Intelligent rubber tapping machine with scanning function

Abstract

The invention discloses an intelligent rubber tapping machine with a scanning function, and belongs to a cutting machine in the technical field of natural rubber tapping. According to the technical scheme, an upper gear ring fixing mechanism is provided with an upper guide rail ring and an upper gear ring; the lower gear ring fixing mechanism is provided with a lower guide rail ring and a lower gear ring; the upper walking assembly is provided with an upper walking wheel set matched with the upper guide rail ring and the upper gear ring. The lower walking assembly is provided with a lower walking wheel set matched with the lower guide rail ring and the lower gear ring. A lifting cutting assembly is arranged between the upper walking assembly and the lower walking assembly, the upper gear ring fixing mechanism and the lower gear ring fixing mechanism are each provided with a locking assembly, and a scanner module is arranged on the lifting cutting assembly. According to the intelligent rubber tapping machine with the scanning function, the rubber tapping depth of the cutter is accurately controlled, a tree core and a protective layer (a water bag skin layer) cannot be cut, and meanwhile the rubber yield can be greatly increased.

Description

Technical Field

[0001] The present invention belongs to the technical field of natural rubber tapping, and particularly relates to an intelligent rubber tapping machine with a scanning function. Background Art

[0002] As an important strategic material of the country, natural rubber is widely used in military, aerospace, deep-sea equipment, ships, automobile industry, general machinery equipment and various means of transportation, agriculture, daily chemicals, medical devices and other fields, and is an irreplaceable important material. China also imports a large amount of rubber raw materials every year. Traditional rubber collection is to use traditional rubber tapping knives manually to cut out spiral rubber tapping cortex incisions on rubber trees according to the requirements of industry operation standards, cut off the rubber tree fiber tubes to flow out latex, and use rubber collecting bowls to collect and process to form basic rubber raw materials for subsequent rubber products. However, in traditional operations, since the rubber tapping operation time is in the opposite of day and night (from 3 am to morning), the operation environment is harsh, and the requirements for rubber tapping technology are relatively high, the willingness of many young people to engage in rubber tapping work has been greatly reduced, resulting in a shortage of relevant labor force, a large number of middle-aged and young skilled technicians have left, and the aging of rubber tappers is serious. The traditional manual rubber tapping process is facing the risk of being lost. 20-30% of rubber plantations have not been tapped for more than three years.

[0003] In recent years, many scientific research institutions, universities, and technology companies have organized experts and scholars to successively develop various automatic rubber tapping machines to solve the technical problems of natural rubber collection. However, the various rubber tapping machines that have been developed at present still generally have core technical problems that need to be solved urgently. For example: The handheld electric rubber tapping machine, although it reduces the technical requirements for rubber tappers in manual rubber tapping operations and reduces the labor intensity of rubber tapping, still needs to tap each rubber tree sequentially according to the time sequence, and the rubber production of a single rubber tree is uneven, and it cannot solve the problem of synchronous rubber tapping at the same time, resulting in a low actual output of rubber trees.

[0004] There is also a type of automatic rubber tapping machine on the market that uses a self-mobile walking mechanism to achieve unmanned intelligent rubber tapping operations. However, since it still taps rubber sequentially according to the time sequence, it still cannot solve the problem of synchronous rubber tapping, the output is still low, and the whole machine is expensive. Moreover, it has high requirements for the positioning accuracy during rubber tapping and the flatness of the site, and the equipment maintenance cost is high. It is only suitable for small farms and experimental rubber plantations and cannot be widely promoted in the market.

