubber tapping robot is by the program work being arranged；When manipulator of tapping rubber is tapped rubber, controller control The motor of rubber tapping manipulator drives active oblique gear and cutterhead rotation, active oblique gear to drive passive helical gear and cleaning wheel Rotation, the cleaning wheel of rotation are purged the clay of the oblique glue groove of bark, and the cutterhead of rotation cuts the oblique glue groove of bark Cut flaking；The gear grooved of active oblique gear arcuately guide rail rolls from left to right, drives the engine base sliding rail of motor along sliding slot by a left side Move right, drive the cutterhead of rotation along the oblique glue groove of bark from the left side of oblique glue groove to oblique glue groove on the right of move flaking；When When the oblique glue groove of cutterhead cutting bark is moved to the position for drawing glue groove, the rubber tapping induction pieces on the right of engine base sliding rail connect close to right lifting Rubber tapping sensor on head, by its signal transmission to controller, controller controls motor and drives active helical teeth the rubber tapping sensor Wheel and cutterhead reversion, the gear grooved of active oblique gear arcuately guide rail roll from right to left, drive the engine base sliding rail edge of motor Sliding slot moves from right to left, and the cutterhead of rotation is driven to be moved from right to left along the oblique glue groove of bark；Meanwhile passive helical gear follows The engine base sliding rail of motor is mobile from right to left, and cleaning wheel follows passive helical gear to be moved from right to left along oblique glue groove；Work as machine When the rubber tapping induction pieces on the seat sliding rail left side are close to the left rubber tapping sensor lifted on connector, the rubber tapping sensor is by its signal transmission To controller, controller, which controls motor, to be stopped, and active oblique gear and cutterhead stop operating and stop moving；By cutterhead flaking The glue that bark flows out after cutting along oblique glue groove, draw glue groove and connect glue glossal canal and flow in glue cup；The glue of first day harvest glue cup When water, is declined to adjust arc-shaped guide rail using left lifting screw and right lifting screw, controlled using left scale and right scale The decline range of arc-shaped guide rail；It is being pressed for the depth of second day rubber tapping setting cutting flaking, and maintenance cutterhead and cleaning wheel The state of tight tiltedly glue groove；Controller control rubber tapping manipulator taps rubber to the bark of rubber tree within second day, and cutterhead is along oblique glue groove to tree Skin resets after carrying out cutting flaking, and the cleaning wheel on the right of cutterhead resets after oblique glue groove cleaning clay；So constantly recycle； To implement the unmanned automatic rubber tapping of rubber tree；When needing to stop tapping rubber, shutdown switch is pressed, rubber tapping robot stops work Make.

It is a kind of rubber tapping robot rubber tapping manipulator application method be：Tap rubber robot rubber tapping manipulator in use, prior to The rubber tapping range of rubber tree bark is opened with common tapping knife cuts the inclined oblique glue groove that a left side is higher than the right, and with general Logical tapping knife, which is opened, to be cut a vertical beginning slot and draws glue groove, so that the left end of oblique glue groove is connected to the upper end for starting slot, is made The right end of oblique glue groove is connected to the upper end for drawing glue groove, and glue glossal canal is connect in the lower end connection one for drawing glue groove of bark, in connecing glue tongue Place a glue cup in the lower section of slot；Then, tree belt will be wrapped up in by, which being buckled using the patch for wrapping up in tree belt, wraps on rubber tree, making to wrap up in cutting for tree belt The rubber tapping range for the bark that Jiao Kou needs to tap rubber against rubber tree, and make rubber tapping manipulator positioned at the oblique glue for the rubber tapping mouth for wrapping up in tree belt Groove location makes cutterhead start to be located at the position for starting slot, and the cutterhead of rubber tapping manipulator is made to be contacted with the oblique glue groove of bark；It wraps up in Tree belt is wrapped after on rubber tree, and starting switch, the motor rotation of controller control rubber tapping manipulator are pressed, and motor passes through its electricity Arbor drives active oblique gear rotation, active oblique gear to be rotated by the first spring band movable knife disc, and the cutterhead of rotation is to bark Oblique glue groove carries out cutting flaking, so that cutterhead is tightly attached to oblique glue groove using the elastic force of the first spring；Meanwhile active oblique gear drives quilt Dynamic helical gear rotation, passive helical gear drive cleaning wheel rotation, and the cleaning wheel of rotation is under the effect of second spring elastic force, cleaning wheel It is close to oblique glue groove rotation, the clay of the oblique glue groove of bark is purged using cleaning wheel；The active oblique gear of rubber tapping knife system Arcuately the gear grooved of guide rail constantly rolls from left to right, and the engine base sliding rail of motor is driven to be moved from left to right along sliding slot, drives The cutterhead of rotation along bark oblique glue groove from the left side of oblique glue groove to oblique glue groove on the right of move flaking；It is connect with engine base sliding rail Clay remove device follows engine base sliding rail to be moved from the left side of oblique glue groove to the right of oblique glue groove, utilizes the clear of clay remove device Clean wheel removes the clay of oblique glue groove before cutterhead；The cutterhead constantly moved from left to right carries out cutting plane to the oblique glue groove of bark Piece；When the oblique glue groove that cutterhead cuts bark is moved to the position for drawing glue groove, the close right side of right rubber tapping induction pieces on engine base sliding rail The right rubber tapping sensor on connector is lifted, for the right rubber tapping sensor by its signal transmission to controller, controller controls motor band The gear grooved of dynamic active oblique gear and cutterhead reversion, active oblique gear arcuately guide rail rolls from right to left, drives motor Engine base sliding rail moves from right to left along sliding slot, and the cutterhead of rotation is driven to be moved from right to left along the oblique glue groove of bark；Meanwhile clay The cleaning wheel of remove device follows the engine base sliding rail of motor to be moved from right to left along sliding slot；When cutterhead is moved to oblique glue groove left end side Along when, left rubber tapping induction pieces on engine base sliding rail are close to the left rubber tapping sensor on left lifting connector, left rubber tapping sensor general Its signal transmission is to controller, and controller, which controls motor, to be stopped, and active oblique gear, cutterhead and cleaning wheel stop operating and stop Only move；After being cut by cutterhead flaking after bark, the oblique glue groove of bark flows out glue, after multiple hours, glue along oblique glue groove, draw It glue groove and connects glue glossal canal and constantly flows in glue cup, implement the unmanned automatic rubber tapping of rubber tree.

