CN108450282B - Using method of automatic tapping robot - Google Patents
Using method of automatic tapping robot Download PDFInfo
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- CN108450282B CN108450282B CN201810166655.4A CN201810166655A CN108450282B CN 108450282 B CN108450282 B CN 108450282B CN 201810166655 A CN201810166655 A CN 201810166655A CN 108450282 B CN108450282 B CN 108450282B
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- 238000010079 rubber tapping Methods 0.000 title claims abstract description 216
- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000003292 glue Substances 0.000 claims abstract description 99
- 244000043261 Hevea brasiliensis Species 0.000 claims abstract description 69
- 238000004140 cleaning Methods 0.000 claims abstract description 37
- 230000003203 everyday effect Effects 0.000 claims abstract description 19
- 230000005484 gravity Effects 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 description 12
- 238000009434 installation Methods 0.000 description 4
- 241000219469 Nyctaginaceae Species 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/10—Tapping of tree-juices, e.g. caoutchouc, gum
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/10—Tapping of tree-juices, e.g. caoutchouc, gum
- A01G23/12—Knives or axes for tapping
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- Life Sciences & Earth Sciences (AREA)
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- Forests & Forestry (AREA)
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Abstract
The use method of the automatic tapping robot comprises the steps that the automatic tapping robot comprises a tree wrapping belt, a tapping manipulator, a lifting device and a controller, wherein the lifting device is connected with the tree wrapping belt, and the tapping manipulator is connected with the lifting device; when the rubber tree is used, according to the specification of each rubber tree, the arc-shaped guide rail with the corresponding specification is installed on the rubber tree by using the tree wrapping belt, and an inclined rubber groove and a rubber guiding groove are formed in the bark of the rubber tree; the controller controls a cutter head of the rubber tapping knife device to cut and plane the bark along the inclined rubber groove and then reset every day, and a cleaning wheel of the daub removing device moves along the rubber tapping knife device to remove daub on the inclined rubber groove and then resets; the glue of the oblique glue groove after being cut by the cutter head flows into the glue receiving bag along the oblique glue groove every day, the controller controls the lifting device to lower the position of the arc-shaped guide rail every day, the glue is automatically cut by the glue cutting manipulator every morning, and workers collect the glue of the glue receiving bag every day after the glue is very bright every day.
Description
Technical Field
The invention relates to a use method of rubber tapping equipment of a rubber tree, in particular to a use method of an automatic rubber tapping robot of the rubber tree.
Background
At present, the rubber tapping of the rubber tree uses a manual rubber tapping knife, the bark of the rubber tree is cut by the rubber tapping knife, and then the glue flowing out from the bark is harvested; a tapping worker cuts rubber by using a tapping knife every three to four o' clock in the morning, after the bark of a rubber tree is cut for several hours, glue flows into a rubber cup from a cut inclined rubber groove, the labor intensity of the worker for tapping is high, the tapping efficiency is low, and the use method of the automatic tapping robot becomes the need of enterprises for reducing the labor intensity of the worker and improving the tapping efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a using method of an automatic tapping robot, which is used for reducing the labor intensity of tapping workers and improving the tapping efficiency.
The technical scheme adopted by the invention is as follows: the automatic tapping robot comprises a tree wrapping belt, a tapping manipulator, a lifting device and a controller, wherein the lifting device is connected with the tree wrapping belt, and the tapping manipulator is connected with the lifting device; the tapping manipulator comprises an elastic moving device, a motor, a cutter head, a driving helical gear, a driven helical gear and a cleaning wheel; a motor shaft of the motor is fixedly connected with a driving bevel gear, the driving bevel gear is connected with the cutter head, a driven bevel gear is meshed with the driving bevel gear, a shaft sleeve of the driven bevel gear is connected with a motor shell of the motor, a cleaning wheel is connected with the driven bevel gear, and the cleaning wheel is positioned on the right side of the cutter head; the elastic moving device comprises a vertical elastic device and a horizontal elastic device, the vertical elastic device comprises a vertical sliding seat, a vertical spring column and a vertical ball, the vertical sliding seat is fixedly connected with a motor shell of the motor, the vertical sliding seat is provided with a vertical spring hole, the vertical spring column and the vertical ball are arranged in the vertical spring hole, the vertical spring column is contacted with the vertical ball, and the vertical ball protrudes out of the lower end face of the vertical sliding seat; the horizontal elastic device comprises a horizontal sliding seat, a horizontal spring column and a horizontal ball, the horizontal sliding seat is fixedly connected with a motor shell of the motor, the horizontal sliding seat is provided with a horizontal spring hole, the horizontal spring column and the horizontal ball are arranged in the horizontal spring hole, the horizontal spring column is contacted with the horizontal ball, and the horizontal ball protrudes out of the right end face of the horizontal sliding seat; the lifting device comprises an arc-shaped track, a left electric push rod and a right electric push rod, wherein a left shell of the left electric push rod is fixedly connected with the tree wrapping belt, a left push rod of the left electric push rod is connected with a left end ball of the arc-shaped track, a right shell of the right electric push rod is fixedly connected with the tree wrapping belt, and a right push rod of the right electric push rod is connected with a right end ball of the arc-shaped track; the vertical ball of the vertical elastic device is contacted with the inclined track of the arc-shaped track, and the horizontal ball of the horizontal elastic device is contacted with the vertical track of the arc-shaped track; the controller is provided with a starting switch, a stopping switch, a left tapping sensor, a right tapping sensor, a left tapping sensing piece and a right tapping sensing piece, the left tapping sensor is arranged at the left end of the arc-shaped track, the right tapping sensor is arranged at the right end of the arc-shaped track, the left tapping sensing piece is arranged at the left side of a motor shell of a motor of the tapping manipulator, and the right tapping sensing piece is arranged at the right side of the motor shell of the motor of the tapping manipulator; the controller is connected with the left electric push rod, the right electric push rod, the motor, the left rubber tapping sensor and the right rubber tapping sensor through control lines, and the controller is provided with a battery power supply; and controlling a rubber tapping mechanical arm to cut the bark of the rubber tree by using a controller, and collecting the glue flowing out of the bark.
