WO2021238400A1

WO2021238400A1 - Displacement control system for rubber extraction among multiple trees

Info

Publication number: WO2021238400A1
Application number: PCT/CN2021/084565
Authority: WO
Inventors: 曹建华; 肖苏伟; 王玲玲; 张以山; 陈娃容; 吴思浩; 郑勇
Original assignee: 中国热带农业科学院橡胶研究所
Priority date: 2020-05-25
Filing date: 2021-03-31
Publication date: 2021-12-02
Also published as: CN111685012A

Abstract

A displacement control system for rubber extraction among multiple trees, relating to the technical field of mechanical rubber extraction, comprising: a walking track (2) fixed between multiple trees; a walking mechanism (4); a displacement mechanism, disposed on the walking mechanism (4) and moving synchronously with the walking mechanism; a rubber extractor; a tree circumference detector (7) used for measuring the diameter of a tree; a position sensor (501), wherein when triggered, the tree circumference detector (7) can measure the diameter of a tree; a distance detector (13) moving synchronously with the rubber extractor, the distance detector (13) being used for measuring the distance between the rubber extractor and a tree surface; and a background controller, receiving measured data from the tree circumference detector (7) and the distance detector (13) and controlling the displacement mechanism to move the rubber extractor to a specified position. The displacement control system for rubber extraction among multiple trees uses a suspended track structure, can implement displacement control for rubber extraction among multiple rubber trees (1) and eliminate the effect of terrain, and can implement management of rubber extraction by one machine among multiple trees; the precise displacement control can reduce damage caused by rubber extraction to the rubber trees (1), and reduce the risks of rubber production interruption of the rubber trees (1), quality reduction, and lifespan reduction.

Description

A displacement control system for multi-tree rubber picking

Technical field

The invention relates to a displacement control system for multi-tree rubber picking, and 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 displacement control system that can truly eliminate labor, adapt to the actual situation of the rubber plantation, accurately position the rubber picking equipment, and realize rubber picking automation, low cost, and easy maintenance.

Summary of the invention

The purpose of the present invention is to provide a displacement control scheme for realizing the control of multiple rubber tree picking.

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

The invention discloses a displacement control system for multi-tree rubber picking, including:

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

A walking mechanism, which is arranged on the walking track and can move along the walking track;

The displacement mechanism is arranged on the walking mechanism and moves synchronously with the walking mechanism;

The rubber picker is arranged on the displacement mechanism, and the displacement mechanism controls the rubber picker to move along the vertical, circumferential and radial directions of the tree respectively;

The tree circumference detector includes a first distance sensor and a second distance sensor arranged on the displacement mechanism, the first distance sensor and the second distance sensor are arranged opposite to each other to detect the diameter of the tree;

A position sensor is arranged on the walking mechanism and moves synchronously with the walking mechanism. When the walking mechanism travels to a specified position, the position sensor is triggered and the tree circumference detector can detect the diameter of the tree;

A distance detector arranged on the rubber picker and moved synchronously with the rubber picker, and the distance detector is used to detect the distance between the rubber picker and the tree surface;

A background controller, which is used to receive the detection data of the tree enclosure detector and the distance detector and control the displacement mechanism to move the rubber picker to a designated position.

Preferably, the displacement mechanism includes a revolving arm capable of half-encircling one side of the tree, the first distance sensor and the second distance sensor are respectively arranged at both ends of the revolving arm, and the background controller is based on the above The detection data of the two sensors calculates the diameter and the offset of the tree, and controls the movement distance of the rubber picker in the circumferential direction of the tree in combination with the arc of the swing arm.

Preferably, the displacement mechanism further includes a lifting mechanism, a joint rotator arranged on the lifting mechanism and controlled by the lifting mechanism, and a rotary transmission that is arranged on the swing arm and can move along the swing arm Mechanism and a depth control mechanism arranged on the rotary transmission mechanism; the rotary arm is arranged on the joint rotator and is in the shape of an arc, and the joint rotator can rotate a half of the rotary arm that surrounds the tree plant side.

Preferably, the joint rotator includes a rotation control motor, a rotating table controlled to rotate by the rotation control motor, and a fixed plate that fixes the rotation control motor and can move with the walking mechanism; the swing arm is fixed at the On the rotating table, the rotating arm can rotate with the rotating table.

