WO2021238368A1 - Automatic needle-piercing gum-collecting device - Google Patents

Abstract

An automatic needle-piercing gum-collecting device, comprising: a travelling track (2), which is fixed between multiple tree trunks by means of a mounting frame (3); a travelling mechanism (4), which is provided on the travelling track (2) and can move along the travelling track (2); a displacement mechanism, which is provided on the travelling mechanism (4); a gum collector, which is provided on the displacement mechanism, and is used for opening gum-collecting holes on the tree trunks; the displacement mechanism controls the gum collector to move along the vertical, peripheral or/and radial directions of the tree trunks.

Description

Automatic acupuncture glue picking equipment Technical field

The invention relates to an automatic acupuncture rubber picking device, which belongs to the technical field of mechanical rubber picking.

Background technique

Natural rubber is a natural rubber latex collected from rubber trees. It is an elastic solid made through coagulation, drying and other processing procedures. It is an important national strategic material; natural rubber is due to its excellent resilience, insulation, water resistance and plasticity, etc. Characteristics, it has a wide range of uses in daily life, transportation, industry, agriculture, aerospace and other fields.

The existing rubber collection is still manually tapped with a traditional rubber tapping knife (such as the device disclosed in the publication number CN205213638U), a spiral tapping line is cut from the rubber tree, and the rubber cup is used to collect the rubber flowing out of the tapping line. But at present, the price of natural rubber continues to be sluggish, and the income of rubber workers is low, resulting in a large loss of rubber workers. At the same time, due to the reversed black and white of rubber tapping, the harsh environment, high technical requirements, high labor intensity, long training time for traditional rubber knives, difficulty in learning, and poor cutting, young people are more reluctant to tap rubber, which intensifies the aging of rubber workers. On the other hand, the method of manual tapping is likely to cause greater damage to the rubber tree, and the continuous tapping of the dead skin is prone to physiological disorders, that is, the so-called "brown bark disease", which affects the life of the rubber and causes the tree to produce gum. Interrupted. The above-mentioned various reasons have formed a serious shortage of rubber workers today, resulting in at least 60% of rubber plantations being abandoned.

In recent years, the industry is constantly exploring automated rubber tapping tools to solve the current plight of rubber tapping. However, due to the particularity of the tapping operation, the old rubber thread cuts the winding machine, the mechanical cutting debris contaminates the glue, and the technology cannot be used to tap the rubber. The problem has never been solved, which has led to the mechanization of rubber mining as a worldwide problem. The key technology research in the past 40 years has not broken through. The solutions disclosed in the prior art, such as publication numbers CN110558198A, CN108243896A, CN210298832U, etc., cannot solve the above-mentioned problems, especially the technical problem that cutting debris contaminates the glue, and mechanized rubber tapping knives are always difficult to meet the technical index requirements of rubber picking.

Although the handheld reciprocating rubber tapping equipment (publication numbers CN208480406U, CN208480405U, etc.) developed by the applicant solves the above technical problems, it still needs to be held manually, and still cannot solve the problems of shortage of rubber workers and abandonment of rubber gardens.

The prior art fully automatic rubber tapping equipment, such as the rubber tapping equipment with publication numbers CN110720374A and CN110696008A, are basically conceived based on the correspondence relationship of "one machine, one tree". The above concept seems to solve the problem, but it cannot be realized in practice. The reason is: standard rubber plantations plant 33 rubber trees per acre, private rubber plantations usually exceed 50-60 plants per acre, the general rubber plantation area is 100 acres, and the smallest is 20 acres. The three largest domestic rubber plantings The district has a total rubber plantation area of 17 million mu. From the above data, it can be found that "one machine, one tree" has an astonishing demand for equipment, and the cost of erection and maintenance is much higher than the revenue of the rubber plantation. It seems that the beauty cannot solve the problem. On the other hand, the "one machine, one tree" equipment is heavy and the cutting position is fixed. The continuous rubber tapping is still prone to physiological disorders, that is, the so-called "brown skin disease" appears, which affects the life of the rubber and causes the tree The production of rubber is interrupted, which is also an unavoidable technical problem caused by the nature of the program.

At present, in the rubber tapping industry, the concept is gradually changed and smart robots are adopted, such as the rubber tapping robots disclosed in the publication numbers CN110558196A, CN110122256A, and CN109328973A, which use visual servoing, multi-sensor integrated navigation, wireless charging and other technologies; Solutions such as track displacement achieve autonomous rubber tapping between rubber forests. However, in addition to the current precision and control of intelligent robots, the ground environment of rubber gardens is complex. In order to increase the utilization rate of land, it is usually necessary to plant under-forest cash crops. Regular planting will also result in narrow spacing between trees. At the same time, there will be drainage ditches and drainage slopes on the ground. The terrain under the forest is complex, giving the robot a narrow walking space. It is difficult for the robot to walk freely in the rubber plantation. The ground-track design is the same. The above problems make it difficult to lay the track, falling leaves, etc. are easy to jam the track, and it is difficult to maintain.