The use method of the automatic tapping robot comprises the following steps: when rubber tapping is started in the first day, firstly, a rubber tapping groove, a rubber starting groove and a rubber guiding groove are cut on the bark of a rubber tree by using a common rubber tapping knife according to the requirement of the inclination of the rubber tapping groove, the rubber tapping groove is communicated with the rubber starting groove and the rubber guiding groove, the lower end of the rubber guiding groove of the bark is connected with a rubber receiving tongue groove, and a rubber receiving bag is placed below the rubber receiving tongue groove; then, tightly wrapping the tree wrapping belt on the rubber tree by using the adhesive buckle of the tree wrapping belt, enabling a rubber tapping hole of the tree wrapping belt to face to a bark position of the rubber tree needing rubber tapping, enabling the rubber tapping mechanical hand to be located at the left end of the inclined track, enabling a cutter disc of the rubber tapping mechanical hand to be located at a rubber starting groove of the bark, and enabling the cutter disc to be in contact with the inclined rubber groove; after the tree wrapping belt is tightly wrapped on the rubber tree, the starting switch is pressed down, and the controller controls the automatic rubber tapping robot to automatically tap rubber according to the set program; the controller controls a left push rod of the left electric push rod and a right push rod of the right electric push rod to drive the arc-shaped track to descend in the first morning, and the motor, the vertical elastic device, the horizontal elastic device and the cleaning wheel descend along the arc-shaped track; after the left electric push rod and the right electric push rod descend, the controller controls a motor of the rubber tapping manipulator to drive a driving bevel gear to rotate, the driving bevel gear drives a cutter head to rotate, the driving bevel gear drives a driven bevel gear to rotate, and the driven bevel gear drives a cleaning wheel to rotate; the rotating cleaning wheel removes the daub in the inclined rubber groove of the bark, and the rotating cutter head cuts and slices the inclined rubber groove of the bark; the rotating cutter disc drives the motor, the vertical sliding seat and the horizontal sliding seat to move from left to right along the arc-shaped track, the rotating cutter disc rotates along the inclined rubber groove under the action of the gravity of the motor, the elasticity of a vertical spring of the vertical elastic device and the elasticity of a horizontal spring of the horizontal elastic device, and the rotating cutter disc moves the planing piece from the left side of the inclined rubber groove to the right side of the inclined rubber groove; when the bark in the inclined rubber groove is cut by the cutter disc and moves to the position of the rubber guiding groove, a right rubber tapping sensing piece on the right side of the motor shell is close to a right rubber tapping sensor at the right end of the arc-shaped track, after the right rubber tapping sensing piece is close to the right rubber tapping sensor at the right end of the arc-shaped track, a signal of the right rubber tapping sensor is transmitted to the controller, the controller controls the motor to drive the driving bevel gear and the cutter disc to rotate reversely, the driving bevel gear drives the driven bevel gear to rotate reversely, the cutter disc drives the motor to move from right to left, the cutter disc does not slice the bark in the inclined rubber groove, the cleaning wheel follows the driven bevel gear to move from right to left along the inclined rubber groove, the residual sliced slices in the inclined rubber groove are cleaned away, and the rotating cutter disc; when a left tapping induction piece on the left side of the motor shell approaches a left tapping sensor at the left end of the arc-shaped track, the left tapping sensor transmits a signal of the left tapping induction piece to the controller, the controller controls the motor to stop, the driving bevel gear and the cutter head to stop rotating, and the cutter head returns to the position of the rubber starting groove; after being sliced by the cutter head, the glue flowing out of the barks flows into the glue receiving bags along the inclined glue groove, the glue guiding groove and the glue receiving tongue groove, and workers take away the glue receiving bags filled with the glue after the barks are bright and install new glue receiving bags in the glue receiving tongue grooves; the controller controls a left push rod of the left electric push rod and a right push rod of the right electric push rod to drive the arc-shaped track to descend in the next morning, and the motor, the vertical elastic device, the horizontal elastic device and the cleaning wheel descend along the arc-shaped track; after the left electric push rod and the right electric push rod descend, the controller controls a cutter head of the rubber tapping manipulator to tap the bark of the rubber tree, the cutter head cuts and slices the bark along the inclined rubber groove and then returns, and a cleaning wheel positioned on the right side of the cutter head returns after cleaning the rubber mud along the inclined rubber groove; the circulation is continuously carried out; thereby implementing unmanned automatic tapping of the rubber tree 45.
The cutter head of the automatic tapping robot comprises a cutter frame, a blade, a discharging column, an anti-collision spring column and an anti-collision ball, and is used for preventing the cutter frame from colliding a rubber tree; the unloading column is provided with an anti-collision spring hole and a ball cover, the anti-collision spring column and the anti-collision ball are arranged in the anti-collision spring hole, one end of the anti-collision spring is contacted with the bottom of the anti-collision spring hole, the other end of the anti-collision spring is contacted with the anti-collision spring column, the anti-collision spring column is contacted with the anti-collision ball, and the ball cover is fixedly connected with the unloading column to lock the anti-collision ball on the anti-collision spring hole; the ball cover is provided with a ball hole, the outer side spherical surface of the anti-collision ball protrudes out of the ball hole of the ball cover, and the aperture of the ball hole is smaller than the outer diameter of the anti-collision ball, so that the anti-collision ball is prevented from falling out; in order to avoid the outflow of the glue in the inclined glue groove, so that the glue flows to the glue guiding groove along the inclined glue groove, the edge of the cutting edge of the blade is arc-shaped, and the inclined glue groove after the bark is planed by the blade is arc-shaped; the knife rest is provided with a mounting hole, the blade is provided with a screw hole, and the blade is fixedly connected with the knife rest through a knife locking screw.
When the cutter head of the automatic tapping robot is used, the cutter head with a proper specification is selected according to the thickness of the bark of the rubber tree, and the depth of the cutter head for cutting the bark is controlled, so that the phenomenon that the cambium of the bark of the rubber tree is damaged by blades of the cutter head is reduced or avoided; according to the thickness requirement of bark cutting by tapping, the distance of the blade edge of the blade protruding out of the blade seat is adjusted through an adjusting screw, then the blade and the blade seat are locked together by using a cutter locking screw, and the adjusting screw is locked on the blade seat by using a locking nut of the adjusting screw, so that the adjusting screw 1 is prevented from moving; after the blade is locked on the blade seat, the blade is fixedly connected with the threaded shaft of the driving bevel gear through the connecting screw hole of the cutter head, the cutter head is pressed on the bark of the bevel rubber groove, and the front lower edge of the cutter head and the anti-collision ball of the cutter head are in contact with the forming layer of the bark; after the motor is started, the motor drives the knife rest to rotate, the blade on the blade seat on the rotating disc of the knife rest makes circular motion along the rotating disc, the blade continuously cuts barks in the inclined rubber groove, and meanwhile, the blade rotates in the inclined rubber groove to drive the vertical sliding seat and the horizontal sliding seat connected with the motor to move from left to right along the arc-shaped track; after the bark shavings planed by the blade contact the rotary unloading column, the inclined plane of the rotary unloading column blocks out of the turntable; after the rotary table moves from the left side of the inclined rubber groove to the right side of the inclined rubber groove, the motor drives the rotary table to rotate reversely, the rotary table drives the blades to do reverse direction circular motion, the rotating blades drive the vertical sliding seat and the horizontal sliding seat which are connected with the motor to move from right to left along the arc-shaped track, the blades rotate towards the reverse direction of the blade planing piece, the blades do not cut barks in the inclined rubber groove, and the rotary table returns to the left side of the inclined rubber groove from the right side of the inclined rubber groove and then stops; when the rotary table moves the planing piece from left to right along the inclined rubber groove and moves the return piece from right to left along the inclined rubber groove, the anti-collision ball of the discharging column is kept in a state of elastic contact with a forming layer of the bark, and collision between the blade and the bark is reduced or avoided.
The invention has the beneficial effects that: the automatic tapping robot comprises a tree wrapping belt, a tapping manipulator, a lifting device and a controller, wherein the lifting device is connected with the tree wrapping belt, and the tapping manipulator is connected with the lifting device; when the rubber tapping machine is used, according to the specification of each rubber tree and the bark position of the rubber tree needing tapping, the arc-shaped guide rail with the corresponding specification is installed on the rubber tree by using the tree wrapping belt, and an inclined rubber groove and a rubber guiding groove are formed in the bark of the rubber tree; the controller controls a cutter head of the rubber tapping knife device to cut and plane the bark along the inclined rubber groove and then reset every day, and a cleaning wheel of the daub removing device moves along the rubber tapping knife device to remove daub on the inclined rubber groove and then resets; the glue of the oblique glue groove after being cut by the cutter head flows into the glue receiving bag along the oblique glue groove every day, the controller controls the lifting device to lower the position of the arc-shaped guide rail every day, the glue is automatically cut by the glue cutting manipulator every morning, and workers collect the glue of the glue receiving bag every day after the glue is very bright every day.
The cutter head of the automatic tapping robot comprises a cutter frame, a blade, a discharging column, an anti-collision spring column and an anti-collision ball; when the rubber tree bark cutter is used, a cutter disc with a proper specification is selected according to the thickness of the rubber tree bark, and the depth of the cutter disc for cutting the bark is controlled, so that the phenomenon that blades of the cutter disc damage a cambium of the rubber tree bark is reduced or avoided; selecting different grooves of tapping inclined rubber grooves according to the thicknesses of different barks of the rubber tree, and selecting blades of different specifications according to the grooves of the different inclined rubber grooves; when the cutter head moves along the inclined rubber groove from left to right for rubber tapping and returns from right to left, the anti-collision ball of the discharging column is kept in a state of elastic contact with a forming layer of the bark, and the collision between the blade and the bark is reduced or avoided.
