Flexible rubber tapping device

Abstract

The invention relates to a flexible rubber tapping device which comprises a quick change mechanism, an angle compensation mechanism, a flexible centering mechanism, a visual system, an annular feeding mechanism and a floating tool bit mechanism. The flexible centering mechanism comprises an opposite-direction moving assembly, clamping plates are symmetrically arranged on the opposite-direction moving assembly, the two clamping plates are each provided with two clamping bottom plates, the opposite faces of the clamping bottom plates on the two sides are arc-shaped faces, and protective ball assemblies are evenly arranged on the arc-shaped faces. The first visual system is used for identifying and positioning a rubber tree, and the second visual identification system is used for identifying and positioning a cutter starting point; the annular feeding mechanism comprises a lifting assembly used for driving the floating tool bit mechanism to ascend and descend and an annular movement assembly used for driving the lifting assembly to do annular movement. The floating tool bit mechanism comprises a rubber tapping tool bit, a guide roller and a floating assembly in the feeding direction of the rubber tapping tool bit. The intelligent rubber tapping machine has the advantages of intelligence, uniform rubber tapping and high autonomy.

Description

Technical Field

[0001] The invention relates to the technical field of rubber tapping, in particular to a flexible rubber tapping device. Background Art

[0002] Natural rubber is widely used in military, aviation, medicine, industry, daily life and civil fields. my country's natural rubber planting area has exceeded 17 million mu, but it is still completely dependent on manual tapping. The traditional tapping method has high technical requirements for tappers, high labor intensity and low tapping efficiency, making the labor cost of tapping account for more than 70% of the production cost.

[0003] At present, in my country's natural rubber planting bases, since the tapping technology has not yet made breakthrough technological progress, most of the tapping is still done by hand with traditional knives or electric tapping knives between early morning and morning. The tapping environment is poor, the labor intensity is high, fatigue is easy, and the efficiency is low, which seriously affects the development of the domestic rubber harvesting industry. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by this patent application is how to provide an intelligent, uniform rubber tapping, and highly autonomous flexible rubber tapping device.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A flexible rubber tapping device is connected to a six-axis robot mounted on an intelligent mobile vehicle body; it includes a quick-change mechanism, an angle compensation mechanism, a flexible centering mechanism, a visual system, a ring feeding mechanism and a floating cutter head mechanism;

[0007] The quick-change mechanism is installed on the six-axis robot, and the other end is connected to the angle compensation mechanism, and the angle compensation mechanism is connected to the flexible centering mechanism;

[0008] The flexible centering mechanism comprises a moving assembly, on which clamping plates are symmetrically arranged, and two clamping bottom plates are respectively arranged on two clamping bottom plates, and the surfaces facing the clamping bottom plates on both sides are arc-shaped surfaces, and protective ball assemblies are evenly arranged on the arc-shaped surfaces;

[0009] The visual system includes a first visual system and a second visual system, wherein the first visual system is used to identify and locate the rubber tree, and the second visual recognition system is used to identify and locate the cutting starting point;

[0010] The annular feeding mechanism includes a lifting component for driving the floating cutter head mechanism to rise and fall, and an annular motion component for driving the lifting component to perform annular motion;

[0011] The floating cutter head mechanism comprises a tapping cutter head 16, a guide roller 17 and a floating component in the feeding direction of the tapping cutter head.

[0012] In this way, the flexible tapping device is installed on the six-axis robot, the six-axis robot is fixed on the intelligent mobile body, the intelligent mobile body runs to the predetermined position, the first visual system performs initial position recognition on the designated mark of the rubber tree, takes pictures again after visual recognition, determines the size and center position of the rubber tree, and determines the placement height of the flexible tapping device according to the number of tapping times and the position of the last starting point of tapping. The six-axis robot adjusts the position of the flexible tapping device, flexibly holds and positions the rubber trees of different sizes, and the circular feeding mechanism drives the cutter head to realize the lifting and circular matching movement to complete the cutting. During this period, the starting position, travel route and end position can be recorded to meet the requirements of automated tapping.

[0013] As an optimization, the quick-change mechanism includes a robot connecting plate, the robot connecting plate is connected to the angle compensation mechanism via butterfly bolts, and a knob plunger 2 is horizontally arranged on the side wall of the robot connecting plate.

[0014] In this way, the flexible rubber tapping device and the six-axis robot can be quickly disassembled and assembled.