Therefore, in the current industry, there is a lack of a rubber picking equipment that can truly eliminate labor, is suitable for the actual situation of the rubber plantation, and is automated, low-cost, and easy to maintain.

Summary of the invention

The purpose of the present invention is to provide a technical solution for automatically collecting rubber from multiple rubber trees.

The technical solutions adopted by the present invention to solve its technical problems are:

The invention discloses an automatic acupuncture rubber picking equipment, which includes:

The walking track is suspended and fixed between multiple trees by a fixed frame;

The walking mechanism is arranged on the walking track and can move along the walking track;

Displacement mechanism, set on the walking mechanism;

The rubber picker is arranged on the displacement mechanism and is used to open a glue picking hole on the tree;

The displacement mechanism controls the rubber picker to move along the vertical direction, the circumferential direction or/and the radial direction of the tree respectively.

Preferably, the displacement mechanism includes a joint rotator and a swivel arm; the joint rotator includes a rotation control motor, a rotating table controlled by the rotation control motor, and a rotating table that fixes the rotation control motor and can move with the walking mechanism The fixed plate; the revolving arm is arc-shaped and fixed on the revolving table, the revolving arm can rotate with the revolving table to be half-enclosed to one side of the tree, the rubber picker can move along the revolving arm .

Preferably, the swing arm has a toothed ring rail; the displacement mechanism further includes a swing transmission mechanism that controls the circumferential movement of the rubber picker, and the swing transmission mechanism includes a swing that can drive the rubber picker to move. A table, a guide roller connecting the turntable to a turning arm, a guide gear meshing with the toothed ring rail portion, and a turning motor that drives the guide gear to rotate and move the turntable.

Preferably, the displacement mechanism further includes a depth control mechanism arranged on the rotary transmission mechanism, and the depth control mechanism includes a radial slide rail arranged in the radial direction of the rotary arm, and a diameter arranged on the radial slide rail. Directional slider, screw nut arranged on said radial slider and driving the rubber picker to move radially, screw rod matched with said screw nut, depth control motor connected to said screw rod and controlling its rotation .

Preferably, the rubber picker is a needle drill rubber picker and is arranged on the depth control mechanism, and the needle drill rubber picker includes a drill bit for tree drilling, and a quick disassembly and assembly of drill bits of different diameters. A chuck, a drilling motor connected with the quick chuck and rotating the drill bit, and a needle drill base supporting the drilling motor.

Preferably, the glue picker is a needle stick glue picker, and the needle stick glue picker includes a needle stick base connected to the depth control mechanism, a guide post for tree piercing, and is arranged in the middle of the guide post and drives The rack part that the guide post moves axially, the sector gear that is arranged on the needle piercing base and meshes with the rack part, the needle piercing motor that drives the sector gear to rotate, and the pin piercing motor that is sleeved on the guide post and can compress and store energy Energy storage spring.

Preferably, the displacement mechanism further includes a lifting mechanism that controls the vertical movement of the rubber picker, and the lifting mechanism includes a first linear drive module connected to the walking mechanism and connected to the first linear drive module. The first linear drive module controls the lifting of the connecting plate and the second linear drive module that is fixed on the connecting plate and controls the lifting of the joint rotator; in the first linear drive module and The second linear drive module is respectively provided with a vertical guide rail and a guide rail sliding seat which cooperate and guide each other.

Preferably, a position sensor is provided on the walking mechanism, and a position trigger is respectively provided on each fixing frame. When the position sensor detects the position trigger, the walking mechanism stays at the corresponding tree.

Preferably, a tree circumference detector is provided on the displacement mechanism, the tree circumference detector includes a first distance sensor, a second distance sensor, and a background controller, and the first distance sensor and the second distance sensor are opposed to each other. It is arranged and used to detect the diameter of the tree, the background controller receives the detection data, calculates the tree circumference parameter and controls the circumferential displacement of the rubber picker, so that the distance between adjacent rubber picking holes in the circumference of the tree is the same.

Preferably, a distance detector is provided on the rubber picker, and the background controller receives the detection data of the distance detector and controls the radial movement of the rubber picker through a depth control mechanism to control the depth of the rubber picker opening. .