[0005] The automatic rubber tapping machine using the "one tree, one machine" solution commonly adopted in the current market, in order to reduce the single machine cost, cleverly makes the gear component walking around the tree into a clamping structure and directly fixes it on the rubber tree. However, in order to achieve fixation, sharp barbs are usually designed inside the gear to directly pierce into the bark for fixation. This often damages the latex fiber tubes of the tree itself, resulting in irreversible cortex damage to the rubber tree, and even causing the tree to bulge or die. Due to the growth reasons of the rubber tree itself, the trunk is usually not a regular cylinder, and there will be protrusions and depressions on the surface, and even the phenomenon of the tree growing in a curved shape. Each tree is a non-standard special shape, resulting in extremely inaccurate cutting depth of the cortex along the circumferential direction during rubber tapping. Therefore, in actual rubber tapping operations, the current automatic rubber tapping machines generally will cut the tree or the latex production is less than 60% of that of manual tapping, and it does not have the significance of extensive large-scale use, and it also forms a situation where the automation equipment in the global rubber tapping industry stagnates. Summary of the Invention

[0006] The purpose of the present invention is to provide an intelligent rubber tapping machine with a scanning function. The upper tooth ring fixing mechanism and the lower tooth ring fixing mechanism are fixed on the tree trunk, and a corresponding walking component is provided with a lifting cutting component and a scanner module connected thereto. After scanning the tree trunk by the scanner module, the lifting cutting component performs cutting operations according to the internal conditions of the tree trunk, accurately controlling the cutting depth of the cutting tool, and while not cutting the tree core and the protective layer (water sac cortex) and the tree core, it can greatly increase the latex production.

[0007] The purpose of the present invention is achieved as follows. An intelligent rubber tapping machine with a scanning function shares the installation and fixing mechanism, the tooth ring and the walking component for both the scanning and rubber tapping functions. Specifically:

[0008] Upper tooth ring fixing mechanism, the upper tooth ring fixing mechanism is provided with an upper guiding track ring and an upper tooth ring fixed on the upper guiding track ring;

[0009] Lower tooth ring fixing mechanism, the lower tooth ring fixing mechanism is provided with a lower guiding track ring and a lower tooth ring fixed on the lower guiding track ring;

[0010] Upper walking component, the upper walking component is provided with an upper walking wheel set that cooperates with the upper guiding track ring and the upper tooth ring;

[0011] Lower walking component, the lower walking component is provided with a lower walking wheel set that cooperates with the lower guiding track ring and the lower tooth ring; and

[0012] A lifting and cutting assembly is arranged between the upper walking assembly and the lower walking assembly, and the upper gear ring fixing mechanism and the lower gear ring fixing mechanism are both provided with locking assemblies. A scanner module is arranged on the lifting and cutting assembly, and the scanner module is used for scanning the internal structure of the trunk fixed between the upper gear ring fixing mechanism and the lower gear ring fixing mechanism.

[0013] Furthermore, the upper gear ring fixing mechanism and the lower gear ring fixing mechanism are both provided with connection ports facing the same direction, and the locking components in the upper gear ring fixing mechanism and the lower gear ring fixing mechanism are arranged in respective circumferential directions.

[0014] Furthermore, the locking assembly includes a tensioning belt arranged along the circumferential direction of the upper guide track ring and a plurality of tightening components arranged along the circumferential direction of the inner wall of the upper guide track ring.

[0015] Furthermore, the upper walking wheel group includes an upper shell, a walking motor fixedly arranged in the upper shell, a driving gear transmitted with the tooth pattern of the output end of the walking motor, and an upper wheel group, the driving gear is rotatably arranged inside the upper shell, and the upper wheel group includes a supporting wheel and a guide wheel which are perpendicular to each other and rotatably arranged in the upper shell, and the supporting wheel and the guide wheel are clamped with the upper guide track ring.

[0016] Furthermore, the lifting and cutting assembly includes two vertically parallel guide rails, a rack and a tool holder module arranged on the guide rails. The tool holder module is slidably mounted on the two guide rails. A synchronous gear assembly and a rotating tool are arranged inside the tool holder module. The synchronous gear assembly is respectively meshed with the racks on the two guide rails.

[0017] Furthermore, the synchronous gear assembly includes four synchronous gears meshing in sequence, and the four synchronous gears are rotatably arranged inside the tool holder module. The two synchronous gears arranged on the outside are respectively meshed with the racks on the two guide rails, and the inner synchronous gear is provided with a lifting motor, and the lifting motor is fixedly arranged on the tool holder module.