[0015] As an optimization, the angle compensation mechanism includes a fixed plate fixed to the robot connecting plate, the fixed plate is connected to the connecting frame via a rotating axis, a limiting axis is provided on the fixed plate, and the end of the limiting axis is connected to the connecting frame via a tension spring; an electromagnet is provided on the fixed plate opposite the connecting frame.

[0016] In this way, the angle compensation mechanism prevents the flexible centering mechanism from hugging and positioning the rubber tree and then the six-axis robot and the intelligent mobile vehicle body move; the function of the electromagnet is to power the intelligent mobile vehicle body to lock the angle compensation mechanism during the movement to ensure that the angle compensation mechanism does not shake.

[0017] As an optimization, the counter-moving component includes a large plate fixed to the connecting frame, a guide rail is arranged on the large plate, the clamping plate is slidably arranged on the guide rail, linear racks are respectively arranged on the support plates, two of the linear racks are symmetrically meshed with gears for transmission, and one of the linear racks is connected to the electric cylinder.

[0018] In this way, a single power can achieve opposite movement, avoid the error caused by dual power, and ensure the centering effect when holding the rubber tree.

[0019] As an optimization, the protective ball assembly includes a first universal ball, and the universal first universal ball is connected to the supporting base plate through a mold spring, and a positioning column is also provided on the supporting base plate.

[0020] In this way, the universal ball protects the rubber tree through the elastic mechanism during the retraction process.

[0021] As an optimization, the annular motion component includes a main frame, and the main frame includes a lower annular rack and an upper annular rack, the upper annular rack is meshed with a driving gear, and the lower annular rack is meshed with a passive gear, the driving gear and the passive gear are both arranged on a mounting frame, and the driving gear is transmission-connected to a first drive motor; the mounting frame is provided with a second universal ball bearing facing the main frame, and the second universal ball bearing slides in annular grooves respectively arranged on the upper and lower surfaces of the main frame, and the lifting component includes a lead screw mounted on the mounting frame, the lead screw is connected to the second drive motor, and a lead screw connecting block is connected to the lead screw.

[0022] In this way, the first drive motor rotates to drive the mounting frame to realize circular motion on the main frame, and the arrangement of the upper and lower circular racks ensures stable operation.

[0023] As an optimization, the first vision system is mounted on a large board and the second vision system is mounted on a main frame, both including a camera and a light source.

[0024] In this way, the location of the rubber tree and the cutting location can be quickly identified respectively.

[0025] As an optimization, the floating assembly includes a first floating assembly and a second floating assembly, the first floating assembly includes a guide rail connecting plate connected to the screw connecting block through a cross roller guide rail, the guide rail connecting plate is connected to the second floating assembly, and the second floating assembly is also connected to the screw connecting block through a guide rail bolt and a second mold spring.

[0026] In this way, the first floating component can drive the cutter head to float in the feeding direction, thereby ensuring a consistent cutting depth and avoiding the situation where the cutting track depth varies due to uneven pits on the bark surface.

[0027] As an optimization, the second floating assembly includes a cutter head connecting seat, the cutter head connecting seat is provided with a sliding block for linear sliding, a baffle is also provided on the cutter head connecting seat, a first spring is provided between the baffle and the sliding block, an angle adjustment block is rotatably installed on the sliding block, the end of the angle adjustment block is connected to the rubber tapping cutter head and the guide roller, the two sides of the angle adjustment block are connected to the rotation support blocks, a ball bearing is installed on one side of the rotation support block, and a second spring is fixed on the other side.

[0028] In this way, the second floating component can realize floating adjustment in the feeding direction, and can also realize floating in the moving direction of the cutter head, avoiding uneven cutting thickness caused by the non-roundness of the trees and ensuring the quality of rubber tapping.

[0029] As an optimization, it also includes a QR code identification plate, which is installed on the rubber tree.

[0030] In this way, the initial calibration of the rubber tree diameter, the initial rubber tapping starting point, the tapping date, the number of tapping times, the rubber tree diameter during tapping, the tapping trajectory, and the starting point for each tapping can be recorded and identified.

[0031] To sum up, this scheme has the following advantages: this scheme can realize scientific planning, complete rubber tapping independently, reduce manpower input, and in the process of interval tapping, it can autonomously identify the cutting point, has strong autonomous ability, and can ensure uniform cutting in the process of cutting according to the shape and surface undulation of the tree. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The present invention is a schematic diagram of a flexible rubber tapping device in use.

[0033] Figure 2 It is a structural schematic diagram of the quick-change mechanism and the angle compensation mechanism in the flexible rubber tapping device of the present invention.