In the 1980s, Nongken conducted acupuncture gel mining combined with calcium carbide stimulation technology test, and the Honggang Farm in Chengmai County, Hainan Province also conducted acupuncture gel mining combined with calcium carbide stimulation test; acupuncture gel mining was also a research boom in various countries in the 1990s, but due to This method of rubber picking was not ideal, and later all changed to the rubber knife tapping method. Needle punching is no longer recognized in the field; the reason for the abandonment of this method is that the dead bark cut rate of the rubber tree using the rubber knife tapping method is much lower than Needle-punched rubber trees, which cause serious damage to the bark transport system, resulting in nutrient flow obstruction, local bark physiological metabolism abnormalities, and dead skin; but this technical solution overcomes the technical prejudice and passed Mechanized precise control of the drilling depth, so as to ensure that the drilling depth only reaches the inner layer of the sand bark and the yellow bark layer can be glued, and does not damage the water bladder bark, thus avoiding damage to the bark transport system; in fact; When tapping with a manual rubber knife, in the process of continuously cutting the bark, it is also a process of gradually testing the depth, and the knife can be stopped when the water is discharged. However, when manually drilling, because the depth cannot be accurately controlled, it will often cause the drilling to be too deep and damage To the water bladder bark, this caused the dead bark of the rubber tree to stop cutting.

The beneficial effects of the present invention are:

1. The glue picker uses needle drill or needle piercing to open glue holes on the rubber tree plant, which can effectively overcome the technical problems of old glue thread cutting and winding machines, mechanical cutting debris contaminated glue, and inability to tap rubber with a knife. The automation of rubber picking agronomy; at the same time, it overcomes the technical prejudice. Compared with the existing rubber tapping operation, the damage to the rubber tree is less. Only 5-8 rubber picking holes need to be opened in the tree plant, which not only reduces the damage of the rubber picking operation to the rubber tree, but also Moreover, it will not be restricted by the location of the gum, and the entire tree can be used to collect the gum, which reduces the risk of interruption of rubber production, quality degradation, and life expectancy of the rubber tree;

2. The displacement mechanism in this scheme is controlled by the lifting mechanism to control the vertical displacement, the rotary transmission mechanism to control the circumferential displacement, and the depth control mechanism to control the radial displacement, so that the displacement control of the three is relatively independent, which is convenient for the position of the glue hole The precise control also ensures that the depth of the rubber picking hole only reaches the inner layer of the sand bark and the yellow bark layer can produce the glue, without damaging the water bladder bark, thereby avoiding damage to the bark transport system and avoiding the death of the rubber tree. Skin stop cut

3. In this scheme, the tree circumference detector is used to detect the tree circumference and the position relative to the swing arm, and the tree circumference detector is used to detect the tree diameter. The detected data is converted by the background controller to obtain the tree diameter and relative For data such as the offset of the rotating arm, these data combined with some fixed parameters, such as: the arc parameter of the rotating arm, can accurately control the position and moving distance of the rubber picker, and make the gap of the glue picking hole the same, so as to achieve Accurately control the number of holes in each tree circle, and control the amount of glue collected according to the needs. This is also impossible to achieve with spiral tapping. When the spiral tapping is used, when the glue line is cut, the length of the glue line is fixed. No matter how much glue the glue line is, it can only be passively accepted, so there will be an excess or insufficient amount of glue; but this technical solution can accurately control the number of glue holes in each circle to achieve the purpose of controlling the amount of glue; In addition, the depth control mechanism can control the radial position of the rubber picker to obtain the corresponding rubber picking hole depth, so that the glue picking hole depth can be controlled in real time, so as to avoid deep damage to trees or too shallow yield reduction;

4. In this plan, the suspended track structure design is adopted to eliminate the influence of terrain, does not hinder the planting of cash crops under the forest, effectively uses the space in the middle of the rubber plantation, and can adapt to the rubber plantation that is planted beyond the standard. When the area of the rubber plantation increases, The track can also be expanded at any time to realize the harvesting of newly planted rubber trees. The equipment cost is low, the erection is flexible, and the maintenance is easy. It can truly realize the management of rubber picking with one machine and multiple trees.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Figure 1 is an example diagram of the layout of automatic needle-punching rubber picking equipment among trees;

Figure 2 is an example diagram of the main structure of the automatic acupuncture rubber extraction equipment;

Figure 3 is the state diagram of the automatic acupuncture rubber picking equipment in place;

Figure 4 is a detailed example diagram of the fixed frame for automatic glue picking;

Figure 5 is an enlarged view of part A in Figure 2;

Figure 6 is an example diagram of the walking mechanism;

Figure 7 is an example diagram of another walking mechanism;

Figure 8 is a detailed example diagram of the lifting mechanism;

Figure 9 is an enlarged view of part B in Figure 2;

Figure 10 is an example diagram of the rotating state of the joint rotator;

Figure 11 is a detailed structural diagram of the revolving arm;

Figure 12 is a structural diagram of the rotary transmission mechanism, the depth control mechanism, and the needle drill rubber picker;

Figure 13 is a detailed structure diagram of the needle drill rubber picker and the depth control mechanism;

Figure 14 is a detailed structural diagram of the rotary transmission mechanism with the rotary arm;

Figure 15 is the installation structure diagram of the needle stick glue picker;

Figure 16 is a detailed structure diagram of the needle stick glue picker;

Figure 17 is another angle view of the detailed structure of the needle stick glue picker;

Figure 18 is a diagram showing the use state of the guiding rubber ring, the collecting rubber bowl and the rubber bowl holder.