The utility model has the beneficial effects that：Rubber tapping robot include wrap up in tree belt, rubber tapping manipulator, lifting gear and Controller, rubber tapping manipulator are connect with lifting gear, and lifting gear is connect with tree belt is wrapped up in；The rubber tapping machinery handbag of rubber tapping robot Rubber tapping knife system, arc-shaped guide rail and clay remove device are included；In use, according to the specification of every rubber tree and rubber tree The bark position tapped rubber is needed, the arc-shaped guide rail of dimension is installed on rubber tree using tree belt is wrapped up in, in the tree of rubber tree Skin opens an oblique glue groove and draws glue groove；The cutterhead of daily controller control rubber tapping knife system cuts flaking along the oblique glue groove of bark After reset, the cleaning wheel of clay remove device follows rubber tapping knife system movement, removes the clay in oblique glue groove；It is dug daily by cutterhead The glue of oblique glue groove after piece is flowed to along oblique glue groove in glue cup, when worker harvests the glue of glue cup under every rubber tree daily, profit The position that arc-shaped guide rail is reduced with lifting gear, using the rubber tapping daily morning automatic rubber tapping of manipulator, worker receives after daily daybreak The glue for collecting glue cup solves the problems, such as that worker's morning labor intensity of tapping rubber is big, improves the efficiency of rubber tapping.

Description of the drawings

Fig. 1 is the structural schematic diagram of rubber tapping robot rubber tapping manipulator；

Fig. 2 is the left view of Fig. 1；

Fig. 3 is the vertical view of Fig. 1.

Specific implementation mode

The utility model is further detailed with specific embodiment below in conjunction with the accompanying drawings：

Fig. 1 shown in the structural schematic diagram of rubber tapping robot as shown in Figure 1, the left view and Fig. 3 of Fig. 1 shown in Fig. 2 Vertical view；Rubber tapping robot includes to wrap up in tree belt 1, rubber tapping manipulator 2, lifting gear 3 and controller 4, manipulator 2 of tapping rubber It is connect with lifting gear 3, lifting gear 3 is connect with tree belt 1 is wrapped up in；The rubber tapping manipulator 2 of rubber tapping robot includes tapping knife dress 5, arc-shaped guide rail 6 and clay remove device 7 are set, arc-shaped guide rail 6 is fixedly connected with tree belt 1 is wrapped up in, clay remove device 7 and rubber tapping Knife system 5 connects, rubber tapping knife system 5 and the dynamic mating connection of arc-shaped guide rail 6；Rubber tapping knife system 5 include motor 8, cutterhead 9 and Active oblique gear 10, motor 8 are connect with cutterhead 9 and active oblique gear 10；Clay remove device 7 includes passive helical gear 11 And cleaning wheel 12, active oblique gear 10 are connect with passive helical gear 11, passive helical gear 11 is connect with cleaning wheel 12；Arc is led Rail 6 is equipped with gear grooved 13 and sliding slot 14, the engine base sliding rail 15 of motor 8 with sliding slot 14 is dynamic is connected, the motor shaft of motor 8 with Active oblique gear 10 is fixedly connected, and active oblique gear 10 connects with the dynamic mating connection of gear grooved 13, active oblique gear 10 with cutterhead 9 It connects, passive helical gear 11 is engaged with active oblique gear 10, the axle sleeve 16 of 11 wheel shaft of passive helical gear and the engine base sliding rail 15 of motor 8 Connection, cleaning wheel 12 are connect with passive helical gear 11, and cleaning wheel 12 is located at the right of cutterhead 9；Lifting gear 3 includes lifting spiral shell Mother 17, lifting screw 18 and lifting connector 19, lifting nut 17 are fixedly connected with tree belt 1 is wrapped up in, lifting screw 18 and lifting spiral shell Mother 17 is connected through a screw thread, and lifting screw 18 is connect with lifting 19 ball of connector, and lifting connector 19 is fixedly connected with arc-shaped guide rail 6； Controller 4 is equipped with starting switch 20, shutdown switch 21, rubber tapping sensor 22 and rubber tapping induction pieces 23, and rubber tapping sensor 22 is set In the lifting connector 19 of lifting gear 3, rubber tapping induction pieces 23 are set on the engine base sliding rail 15 of the motor 8 of rubber tapping manipulator 2, control Device 4 is connect by control line with the motor 8 of rubber tapping manipulator 2 and rubber tapping sensor 22, and controller 4 is equipped with battery supply；Profit Rubber tapping manipulator 2 is controlled with controller 4 to cut the bark 25 of rubber tree 24, and collects the glue of the outflow of bark 25.