Drawings
FIG. 1 is a schematic structural diagram of an automatic tapping robot;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
figure 4 is a schematic view of the cutterhead of the automatic tapping robot,
fig. 5 is a top view of fig. 4.
Detailed Description
The invention is further described with reference to the following detailed description of embodiments and with reference to the accompanying drawings in which:
the structure of the automatic tapping robot shown in fig. 1 is schematically illustrated, the left side view of fig. 1 is illustrated in fig. 2, the top view of fig. 1 is illustrated in fig. 3, the cutterhead of the automatic tapping robot is illustrated in fig. 4, and the top view of fig. 4 is illustrated in fig. 5;
the automatic tapping robot comprises a tree wrapping belt 1, a tapping manipulator 2, a lifting device 3 and a controller 4, wherein the lifting device 3 is connected with the tree wrapping belt 1, and the tapping manipulator 2 is connected with the lifting device 3; the tapping manipulator 2 comprises an elastic moving device 5, a motor 6, a cutter 7, a driving bevel gear 8, a driven bevel gear 9 and a cleaning wheel 10; a motor shaft of the motor 6 is fixedly connected with a driving bevel gear 8, the driving bevel gear 8 is connected with the cutter head 7, a driven bevel gear 9 is meshed with the driving bevel gear 8, a shaft sleeve 11 of the driven bevel gear 9 is connected with a motor shell 12 of the motor 6, a cleaning wheel 10 is connected with the driven bevel gear 9, and the cleaning wheel 10 is positioned on the right side of the cutter head 7; the elastic moving device 5 comprises a vertical elastic device 13 and a horizontal elastic device 14, the vertical elastic device 13 comprises a vertical sliding seat 15, a vertical spring 16, a vertical spring column 17 and a vertical ball 18, the vertical sliding seat 15 is fixedly connected with a motor shell 12 of the motor 6, the vertical sliding seat 15 is provided with a vertical spring hole 19, the vertical spring 16, the vertical spring column 17 and the vertical ball 18 are arranged in the vertical spring hole 19, the vertical spring column 17 is in contact with the vertical ball 18, and the vertical ball 18 protrudes out of the lower end face 20 of the vertical sliding seat 15; the horizontal elastic device 14 comprises a horizontal sliding seat 21, a horizontal spring 22, a horizontal spring column 23 and a horizontal ball 24, the horizontal sliding seat 20 is fixedly connected with the motor shell 12 of the motor 6, the horizontal sliding seat 21 is provided with a horizontal spring hole 25, the horizontal spring 22, the horizontal spring column 23 and the horizontal ball 24 are arranged in the horizontal spring hole 25, the horizontal spring column 23 is in contact with the horizontal ball 24, and the horizontal ball 24 protrudes out of the right end face 26 of the horizontal sliding seat 21; the lifting device 3 comprises an arc-shaped track 27, a left electric push rod 28 and a right electric push rod 29, a left shell 30 of the left electric push rod 28 is fixedly connected with the tree wrapping belt 1, a left push rod 31 of the left electric push rod 28 is connected with a left end 32 ball of the arc-shaped track 27, a right shell 33 of the right electric push rod 29 is fixedly connected with the tree wrapping belt 1, and a right push rod 34 of the right electric push rod 29 is connected with a right end 35 ball of the arc-shaped track 27; the vertical ball 18 of the vertical elastic device 13 is in contact with the inclined track 36 of the arc-shaped track 27, and the horizontal ball 24 of the horizontal elastic device 14 is in contact with the vertical track 37 of the arc-shaped track 27; the controller 4 is provided with a starting switch 38, a stopping switch 39, a left tapping sensor 40, a right tapping sensor 41, a left tapping sensing piece 42 and a right tapping sensing piece 43, the left tapping sensor 40 is arranged at the left end 32 of the arc-shaped track 27, the right tapping sensor 41 is arranged at the right end 35 of the arc-shaped track 27, the left tapping sensing piece 42 is arranged at the left side of the motor shell 12 of the motor 6 of the tapping manipulator 2, and the right tapping sensing piece 43 is arranged at the right side of the motor shell 12 of the motor 6 of the tapping manipulator 2; the controller 4 is connected with the left electric push rod 28, the right electric push rod 29, the motor 6, the left rubber tapping sensor 40 and the right rubber tapping sensor 41 through control lines, and the controller 4 is provided with a battery power supply 44; the controller 4 is used for controlling the rubber tapping mechanical arm 2 to cut the bark 46 of the rubber tree 45 and collecting the glue flowing out of the bark 46.
In order to carry out the bark 46 slicing and tapping from left to right by means of the cutterhead 7 and to adapt to the case of uneven bark 46, the initial state of the tapping robot 2 is: a left tapping sensing piece 42 on a motor shell 12 of a motor 6 of the tapping manipulator 2 is close to a left tapping sensor 40 on the left end 32 of the arc-shaped track 27, and the cutter head 7 is positioned at the left end 32 of the arc-shaped track 27; the vertical spring 16 of the vertical resilient means 13 is in a compressed state; the horizontal spring 22 of the horizontal elastic device 14 is in a compressed state, and the vertical spring 16 and the horizontal spring 22 are compression springs; the vertical rail 35 of the arc-shaped rail 27 has a rail surface perpendicular to the horizontal plane, the cross section of the inclined rail 36 is perpendicular to the cross section of the vertical rail 37, and the left end 32 of the inclined rail 36 is higher than the right end 35 of the inclined rail 36.
In order to implement the parallel lifting of the arc-shaped track 27, the lifting device 3 is provided with a left ball joint 47 and a right ball joint 48, the left ball joint 47 is fixedly connected with the left end 32 of the arc-shaped track 27, the right ball joint 48 is fixedly connected with the right end 35 of the arc-shaped track 27, and the position of the left ball joint 47 is higher than that of the right ball joint 48; the lifting speed of the left electric push rod 28 of the lifting device 3 is the same as that of the right electric push rod 29; the stroke of the left electric push rod 28 of the lifting device 3 is the same as the stroke of the right electric push rod 29.
In order to implement the movement of the motor 6 along the inclined rail 36, the lower end face 20 of the vertical slide 15 is prevented from rubbing against the inclined rail 36, and the right end face 26 of the horizontal slide 20 is prevented from rubbing against the vertical rail 35; while the vertical ball 18 of the vertical elastic device 13 is in contact with the inclined rail 36, the horizontal ball 24 of the horizontal elastic device 14 is in contact with the vertical rail 37; a vertical gap 49 is arranged between the lower end surface 20 of the vertical sliding seat 15 and the inclined rail 36, and a horizontal gap 50 is arranged between the right end surface 26 of the horizontal sliding seat 20 and the vertical rail 37.
In order to implement the movement of the cutter head 7 of the tapping manipulator 2 of the automatic tapping robot following the arc-shaped rubber tree 45, the shape of the track surface of the vertical track 35 of the arc-shaped track 27 is arc-shaped, the arc-shaped track 27 is made of elastic materials, and the arc shape of the track surface of the vertical track 35 of the arc-shaped track 27 is similar to that of the rubber tree 45; the arc-shaped track 27 is provided with a plurality of specifications which are suitable for rubber trees 45 with different specifications; the right end surface 26 of the horizontal sliding seat 21 is an arc-shaped surface, and the arc of the right end surface 26 is the same as the arc of the track surface of the vertical track 35; the lower end surface 20 of the vertical slide 15 is a slope, and the slope of the lower end surface 20 is the same as the slope of the inclined rail 36.
In order to drive the driving bevel gear 8 and the driven bevel gear 9 of the tapping manipulator 2 to rotate by using the motor 6, the axis of the driving bevel gear 8 of the tapping manipulator 2 is parallel to a horizontal line, and the axis of the driven bevel gear 9 is parallel to the horizontal line; the axis of the driving bevel gear 8 and the axis of the driven bevel gear 9 are on the same horizontal plane.