Reference signs: 1-rubber tree, 2-walking track, 3-fixed frame, 301-upper fixed bracket, 302-support rod, 303-lower fixed bracket, 304-stud, 4-walking mechanism, 401-connecting seat, 402-gear seat, 403-travel motor, 404-first drive gear, 405-first driven wheel, 406-transverse guide wheel, 407-vertical guide wheel, 408-first travel roller, 409-second drive gear, 4010-second driven wheel, 4011-second walking roller, 5-position detector, 501-position sensor, 502-position trigger, 6-lifting mechanism, 601-first linear drive module, 602-connecting plate , 603-second linear drive module, 604-first lifting arm, 605-second lifting arm, 606-vertical rail, 607-rail slide, 608-first drive motor, 609-second drive Motor, 610-cover body, 7-tree circumference detector, 701-first distance sensor, 702-second distance sensor, 703-sensor holder, 8-joint rotator, 801-rotation control motor, 802-fixed plate, 803-rotating coupling, 804-rotating table, 9-slewing arm, 901-curved rail section, 902-toothed ring rail section, 903-ridged section, 10-slewing transmission mechanism, 1001-rotating motor, 1002 -Connecting table, 1003-turning table, 1004-guide gear, 1005-roller connecting column, 1006-guide roller, 11-depth control mechanism, 1101-depth control motor, 1102-connector, 1103-screw, 1104-diameter To the slider, 1105-screw nut, 1106-front support plate, 1107-radial slide rail, 1108-rear support plate, 12-pin drilling rubber picker, 1201-drilling motor, 1202-motor bracket, 1203- Needle drill coupling, 1204-drill bit, 1205-quick chuck, 1206-needle drill base, 13-distance detector, 14-needle glue picker, 1401-needle motor, 1402-needle base, 1403-reduction gear, 1404-sector gear, 1405-front guide post, 1406-guide post, 1407-energy storage spring, 1408-rear guide post, 1409-rack, 1410-power gear, 1411-transmission gear, 1412-shell, 15-diversion rubber ring, 16-collecting bowl, 17-bowl holder.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

As shown in Figures 1 to 18, an automatic acupuncture glue picking device of the present invention includes a suspended track mechanism, a walking mechanism 4, an in-position detector 5, a lifting mechanism 6, a tree circumference detector 7, and a joint rotator 8. Revolving arm 9, revolving transmission mechanism 10, depth control mechanism 11, needle drill rubber picker 12, distance detector 13, guide rubber ring 15, collecting rubber bowl 16, rubber bowl bracket 17, and other structures.

As shown in Figure 1, the suspended track mechanism includes a fixed frame 3 and a walking track 2. The fixed frame 3 is surrounded and fixed on the trunk of a rubber tree, and the walking track 2 is fixedly connected to the fixed frame 3 and is suspended by the fixed frame 3. Support, the walking track 2 connects multiple rubber trees. The walking track 2 may be connected end to end in a ring shape. As a variant, the walking track 2 may also have other shapes, such as polygonal, elliptical, heart-shaped, etc., depending on the distribution of trees in the rubber forest. In this solution, the structure of the circular walking track 2 is shown.

As shown in Figure 4, the fixing frame 3 includes an upper fixing bracket 301, a support rod 302, a lower fixing bracket 303, a stud 304 and other components. The upper fixing bracket 301 and the lower fixing bracket 303 are both ring-shaped, and the upper fixing bracket 301 and the lower fixing bracket 303 are surrounded by the trunk of the rubber tree. A plurality of support rods 302 are vertically connected between the upper fixing bracket 301 and the lower fixing bracket 303. A number of studs 304 are arranged along the circumference of the upper fixing bracket 301. The studs 304 cooperates with the upper fixing bracket 301 and can expand and contract along the radial direction of the upper fixing bracket 301 to tighten the trunk, so that the fixing bracket 3 is fixed to the trunk of the rubber tree.

The walking rail 2 is fixed on one side of the fixed frame 3, and the walking rail 2 is in an I-shape or an inverted T-shape.