In order to which within the rubber tapping phase, daily morning implements to carry out using the bark 25 to rubber tree 24 of rubber tapping manipulator 2 Automatic flaking rubber tapping, the glue that harvest bark 25 flows out；The lifting nut 17 of lifting gear 3 include left lifting nut 26 and Right lifting nut 27, lifting screw 18 include left lifting screw 28 and right lifting screw 29, and lifting connector 19 includes a left side Lift connector 30 and right lifting connector 31；Left lifting nut 26 and right lifting nut 27 are fixedly connected with tree belt 1 is wrapped up in, Zuo Sheng Drop screw rod 28 is connected through a screw thread with left lifting nut 26, and right lifting screw 29 is connected through a screw thread with right lifting nut 27, left Lifting screw 28 is connect with left 30 ball of lifting connector, and right lifting screw 29 is connect with right 31 ball of lifting connector, left lifting connector 30 It is fixedly connected with the right 32 of arc-shaped guide rail 6, right lifting connector 31 is fixedly connected with the right end 33 of arc-shaped guide rail 6；Left lifting spiral shell Bar 28 is equipped with left scale 34, and right lifting screw 29 is equipped with right scale 35；Using left lifting screw 28 and right lifting screw 29 come It adjusts arc-shaped guide rail 6 to lift, the range of arc-shaped guide rail 6 is controlled using left scale 34 and right scale 35.

In order to manipulator 2 of implementing to tap rubber cutterhead 9 automatically along the bark 25 of rubber tree 24 flaking from left to right, and by the right side It returns to the left；There are two rubber tapping sensor 22 is set, a rubber tapping sensor 22 is set to left lifting connector 30, another rubber tapping sensing Device 22 is set to right lifting connector 31；There are two rubber tapping induction pieces 23 are set, a rubber tapping induction pieces 23 are set to the machine of rubber tapping knife system 5 The left side of seat sliding rail 15, another rubber tapping induction pieces 23 are set to the right of the engine base sliding rail 15 of rubber tapping knife system 5；Rubber tapping sensor 22 include left rubber tapping sensor 36 and right rubber tapping sensor 37, and left rubber tapping sensor 36 is set to left lifting connector 30, and the right side is cut Glue sensor 37 is set to right lifting connector 31；Induction pieces 23 of tapping rubber include left rubber tapping induction pieces 38 and right rubber tapping induction pieces 39, left rubber tapping induction pieces 38 are set to the left side of the engine base sliding rail 15 of motor 8, and the engine base that right rubber tapping induction pieces 39 are set to motor 8 is slided The right of rail 15, the cutterhead 9 for controlling rubber tapping manipulator 2 are moved left and right along the bark 25 of rubber tree 24；At the beginning of rubber tapping manipulator 2 Beginning state is：Tap rubber knife system 5 motor 8 engine base sliding rail 15 on the left side rubber tapping induction pieces 21 close to a left side for arc-shaped guide rail 6 The rubber tapping sensor 22 at end 32.

In order to implement the parallel lifting of arc-shaped guide rail 6, left lifting nut 26 is identical as the screw thread of right lifting nut 27, Zuo Sheng It is identical as the screw thread of right lifting screw 29 that screw rod 28 is dropped；When left lifting screw 28 is identical as the number of turns that right lifting screw 29 rotates, Left lifting connector 30 is identical at a distance from the lifting of right lifting connector 31.

In order to implement the active oblique gear 10 using the driving rubber tapping manipulator 2 of motor 8 and the passive rotation of helical gear 11, cut The axis of the active oblique gear 10 of glue manipulator 2 is parallel with horizontal line, and the axis of passive helical gear 11 is parallel with horizontal line；Actively The axis of the axis of helical gear 10 and passive helical gear 11 is in same level.

In order to implement unidirectional cutting flaking of the cutterhead 9 to bark 25, the cutterhead 9 for manipulator 2 of tapping rubber, which cuts bark 25, to be dug The direction of rotation of piece is that clockwise, when cutterhead 9 rotates counterclockwise, cutterhead 9 does not cut flaking to bark 25；Start slot 52 Width is equal with the radius of cutterhead 9, and cutterhead 9 is avoided to glide along slot 52 is started.

In order to will wrap up in tree belt 1 tighten on rubber tree 24, wrap up in tree belt 1 be equipped with patch buckle 45, for using wrap up in tree belt 1 will lifting Nut 17 is fixed on rubber tree 24；It wraps up in tree belt 1 and is equipped with rubber tapping mouth 46, rubber tapping manipulator 2 is located at the rubber tapping mouth 46 for wrapping up in tree belt 1 Position, the area of rubber tapping mouth 46 take around the area of the bark 25 of rubber tapping；Using rubber tapping manipulator 2 in the tree of rubber tapping mouth 46 Skin 25 is tapped rubber.