In order to tighten the tree wrapping tape 1 on the rubber tree 45, the tree wrapping tape 1 is provided with a sticking buckle 51 for fixing the lifting device 3 on the rubber tree 45 by using the tree wrapping tape 1; the tree wrapping belt 1 is provided with a rubber tapping hole 52, the rubber tapping manipulator 2 is positioned at the position of the rubber tapping hole 52 of the tree wrapping belt 1, and the area of the rubber tapping hole 52 is about the area of the bark 46 needing rubber tapping; tapping the bark 46 at the tapping hole 52 by using the tapping manipulator 2; a row-digging blade gap 53 is reserved between the bark 46 of the rubber tree 45 and the arc-shaped track 27 so as to facilitate the removal of the digging blade planed by the cutter head 7; in order to prevent rainwater from dripping onto the bark 46 at the position of the tapping hole 52 and the glue of the tapping, the tree wrapping belt 1 is provided with a rain shelter 92.
The use method of the automatic tapping robot comprises the following steps: when tapping is started in the first day, according to the requirement of the inclination of the oblique rubber groove 54, a oblique rubber groove 54, an initial rubber groove 55 and a rubber guiding groove 56 are cut by a common rubber tapping knife before the bark 46 of the rubber tree 45, the oblique rubber groove 54 is communicated with the initial rubber groove 55 and the rubber guiding groove 56, the lower end of the rubber guiding groove 56 of the bark 46 is connected with a rubber receiving tongue groove 57, and a rubber receiving bag 58 is arranged below the rubber receiving tongue groove 57; then, the tree wrapping belt 1 is tightly wrapped on the rubber tree 45 by using the sticking buckle 51 of the tree wrapping belt 1, so that the tapping hole 52 of the tree wrapping belt 1 faces to the position of the bark 46 of the rubber tree 45 needing tapping, the tapping manipulator 2 is positioned at the left end 32 of the inclined rail 36, the cutter head 7 of the tapping manipulator 2 is positioned at the position of a rubber starting groove 55 of the bark 46, and the cutter head 7 is in contact with the inclined rubber groove 54; after the tree wrapping belt 1 is tightly wrapped on the rubber tree 45, the starting switch 38 is pressed down, and the controller 4 controls the automatic rubber tapping robot to automatically tap rubber according to a set program; the controller 4 controls the left push rod 31 of the left electric push rod 28 and the right push rod 34 of the right electric push rod 29 to drive the arc-shaped track 27 to descend in the first morning, and the motor 6, the vertical elastic device 13, the horizontal elastic device 14 and the cleaning wheel 10 descend along the arc-shaped track 27; after the left electric push rod 28 and the right electric push rod 29 descend, the controller 4 controls the motor 6 of the tapping manipulator 2 to drive the driving bevel gear 8 to rotate, the driving bevel gear 8 drives the cutter head 7 to rotate, the driving bevel gear 8 drives the driven bevel gear 9 to rotate, and the driven bevel gear 9 drives the cleaning wheel 10 to rotate; the rotating cleaning wheel 10 removes the daub 59 of the inclined glue groove 54 of the bark 46, and the rotating cutter disc 7 cuts and slices the inclined glue groove 54 of the bark 46; when the cutterhead 7 carries out rotary slicing on the barks 46 in the inclined rubber slots 54, the cutterhead 7 is subjected to the reaction force of the barks 46, the cutterhead 7 moves from left to right along the inclined rubber slots 54, the cutterhead 7 cuts the barks 46 from left to right along the inclined rubber slots 54, the rotating cutterhead 7 drives the motor 6, the vertical sliding seat 15 and the horizontal sliding seat 21 to move from left to right along the arc-shaped track 27, the rotating cutterhead 7 rotates along the inclined rubber slots 54 under the action of the gravity of the motor 6, the elastic force of the vertical springs 16 of the vertical elastic devices 13 and the elastic force of the horizontal springs 22 of the horizontal elastic devices 14, and the rotating cutterhead 7 moves slices to the right side of the inclined rubber slots 54 from the left side of the; when the cutter head 7 cuts the bark 46 in the inclined rubber groove 54 and moves to the position of the rubber guiding groove 56, the right rubber tapping sensing part 43 on the right side of the motor shell 12 is close to the right rubber tapping sensor 41 at the right end 35 of the arc-shaped track 27, after the right rubber tapping sensing part 43 is close to the right rubber tapping sensor 41 at the right end 35 of the arc-shaped track 27, the right rubber tapping sensor 41 transmits signals to the controller 4, the controller 4 controls the motor 6 to drive the driving bevel gear 8 and the cutter head 7 to rotate reversely, the driving bevel gear 8 drives the driven bevel gear 9 to rotate reversely, the cutter head 7 drives the motor 6 to move from right to left, the cutter head 7 does not slice the bark 46 in the inclined rubber groove 54, the cleaning wheel 10 follows the driven bevel gear 9 to move from right to left along the inclined rubber groove 54, slices left in the inclined rubber groove 54 are cleaned, and the rotating cutter head 7 drives the motor 6, the vertical sliding seat 15 and the; when the left tapping sensing piece 42 on the left side of the motor shell 12 approaches the left tapping sensor 40 at the left end 32 of the arc-shaped track 27, the left tapping sensor 40 transmits a signal to the controller 4, the controller 4 controls the motor 6 to stop, the driving bevel gear 8 and the cutter head 7 stop rotating, and the cutter head 7 returns to the position of the glue starting groove 55; the glue flowing out of the barks 46 after being sliced and cut by the cutterhead 7 flows into the glue receiving bags 58 along the inclined glue grooves 54, the glue guiding grooves 56 and the glue receiving tongue grooves 57, and workers take the glue receiving bags 58 filled with the glue away after the barks are bright and install new glue receiving bags 58 in the glue receiving tongue grooves 57; the controller 4 controls the left push rod 31 of the left electric push rod 28 and the right push rod 34 of the right electric push rod 29 to drive the arc-shaped track 27 to descend in the next morning, and the motor 6, the vertical elastic device 13, the horizontal elastic device 14 and the cleaning wheel 10 descend along the arc-shaped track 27; after the left electric push rod 28 and the right electric push rod 29 descend, the controller 4 controls the cutter disc 7 of the rubber tapping manipulator 2 to tap the bark 46 of the rubber tree 45, the cutter disc 7 cuts and slices the bark 46 along the inclined rubber groove 54 and then returns, and the cleaning wheel 10 positioned on the right side of the cutter disc 7 returns after cleaning the daub 43 along the inclined rubber groove 54; the circulation is continuously carried out; thereby implementing unmanned automatic tapping of the rubber tree 45.
In order to implement the elastic slicing of the bark 46 of the rubber tree 45 by the automatic tapping robot and the elastic contact of the cleaning wheel 10 and the bark 46, when the cutter disc 7 moves along the inclined rubber groove 54, the motor 6 moves along with the cutter disc 7, and the vertical elastic device 13 and the horizontal elastic device 14 move along with the motor 6 along the arc-shaped track 27; the horizontal spring 22 of the horizontal elastic device 14 applies a horizontal elastic force to the horizontal ball 24 through the horizontal spring column 23, and the horizontal elastic force is applied to the cutter head 7 through the motor 6 because the horizontal ball 24 is in contact with the vertical track 37 of the arc-shaped track 27, so that the cutter head 7 is in contact with the bark 46 of the rubber tree 45 under the action of the horizontal elastic force; the vertical spring 16 of the vertical elastic device 13 applies a vertical elastic force to the vertical ball 18 through the vertical spring column 17, and the vertical elastic force is applied to the cutter head 7 through the motor 6 due to the contact of the vertical ball 18 with the inclined track 36 of the arc-shaped track 27, so that the cutter head 7 is in contact with the bark 46 of the rubber tree 45 under the action of the vertical elastic force to adapt to the change of the bark 46 of the rubber tree 45; when the cutterhead 7 cuts the bark 46 into slices along the inclined rubber groove 54 and returns, the horizontal ball 24 of the horizontal elastic device 14 moves along the vertical track 37 of the arc-shaped track 27; the vertical balls 18 of the vertical resilient means 13 move along the inclined tracks 36 of the arcuate tracks 27.