[0018] Furthermore, the rotary tool comprises a linear slide and a rotating tool body which are vertically arranged with respect to the guide rail; the rotating tool body is movably arranged on the tool holder module; and the telescopic end of the linear slide is fixedly connected with the fixed end of the rotating tool body.

[0019] Furthermore, the scanner module includes a mounting frame fixedly mounted to the tool holder module and a detection plate and an X-ray source arranged on the mounting frame, the mounting frame is vertically arranged to the guide rail, the detection plate and the X-ray source are respectively arranged at two ends of the mounting frame and are located on the same horizontal axis, and the rays of the X-ray source can pass through the trunk and be received by the detection plate.

[0020] Further, the rotary cutter moves along a reciprocating spiral trajectory with a lift angle of 25° to 30° in the vertical direction.

[0021] Further, the pressing components are evenly distributed in the circumferential direction between the upper tooth ring fixing mechanism and the tension belt. The pressing components are provided with pressing rubber blocks, and the side of the pressing rubber block close to the tree trunk is an arc surface structure.

[0022] The beneficial effects of the present invention are embodied in:

[0023] In the present invention, the bark thickness is accurately measured by scanning. After intelligent judgment and difference compensation, the converted cutting coordinate instructions are sent to the feed mechanism of the automatic rubber tapping machine to accurately control the rubber tapping depth of the cutter, without damaging the tree core and the protective layer (water sac cortex). At the same time, the rubber production can be greatly increased. Utilizing the unique high penetration characteristics of X-rays, the real X-ray image of the growth inside the tree core is obtained by imaging the outer contour of the living tree, and 3D software is used for modeling. The 3D coordinates are output to the feed mechanism of the rubber tapping machine to control the cutting depth of the cutter, completing the precise process of the entire rubber tapping operation, achieving the purpose of high yield and non-damage to the tree in the entire rubber tapping operation. The locking component can be downward compatible to adapt to the installation of rubber trees with different tree circumferences. Contacting the bark through the rubber block will not cause damage to the bark and will not affect the normal growth of the rubber tree. The traveling mechanism adopts a gear-rack motion mechanism with high positioning accuracy and transmission efficiency. High production efficiency and low cost in large-scale production. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to actual scale.

[0025] Figure 1 It is a schematic diagram of the overall structure of the intelligent rubber tapping machine of the present invention;

[0026] Figure 2 It is a schematic diagram of the cutting structure of the intelligent rubber tapping machine of the present invention;

[0027] Figure 3 It is a schematic diagram of the internal structure of the cutting structure of the intelligent rubber tapping machine of the present invention;

[0028] Figure 4 It is a schematic diagram of the structure of the upper traveling wheel set of the present invention;

[0029] Figure 5 It is a schematic diagram of the cooperation structure of the synchronous gear assembly and the guide rail of the present invention;

[0030] Figure 6 This is a top - view schematic diagram of the overall structure of the intelligent rubber tapping machine of the present invention.

[0031] In the attached drawings, 1 - upper tooth ring fixing mechanism, 2 - upper guiding track ring, 3 - upper tooth ring, 4 - lower tooth ring fixing mechanism, 5 - lower guiding track ring, 6 - lower tooth ring, 7 - upper walking assembly, 8 - upper walking wheel set, 9 - lower walking assembly, 10 - lower walking wheel set, 11 - lifting and cutting assembly, 12 - locking assembly, 13 - scanner module, 14 - tree trunk, 15 - connection port, 16 - tension belt, 17 - pressing component, 18 - upper housing, 19 - walking motor, 20 - driving gear, 21 - upper wheel set, 22 - supporting wheel, 23 - guiding wheel, 24 - guide rail, 25 - rack, 26 - tool holder module, 27 - synchronous gear assembly, 28 - rotary cutter, 29 - synchronous gear, 30 - lifting motor, 31 - rotating tool body, 32 - mounting bracket, 33 - detection plate, 34 - X - ray source, 35 - pressing rubber block, 36 - linear slide. Detailed implementation manners

[0032] Hereinafter, embodiments of the technical solution of the present invention will be described in detail with reference to the attached drawings. The following embodiments are only used to illustrate the technical solution of the present invention more clearly, and thus are only examples and cannot be used to limit the protection scope of the present invention.