Rubber tapping robot application method be：When daystart is tapped rubber, the bark 25 prior to rubber tree 24 is used commonly Tapping knife, which is opened, to be cut one and starts the oblique glue groove 47 of slot 52, one and one is drawn glue groove 48, beginning slot 52 and oblique glue groove 47 and is drawn Glue groove 48 is connected to, and connecting one in the lower end for drawing glue groove 48 of bark 25 connects glue glossal canal 49, is placed in the lower section for connecing glue glossal canal 49 The rubber tapping range of 24 bark 25 of rubber tree is fixed up by one glue cup 50；Then, tree will be wrapped up in by buckleing 45 using the patch for wrapping up in tree belt 1 Band 1 is wrapped in 25 position of bark on rubber tree 24, making the rubber tapping mouth 46 for wrapping up in tree belt 1 need to tap rubber against rubber tree 24, and is made Rubber tapping manipulator 2 is located at the position for the rubber tapping mouth 46 for wrapping up in tree belt 1, so that cutterhead 9 is located at the position for starting slot 52, makes rubber tapping manipulator 2 cutterhead 9 is contacted with the oblique glue groove 47 of bark 25；It wraps up in tree belt 1 to wrap after on rubber tree 24, presses starting switch 20, control The control of device 4 rubber tapping robot is by the program work being arranged；When manipulator 2 of tapping rubber is tapped rubber, the control rubber tapping manipulator 2 of controller 4 Motor 6 drives active oblique gear 10 and cutterhead 9 to rotate, and active oblique gear 10 drives 12 turns of passive helical gear 11 and cleaning wheel Dynamic, the cleaning wheel 12 of rotation is purged the clay 44 of the oblique glue groove 47 of bark 25, the oblique glue of the cutterhead 9 of rotation to bark 25 Slot 47 carries out cutting flaking；The gear grooved 13 of the arcuately guide rail 6 of active oblique gear 10 rolls from left to right, drives the machine of motor 6 Seat sliding rail 15 moves from left to right along sliding slot 14, drive the cutterhead 9 of rotation along bark 25 oblique glue groove 47 by oblique glue groove 47 a left side While moving flaking to the right of oblique glue groove 47；When the oblique glue groove 47 that cutterhead 9 cuts bark 25 is moved to the position for drawing glue groove 48, For the rubber tapping induction pieces 21 on 15 the right of engine base sliding rail close to the rubber tapping sensor 22 on right lifting connector 31, which will Its signal transmission is to controller 4, and controller 4 controls motor 6 and active oblique gear 10 and cutterhead 9 is driven to invert, active oblique gear The gear grooved 13 of 10 arcuately guide rails 6 rolls from right to left, and the engine base sliding rail 15 of motor 6 is driven to be moved from right to left along sliding slot 14 It is dynamic, drive the cutterhead 9 of rotation to be moved from right to left along the oblique glue groove 47 of bark 25；Meanwhile passive helical gear 11 follows motor 6 Engine base sliding rail 15 is mobile from right to left, and cleaning wheel 12 follows passive helical gear 11 to be moved from right to left along oblique glue groove 47；When When the rubber tapping induction pieces 21 on 15 left side of engine base sliding rail are close to the left rubber tapping sensor 22 lifted on connector 30, the rubber tapping sensor 22 By its signal transmission to controller 4, controller 4, which controls motor 6, to be stopped, and active oblique gear 10 and cutterhead 9 stop operating；By knife The glue that bark 25 flows out after the cutting of 9 flaking of disk along oblique glue groove 47, draw glue groove 48 and connect glue glossal canal 49 and flow in glue cup 50；The When the glue of one day harvest glue cup 50, declined to adjust arc-shaped guide rail 6 using left lifting screw 28 and right lifting screw 29, profit The decline range of arc-shaped guide rail 6 is controlled with left scale 34 and right scale 35；The depth of flaking is cut for rubber tapping setting in second day, And maintain cutterhead 9 and cleaning wheel 12 in the state for compressing oblique glue groove 47；The control rubber tapping manipulator 2 of controller 4 is right within second day The bark 25 of rubber tree 24 is tapped rubber, cutterhead 9 along oblique glue groove 47 cutting flaking is carried out to bark 25 after reset, be located at 9 the right of cutterhead Cleaning wheel 12 along oblique glue groove 47 clear up clay after reset；So constantly recycle；To implement rubber tree 24 it is unmanned from Dynamic rubber tapping.

In order to make arc-shaped guide rail 6 that left lifting screw 28 and right lifting screw 29 be followed to decline, lifting gear 3 in use, Left lifting screw 28 and right lifting screw 29 are rotated simultaneously, the number of turns for making left lifting screw 28 and right lifting screw 29 rotate Identical, left lifting connector 30 follows left lifting screw 28 to decline, and right lifting connector 31 follows right lifting screw 29 to decline, and arc is led Rail 6 follows left lifting screw 28 and right lifting screw 29 to decline, and the motor 6 on arc-shaped guide rail 6 follows arc-shaped guide rail 6 to decline, Cutterhead 9 and cleaning wheel 12 is set to be close to oblique glue groove 47.