When the cutterhead 7 cuts the barks 46 into slices along the inclined rubber groove 54, when the distance from the inclined rubber groove 54 to the vertical rail 37 of the arc-shaped rail 27 is smaller, the horizontal spring 22 is compressed, and the horizontal gap 50 between the right end face 26 of the horizontal sliding seat 20 and the vertical rail 37 is smaller; when the distance from the oblique glue groove 54 to the vertical rail 37 of the arc-shaped rail 27 becomes larger, the horizontal spring 22 is extended, and the horizontal gap 50 between the right end face 26 of the horizontal sliding base 20 and the vertical rail 37 becomes larger; when the cutter head 7 moves in the inclined rubber groove 54, it is kept in elastic contact with the inclined rubber groove 54.
When the tapping manipulator 2 works, the tapping manipulator 2 once slices the inclined rubber groove 54 of the bark 46 every day and then returns to the position of the rubber starting groove 55, the height of the inclined rubber groove 54 after being sliced by the cutter head 7 is lower than that when the inclined rubber groove 54 is not sliced last time, and the height of the inclined rubber groove 54 after being sliced every time is continuously reduced; before the cutter head 7 digs the inclined rubber groove 54, the controller 4 controls the left electric push rod 28 and the right electric push rod 29 to drive the arc-shaped track 27 to descend, and the distance that the left electric push rod 28 and the right electric push rod 29 drive the arc-shaped track 27 to descend is the same, so that the cutter head 7 is kept in a state of being tightly pressed on the inclined rubber groove 54.
When the tapping manipulator 2 works, every time the left electric push rod 28 and the right electric push rod 29 drive the arc-shaped track 27 to descend, the cutter head 7 is supported by the inclined rubber groove 54, the pressure applied to the inclined rubber groove 54 by the cutter head 7 is increased, and the gravity applied to the vertical spring 16 of the vertical elastic device 13 by the motor 6 is reduced.
When the tapping manipulator 2 works, after the barks 46 in the inclined rubber groove 54 are sliced by the cutter disc 7, the cutter disc 7 moves to the left side of the inclined rubber groove 54, the height of the inclined rubber groove 54 is reduced, the pressure applied to the inclined rubber groove 54 by the cutter disc 7 is reduced, and the gravity applied to the vertical spring 16 of the vertical elastic device 13 by the motor 6 is increased.
In order to carry out unmanned automatic tapping of the whole tapping hole 52 of the bark 46 of the rubber tree 45 in the whole tapping season, the controller 4 is provided with an automatic tapping program, a programming input interface 60 and a programmer 61; when the rubber tapping machine is used, the number of rubber tapping days of the rubber tapping manipulator 2 in the whole rubber tapping season and the time for starting rubber tapping of the rubber tapping manipulator 2 every day are set by the programmer 61; after the rubber tapping days and the time for starting rubber tapping every day are set, the starting switch 38 is pressed down, and the controller 4 controls the automatic rubber tapping robot to work according to the set program; the controller 4 controls the cutter head 7 of the rubber tapping manipulator 2 to move from left to right along the inclined rubber groove 54 of the bark 46 of the rubber tree 45 to dig the bark 46 of the inclined rubber groove 54, the controller 4 controls the cutter head 7 of the rubber tapping manipulator 2 to return to the initial position after the cutter head 7 moves from left to right to the position of the rubber guiding groove 56; the glue flowing out of the barks 46 after being sliced and cut by the cutterhead 7 flows into the glue receiving bag 58 along the inclined glue groove 54, the glue guiding groove 56 and the glue receiving tongue groove 57, and the process is circulated continuously; the problem that the tapping worker can tap glue three to four o' clock every morning is solved, and the tapping worker only needs to collect the glue of the glue receiving bag 58 every day.
In order to implement unmanned automatic tapping on the whole rubber tree 45 forest, when the automatic tapping robot is used, each rubber tree 45 of the rubber tree forest is provided with the automatic tapping robot, the automatic tapping robot on each rubber tree 45 automatically taps rubber according to a set program every morning, and a tapping worker only needs to receive the glue of the rubber bag 58 every day in the daytime.
In order to clean the solidified daub 59 remained in the last slicing of the bark 46 of the rubber tree 45, the influence of the daub 59 on the slicing of the cutter disc 7 is reduced; when the daub removing device 7 cleans the daub 59 of the oblique daub groove 54, the driving helical gear 8 drives the driven helical gear 9 to rotate in the counterclockwise direction, the driven helical gear 9 drives the cleaning wheel 10 to rotate in the counterclockwise direction, and the cleaning wheel 10 moves from left to right along with the driving helical gear 8 while rotating in the counterclockwise direction.
As shown in fig. 4 and 5, the cutter head of the automatic tapping robot comprises a cutter frame 62, a blade 63, a discharging column 64, an anti-collision spring 65, an anti-collision spring column 66 and an anti-collision ball 67, and is used for preventing the cutter frame 62 from colliding with the rubber tree 45; the discharging column 64 is provided with an anti-collision spring hole 68 and a ball cover 69, the anti-collision spring 65, the anti-collision spring column 66 and the anti-collision ball 67 are arranged in the anti-collision spring hole 68, one end of the anti-collision spring 65 is contacted with the bottom of the anti-collision spring hole 68, the other end of the anti-collision spring 65 is contacted with the anti-collision spring column 66, the anti-collision spring column 66 is contacted with the anti-collision ball 67, and the ball cover 69 is fixedly connected with the discharging column 64 to lock the anti-collision ball 67 on the anti-collision spring hole 68; the ball cover 69 is provided with a ball hole 70, the outer side spherical surface 71 of the anti-collision ball 67 protrudes out of the ball hole 70 of the ball cover 69, and the aperture of the ball hole 70 is smaller than the outer diameter of the anti-collision ball 67, so that the anti-collision ball 67 is prevented from falling out; in order to avoid the outflow of the glue from the glue chute 54, so that the glue flows to the glue guiding chute 56 along the glue chute 54, the edge 73 of the blade 63 is arc-shaped, so that the glue chute 54 after the blade 63 digs the bark 46 is arc-shaped; the holder 62 is provided with a mounting hole 72 and the insert 63 is provided with a threaded hole 74, the insert 63 being fixedly connected to the holder 62 by a lockscrew 75.
In order to facilitate the installation of the blade 63 on the blade holder 62, the blade holder 62 is composed of a rotating disc 76 and a plurality of blade seats 77, the blade seats 77 are uniformly distributed on the rotating disc 76, the rotating disc 76 and the blade seats 77 are made of an integral material, the blade seats 77 are provided with installation grooves 78, installation holes 72 are formed in the blade seats 77, the blade 63 is installed in the installation grooves 78 of the blade seats 77, and the blade 63 is fixedly connected with the blade seats 77 through a cutter locking screw 75.
In order to adjust the thickness of the bark 46 cut by the blade 63, the mounting hole 72 of the mounting groove 78 of the blade seat 77 is a long hole, and the thickness of the bark 46 cut by the blade 63 is controlled by adjusting the distance that the cutting edge 73 of the blade 63 protrudes out of the blade seat 77; a blade 63 is arranged in the mounting groove 78 of each blade seat 77, the included angle between each mounting groove 78 and the circle center line of the turntable 76 is the same, the distance between the blade edge 73 of each blade 63 protruding out of the blade seat 77 is the same, and the cutting angle of each blade 63 is the same; the groove bottom 79 of the mounting groove 78 is provided with an adjusting screw hole 80, the adjusting screw hole 80 is provided with an adjusting screw 81, the adjusting screw 81 is connected with the adjusting screw hole 80, and the adjusting screw 81 is in contact with the blade 63 and used for adjusting the distance of the blade 63 protruding out of the blade seat 77.