Preferably, the swivel arm includes an arc-shaped guide rail portion and a toothed ring rail portion, the arc-shaped guide rail portion overlaps the toothed ring rail portion; the rotation transmission mechanism includes a depth control mechanism connected to A turntable, a plurality of guide rollers that cooperate to clamp the arc-shaped guide rail portion and are supported below the turntable, a guide gear meshing with the toothed ring rail portion, and drive the guide gear to make the turntable A slewing motor that moves along the slewing arm.

Preferably, the depth control mechanism includes a radial slide rail arranged on the turntable and parallel to the radial direction of the turning arm, a radial sliding block slidingly matched with the radial slide rail, and fixed on the turntable. A screw nut on the radial slider and connected with the rubber picker, a screw rod for driving the screw nut to move, and a depth control motor for driving the screw rod to rotate.

Preferably, the lifting mechanism includes a first linear drive module, a connecting plate, and a second linear drive module, and the first linear drive module is connected to the second linear drive module through the connecting plate. Control the lifting of the second linear drive module; the second linear drive module is connected to the joint rotator and controls the lifting; respectively arranged on the first linear drive module and the second linear drive module There are vertical guide rails and guide rail sliding seats that can cooperate with sliding.

Preferably, the rubber picker is a needle drill rubber picker, and the needle drill rubber picker includes a drill bit for tree drilling, a quick chuck that can quickly disassemble and assemble drill bits of different diameters, and the quick chuck A drilling motor connected and rotating the drill bit and a needle drill base supporting the drilling motor; the needle drill base is fixed on the depth control mechanism and controlled by the depth control mechanism to move along the radial direction of the tree.

Preferably, the glue picker is a needle stick glue picker, and the needle stick glue picker includes a needle stick base arranged on the depth control mechanism, a guide post for piercing the tree radially, An energy storage spring provided on the guide post, a rack portion that is provided on the guide post and causes the energy storage spring to move backward and accumulate energy, a sector gear meshed with the rack portion, and drive the sector Needle piercing motor with gear rotation.

Preferably, the fixing frame includes an upper fixing bracket, a lower fixing bracket, and a supporting rod, the supporting rod is connected between the upper fixing bracket and the lower fixing bracket, and the upper fixing bracket passes through a plurality of tops on its inner side. The tight studs surround and fix the tree plant; the walking track is fixed on one side of the fixing frame and has an I-shape or an inverted T-shape.

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 displacement control system in this scheme controls the vertical displacement by the lifting mechanism, the circumferential displacement by the rotary transmission mechanism, and the radial displacement by the depth control mechanism, so that the displacement control of the three is relatively independent, which is convenient for the rubber hole The precise control of the position 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 be glued, and does not damage the water bladder bark, thereby avoiding damage to the bark transport system and avoiding rubber trees. Dead skin stop cutting;

2. 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. After the detected data is converted by the background controller, 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;

3. The rubber picker in this displacement control system can use needle drilling or needle piercing to open rubber picking holes on the rubber tree plant, or use a suitable traditional rubber tapping knife, which is conducive to the excessive use of traditional rubber tapping methods; The method of mining rubber holes can effectively overcome the technical problems of old rubber thread cutting and winding machines, mechanical cutting debris contaminating the glue, and the inability to tap rubber with a negative knife, and realize the automation of rubber agronomy; at the same time, it overcomes technical prejudices, compared with existing ones. The rubber tapping operation will cause less damage to the rubber tree. It only needs to open 5-8 picking holes on the tree. Not only does it reduce the damage to the rubber tree due to the picking operation, but it will not be restricted by the location of the picking. Risks such as the interruption of rubber production, quality decline, and life expectancy of the rubber tree;

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-top tightening stud, 4-walking mechanism, 401-connection 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 sliding seat, 608-first drive motor, 609-section Two driving motors, 610-cover body, 7-tree circumference detector, 701-first distance sensor, 702-second distance sensor, 703-sensor base, 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-slewing motor , 1002-Connector, 1003-Turntable, 1004-Guide gear, 1005-Roller connecting column, 1006-Guide roller, 11-depth control mechanism, 1101-depth control motor, 1102-connector, 1103-screw, 1104 -Radial 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 Seat, 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-housing, 15-guiding 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, the present invention has designed a complete set of automatic acupuncture glue picking equipment, including suspended track mechanism, walking mechanism 4, in-position detector 5, lifting mechanism 6, tree circumference detector 7, 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. Among them, the suspended track mechanism, the walking mechanism 4, the position detector 5, the lifting mechanism 6, the tree enclosure detector 7, the joint rotator 8, the swing arm 9, the swing transmission mechanism 10, the depth control mechanism 11, the distance detector 13 and other components It constitutes a displacement control system for rubber picking.