[0033] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present invention belongs.

[0034] Referring to Figures 1-6 , an intelligent rubber tapping machine with a scanning function, both the scanning and rubber tapping function parts share the installation and fixing mechanism, tooth ring and walking assembly. Specifically:

[0035] The upper tooth ring fixing mechanism 1, the upper tooth ring fixing mechanism 1 is provided with an upper guiding track ring 2 and an upper tooth ring 3 fixed on the upper guiding track ring 2;

[0036] The lower tooth ring fixing mechanism 4, the lower tooth ring fixing mechanism 4 is provided with a lower guiding track ring 5 and a lower tooth ring 6 fixed on the lower guiding track ring 5;

[0037] The upper walking assembly 7, the upper walking assembly 7 is provided with an upper walking wheel set 8 that cooperates with the upper guiding track ring 2 and the upper tooth ring 3;

[0038] The lower walking assembly 9, the lower walking assembly 9 is provided with a lower walking wheel set 10 that cooperates with the lower guiding track ring 5 and the lower tooth ring 6; and

[0039] An elevating cutting assembly 11 is provided between the upper walking assembly 7 and the lower walking assembly 9. Locking assemblies 12 are provided on both the upper gear ring fixing mechanism 1 and the lower gear ring fixing mechanism 4. A scanner module 13 is provided on the elevating cutting assembly 11, and the scanner module 13 is used to scan the internal structure of the tree trunk 14 between the upper gear ring fixing mechanism 1 and the lower gear ring fixing mechanism 4.

[0040] In the provided intelligent rubber tapping machine, an upper gear ring fixing mechanism 1 and a lower gear ring fixing mechanism 4 are provided. The two can be fixedly arranged on the tree trunk through their respective locking assemblies 12 to realize the fixed installation of the entire cutting device for scanning and cutting operations on the tree trunk. Specifically, an upper walking assembly 7 is provided in the upper gear ring fixing mechanism 1, and the upper walking assembly 7 can move along the upper gear ring fixing mechanism 1. Similarly, a lower walking assembly 9 is provided to move on the lower gear ring fixing mechanism 4. An elevating cutting assembly 11 is provided between the upper walking assembly 7 and the lower walking assembly 9. Thus, reciprocating movement of the entire elevating cutting assembly 11 in the circumferential direction of the tree trunk can be realized. Combining with the tool that can perform reciprocating movement up and down in the elevating cutting assembly 11, the tool can perform a threaded rotary cutting operation on the surface of the tree trunk; among them, the locking assemblies 12 provided on both the upper gear ring fixing mechanism 1 and the lower gear ring fixing mechanism 4 can realize the convenient disassembly and installation of the entire device on the tree trunk. The scanner module 13 provided on the elevating cutting assembly 11 can scan and detect the internal condition of the tree trunk before the tool cuts the tree trunk. After scanning and feeding back the internal condition of the tree trunk, the depth of the tool relative to the tree trunk is controlled to perform spiral cutting.

[0041] Preferably, both the upper gear ring fixing mechanism 1 and the lower gear ring fixing mechanism 4 are provided with connection ports 15 facing the same direction, and the locking assemblies in the upper gear ring fixing mechanism 1 and the lower gear ring fixing mechanism 4 are arranged in their respective circumferential directions.