As shown in Figures 4 and 6, the position detector 5 includes a position sensor 501 and a position trigger 502. The position sensor 501 is arranged on the walking mechanism 4, and the position trigger 502 is arranged on the fixed frame 3 of each tree. Go up or walk on track 2. When the position sensor 501 following the walking mechanism 4 reaches the tree plant and is triggered by the position trigger 502, the walking mechanism 4 stops moving.

As shown in Figure 6, the traveling mechanism 4 is a single-wheel drive structure, including a connecting seat 401, a gear seat 402, a traveling motor 403, a first driving gear 404, a first driven wheel 405, a lateral guide wheel 406, and a vertical guide wheel 407 , The first traveling roller 408 and other components. The connecting seat 401 is U-shaped. Two sets of vertical guide wheels 407 are provided on the left side of the inner side of the connecting seat 401, a set of vertical guide wheels 407 are provided on the right side of the inner side of the connecting seat 401, and the right side of the inner side of the connecting seat 401 is also provided. One vertical guide wheel 407 and one first traveling roller 408. Each group of vertical guide wheels 407 is composed of two vertical guide wheels 407. The three groups of vertical guide wheels 407 are respectively arranged up and down inside the connecting seat 401. The lower lateral part of the walking track 2 is clamped to the two vertical guide wheels 407 in the same group. between. The first traveling roller 408 is located above the lower lateral part of the traveling rail 2 and cooperates with a vertical guide wheel 407 to clamp the traveling rail 2. Horizontal guide wheels 406 are respectively provided on both sides of the upper part of the connecting seat 401, and the two horizontal guide wheels 406 cooperate to clamp the vertical part of the walking rail 2. The gear seat 402 is in an inverted L shape and is connected to the right outer side of the connecting seat 401. The first driving gear 404 is arranged between the gear seat 402 and the connecting seat 401. The traveling motor 403 is fixed on the gear seat 402 and the traveling motor 403 The shaft is coaxially connected with the first driving gear 404, and the first driven wheel 405 meshes with the first driving gear 404 and is coaxially connected with the first traveling roller 408. When the traveling motor 403 drives the first traveling roller 408 to rotate, the traveling mechanism 4 can travel or retreat along the traveling track 2.

As shown in FIG. 7, the walking mechanism 4 can adopt a two-wheel drive structure. Compared with the structure in FIG. 6, the structure also includes a second drive gear 409 and a second driven wheel 4010. The vertical guide wheel 407 of a traveling roller 408 becomes a second traveling roller 4011. The second driven wheel 4010 is arranged on the left side of the connecting seat 401 and is coaxial with the second traveling roller 4011. The second drive gear 409 meshes with the second driven wheel 4010 and is coaxially connected with the first drive gear 404 to rotate synchronously, that is, The first traveling roller 408 and the vertical guide wheel 407 directly below the second traveling roller 4011 are coaxially connected to transmit the driving force from the vertical guide wheel 407 on the side of the first traveling roller 408 to the vertical guide on the side of the second traveling roller 4011. The guide wheel 407 relies on the meshing transmission of the second drive gear 409 and the second driven wheel 4010 to achieve two-wheel drive. Further, the vertical guide wheels 407 located under the second traveling roller 4011 or the first traveling roller 408 can be at a distance from the connecting seat 401, so that the vertical guide wheels 407 on the same side of the connecting seat 401 are not on the same plane; further, double In the wheel drive structure, the diameter of the first drive gear 404 is the same as the diameter of the first driven wheel 405, so that the rotational speed of the first traveling roller 408 coaxially connected to the first drive gear 404 is coaxially connected to the first The rotation speed of the vertical guide wheel 407 on the driven wheel 405 is the same. Similarly, the diameters of the second driving gear 409 and the second driven wheel 4010 are also the same, so that the rotation speeds of the first traveling roller 408 and the second traveling roller 4011 are the same.

As shown in FIG. 8, the lifting mechanism 6 includes a first linear drive module 601, a connecting plate 602, a second linear drive module 603, a second lifting arm 605, a vertical guide rail 606, a guide rail slide 607, The second drive motor 609, cover and other components. The first linear drive module 601 includes a first drive motor 608 and a first lifting arm 604. The first linear drive module 601 and the second linear drive module 603 can be purchased directly from the market. The first drive motor 608 Used to control the lifting action of the first lifting arm 604, the connecting plate 602 is fixed on the lower end of the first lifting arm 604, the first linear drive module 601 is fixed on the connecting seat 401 of the traveling mechanism 4, and the second linear drive The module 603 is fixed on the connecting plate 602, a vertical guide rail 606 is fixed on the outer side of the housing of the first linear drive module 601, and a guide rail slide 607 is fixed on the outer side of the housing of the second linear drive module 603. The guide rail slides The seat 607 can slide up and down along the vertical guide rail 606, the second drive motor 609 can drive the second lifting arm rod 605 to lift up and down, the joint rotator 8 is fixed at the lower end of the second lifting arm and is driven by the second linear drive module 603 and the second The linear drive module 603 jointly controls the lifting motion. A cover is provided outside the first linear drive module 601 and the second linear drive module 603, and the cover is simultaneously covered outside the walking mechanism 4.