As shown in Figure 1, the suspended track mechanism includes a fixed frame 3 and a walking track 2. The fixed frame 3 embraces and fixes the trunk part of the rubber tree, the walking track 2 is fixedly connected to the fixed frame 3 and is suspended, and the walking track 2 Connect multiple rubber trees. The walking track 2 may be connected end to end in a circular shape, or other shapes, depending on the distribution of the trees in the rubber forest. In this solution, only the circular walking track 2 structure is disclosed.

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 top stud 304 and other components. The upper fixing bracket 301 and the lower fixing bracket 303 are both ring-shaped, and The 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, and a plurality of tightening studs 304 are along the circumferential direction of the upper fixing bracket 301 In the arrangement, the tightening stud 304 cooperates with the upper fixing bracket 301 and can stretch 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 fixing frame 3, and the walking rail 2 is in an I-shape or an inverted T-shape.

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 or the walking track 2 at each tree plant. 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 transverse part of the traveling rail 2 and cooperates with a vertical guide roller 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 below the second walking roller 4011 or the first walking roller 408 may 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, when the two-wheel drive structure is adopted, the diameter of the first drive gear 404 and the diameter of the first driven wheel 405 are the same, so that the rotational speed of the first traveling roller 408 coaxially connected to the first drive gear 404 is the same as The rotation speed of the vertical guide wheel 407 whose shaft is connected to the first 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 drive motor 608 and the first lifting arm 604 belong to the first linear Part of the drive module 601, 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 is used to control the lifting action of the first lifting arm 604, and 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 module 603 is fixed on the connecting plate 602. A vertical guide rail 606 is fixed on the outside of the housing of the drive module 601, and a guide rail slide 607 is fixed on the outside of the housing of the second linear drive module 603. The guide slide 607 can slide up and down along the vertical guide 606. The second drive motor The 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 the second linear drive module 603 and the second linear drive module 603 jointly control the lifting action. 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 from the rubber picker to the epidermis of the tree. 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 And it can move 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 table 1408, the sector gear 1404 and the reduction gear 1403 It is coaxially and 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. The transmission gear 1411 is a double The gears respectively mesh with the power gear 1410 and the reduction gear 1403. After the pin piercing 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 the tooth is 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 rubber-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

The displacement control system for multi-tree rubber picking is characterized in that it includes:

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) and moves synchronously with the walking mechanism (4);

The rubber picker is arranged on the displacement mechanism, and the displacement mechanism controls the rubber picker to move along the vertical, circumferential and radial directions of the tree respectively;

The tree circumference detector (7) includes a first distance sensor (701) and a second distance sensor (702) arranged on the displacement mechanism, the first distance sensor (701) and the second distance sensor ( 702) Opposite arrangement to detect tree diameter;

The position sensor (501) is arranged on the walking mechanism (4) and moves synchronously with the walking mechanism (4). When the walking mechanism (4) travels to a specified position, the position sensor (501) is triggered And the tree circumference detector (7) can detect the diameter of the tree;

A distance detector (13) is arranged on the rubber picker and moves synchronously with the rubber picker, and the distance detector (13) is used to detect the distance between the rubber picker and the tree surface;