[0042] In order to enable the gear ring fixing mechanism 1 and the lower gear ring fixing mechanism 4 to provide relatively rapid installation of the entire device on the tree trunk, both the upper gear ring fixing mechanism 1 and the lower gear ring fixing mechanism 4 are provided with connection ports 15 facing the same direction. Thus, relatively circumferential fixing between the entire device and the tree trunk can be realized. And locking assemblies are provided on both to facilitate the stability of the fixed installation of the upper gear ring fixing mechanism 1 and the lower gear ring fixing mechanism 4 relative to the tree trunk. During the setting process of the gear ring fixing mechanism 1 and the lower gear ring fixing mechanism 4, the two need to be horizontally arranged on the horizontal plane to keep the upper gear ring fixing mechanism 1 and the lower gear ring fixing mechanism 4 relatively parallel, improve the positioning accuracy, and ensure the accuracy of scanning and cutting.

[0043] Preferably, the locking assembly 12 includes a tensioning belt 16 arranged along the circumferential direction of the upper guide track ring 2 and a plurality of tightening components 17 arranged along the circumferential direction of the inner wall of the upper guide track ring 2 .

[0044] The locking assembly 12 specifically includes a tensioning belt 16 and a plurality of tightening components 17. The plurality of tightening components 17 are evenly distributed in the circumferential direction of the upper guide rail ring 2, and the tightening components 17 arranged on the lower guide rail ring 5 are the same. The tightening components 17 in the upper guide rail ring 2 and the lower guide rail ring 5 can correspond one to one in the vertical direction, or can be staggered in the projection direction; wherein the staggered arrangement can better facilitate the stability of the entire device in the installation around the tree trunk.

[0045] Preferably, the upper walking wheel group 8 includes an upper shell 18, a walking motor 19 fixedly arranged in the upper shell 18, a driving gear 20 transmitted to the tooth pattern of the output end of the walking motor 19, and an upper wheel group 21. The driving gear 20 is rotatably arranged inside the upper shell 18. The upper wheel group 21 includes a support wheel 22 and a guide wheel 23 which are perpendicular to each other and rotatably arranged in the upper shell 18. The support wheel 22 and the guide wheel 23 are clamped with the upper guide track ring 2.

[0046] By setting a travel motor 19 in the upper travel wheel group 8, the travel motor 19 transmits power to the drive gear 20, so that the drive gear 20 and the upper gear ring 3 are driven after relative meshing. At the same time, an upper wheel group 21 is set to guide the upper travel wheel group 8 as a whole on the upper guide track ring 2. Specifically, the support wheel 22 and the guide wheel 23 in the upper wheel group 21 are clamped and guided with the upper guide track ring 2, and power is driven between the drive gear 20 and the upper gear ring 3.

[0047] Similarly, a lower traveling wheel set 10 is provided in the lower traveling assembly 9 for relative guiding and clamping with the lower guide track ring 5 , and has the freedom of movement in the circular direction of the lower guide track ring 5 .

[0048] Preferably, the lifting and cutting assembly 11 includes two vertically parallel guide rails 24, a rack 25 arranged on the guide rails 24 and a tool holder module 26. The tool holder module 26 is slidably mounted on the two guide rails 24. A synchronous gear assembly 27 and a rotating tool 28 are arranged inside the tool holder module 26. The synchronous gear assembly 27 is respectively meshed with the racks 25 on the two guide rails 24.

[0049] It can be understood that two vertically parallel guide rails 24 are provided in the lifting and cutting assembly 11, and the two end portions of the two guide rails 24 are respectively fixedly connected to the upper walking assembly 7 and the lower walking assembly 9 relatively, so that the whole lifting and cutting assembly 11 can reciprocate in the circumferential direction of the tree trunk. More specifically, a tool holder module 26 and a rack 25 are provided on the guide rail 24. The tool holder module 26 can be connected with the corresponding rack 25 by tooth patterns, so that the tool holder module 26 can move up and down in the vertical direction. Further, a synchronous gear assembly 27 and a rotary cutter 28 are provided inside the tool holder module 26. The synchronous gear assembly 27 is used for meshing with the rack 25 on the guide rail 24. Thus, the tool holder module 26 can stably lift along the two guide rails 24. At the same time, the provided rotary cutter 28 can realize the cutting of the tree trunk surface along with the movement of the whole tool holder module 26.