[0034] Figure 3 It is a structural schematic diagram of the flexible centering mechanism in the flexible rubber tapping device of the present invention.

[0035] Figure 4 It is a schematic diagram of the back structure of the flexible rubber tapping device described in the present invention.

[0036] Figure 5 It is a structural schematic diagram of the annular feeding mechanism in the flexible rubber tapping device of the present invention.

[0037] Figure 6 It is a schematic diagram of the assembly of the mounting frame and the main frame of the present invention.

[0038] Figure 7 It is a structural schematic diagram of the floating cutter head mechanism in the flexible rubber tapping device of the present invention.

[0039] Figure 8 for Figure 7 Top view of the . DETAILED DESCRIPTION

[0040] The present invention is further described in detail below in conjunction with the accompanying drawings. In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "upper, lower" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the devices or components referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0041] like Figure 1-7 As shown, a flexible rubber tapping device is connected to a six-axis robot 11 mounted on an intelligent mobile vehicle body 1; it includes a quick-change mechanism, an angle compensation mechanism, a flexible centering mechanism, a visual system, a ring feeding mechanism and a floating cutter head mechanism;

[0042] The quick-change mechanism is installed on the six-axis robot, and the other end is connected to the angle compensation mechanism, and the angle compensation mechanism is connected to the flexible centering mechanism;

[0043] The flexible centering mechanism comprises an opposing moving component, on which a clamping plate 12 is symmetrically arranged, and two clamping bottom plates 13 are respectively arranged on the two clamping bottom plates 12, and the surfaces facing the clamping bottom plates on both sides are arc-shaped surfaces, and protective ball assemblies are evenly arranged on the arc-shaped surfaces;

[0044] The visual system includes a first visual system 14 and a second visual system 15, wherein the first visual system is used to identify and locate the rubber tree, and the second visual recognition system is used to identify and locate the cutting starting point;

[0045] The annular feeding mechanism includes a lifting component for driving the floating cutter head mechanism to rise and fall, and an annular motion component for driving the lifting component to perform annular motion;

[0046] The floating cutter head mechanism comprises a tapping cutter head 16, a guide roller 17 and a floating component in the feeding direction of the tapping cutter head.

[0047] In this way, the flexible tapping device is installed on the six-axis robot, the six-axis robot is fixed on the intelligent mobile body, the intelligent mobile body runs to the predetermined position, the first visual system performs initial position recognition on the designated mark of the rubber tree, takes pictures again after visual recognition, determines the size and center position of the rubber tree, and determines the placement height of the flexible tapping device according to the number of tapping times and the position of the last starting point of tapping. The six-axis robot adjusts the position of the flexible tapping device, flexibly holds and positions the rubber trees of different sizes, and the circular feeding mechanism drives the cutter head to realize the lifting and circular matching movement to complete the cutting. During this period, the starting position, travel route and end position can be recorded to meet the requirements of automated tapping.

[0048] Specifically, the main structure of the intelligent mobile vehicle is mainly composed of an intelligent bionic sports chassis and various sensor systems. The intelligent mobile vehicle has strong off-road capabilities, strong endurance, data transmission and processing capabilities, high-precision positioning and navigation capabilities, good human-computer interaction capabilities, as well as good passability, stability and obstacle avoidance capabilities.

[0049] Specifically, the six-axis robot consists of a mechanical arm, joints, control system, sensors, etc. The six-axis robot has high degrees of freedom and flexibility, can adapt to different trajectory and angle requirements in various complex working environments, and complete a variety of tasks through the end effector (flexible rubber tapping device). The six-axis robot is installed on an intelligent mobile vehicle.

[0050] In this embodiment, the quick-change mechanism includes a robot connecting plate 18, the robot connecting plate is connected to the angle compensation mechanism via butterfly bolts 19, and a knob plunger 2 is horizontally arranged on the side wall of the robot connecting plate.

[0051] In this way, the flexible rubber tapping device and the six-axis robot can be quickly disassembled and assembled.

[0052] In this embodiment, the angle compensation mechanism includes a fixed plate 21 fixed to the robot connecting plate, the fixed plate is connected to the connecting frame 23 through a rotating shaft 22, a limiting shaft 24 is provided on the fixed plate, and the end of the limiting shaft is connected to the connecting frame through a tension spring 25; an electromagnet 26 is provided on the fixed plate opposite the connecting frame.