The background controller is used to receive the detection data of the tree enclosure detector (7) and the distance detector (13) and control the displacement mechanism to move the rubber picker to a designated position.
The displacement control system for multi-tree rubber picking according to claim 1, wherein the displacement mechanism includes a revolving arm (9) capable of half-encircling one side of the tree, the first distance sensor (701) and the The second distance sensors (702) are respectively arranged at both ends of the revolving arm (9), and the background controller calculates the tree diameter and offset according to the detection data of the two sensors, and combines them with the revolving arm (9). ) The radian controls the moving distance of the rubber picker in the circumferential direction of the tree.
The displacement control system for multi-tree rubber picking according to claim 1 or 2, characterized in that, the displacement mechanism further comprises a lifting mechanism (6), which is arranged on the lifting mechanism (6) and controlled by the lifting mechanism (6) The joint rotator (8) that controls the lifting action, the rotation transmission mechanism (10) that is arranged on the rotation arm (9) and can move along the rotation arm (9), and the rotation transmission mechanism (10) that is arranged on the rotation transmission The depth control mechanism (11) on the mechanism (10); the turning arm (9) is arranged on the joint rotator (8) and has an arc shape, and the joint rotator (8) can rotate the turning Arm (9) half embraces one side of the tree plant.
The displacement control system for multi-tree rubber picking according to claim 3, characterized in that the joint rotator (8) comprises a rotation control motor (801), and a rotating table whose rotation is controlled by the rotation control motor (801) (804) and a fixed plate (802) that fixes the rotation control motor (801) and can move with the walking mechanism (4); the swing arm (9) is fixed on the rotating table (804), the The rotating arm (9) can rotate with the rotating table (804).
The displacement control system for multi-tree rubber picking according to claim 3, characterized in that, the revolving arm (9) comprises an arc-shaped rail part (901) and a toothed ring rail part (902), and the arc-shaped rail The portion (901) overlaps the toothed ring rail portion (902); the rotation transmission mechanism (10) includes a turntable (1003) connected to the depth control mechanism (11), and cooperates to clamp the arc A plurality of guide rollers (1006) supported by the turntable (1003) below the turntable (1003), a guide gear (1004) meshing with the toothed ring rail portion (902), and driving the guide gear (1004) A rotary motor (1001) that moves the rotary table (1003) along the rotary arm (9).
The displacement control system for multi-tree rubber picking according to claim 5, characterized in that, the depth control mechanism (11) includes a diameter that is arranged on the turntable (1003) and is connected to the diameter of the turning arm (9). A radial slide rail (1107) that is parallel to each other, a radial slider (1104) slidably engaged with the radial slide rail (1107), is fixed on the radial slider (1104) and interacts with the rubber The screw nut (1105) connected with the driver, the screw rod (1103) that cooperates to drive the screw nut to move, and the depth control motor (1101) that drives the screw rod (1103) to rotate.
The displacement control system for multi-tree rubber picking according to claim 3, wherein the lifting mechanism comprises a first linear drive module (601), a connecting plate (602) and a second linear drive module (603) ), the first linear drive module (601) is connected to the second linear drive module (603) through the connecting plate (602) and controls the second linear drive module (603) to rise and fall; The second linear drive module (603) is connected to the joint rotator (8) and controls its elevation; on the first linear drive module (601) and the second linear drive module (603) A vertical guide rail (606) and a guide rail sliding seat (607) that can cooperate and slide are respectively provided.
The displacement control system for multi-tree rubber picking according to claim 3, wherein the rubber picker is a needle drill rubber picker (12), and the needle drill rubber picker (12) includes Drill bit for drilling, quick chuck for quick disassembly and assembly of drill bits of different diameters, drilling motor (1201) connected to said quick chuck and rotating the drill bit, and needle drill base supporting said drilling motor (1201) (1206); The needle drill base (1206) is fixed on the depth control mechanism (11) and is controlled to move along the radial direction of the tree by the depth control mechanism (11).
The displacement control system for multi-tree rubber picking according to claim 1 or 2, wherein the glue picker is a needle stick glue picker (14), and the needle stick glue picker (14) includes The needle piercing base (1402) on the depth control mechanism (11), the guide post (1406) for piercing the tree radially, and the energy storage spring (1407) arranged on the guide post (1406) ), a rack portion (1409) that is arranged on the guide post (1406) and causes the energy storage spring (1407) to move backward and accumulate energy, and a sector gear (1404) that meshes with the rack portion (1409) And a needle pricking motor (1401) that drives the sector gear (1404) to rotate.
The displacement control system for multi-tree rubber picking according to claim 1, characterized in that the fixing frame (3) comprises an upper fixing bracket (301), a lower fixing bracket (303) and a support rod (302). The support rod (302) is connected between the upper fixing bracket (301) and the lower fixing bracket (303), and the upper fixing bracket (301) is surrounded and fixed by a plurality of tightening studs (304) on its inner side. The walking track (2) is fixed on one side of the fixing frame (3) and is in an I-shape or an inverted T-shape.