[0050] Preferably, the synchronous gear assembly 27 includes four synchronously meshed gears 29 arranged in sequence. All four synchronously meshed gears 29 are rotatably arranged inside the tool holder module 26. The two synchronously meshed gears 29 arranged on the outside are respectively meshed with the racks 25 on the two guide rails 24. A lifting motor 30 is arranged on the inner synchronously meshed gear 29. The lifting motor 30 is fixedly arranged on the tool holder module 26.

[0051] Specifically, in combination with Figure 3 and Figure 5 , the synchronous gear assembly 27 includes four synchronously meshed gears 29 arranged in sequence. Thus, after being meshed and connected with the racks 25 on both sides, the transmission directions are the same, so that the tool holder module 26 can smoothly lift and slide on the two guide rails 24. Among them, the lifting motor 30 arranged on the inner synchronously meshed gear 29 and the lifting motor 30 arranged on the tool holder module 26 provide the power for lifting control.

[0052] Preferably, the rotary cutter 28 includes a linear slide 36 perpendicular to the guide rail 24 and a rotating cutter body 31. The rotating cutter body 31 is movably arranged on the tool holder module 26. The telescopic end of the linear slide 36 is fixedly connected to the fixed end of the rotating cutter body 31.

[0053] As shown in Figure 3 , during the operation of the rotary cutter 28, the linear slide 36 is set to reciprocally drive the rotating cutter body 31, and the driving direction is in the radial direction of the tree trunk, thereby providing the control of the cutting depth of the tree trunk.

[0054] Preferably, the scanner module 13 includes a mounting bracket 32 fixedly installed on the tool rest module 26, a detection plate 33 and an X-ray source 34 disposed on the mounting bracket 32. The mounting bracket 32 is perpendicular to the guide rail 24. The detection plate 33 and the X-ray source 34 are respectively disposed at two ends of the mounting bracket 32 and are located on the same horizontal axis. The rays of the X-ray source 34 can pass through the tree trunk 14 and be received by the detection plate 33.

[0055] By providing the scanner module 13, the internal structure of the tree trunk that needs to be cut can be detected. Specifically, a mounting bracket 32 is provided in the scanner module 13, and the mounting bracket 32 is fixedly arranged on the tool rest module 2. Thus, when the rotating cutter 31 is in the retracted state, by controlling the spiral movement of the tool rest module 2, the detection plate 33 and the X-ray source 34 on the mounting bracket 32 can be used to scan the interior of the tree trunk. After the scanning is completed, after analyzing the data of the internal structure of the tree trunk, the spiral movement of the tool rest module 2 is controlled again, and the distance between the rotating cutter 31 and the tree trunk is adjusted to achieve dynamic adjustable spiral cutting to ensure precise cutting of different internal conditions of the tree trunk. Specifically, the scanner module 13 is installed on the upper tooth ring fixing mechanism 1 and the lower tooth ring fixing mechanism 4. The control computer is turned on, and the scanner module is driven to operate by the walking motor. At the same time, the X-ray source 34 emits X-rays, which pass through the tree trunk 14, and the detection plate 33 on the other side scans and images a part of the tree trunk 14. Through computer software, the taken photos are used to generate a 3D model of the tree outline, which can accurately simulate the real growth condition of the tree, and then it is converted into coordinate data through a specific algorithm. After the epidermis of the rubber tapping part of the tree is scanned, the generated coordinate data is imported into the control system of the rubber tapping machine through data transmission.

[0056] As a preferred mode of this embodiment, the rotary cutter 28 moves along a reciprocating spiral trajectory with a lift angle of 25° to 30° in the vertical direction.

[0057] Preferably, the pressing members 17 are evenly arranged in the circumferential direction between the upper tooth ring fixing mechanism 1 and the tension belt 16. The pressing members 17 are provided with pressing rubber blocks 35, and one side of the pressing rubber blocks 35 close to the tree trunk 14 is an arc surface structure.