[0053] In this way, the angle compensation mechanism prevents the flexible centering mechanism from hugging and positioning the rubber tree and then the six-axis robot and the intelligent mobile vehicle body move; the function of the electromagnet is to power the intelligent mobile vehicle body to lock the angle compensation mechanism during the movement to ensure that the angle compensation mechanism does not shake.

[0054] In this embodiment, the opposite moving component includes a large plate 27 fixed to the connecting frame, a guide rail 28 is arranged on the large plate, the clamping plate is slidably arranged on the guide rail, and linear racks 29 are respectively arranged on the support plates. The two linear racks are symmetrically meshed with the gear 3 for transmission, and one of the linear racks is connected to the electric cylinder 31.

[0055] In this way, a single power can achieve opposite movement, avoid the error caused by dual power, and ensure the centering effect when holding the rubber tree.

[0056] Specifically, a floating connector is also provided at the end of the electric cylinder, so as to avoid excessive holding force on the rubber tree due to opposite movement and avoid damage.

[0057] In this embodiment, the protective ball assembly includes a first universal ball 32, which is connected to the support base plate through a mold spring 33. A positioning column 34 is also provided on the support base plate.

[0058] In this way, the universal ball protects the rubber tree through the elastic mechanism during the retraction process.

[0059] In this embodiment, the annular motion component includes a main frame 35, and the main frame includes a lower annular rack 36 and an upper annular rack 37. The upper annular rack is meshed with a driving gear 38, and the lower annular rack is meshed with a passive gear 39. The driving gear and the passive gear are both arranged on the mounting frame 4, and the driving gear is connected to the first drive motor 41 in transmission; the mounting frame is provided with a second universal ball 40 facing the main frame, and the second universal ball slides in the annular grooves arranged on the upper and lower surfaces of the main frame respectively, and the lifting component includes a screw 42 installed on the mounting frame, and the screw is connected to the second drive motor 43, and the screw is connected to a screw connecting block 44.

[0060] In this way, the first drive motor rotates to drive the mounting frame to realize circular motion on the main frame, the upper and lower annular racks are arranged to ensure stable operation, and the second universal ball plays a supporting and positioning role to ensure circular motion.

[0061] Two universal ball bearings are arranged in the annular grooves on the upper and lower surfaces to provide better support, improve reliability and positioning effect.

[0062] In this embodiment, the first visual system is installed on the large board and the second visual system is installed on the main frame, both of which include a camera and a light source.

[0063] In this way, the location of the rubber tree and the cutting location can be quickly identified respectively.

[0064] In this embodiment, the floating assembly includes a first floating assembly and a second floating assembly. The first floating assembly includes a guide rail connecting plate 46 connected to the screw connecting block via a cross roller guide rail 45. The guide rail connecting plate 46 is connected to the second floating assembly. The second floating assembly is also connected to the screw connecting block via a guide rail bolt 47 and a second mold spring 48.

[0065] In this way, the first floating component can drive the cutter head to float in the feeding direction, thereby ensuring a consistent cutting depth and avoiding the situation where the cutting track depth varies due to uneven pits on the bark surface.

[0066] In this embodiment, the second floating assembly includes a cutter head connecting seat 49, the cutter head connecting seat is provided with a sliding block 5 for linear sliding, a baffle 51 is further provided on the cutter head connecting seat, a first spring 52 is provided between the baffle and the sliding block, an angle adjustment block 53 is rotatably installed on the sliding block, the end of the angle adjustment block is connected to the rubber tapping cutter head and the guide roller, and rotation support blocks 54 are connected on both sides of the angle adjustment block, a ball bearing 55 is installed on one side of the rotation support block, and a second spring 56 is fixed on the other side.

[0067] In this way, the second floating component can realize floating adjustment in the feeding direction, and can also realize floating in the moving direction of the cutter head, avoiding uneven cutting thickness caused by the non-roundness of the trees and ensuring the quality of rubber tapping.

[0068] In this embodiment, a two-dimensional code identification plate 57 is also included, and the two-dimensional code identification plate is installed on the rubber tree.

[0069] In this way, the initial calibration of the rubber tree diameter, the initial rubber tapping starting point, the tapping date, the number of tapping times, the rubber tree diameter during tapping, the tapping trajectory, and the starting point for each tapping can be recorded and identified.

[0070] Workflow:

[0071] The intelligent mobile vehicle moves to the predetermined position → the first visual system identifies and locates the rubber tree → the flexible centering mechanism holds and locates the rubber tree → the second visual system identifies and locates the starting point of the tapping → the tapping knife moves to the starting position of tapping determined by the second visual system → the compound movement of the annular feeding mechanism drives the tapping knife to tap the rubber.