In order to implement to cut entire rubber tapping the unmanned of mouth 46 of the bark 25 of rubber tree 24 automatically in entirely rubber tapping season Glue, controller 4 are equipped with automation rubber tapping program, programming input interface and programmable device；It taps rubber in use, being arranged using programmable device Manipulator 2 starts the time of rubber tapping in the entirely number of days of rubber tapping season rubber tapping and rubber tapping manipulator 2 daily；It taps rubber number of days and every After it starts the time setting of rubber tapping, starting switch 20 is pressed, the program work of setting is pressed by the control rubber tapping of controller 4 robot； The cutterhead 9 of the daily control of controller 4 rubber tapping manipulator 2 moves flaking from left to right along the oblique glue groove 47 of 24 bark 25 of rubber tree, The surface of 47 bark 25 of oblique glue groove is cut off, after cutterhead 9 moves right to the position for drawing glue groove 48, controller 4 controls rubber cutting machine The cutterhead 9 of tool hand 2 returns to the position for starting slot 52；After being cut by 9 flaking of cutterhead the glue that flows out of bark 25 along oblique glue groove 47, Draw glue groove 48 and connect glue glossal canal 49 and flow in glue cup 50, so constantly recycles；Solves rubber tapping worker daily morning three to four Will get up at o'clock the problem of tapping rubber, and rubber tapping worker only needs to collect the glue of glue cup 50 daily daytime.

In order to implement to carry out unmanned automatic rubber tapping to 24 woods of full wafer rubber tree, rubber tapping robot is in use, by rubber tree Each rubber tree 24 of woods installs a rubber tapping robot, and the rubber tapping robot daily morning on every rubber tree 24 is by setting Program automatic rubber tapping, rubber tapping worker only needs to collect the glue of glue cup 50 on daily daytime.

It is moved back and forth along oblique glue groove 47 to implement cutterhead 9, when the cutterhead 9 for manipulator 2 of tapping rubber carries out flaking to bark 25, Motor 8 drives active oblique gear 10 to move in the direction of the clock, active oblique gear 10 and 13 slot bottom of gear grooved of arc-shaped guide rail 6 Slot tooth 42 engages, and the gear grooved 13 of the arcuately guide rail 6 of active oblique gear 10 moves from left to right；When cutterhead 9 returns, motor 8 drives Dynamic active oblique gear 10 rotates counterclockwise, the slot tooth 42 of active oblique gear 10 and 13 slot bottom of gear grooved of arc-shaped guide rail 6 The gear grooved 13 of engagement, the arcuately guide rail 6 of active oblique gear 10 moves from right to left.

In order to implement cutterhead 9 rubber tree 24 bark 25 single direction rotation flaking, rubber tapping manipulator 2 tap rubber when, motor 8 Driving cutterhead 9 moves in the direction of the clock, and along the oblique glue groove 47 of bark 25, descending moves cutterhead 9 from left to right, clockwise Oblique glue groove 47 flaking of the cutterhead 9 of rotation to bark 25；When cutterhead 9 returns, motor 8 drives cutterhead 9 to rotate counterclockwise, Cutterhead 9 goes up a slope along the oblique glue groove 47 of bark 25 and moves from right to left, oblique glue groove of the cutterhead 9 rotated in an anti-clockwise direction to bark 25 47 not flakings.

In order to implement clearly to walk the clay 44 that the last flaking of the bark 25 of rubber tree 24 is left behind to solidify, glue is reduced Influence of the mud 44 to 9 flaking of cutterhead；When clay remove device 7 clears up the clay 44 of oblique glue groove 47, active oblique gear 10 drives quilt Dynamic helical gear 11 rotates counterclockwise, and passive helical gear 11 drives cleaning wheel 12 to rotate counterclockwise, cleaning wheel 12 While rotation counterclockwise, cleaning wheel 12 follows active oblique gear 10 to move from left to right；Clay remove device 7 returns When, active oblique gear 10 drives passive helical gear 11 to move in the direction of the clock, and cleaning wheel 12 follows active oblique gear 10 by the right side It is moved to the left.

The function of oblique glue groove 47 is removed in order to implement cleaning wheel 12, and makes not following when 12 reset movement of cleaning wheel passively Helical gear 11 rotates, and cleaning wheel 12 is single-direction transmission cleaning wheel 12, when passive helical gear 11 rotates counterclockwise, cleaning wheel 12 follow passive helical gear 11 to rotate counterclockwise, and when passive helical gear 11 moves in the direction of the clock, cleaning wheel 12 is not Rotation.

In order to which using rubber tapping manipulator 2, to needing rubber tapping bark 25 to tap rubber, the height for wrapping up in the rubber tapping mouth 46 of tree belt 1 is big In the height for needing 25 position of rubber tapping bark, to ensure that rubber tapping manipulator 2 can be moved in rubber tapping mouth 46.

In order to avoid cleaning wheel 12 damages bark 25, cleaning wheel 12 is made of elastic material, and the periphery of cleaning wheel 12 is equipped with Broach, the hardness of cleaning wheel 12 are less than the hardness of bark 25, the clay 44 when cleaning wheel 12 rotates and in 25 oblique glue groove 47 of bark Contact, clay 44 is removed.

In order to the robot that implements to tap rubber rubber tapping manipulator 2 cutterhead 9 to the elastic flaking of 24 bark 25 of rubber tree, actively Helical gear 10 is connect by the first spring 40 with cutterhead 9, and one end of the first spring 40 is fixedly connected with active oblique gear 10, and first The other end of spring 40 is fixedly connected with cutterhead 9；When cutterhead 9 is not contacted with oblique glue groove 47, the axis of cutterhead 9 and the first spring 40 Axis it is identical, the axis of the first spring 40 is identical as the axis of active oblique gear 10；After cutterhead 9 is contacted with oblique glue groove 47, knife The axis of disk 9 is different from the axis of the first spring 40, and the axis of the first spring 40 is different from the axis of active oblique gear 10.