As shown in Figures 9 and 10, the joint rotator 8 includes a rotation control motor 801, a fixed plate 802, a rotating coupling 803 and a rotating table 804. The rotation control motor 801 is fixed to the lower part of the fixed plate 802, and the fixed plate 802 is connected to the The second lifting arm rod 605 of the second linear drive module 603 is connected, and a rotating table 804 is provided above the fixed plate 802. The rotating table 804 is used to connect the rotating arm 9, and the bottom of the rotating table 804 is connected by a rotating coupling 803 The rotating shaft of the control motor 801 is rotated. The rotation control motor 801 drives the rotating arm 9 to rotate in a horizontal direction through the rotating table 804.

As shown in Figure 11, the revolving arm 9 is in the shape of a semi-circular arc and includes an arc-shaped rail part 901 and a toothed ring rail part 902. A number of tooth structures are provided on the outer side of the arc of the portion 902, and the inner and outer sides of the arc-shaped guide rail portion 901 are respectively provided with ridge portions 903.

As shown in FIG. 12, the distance detector 13 is fixed to the upper side of the motor support 1202, and is used to detect the distance between the rotation transmission mechanism 10 and the tree skin. A tree circumference detector 7 is provided on the swing arm 9. The tree circumference detector 7 includes a first distance sensor 701, a second distance sensor 702, a sensor base 703 and other components, a first distance sensor 701, a second distance sensor 702, etc. The first distance sensor 701 and the second distance sensor 702 are in the same straight line, and are used to detect the trunk diameter of rubber trees. The measured trunk diameter is converted into the trunk diameter of the tree trunk. Surrounding.

As shown in Figures 13 and 14, the slewing transmission mechanism 10 includes a slewing motor 1001, a connecting table 1002, a slewing table 1003, a guide gear 1004, a roller connecting column 1005, a guide roller 1006 and other components. The rotating motor 1001 is fixed in the connecting Below the station 1002. The guide gear 1004 is connected with the rotating shaft of the rotary motor 1001 and is arranged on the connecting table 1002 to connect with the rotary table 1003. The guide gear 1004 meshes with the toothed ring rail 902 of the rotary arm 9. The connecting table 1002 is fixedly connected below the turntable 1003. Four guide rollers 1006 are also arranged under the turntable 1003. Each guide roller 1006 is connected to the turntable 1003 through a roller connecting column 1005. The circumferential middle of each guide roller 1006 is provided with a groove, which is connected to the arc The ridge portion 903 of the curved rail portion 901 fits together, and corresponding guide rollers 1006 are respectively provided on the inner and outer sides of the arc-shaped rail portion 901 to clamp the swing arm 9. When the rotary motor 1001 rotates, the rotary table 1003 can be driven to move along the rotary arm 9.

As shown in Figures 12 and 13, a depth control mechanism 11 is provided above the turntable 1003. The depth control mechanism 11 includes a depth control motor 1101, a connector 1102, a screw 1103, a radial slider 1104, and a screw nut 1105. Rear support plate 1108, radial slide rail 1107, and front support plate 1106. The rear support plate 1108 and the front support plate 1106 are parallel to each other and are vertically connected to the turntable 1003, between the front support plate 1106 and the rear support plate 1108 A radial sliding rail 1107 is provided, and the radial sliding rail 1107 is arranged along the radial direction of the swing arm 9. A radial sliding block 1104 is provided on the radial sliding rail 1107 to cooperate with it, and the screw nut 1105 is fixed on the radial sliding rail. On the block 1104, the screw rod 1103 is set in the middle of the screw nut 1105 and matched with it. The motor 1101 is fixed on the rear support plate 1108. When the depth control motor 1101 rotates, the screw rod 1103 drives the screw nut 1105 to move along the radial direction of the swing arm 9.

As shown in Figure 13, a needle drill rubber picker 12 that moves with it is provided on the screw nut 1105. The needle drill glue picker 12 includes a drilling motor 1201, a motor bracket 1202, a needle drill coupling 1203, and a drill bit. , Quick chuck 1205, needle drill base 1206 and other components. The needle drill base 1206 is L-shaped. The lower part of the needle drill base 1206 is fixedly connected to the screw nut 1105, and the upper part is connected to the motor support 1202. The drilling motor 1201 is fixed on the motor support 1202, and the shaft of the drilling motor 1201 passes through the needle. The drill coupling 1203 is connected with a shaft. The other end of the shaft passes through the needle drill base 1206 and is connected with a quick chuck 1205. The quick chuck 1205 is used to connect a drill bit. The needle drill rubber picker 12 is controlled by depth The mechanism 11 controls the radial movement of the swing arm 9 so as to perforate the trunk part of the rubber tree.