In order to remove the shavings produced by the blades 63 cutting the bark 46, the discharge column 64 is tapered, the outer end 84 of the discharge column 64 having a diameter less than the diameter of the bottom end 82 of the discharge column 64, the axis of the discharge column 64 being the same as the axis of the turntable 76.
In order to implement the elastic contact between the cutter disc 7 and the bark 46, the anti-collision spring 65, the anti-collision spring column 66 and the anti-collision ball 67 are movably matched and connected with the anti-collision spring hole 68, the anti-collision ball 67 is movably matched and connected with the ball cover 69, the ball cover 69 is connected with the discharging column 64 through threads, the distance from the top point of the outer spherical surface 71 of the anti-collision ball 67 to the bottom end 82 of the discharging column 64 is greater than the distance from the front end 83 of the blade 63 to the bottom end 82 of the discharging column 64, the anti-collision ball 67 is elastically contacted with the bark 46, and the collision between the blade 63 and the bark 46 is reduced or avoided.
In order to implement the slicing of the cutterhead 7 on the bark 46 of the arc-shaped rubber tree 45, the axis of the cutterhead 7 is the same as that of the discharging column 64, the axis of the cutterhead 7 is inclined to the horizontal, the included angle between the axis of the cutterhead 7 and the horizontal is 5-8 degrees, and the axis of the cutterhead 7 points to the rubber tree 45.
In order to avoid the looseness of the blade 63, the blade 63 is provided with a plurality of screw holes 74, the mounting holes 72 of the blade seat 77 are positioned at positions corresponding to the screw holes 74, the number of the mounting holes 72 is the same as that of the screw holes 74, and each screw hole 74 is provided with a cutter locking screw 75; a plurality of adjusting screw holes 80 are arranged at the bottom 79 of the mounting groove 78, and each adjusting screw hole 80 is provided with an adjusting screw 81; the number of the screw holes 74 of the blade 63 is three, each blade seat 77 is provided with three mounting holes 72, and the blade 63 is fixedly connected with the blade seat 77 through three cutter locking screws 75; each mounting groove 78 is provided with two adjusting screw holes 80, and each blade 63 is fixedly connected with the two adjusting screw holes 80 of the mounting groove 78 through two adjusting screws 81; the turntable 76 of the cutter head 7 is provided with a connecting screw hole 85 for connecting with a threaded shaft 86 of the driving bevel gear 8; the axis of the connecting screw hole 85 is the same as that of the turntable 76, so that the axis of the turntable 76 is the same as that of the driving bevel gear 8 and the motor 6; the cutter head 7 is provided with a plurality of specifications, the length of each specification of the blade 63 is different so as to be suitable for barks 46 with different thicknesses, and the size of each specification of the connecting screw hole 85 is the same so as to be convenient for connecting with the threaded shaft 86 of the driving bevel gear 8.
When the cutterhead of the automatic tapping robot is used, the cutterhead 7 with a proper specification is selected according to the thickness of the bark 46 of the rubber tree 45, and the depth of the cutterhead 7 for cutting the bark 46 is controlled, so that the phenomenon that the blade 63 of the cutterhead 7 damages the cambium 88 of the bark 46 of the rubber tree 45 is reduced or avoided; according to the thickness requirement of tapping and cutting the bark 45, the distance that the cutting edge 73 of the blade 63 protrudes out of the blade seat 77 is adjusted through the adjusting screw 81, then the blade 63 and the blade seat 77 are locked together by using the cutter locking screw 75, and the adjusting screw 81 is locked on the blade seat 77 by using the locking nut 87 of the adjusting screw 81, so that the adjusting screw 81 is prevented from moving; after the blade 63 is locked on the blade seat 77, the blade is fixedly connected with a threaded shaft 86 of the driving bevel gear 8 through a connecting screw hole 85 of the cutter head 7, the cutter head 7 is pressed on the bark 46 of the bevel rubber groove 54, and the front lower edge 89 of the cutter head 7 and the anti-collision ball 67 of the cutter head 7 are contacted with a forming layer 88 of the bark 46; after the motor 6 is started, the motor 6 drives the knife rest 62 to rotate, the blade 63 on the blade seat 77 on the turntable 76 of the knife rest 62 makes a circular motion along the turntable 76, the blade 63 continuously cuts the bark 46 of the inclined rubber groove 54, and meanwhile, the blade 63 rotates in the inclined rubber groove 54 to drive the vertical sliding seat 15 connected with the motor 6 and the horizontal sliding seat 21 to move from left to right along the arc-shaped track 27; after the bark shavings shaved off by the blades 63 contact the rotating discharge column 64, they are stopped by the inclined surface 90 of the rotating discharge column 64 off the turntable 76; after the turntable 76 moves from the left side of the inclined glue groove 54 to the right side of the inclined glue groove 54, the motor 6 drives the turntable 76 to rotate reversely, the turntable 76 drives the blade 63 to do reverse direction circular motion, the rotating blade 63 drives the vertical sliding seat 15 connected with the motor 6 and the horizontal sliding seat 21 to move from right to left along the arc-shaped track 27, the blade 63 rotates in the reverse direction of the planing of the blade 63, the blade 63 does not cut the bark 46 of the inclined glue groove 54, and the turntable 76 returns to the left side of the inclined glue groove 54 from the right side of the inclined glue groove 54 and stops; when the rotary disc 76 moves the chipper from left to right along the inclined glue groove 54 and when the rotary disc 76 moves the return chipper from right to left along the inclined glue groove 54, the anti-collision ball 67 of the discharging column 64 is kept in a state of elastic contact with the cambium 88 of the bark 46, thereby reducing or avoiding collision of the blade 63 with the bark 46.
When the blade 63 on the blade seat 77 on the turntable 76 rotates clockwise, the turntable 76 drives the vertical slide carriage 15 and the horizontal slide carriage 21 connected with the motor 6 to move from left to right along the arc-shaped track 27, and simultaneously, the blade 63 on the blade seat 77 cuts the bark 46 of the inclined rubber groove 54; when the blade 63 on the blade seat 77 of the rotating disc 76 rotates in the counterclockwise direction, the rotating disc 76 drives the vertical slide 15 and the horizontal slide 21 connected with the motor 6 to move from right to left along the arc-shaped track 27, and the blade 63 on the blade seat 77 does not cut the bark 46 of the oblique gumming groove 54.
In order to implement the movement of the turntable 76 along the cambium 88 of the bark 46, when the blade 63 moves along the inclined rubber groove 54 from left to right to slice the bark 46, the anti-collision ball 67 of the cutter disc 7 moves from left to right clinging to the cambium 88 of the bark 46, when the distance between the cambium 88 of the bark 46 and the vertical rail 37 of the arc-shaped rail 27 is reduced, the anti-collision ball 67 overcomes the elastic force of the anti-collision spring column 66 to move towards the anti-collision spring column 66, and the anti-collision spring column 66 is compressed; when the distance between the cambium 88 of the bark 46 and the vertical rail 37 of the arc rail 27 is increased, the anti-collision ball 67 moves toward the vertical rail 37 by the elastic force of the anti-collision spring column 66, and the anti-collision spring column 66 extends, so that the rotating disc 76 is in elastic contact with the bark 46.
When the anti-collision ball 67 of the cutter head 7 clings to the cambium 88 of the bark 46 and moves from right to left, when the distance between the cambium 88 of the bark 46 and the vertical track 37 of the arc-shaped track 27 is reduced, the anti-collision ball 67 overcomes the elastic force of the anti-collision spring column 66 and moves towards the anti-collision spring column 66, and the anti-collision spring column 66 is compressed; when the distance between the cambium 88 of the bark 46 and the vertical rail 37 of the arc rail 27 is increased, the anti-collision ball 67 moves toward the vertical rail 37 by the elastic force of the anti-collision spring column 66, and the anti-collision spring column 66 extends, so that the rotating disc 76 is in elastic contact with the bark 46.