[0072] Finally, it should be noted that those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A flexible rubber tapping device, characterized in that: Connected with the six-axis robot installed on the intelligent mobile vehicle body; including a quick-change mechanism, an angle compensation mechanism, a flexible centering mechanism, a visual system, a circular feeding mechanism and a floating cutter head mechanism; The quick-change mechanism is installed on the six-axis robot, and the other end is connected to the angle compensation mechanism, and the angle compensation mechanism is connected to the flexible centering mechanism; The flexible centering mechanism comprises a moving assembly, on which clamping plates are symmetrically arranged, and two clamping bottom plates are respectively arranged on two clamping bottom plates, and the surfaces facing the clamping bottom plates on both sides are arc-shaped surfaces, and protective ball assemblies are evenly arranged on the arc-shaped surfaces; The visual system includes a first visual system and a second visual system, wherein the first visual system is used to identify and locate the rubber tree, and the second visual recognition system is used to identify and locate the cutting starting point; The annular feeding mechanism includes a lifting component for driving the floating cutter head mechanism to lift and lower, and an annular motion component for driving the lifting component to perform annular motion; The floating cutter head mechanism comprises a tapping cutter head, a guide roller and a floating component in the feeding direction of the tapping cutter head.

2. A flexible rubber tapping device according to claim 1, characterized in that: The quick-change mechanism comprises a robot connecting plate, the robot connecting plate is connected to the angle compensation mechanism via butterfly bolts, and a knob plunger is horizontally arranged on the side wall of the robot connecting plate.

3. A flexible rubber tapping device according to claim 2, characterized in that: The angle compensation mechanism includes a fixed plate fixed to the robot connecting plate, the fixed plate is connected to the connecting frame via a rotating shaft, a limit shaft is arranged on the fixed plate, and the end of the limit shaft is connected to the connecting frame via a tension spring; an electromagnet is arranged on the fixed plate facing the connecting frame.

4. A flexible rubber tapping device according to claim 3, characterized in that: The opposite moving assembly includes a large plate fixed to the connecting frame, a guide rail is arranged on the large plate, the clamping plate is slidably arranged on the guide rail, linear racks are respectively arranged on the support plates, two linear racks are symmetrically meshed with gears for transmission, and one of the linear racks is connected to the electric cylinder.

5. A flexible rubber tapping device according to claim 4, characterized in that: The protective ball assembly includes a first universal ball, which is connected to the supporting base plate through a mold spring, and a positioning column is also arranged on the supporting base plate.

6. A flexible rubber tapping device according to claim 5, characterized in that: The annular motion component includes a main frame, and the main frame includes a lower annular rack and an upper annular rack, the upper annular rack is meshed with a driving gear, and the lower annular rack is meshed with a passive gear, the driving gear and the passive gear are both arranged on a mounting frame, and the driving gear is transmission-connected to a first drive motor; the mounting frame is provided with a second universal ball bearing facing the main frame, and the second universal ball bearing slides in annular grooves respectively arranged on the upper and lower surfaces of the main frame, and the lifting component includes a lead screw mounted on the mounting frame, the lead screw is connected to the second drive motor, and a lead screw connecting block is connected to the lead screw.

7. A flexible rubber tapping device according to claim 6, characterized in that: The first visual system is mounted on a large board and the second visual system is mounted on a main frame, both of which include a camera and a light source.

8. A flexible rubber tapping device according to claim 7, characterized in that: The floating assembly includes a first floating assembly and a second floating assembly. The first floating assembly includes a guide rail connecting plate connected to the screw connecting block through a cross roller guide rail. The guide rail connecting plate is connected to the second floating assembly. The second floating assembly is also connected to the screw connecting block through a guide rail bolt and a second mold spring.

9. A flexible rubber tapping device according to claim 8, characterized in that: The second floating assembly includes a cutter head connecting seat, the cutter head connecting seat is provided with a sliding block for linear sliding, a baffle is also provided on the cutter head connecting seat, a first spring is provided between the baffle and the sliding block, an angle adjustment block is rotatably installed on the sliding block, the end of the angle adjustment block is connected to the rubber tapping cutter head and the guide roller, the two sides of the angle adjustment block are connected to the rotation support blocks, a ball bearing is installed on one side of the rotation support block, and a second spring is fixed on the other side.

10. A flexible rubber tapping device according to claim 9, characterized in that: It also includes a two-dimensional code identification plate, which is installed on the rubber tree.

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