As shown in Figures 14 and 15, the screw nut 1105 can also be provided with a needle pricking glue picker 14 that moves with it. The needle pricking glue picker 14 has a needle pricking motor 1401, a needle pricking base 1402, and a reduction gear. 1403, sector gear 1404, front guide post 1405, guide post 1406, energy storage spring 1407, rear guide post 1408, rack part 1409, power gear 1410, transmission gear 1411 and other components, among which the needle pierces the lower part of the base 1402 The side is fixed on the screw nut 1105, the front guide post 1405 and the rear guide post 1408 are respectively arranged on the needle base 1402, the front and rear ends of the guide post 1406 respectively pass through the front guide post 1405 and the rear guide post 1406 and It can be moved axially. A rack portion 1409 and an energy storage spring 1407 are arranged in the middle of the guide post 1406. The energy storage spring 1407 abuts between the rack portion 1409 and the rear guide post platform 1408. The sector gear 1404 and the reduction gear 1403 are the same The shaft is rotatably arranged on the needle pricking base 1402. The needle pricking motor 1401 is fixed on the needle pricking base 1402 and connected to the power gear 1410. The needle pricking base 1402 is also provided with a transmission gear 1411, which is a double layer The gears respectively mesh with the power gear 1410 and the reduction gear 1403. After the pinning motor 1401 is started, the sector gear 1404 can be driven to rotate. The sector gear 1404 meshes with the rack portion 1409 and pushes the guide post 1406 to move backward. When separated from the rack portion 1409, the energy storage spring 1407 releases its elastic potential energy to make the front section of the guide post 1406 pierce the trunk of the rubber tree. The shell covers the needle stick glue picker 14 inside.

As shown in Figure 18, the guiding rubber ring 15, collecting rubber bowl 16, rubber bowl bracket 17 and other components are arranged under the rotating arm 9. The guiding rubber ring 15 is surrounded by the tree trunk, and the guiding rubber ring 15 has a ring shape The bottom of the guiding rubber ring 15 is provided with a rubber tongue through which the rubber liquid flows into the rubber collecting bowl 16 below it, and the rubber collecting bowl 16 is fixed by the rubber bowl bracket 17.

When the automatic acupuncture rubber picking equipment is working, the walking mechanism 4 travels along the walking track 2, and when the in-position detector 5 is triggered, the walking mechanism 4 stops. The lifting mechanism 6 stretches and retracts to make the swing arm 9 reach the set height. The joint rotator 8 drives the swing arm 9 to rotate and embraces the rubber tree sideways. By adjusting the position of the position detector 5, the sensor of the tree circumference detector 7 can detect The diameter of the tree is reached, and then the corresponding data is sent to the background controller to convert the tree circumference data of the tree. The rotary transmission mechanism 10 drives the needle drill glue picker 12/needle glue picker 14 to reach the designated location to set up glue picking The distance detector 13 detects the distance between the hole and the tree skin, so that the depth control mechanism 11 controls the feeding depth of the needle drill glue picker 12 or the needle stick glue picker 14. Among them, the drilling depth of the needle drill rubber picker 12 needs to be controlled by the depth control mechanism 11. After the data detected by the tree circumference detector 7 and the distance detector 13 are converted by the background controller, the movement distance of the rotary transmission mechanism 10 is controlled to ensure that the distance between adjacent rubber picking holes in the circumferential direction of the same rubber tree is the same. The distance between adjacent rubber picking holes is controlled by the lifting mechanism 6. There are often multiple rubber picking holes on the same tree, and the rubber liquid flowing out of the picking holes flows into the guiding rubber ring 15 and the rubber collecting bowl 16 in sequence.

The foregoing embodiments are merely examples for clear description, and are not intended to limit the implementation manner. For those skilled in the art, other changes or changes in different forms can be made on the basis of the above description. It is unnecessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from this are still within the protection scope of the present invention.