To prevent the blade 63 from loosening, the blade 63 is tightly fitted into a mounting groove 78 of a blade seat 77, the blade 63 is connected to the blade seat 77 by a plurality of cutter locking screws 75, and a resilient washer 90 is provided between each cutter locking screw 75 and the blade seat 77.
In order to dig an inclined glue groove 54 in the bark 46 of the rubber tree 45 and prevent glue from flowing out of the outer edge 91 of the inclined glue groove 54, the section of the inclined glue groove 54 is a groove, the middle of the groove is low, the two sides of the groove are high, and the shape of the cutting edge 73 of the blade 63 is the same as that of the groove; the middle of the cross-section groove of the oblique glue groove 54 is 0.2 mm to 0.5 mm lower than the two sides; the cross-sectional grooves of the oblique glue grooves 54 have different sizes, when the blades 63 are used, the blades 63 with different specifications are selected according to the different sizes of the cross-sectional grooves of the oblique glue grooves 54, and the mounting holes 72 of the blades 63 with different specifications are the same.
Claims (7)
1. Automatic tapping robot, its characterized in that: the automatic tapping robot comprises a tree wrapping belt (1), a tapping manipulator (2), a lifting device (3) and a controller (4), wherein the lifting device (3) is connected with the tree wrapping belt (1), and the tapping manipulator (2) is connected with the lifting device (3); the tapping manipulator (2) comprises an elastic moving device (5), a motor (6), a cutter head (7), a driving helical gear (8), a driven helical gear (9) and a cleaning wheel (10); the cleaning wheel (10) is positioned on the right side of the cutter head (7); the elastic moving device (5) comprises a vertical elastic device (13) and a horizontal elastic device (14), the vertical elastic device (13) comprises a vertical sliding seat (15), a vertical spring (16), a vertical spring column (17) and a vertical ball (18), the horizontal elastic device (14) comprises a horizontal sliding seat (21), a horizontal spring (22), a horizontal spring column (23) and a horizontal ball (24), the lifting device (3) comprises an arc-shaped rail (27), a left electric push rod (28) and a right electric push rod (29), the vertical ball (18) of the vertical elastic device (13) is in contact with an inclined rail (36) of the arc-shaped rail (27), and the horizontal ball (24) of the horizontal elastic device (14) is in contact with a vertical rail (37) of the arc-shaped rail (27); the controller (4) is provided with a starting switch (38), a stopping switch (39), a left tapping sensor (40), a right tapping sensor (41), a left tapping sensing piece (42) and a right tapping sensing piece (43); the use method of the automatic tapping robot comprises the following steps: when tapping is started in the first day, according to the requirement of the inclination of the inclined rubber groove (54), an initial rubber groove (55) and a rubber guiding groove (56) are cut by a common rubber cutter before the bark (46) of the rubber tree (45), the inclined rubber groove (54) is communicated with the initial rubber groove (55) and the rubber guiding groove (56), the lower end of the rubber guiding groove (56) of the bark (46) is connected with a rubber receiving tongue groove (57), and a rubber receiving bag (58) is arranged below the rubber receiving tongue groove (57); then, the tree wrapping belt (1) is tightly wrapped on the rubber tree (45) by utilizing a sticking buckle (51) of the tree wrapping belt (1), a tapping hole (52) of the tree wrapping belt (1) is opposite to the position of a bark (46) of the rubber tree (45) needing tapping, the tapping manipulator (2) is positioned at the left end (32) of the inclined rail (36), a cutter head (7) of the tapping manipulator (2) is positioned at the position of a rubber starting groove (55) of the bark (46), and the cutter head (7) is in contact with the inclined rubber groove (54); after the tree wrapping belt (1) is tightly wrapped on the rubber tree (45), the starting switch (38) is pressed down, and the controller (4) controls the automatic rubber tapping robot to automatically tap rubber according to a set program; the controller (4) controls a left push rod (31) of the left electric push rod (28) and a right push rod (34) of the right electric push rod (29) to drive the arc-shaped track (27) to descend in the first morning, and the motor (6), the vertical elastic device (13), the horizontal elastic device (14) and the cleaning wheel (10) descend along the arc-shaped track (27); after the left electric push rod (28) and the right electric push rod (29) descend, the controller (4) controls a motor (6) of the rubber tapping manipulator (2) to drive a driving bevel gear (8) to rotate, the driving bevel gear (8) drives a cutter head (7) to rotate, the driving bevel gear (8) drives a driven bevel gear (9) to rotate, and the driven bevel gear (9) drives a cleaning wheel (10) to rotate; the rotating cleaning wheel (10) removes the daub (59) of the inclined rubber groove (54) of the bark (46), and the rotating cutter disc (7) cuts and slices the inclined rubber groove (54) of the bark (46); when the cutter disc (7) rotates to dig the slices to the barks (46) of the inclined rubber groove (54), the cutter disc (7) is subjected to the reaction force of the barks (46), the cutter disc (7) moves from left to right along the inclined rubber groove (54), the cutter disc (7) cuts the slices to the barks (46) from left to right along the inclined rubber groove (54), the rotating cutter disc (7) drives the motor (6), the vertical sliding seat (15) and the horizontal sliding seat (21) to move from left to right along the arc-shaped track (27), the rotating cutter disc (7) rotates along the inclined rubber groove (54) under the action of the gravity of the motor (6), the elastic force of the vertical spring (16) of the vertical elastic device (13) and the elastic force of the horizontal spring (22) of the horizontal elastic device (14), and the rotating cutter disc (7) moves the slices to the right of the inclined rubber groove (54) from the left side of the inclined rubber groove (54); when the cutter head (7) cuts the bark (46) of the inclined rubber groove (54) and moves to the position of the rubber guiding groove (56), a right rubber tapping sensing part (43) on the right side of the motor shell (12) is close to a right rubber tapping sensor (41) at the right end (35) of the arc-shaped track (27), after the right rubber tapping sensing part (43) is close to the right rubber tapping sensor (41) at the right end (35) of the arc-shaped track (27), the right rubber tapping sensor (41) transmits a signal to the controller (4), the controller (4) controls the motor (6) to drive the driving bevel gear (8) and the cutter head (7) to rotate reversely, the driving bevel gear (8) drives the driven bevel gear (9) to rotate reversely, the cutter head (7) drives the motor (6) to move from right to left, the cutter head (7) does not dig pieces on the bark (46) of the inclined rubber groove (54), the cleaning wheel (10) moves from right to left along the inclined rubber groove (54), removing the remaining shaving pieces in the inclined rubber groove (54), and driving the motor (6), the vertical sliding seat (15) and the horizontal sliding seat (21) to move from right to left along the arc-shaped track (27) by the rotating cutter head (7); when a left tapping sensing piece (42) on the left side of the motor shell (12) approaches a left tapping sensor (40) at the left end (32) of the arc-shaped track (27), the left tapping sensor (40) transmits a signal to the controller (4), the controller (4) controls the motor (6) to stop, the driving bevel gear (8) and the cutter head (7) stop rotating, and the cutter head (7) returns to the position of a glue starting groove (55); glue flowing out of the barks (46) after being sliced and cut by the cutter head (7) flows into the glue receiving bag (58) along the inclined glue groove (54), the glue guiding groove (56) and the glue receiving tongue groove (57), a worker takes away the glue receiving bag (58) filled with the glue after the barks are bright, and a new glue receiving bag (58) is arranged in the glue receiving tongue groove (57); the controller (4) controls a left push rod (31) of the left electric push rod (28) and a right push rod (34) of the right electric push rod (29) to drive the arc-shaped track (27) to descend in the next morning, and the motor (6), the vertical elastic device (13), the horizontal elastic device (14) and the cleaning wheel (10) descend along the arc-shaped track (27); after the left electric push rod (28) and the right electric push rod (29) descend, the controller (4) controls a cutter disc (7) of the rubber tapping manipulator (2) to tap rubber on the bark (46) of the rubber tree (45), the cutter disc (7) cuts and slices the bark (46) along the inclined rubber groove (54) and then returns, and the cleaning wheel (10) positioned on the right side of the cutter disc (7) returns after cleaning the daub (43) along the inclined rubber groove (54); the circulation is continuously carried out; thereby implementing unmanned automatic tapping of the rubber tree (45);