In order to avoid the cleaning wheel 12 of clay remove device 7 hinders rubber tapping knife system 5 to move, clay remove device 7 is equipped with The axle sleeve 16 of second spring 51,11 wheel shaft of passive helical gear passes through the wheel axis connection of second spring 51 and cleaning wheel 12, the second bullet One end of spring 51 is fixedly connected with the wheel shaft of passive helical gear 11, and the wheel shaft of the other end and cleaning wheel 12 of second spring 51 is fixed Connection.

Cutterhead 9 in order to implement the rubber tapping manipulator 2 of rubber tapping robot follows the rubber tree 24 of arc to move, arc-shaped guide rail 6 shape is arc, and arc-shaped guide rail 6 is made of elastic material, and the arc of arc-shaped guide rail 6 is similar to the arc of rubber tree 24；Arc Shape guide rail 6 is equipped with plurality of specifications, has been suitble to the rubber tree 24 of different size；The shape of the gear grooved 13 of arc-shaped guide rail 6 is arc, The shape of active oblique gear 10 is arc, and the arcuate shape of active oblique gear 10 is identical as the arcuate shape of gear grooved 13；Arc The shape of the sliding slot 14 of guide rail 6 is arc, and the shape of the engine base sliding rail 15 of motor 8 is arc, the arcuate shape of engine base sliding rail 15 It is identical as the arcuate shape of sliding slot 14；The slot bottom 41 of gear grooved 13 is equipped with slot tooth 42, the slot of active oblique gear 10 and gear grooved 13 Tooth 42 engages.

In order to implement the engine base sliding rail 15 of motor 8 in smooth movement in sliding slot 14, engine base sliding rail 15 and the sliding slot 14 of motor 8 Between be equipped with ball 43, there are gap between engine base sliding rail 15 and sliding slot 14, ball 43 and engine base sliding rail 15 and sliding slot 14 are dynamic It is connected.

In order to manipulator 2 of implementing to tap rubber cutterhead 9 to the flaking of the bark 25 of the rubber tree 24 of arc, the axis of cutterhead 9 It is tilted with horizontal line, the axis of cutterhead 9 and horizontal angle are 5 ° of angles to 8 ° of angles, and the end face of cutterhead 9 is avoided to rub with bark 25 It wipes, the axis of cutterhead 9 is directed toward rubber tree 24.

Rubber tapping robot rubber tapping manipulator application method be：Robot rubber tapping manipulator tap rubber in use, prior to rubber Set 24 barks 25 rubber tapping range opened with common tapping knife cut a left side be higher than the right oblique glue groove 47, and with commonly Tapping knife, which is opened, to be cut a vertical beginning slot 52 and draws glue groove 48, and 47 left side for making oblique glue groove connects with the upper end for starting slot 52 It is logical, so that 47 the right of oblique glue groove is connected to the upper end for drawing glue groove 48, connecting one in the lower end for drawing glue groove 48 of bark 25 connects Glue glossal canal 49 places a glue cup 50 in the lower section for connecing glue glossal canal 49；Then, it 45 are buckled using the patch for wrapping up in tree belt 1 will wrap up in tree belt 1 and wrap up in The rubber tapping range position for the bark 25 for tightly needing to tap rubber against rubber tree 24 in the rubber tapping mouth 46 on rubber tree 24, making to wrap up in tree belt 1, And so that rubber tapping manipulator 2 is located at 47 position of oblique glue groove for the rubber tapping mouth 46 for wrapping up in tree belt 1, and make the cutterhead 9 of rubber tapping manipulator 2 with The oblique glue groove 47 of bark 25 contacts；It wraps up in tree belt 1 to wrap after on rubber tree 24, presses starting switch 20, the control rubber tapping of controller 4 The motor 6 of manipulator 2 rotates, and motor 6 drives active oblique gear 10 to rotate by its motor shaft, and active oblique gear 10 passes through first Spring 40 is rotated with movable knife disc 9, and the cutterhead 9 of rotation carries out cutting flaking to the oblique glue groove 47 of bark 25, utilizes the first spring 40 Elastic force so that cutterhead 9 is tightly attached to oblique glue groove 47；Meanwhile active oblique gear 10 drives passive helical gear 11 to rotate, passive helical gear 11 drive cleaning wheel 12 to rotate, and for the cleaning wheel 12 of rotation under the effect of 51 elastic force of second spring, cleaning wheel 12 is close to oblique glue groove 47 Rotation, is purged the clay 44 of the oblique glue groove 47 of bark 25 using cleaning wheel 12；The active oblique gear 10 of rubber tapping knife system 5 Arcuately the gear grooved 13 of guide rail 6 constantly rolls from left to right, and the engine base sliding rail 15 of motor 6 is driven to be moved from left to right along sliding slot 14 It is dynamic, drive the cutterhead 9 of rotation to move flaking from the left side of oblique glue groove 47 to the right of oblique glue groove 47 along the oblique glue groove 47 of bark 25； The clay remove device 7 being connect with engine base sliding rail 15 follows engine base sliding rail 15 from the left side of oblique glue groove 47 to the right of oblique glue groove 47 It is mobile, the clay of oblique glue groove 47 before cutterhead 9 is removed using the cleaning wheel 12 of clay remove device 7；Constantly move from left to right Cutterhead 9 cutting flaking is carried out to the oblique glue groove 47 of bark 25；Draw glue groove when the oblique glue groove 47 of the cutting bark 25 of cutterhead 9 is moved to When 48 position, the right rubber tapping induction pieces 39 on engine base sliding rail 15, should close to the right rubber tapping sensor 37 on right lifting connector 31 By its signal transmission to controller 4, controller 4 controls motor 6 and drives active oblique gear 10 and cutterhead 9 right rubber tapping sensor 37 The gear grooved 13 of reversion, the arcuately guide rail 6 of active oblique gear 10 rolls from right to left, drives the engine base sliding rail 15 of motor 6 along cunning Slot 14 moves from right to left, and the cutterhead 9 of rotation is driven to be moved from right to left along the oblique glue groove 47 of bark 25；Meanwhile clay is removed The cleaning wheel 12 of device 7 follows the engine base sliding rail 15 of motor 6 to be moved from right to left along sliding slot 14；When cutterhead 9 is moved to oblique glue groove When 47 left end edge, left rubber tapping induction pieces 38 on engine base sliding rail 15 are close to the left rubber tapping sensor on left lifting connector 30 36, the left rubber tapping sensor 36 is by its signal transmission to controller 4, and controller 4, which controls motor 6, to be stopped, active oblique gear 10, knife Disk 9 and cleaning wheel 12 stop operating；After being cut by 9 flaking of cutterhead after bark 25, the oblique glue groove 47 of bark 25 flows out glue, more After a hour, glue along oblique glue groove 47, draw glue groove 48 and connect glue glossal canal 49 and constantly flow in glue cup 50, implement rubber tree 24 Unmanned automatic rubber tapping.