Claims (10)

1. An automatic acupuncture rubber picking equipment, which is characterized in that it comprises:

   The walking track (2) is suspended and fixed between multiple trees by the fixing frame (3);

   The walking mechanism (4) is arranged on the walking track (2) and can move along the walking track (2);

   The displacement mechanism is arranged on the walking mechanism (4);

   The rubber picker is arranged on the displacement mechanism and is used to open a glue picking hole on the tree;

   The displacement mechanism controls the rubber picker to move along the vertical direction, the circumferential direction or/and the radial direction of the tree respectively.
2. The automatic acupuncture rubber sampling equipment according to claim 1, wherein the displacement mechanism includes a joint rotator (8) and a swing arm (9); the joint rotator (8) includes a rotation control motor (801) ), a rotating table (804) controlled to rotate by the rotation control motor (801), and a fixed plate (802) that fixes the rotation control motor (801) and can move with the walking mechanism (4); the rotation The arm (9) is in the shape of a circular arc and is fixed on the rotating table (804). The rotating arm (9) can rotate with the rotating table (804) so as to be half-enclosed to one side of the tree. The device can move along the revolving arm (9).
3. The automatic acupuncture rubber picking equipment according to claim 2, characterized in that, the rotary arm (9) has a toothed ring rail portion (902); the displacement mechanism also includes a peripheral device that controls the rubber picker. A rotary transmission mechanism (10) that can move toward each other. The rotary transmission mechanism (10) includes a rotary table (1003) capable of driving the rubber picker to move, and the rotary table (1003) is connected to the rotary arm (9). ) On the guide roller (1006), the guide gear (1004) meshing with the toothed ring rail portion (902), and the rotary motor that drives the guide gear (1004) to rotate and move the turntable (1003) (1001).
4. The automatic acupuncture rubber picking equipment according to claim 3, wherein the displacement mechanism further comprises a depth control mechanism (11) arranged on the rotation transmission mechanism (10), and the depth control mechanism ( 11) Including a radial sliding rail (1107) arranged radially along the revolving arm (9), a radial sliding block (1104) arranged on the radial sliding rail (1107), and a radial sliding block (1104) arranged in the radial direction. The screw nut (1105) on the slider (1104) that drives the rubber picker to move radially, the screw rod (1103) that matches the screw nut (1105), connects the screw (1103) and The depth control motor (1101) that controls its rotation.
5. The automatic acupuncture rubber picking equipment according to claim 4, wherein the rubber picker is a needle drill rubber picker (12) and is arranged on the depth control mechanism (11). The gluer (12) includes a drill bit for tree drilling, a quick chuck that can quickly disassemble and assemble drill bits of different diameters, a drilling motor (1201) that is connected to the quick chuck and rotates the drill bit, and supports the drill The needle drill base (1206) of the hole motor (1201).
6. The automatic acupuncture glue picking device according to claim 4, characterized in that the glue picker is a needle stick glue picker (14), and the needle stick glue picker (14) comprises a depth control mechanism connected to it. (11) The needle piercing base (1402), the guide post (1406) used for tree piercing, and the rack that is arranged in the middle of the guide post (1406) and drives the guide post (1406) to move axially Section (1409), a sector gear (1404) arranged on the pinning base (1402) and meshing with the rack portion (1409), a pinning motor (1401) that drives the sector gear (1404) to rotate, and An energy storage spring (1407) sleeved on the guide post (1406) and capable of compressing and storing energy.
7. The automatic acupuncture rubber picking equipment according to claim 4, wherein the displacement mechanism further includes a lifting mechanism (6) that controls the vertical movement of the rubber picker, and the lifting mechanism (6) includes The first linear drive module (601) connected to the walking mechanism (4), connected to the first linear drive module (601) and controlled by the first linear drive module (601) to lift A connecting plate (602), and a second linear drive module (603) fixed on the connecting plate (602) and controlling the lifting and lowering of the joint rotator (8); in the first linear drive module ( 601) and the second linear drive module (603) are respectively provided with a vertical guide rail (606) and a guide rail sliding seat (607) that cooperate and guide each other.
8. The automatic acupuncture rubber picking equipment according to any one of claims 1 to 7, characterized in that a position sensor (501) is provided on the walking mechanism (4), and a position sensor (501) is provided on each fixing frame (3). There is a position trigger (502), and when the position sensor (501) detects the position trigger (502), the walking mechanism (4) stays at the corresponding tree plant.
9. The automatic acupuncture rubber picking equipment according to claim 8, characterized in that a tree circumference detector (7) is provided on the displacement mechanism, and the tree circumference detector (7) comprises a first distance sensor (701 ), a second distance sensor (702) and a background controller. The first distance sensor (701) and the second distance sensor (702) are arranged opposite to each other and used to detect the diameter of a tree, and the background controller receives the detection According to the data, the tree circumference parameters are calculated and the circumferential displacement of the rubber picker is controlled, so that the spacing between adjacent rubber picking holes in the circumferential direction of the tree is the same.
10. The automatic acupuncture rubber picking equipment according to claim 9, characterized in that a distance detector (13) is provided on the rubber picker, and the background controller receives the detection of the distance detector (13). The data is used to control the radial movement of the rubber picker through the depth control mechanism, so as to control the depth of the rubber picker opening the rubber picker.

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