when the cutter head (7) moves along the inclined rubber groove (54), the motor (6) moves along with the cutter head (7), and the vertical elastic device (13) and the horizontal elastic device (14) move along the arc-shaped track (27) along with the motor (6); a horizontal spring (22) of the horizontal elastic device (14) applies a horizontal elastic force to the horizontal ball (24) through a horizontal spring column (23), and the horizontal elastic force is applied to the cutter head (7) through the motor (6) due to the fact that the horizontal ball (24) is in contact with a vertical track (37) of the arc-shaped track (27), so that the cutter head (7) is in contact with a bark (46) of a rubber tree (45) under the action of the horizontal elastic force; a vertical spring (16) of the vertical elastic device (13) applies a vertical elastic force to the vertical ball (18) through a vertical spring column (17), and the vertical elastic force is applied to the cutter head (7) through the motor (6) due to the fact that the vertical ball (18) is in contact with the inclined track (36) of the arc-shaped track (27), so that the cutter head (7) is in contact with the bark (46) of the rubber tree (45) under the action of the vertical elastic force to adapt to the change of the bark (46) of the rubber tree (45);
when the cutter head (7) cuts and slices the barks (46) along the inclined rubber groove (54) and returns, the horizontal ball (24) of the horizontal elastic device (14) moves along the vertical track (37) of the arc-shaped track (27); the vertical ball (18) of the vertical elastic device (13) moves along the inclined track (36) of the arc-shaped track (27);
when the cutter head (7) cuts and slices the barks (46) along the inclined rubber groove (54), when the distance from the inclined rubber groove (54) to the vertical track (37) of the arc-shaped track (27) is reduced, the horizontal spring (22) is compressed, and the horizontal gap (50) between the right end face (26) of the horizontal sliding seat (20) and the vertical track (37) is reduced; when the distance from the inclined glue groove (54) to the vertical rail (37) of the arc-shaped rail (27) is increased, the horizontal spring (22) is extended, and the horizontal gap (50) between the right end face (26) of the horizontal sliding seat (20) and the vertical rail (37) is increased; when the cutter head (7) moves in the inclined glue groove (54), the cutter head is kept in a state of being elastically contacted with the inclined glue groove (54).
2. The use method of the automatic tapping robot according to claim 1, characterized in that: when the tapping manipulator (2) works, the tapping manipulator (2) once slices the inclined rubber groove (54) of the bark (46) every day and then returns to the position of the rubber starting groove (55), the height of the inclined rubber groove (54) sliced by the cutter head (7) every time is lower than that of the inclined rubber groove (54) which is not sliced last time, and the height of the inclined rubber groove (54) after slicing each tapping is continuously reduced; before the cutter head (7) digs the inclined rubber groove (54) each time, the controller (4) controls the left electric push rod (28) and the right electric push rod (29) to drive the arc-shaped track (27) to descend, and the distance that the left electric push rod (28) and the right electric push rod (29) drive the arc-shaped track (27) to descend is the same each time, so that the cutter head (7) is kept in a state of being tightly pressed on the inclined rubber groove (54).
3. The use method of the automatic tapping robot according to claim 2, characterized in that: when the tapping manipulator (2) works, after the arc-shaped track (27) is driven by the left electric push rod (28) and the right electric push rod (29) to descend each time, the cutter head (7) is supported by the inclined rubber groove (54), the pressure applied to the inclined rubber groove (54) by the cutter head (7) is increased, and the gravity applied to the vertical spring (16) of the vertical elastic device (13) by the motor (6) is reduced.
4. The use method of the automatic tapping robot according to claim 3, characterized in that: when the tapping manipulator (2) works, after barks (46) of the inclined rubber grooves (54) are sliced by the cutter head (7), the cutter head (7) moves to the left side of the inclined rubber grooves (54), the height of the inclined rubber grooves (54) is reduced, the pressure applied to the inclined rubber grooves (54) by the cutter head (7) is reduced, and the gravity applied to vertical springs (16) of the vertical elastic devices (13) by the motor (6) is increased.
5. The use method of the automatic tapping robot according to claim 4, wherein: the controller (4) is provided with an automatic tapping program, a programming input interface (60) and a programmer (61); when the rubber tapping machine is used, the number of rubber tapping days of the rubber tapping manipulator (2) in the whole rubber tapping season and the time for starting rubber tapping of the rubber tapping manipulator (2) every day are set by the programmer (61); after the rubber tapping days and the time for starting rubber tapping every day are set, a starting switch (38) is pressed down, and the controller (4) controls the automatic rubber tapping robot to work according to a set program; the controller (4) controls a cutter head (7) of the rubber tapping manipulator (2) to move from left to right along an inclined rubber groove (54) of a bark (46) of a rubber tree (45) for slicing, the surface of the bark (46) of the inclined rubber groove (54) is cut off, and after the cutter head (7) moves from left to right to a rubber guiding groove (56), the controller (4) controls the cutter head (7) of the rubber tapping manipulator (2) to return to an initial position; the glue flowing out of the barks (46) after being sliced and cut by the cutter head (7) flows into the glue receiving bag (58) along the inclined glue groove (54), the glue guiding groove (56) and the glue receiving tongue groove (57) and is continuously circulated.
6. The use method of the automatic tapping robot according to claim 5, wherein: when the automatic rubber tapping robot is used, each rubber tree (45) of the rubber forest is provided with the automatic rubber tapping robot, the automatic rubber tapping robot on each rubber tree (45) automatically taps rubber according to a set program every morning, and a rubber tapping worker only needs to receive glue of the rubber bag (58) every day in the daytime.
7. The use method of the automatic tapping robot according to claim 6, wherein: when the daub removing device (7) is used for removing daub (59) in the inclined daub groove (54), the driving bevel gear (8) drives the driven bevel gear (9) to rotate in the anticlockwise direction, the driven bevel gear (9) drives the cleaning wheel (10) to rotate in the anticlockwise direction, and the cleaning wheel (10) moves from left to right along with the driving bevel gear (8) while the cleaning wheel (10) rotates in the anticlockwise direction.
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| CN108450282B true CN108450282B (en) | 2020-10-30 |
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| CN104067904B (en) * | 2014-06-30 | 2018-02-16 | 李乔 | A kind of automatic rubber tapping machine that glue is adopted for rubber tree |
| CN205865392U (en) * | 2016-07-27 | 2017-01-11 | 李旭海 | Portable semi -automatic rubber tapping machine |
| CN206949098U (en) * | 2016-11-16 | 2018-02-02 | 中国热带农业科学院橡胶研究所 | A kind of rubber cutting machine |
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|---|---|---|---|---|
| BR8803117A (en) * | 1988-06-24 | 1990-02-13 | Plantacoes E Michelin Ltda | RAIN PROTECTION DEVICE FOR THE BLEEDING PANEL |
| JP2000253760A (en) * | 1999-03-12 | 2000-09-19 | Sankyo Seiki Mfg Co Ltd | Groove formation device for collecting sap |
| CN205143075U (en) * | 2015-11-10 | 2016-04-13 | 序宝机电科技(上海)有限公司 | Automatic rubber tapping machine |
| CN106034980A (en) * | 2016-07-13 | 2016-10-26 | 武汉市享昱科技有限公司 | Automatic rubber cutting robot |
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