In order to implement the automatic rubber tapping of rubber tapping robot rubber tapping manipulator 2, rubber tapping 2 original state of manipulator is：Tapping knife Left rubber tapping induction pieces 38 on the engine base sliding rail 15 of the motor 8 of device 5 are close to the left rubber tapping sensor 36 on left lifting connector 30； The left end of oblique glue groove 47 is higher than the right end of oblique glue groove 47, so that the glue of oblique glue groove 47 is flowed to automatically and draws glue groove 48.

It is close in oblique glue groove 47 to implement cutterhead 9, implements the Elastic Contact of cutterhead 9 and oblique glue groove 47, rubber tree 24 After oblique glue groove 47 on bark 25 is held successfully, rubber tapping 2 original state of manipulator is：The axis of motor 6 and active oblique gear 10 with Horizontal line is parallel, the first spring 40 bending being fixedly connected with active oblique gear 10, the cutterhead 9 being fixedly connected with the first spring 40 Axis tilt, so that cutterhead 9 is pressed in the oblique glue groove 47 of bark 25；The axis of passive helical gear 11 is parallel with horizontal line, with Passive helical gear 11 is fixedly connected with the bending of second spring 51, and the cleaning wheel 12 being fixedly connected with second spring 51 is pressed on oblique glue groove On 47；The distance of the axis of motor 6 to 15 bottom of engine base sliding rail of motor 6 is less than the axis of cutterhead 9 to the engine base sliding rail of motor 6 The distance of 15 bottoms.

It is same with 6 motor shaft of motor when cutterhead 9 is close to oblique glue groove 47 in order to keep the Elastic Contact of cutterhead 9 and oblique glue groove 47 The active oblique gear 10 of axis connection is connect by the first spring 40 with cutterhead 9, and active oblique gear 10 applies one to the first spring 40 A downward active force makes the first spring 40 deform, and the first spring 40 applies a downward elastic force to cutterhead 9, keeps cutterhead 9 right Oblique glue groove 47 applies an elastic force, and cutterhead 9 is made to be close to oblique glue groove 47 under the action of the elastic force；Oblique glue groove 47 is cut by cutterhead 9 After cutting flaking, the distance of axis to 15 bottom of engine base sliding rail of motor 6 of cutterhead 9 is reduced, the bullet that cutterhead 9 applies oblique glue groove 47 Power is reduced；After each cutterhead 9 cuts flaking to the bark 25 of oblique glue groove 47, the height of arc-shaped guide rail 6 is turned down using lifting gear 3 Degree makes the axis of motor 6 be less than the axis of cutterhead 9 to the engine base sliding rail of motor 6 to the distance of 15 bottom of engine base sliding rail of motor 6 The distance of 15 bottoms makes the axis of cutterhead 9 be higher than the axis of motor 6, and so that cutterhead 9 is maintained oblique glue groove 47, there are one elastic pressures State.

