Needling glue collecting robot

Abstract

The invention relates to a needling glue collecting robot, which belongs to the technical field of mechanical glue collection, and comprises a lifting mechanism, a tree circumference detector, a jointrotator, a rotary arm, a rotary transmission mechanism, a depth control mechanism, a needle drill glue collector, a needling glue collector and other structures, the vertical displacement is controlled by the lifting mechanism, and the circumferential displacement is controlled by the rotary transmission mechanism. The radial displacement is controlled by the depth control mechanism, so that thedisplacement control of the three is relatively independent, the accurate control of the position of the glue collecting hole is facilitated, the depth of the glue collecting hole only reaches the inner layer of the sand skin, the yellow skin layer can discharge glue without damaging the water bag skin, the damage to a bark conveying system is avoided, and the dead skin cutting stop of a rubber tree is avoided; glue collecting holes are formed in tree plants of rubber trees in a needle drill or needle pricking mode, and automation of needle pricking glue collecting agriculture is achieved. Damage of the rubber tree caused by rubber collecting operation is reduced, the rubber collecting operation is not restrained by the rubber taking position, and the risks of rubber production interruption, quality reduction, service life shortening and the like of the rubber tree are reduced.

Description

technical field [0001] The invention relates to an acupuncture rubber picking robot, which belongs to the technical field of mechanical rubber picking. Background technique [0002] Natural rubber is natural rubber latex collected from rubber trees. It is an elastic solid made of coagulation, drying and other processing procedures. It is an important strategic material for the country; natural rubber is due to its excellent resilience, insulation, water resistance and plasticity. It has a wide range of applications in daily life, transportation, industry, agriculture, aerospace and other fields. [0003] Existing rubber collection is still by manually using a traditional rubber tapping knife (such as the device disclosed by the publication number CN205213638U) to tap rubber, cut out a spiral tapping line on the rubber tree, and use a rubber cup to collect the rubber flowing out of the tapping line. But at present, the price of natural rubber continues to slump, and the inco...

AI Technical Summary

Problems solved by technology

But at present, the price of natural rubber continues to slump, and the income of rubber workers is low, resulting in a large loss of rubber workers

At the same time, due to the upside-down of black and white in tapping operations, 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 has exacerbated the aging of rubber workers.

On the other hand, the way of manual rubber tapping is easy to cause great trauma to the rubber tree, and it is prone to physiological disorders in the dead skin of its continuous tapping, that is, the so-called "brown skin disease", which affects the life of the rubber and leads to rubber production of the tree. to interrupt

The above reasons have led to the serious shortage of rubber workers today, resulting in at least 60% of the rubber plantations being abandoned.

[0004] In recent years, the industry is also constantly exploring automatic rubber tapping tools to solve the current dilemma of rubber mining. However, due to the particularity of rubber tapping operations, old rubber wire cutting and winding machines, mechanical cutting debris pollute the glue, and it is impossible to cut rubber with a knife and other technologies. The problem has never been solved, which makes the mechanization of rubber harvesting a worldwide problem. There has been no breakthrough in key technology research in the past 40 years

The solutions disclosed in the prior art such as publication numbers CN110558198A, CN108243896A, CN210298832U, etc., cannot solve the above problems, especially the technical problem of cutting debris polluting glue, and mechanized rubber tapping knives are always difficult to meet the requirements of rubber picking technical indicators

[0005] The hand-held reciprocating rubber tapping equipment developed by the applicant (public numbers CN208480406U, CN208480405U, etc.) has solved the above technical problems, but it still needs to be held manually, which still cannot solve the problems of rubber workers shortage and rubber garden abandonment.

[0006] The fully automatic rubber mining equipment in the prior art, such as the rubber tapping equipment with publication numbers CN110720374A and CN110696008A, is basically conceived based on the corresponding relationship of "one machine, one tree". The above ideas seem to solve the problem, but they cannot be realized in practice. , the reason is: standard rubber gardens plant 33 rubber trees per mu, private rubber gardens usually exceed the standard planting up to about 50-60 trees per mu, the general area of ​​rubber gardens is 100 mu, and the smallest is 20 mu. 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 astonishingly large demand for equipment, and the cost of erection and maintenance is much higher than the income of the rubber plantation. It seems beautiful but cannot solve the problem.

On the other hand, the equipment of "one machine, one tree" is heavy, and the position of the secant line is fixed. It is still prone to physiological disorders at the dead skin of the continuous rubber tapping, that is, the so-called "brown skin disease", which affects the life of the rubber and leads to tree failure. The interruption of the rubber production of the plant is also an unavoidable technical problem caused by the nature of the plan itself

[0007] At present, in the rubber tapping industry, the concept is gradually changed, and the solution of intelligent robots is adopted, such as the rubber tapping robots disclosed in the publication numbers CN110558196A, CN110122256A, and CN109328973A, which use technologies such as visual servoing, multi-sensor integrated navigation, and wireless charging; Plans such as track displacement can realize autonomous rubber tapping between rubber forests. However, in addition to the prevalent precision and control of intelligent robots, the ground environment of rubber gardens is complex. Regular planting will also lead to narrow spacing between trees, and at the same time, drainage ditches and drainage slopes will be set up on the ground. The above problems make it difficult to lay the track, and fallen leaves are easy to get stuck on the track, making it difficult to maintain

[0008] Therefore, in the current industry, there is a lack of a rubber picking robot that can truly achieve manual labor, is suitable for the actual situation of the rubber garden, and can realize automatic rubber picking, low cost, and easy maintenance.

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