It is close in oblique glue groove 47 to implement cleaning wheel 12, implements the Elastic Contact of cleaning wheel 12 and oblique glue groove 47, electricity The distance of the axis of machine 6 to 15 bottom of engine base sliding rail of motor 6 is less than the axis of cleaning wheel 12 to 15 bottom of engine base sliding rail of motor 6 The distance in portion；When cleaning wheel 12 is close to oblique glue groove 47, the passive helical gear 11 engaged with active oblique gear 10 passes through second spring 51 connect with cleaning wheel 12, and passive helical gear 11 applies a downward active force to second spring 51, and second spring 51 is made to become Shape, second spring 51 apply a downward elastic force to cleaning wheel 12, so that cleaning wheel 12 is applied an elastic force to oblique glue groove 47, make Cleaning wheel 12 is close to oblique glue groove 47 under the action of the elastic force.

After keeping the Elastic Contact of cleaning wheel 12 and oblique glue groove 47, oblique glue groove 47 to cut flaking by cutterhead 9, cleaning wheel The distance of 12 axis to 15 bottom of engine base sliding rail of motor 6 is reduced, and cleaning wheel 12 reduces the elastic force that oblique glue groove 47 applies；Often After secondary cutterhead 9 cuts flaking to the bark 25 of oblique glue groove 47, the height of arc-shaped guide rail 6 is reduced, makes the axis of motor 6 to motor 6 15 bottom of engine base sliding rail distance be less than cleaning wheel 12 axis to the distance of 15 bottom of engine base sliding rail of motor 6, make cleaning The axis of wheel 12 is higher than the axis of motor 6, and cleaning wheel 12 is made to maintain the state there are one elastic pressure to oblique glue groove 47.

By after 9 flaking of cutterhead, the height of oblique glue groove 47 reduces the oblique glue groove 47 of bark 25；Arc is turned down using lifting gear 3 After the height of shape guide rail 6, the first spring 40 maintains flexuosity, and cutterhead 9 is made to maintain the state for being pressed on oblique glue groove 47；The Two springs 51 are bent, and cleaning wheel 12 is made to maintain the state for being pressed on oblique glue groove 47.

Claims (10)

1. a kind of rubber tapping manipulator of rubber tapping robot, the rubber tapping robot includes to wrap up in tree belt（1）, rubber tapping manipulator （2）, lifting gear（3）And controller（4）；Rubber tapping manipulator（2）With lifting gear（3）Connection, lifting gear（3）It is set with wrapping up in Band（1）Connection；It is characterized in that：It is a kind of rubber tapping robot rubber tapping machinery hand include have rubber tapping knife system（5）, arc-shaped guide rail （6）And clay remove device（7）, knife system of tapping rubber（5）It include motor（8）, cutterhead（9）And active oblique gear（10）, Clay remove device（7）It include passive helical gear（11）And cleaning wheel（12）；Arc-shaped guide rail（6）Equipped with gear grooved（13）With And sliding slot（14）, motor（8）Engine base sliding rail（15）With sliding slot（14）It is dynamic to be connected, motor（8）Motor shaft with actively tiltedly Gear（10）Connection, active oblique gear（10）With gear grooved（13）It is dynamic to be connected, active oblique gear（10）With cutterhead（9）Even It connects, passive helical gear（11）With active oblique gear（10）Engagement, passive helical gear（11）The axle sleeve of wheel shaft（16）With motor（8）'s Engine base sliding rail（15）Connection, cleaning wheel（12）With passive helical gear（11）Connection.

2. a kind of rubber tapping manipulator of rubber tapping robot according to claim 1, it is characterised in that：The active helical teeth Wheel（10）Pass through the first spring（40）With cutterhead（9）Connection.

3. a kind of rubber tapping manipulator of rubber tapping robot according to claim 1, it is characterised in that：The cutterhead（9） Not with oblique glue groove（47）When contact, cutterhead（9）Axis and the first spring（40）Axis it is identical, the first spring（40）Axis With active oblique gear（10）Axis it is identical.

4. a kind of rubber tapping manipulator of rubber tapping robot according to claim 1, it is characterised in that：The clay is removed Device（7）Equipped with second spring（51）, passive helical gear（11）The axle sleeve of wheel shaft（16）Pass through second spring（51）With cleaning wheel （12）Wheel axis connection.

5. a kind of rubber tapping manipulator of rubber tapping robot according to claim 1, it is characterised in that：The arc-shaped guide rail （6）Shape be arc, arc-shaped guide rail（6）It is made of elastic material.

6. a kind of rubber tapping manipulator of rubber tapping robot according to claim 1, it is characterised in that：The arc-shaped guide rail （6）Gear grooved（13）Shape be arc, active oblique gear（10）Shape be arc.

7. a kind of rubber tapping manipulator of rubber tapping robot according to claim 1, it is characterised in that：The arc-shaped guide rail （6）Sliding slot（14）Shape be arc, motor（8）Engine base sliding rail（15）Shape be arc.

8. a kind of rubber tapping manipulator of rubber tapping robot according to claim 1, it is characterised in that：The gear grooved （13）Slot bottom（41）Equipped with slot tooth（42）, active oblique gear（10）With gear grooved（13）Slot tooth（42）Engagement.

9. a kind of rubber tapping manipulator of rubber tapping robot according to claim 1, it is characterised in that：The motor（8） Engine base sliding rail（15）With sliding slot（14）Between be equipped with ball（43）, engine base sliding rail（15）With sliding slot（14）Between there are gaps.

10. a kind of rubber tapping manipulator of rubber tapping robot according to claim 1, it is characterised in that：The cutterhead（9） Axis and horizontal line tilt, cutterhead（9）Axis be directed toward rubber tree（24）.