[0058] In order to better fix the entire device on the tree trunk, the tree trunk contact end of the pressing member 17 is a pressing rubber block 35, and the end face of the pressing rubber block 35 is set as an arc surface structure, which can be relatively installed in a fitting manner with the surface of the tree trunk. Thus, on the basis of ensuring the stability of the relative installation of the entire device and the tree trunk, the damage to the tree trunk is reduced to ensure the rubber production after cutting the tree trunk.

[0059] As a preferred method of this embodiment, after each tapping operation is completed, the control system moves the rotating tool 28 to the coordinate origin of the tapping machine. The scanner module 13 has the function of detachable installation. At the end of each tapping cycle, the fixed scanner module 13 is reinstalled according to the changes in the tree cutting part, and the new tree tapping area is scanned and detected to generate new tapping coordinate data and import it into the tapping machine control system.

[0060] Working principle and working process of the present invention:

[0061] When the intelligent rubber tapping machine with a scanning function provided by the present invention is used, the upper tooth ring fixing mechanism 1 and the lower tooth ring fixing mechanism 4 are relatively tightly mounted on the tree trunk, and are relatively locked and fixedly mounted on the tree trunk through the respectively arranged locking components 12. The upper tooth ring fixing mechanism 1 and the lower tooth ring fixing mechanism 4 are arranged in the intelligent rubber tapping machine, and both can be fixedly mounted on the tree trunk through their respective locking components 12, thereby realizing the fixed installation of the entire cutting equipment for scanning and cutting operations on the tree trunk.

[0062] Specifically, an upper walking assembly 7 is provided in the upper gear ring fixing mechanism 1, and the upper walking assembly 7 can move along the upper gear ring fixing mechanism 1; similarly, a lower walking assembly 9 is provided and can move on the lower gear ring fixing mechanism 4, and a lifting and cutting assembly 11 is provided between the upper walking assembly 7 and the lower walking assembly 9. Thus, the lifting and cutting assembly 11 can realize the reciprocating motion of the whole in the circumferential direction of the trunk, and the tool that can realize the up and down reciprocating motion in the lifting and cutting assembly 11 can be combined, so that the tool can perform a threaded rotary cutting operation on the surface of the trunk; wherein, the locking assembly 12 provided on both the upper toothed ring fixing mechanism 1 and the lower toothed ring fixing mechanism 4 can realize the convenient disassembly and installation of the entire device on the trunk, and the scanner module 13 provided on the lifting and cutting assembly 11 can scan and detect the internal situation of the trunk before the tool cuts the trunk, and after scanning and feedback of the internal situation of the trunk, the scanner module 13 is removed, the rubber tapping machine control system is started, and the running motor and the lifting motor are controlled to operate, so that the knife rotating cutter body 31 moves along the reciprocating spiral trajectory with a lifting angle of 25 to 30 degrees. According to the imported coordinate parameters, the linear slide 36 of the rotary cutter feeding mechanism is controlled to move forward and backward, and the depth of the rotary cutter body 31 cutting into the bark is accurately adjusted, so as to realize accurate rubber tapping, control the depth of the cutter relative to the trunk, and perform spiral cutting.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the specification of the present invention.

Claims

1. An intelligent rubber tapping machine with scanning function, characterized in that: The two major functional parts of scanning and tapping share the same mounting and fixing mechanism, gear ring and walking assembly, specifically: An upper gear ring fixing mechanism (1), wherein the upper gear ring fixing mechanism (1) is provided with an upper guide track ring (2) and an upper gear ring (3) fixed on the upper guide track ring (2); A lower gear ring fixing mechanism (4), wherein the lower gear ring fixing mechanism (4) is provided with a lower guide track ring (5) and a lower gear ring (6) fixed on the lower guide track ring (5); An upper traveling assembly (7), wherein the upper traveling assembly (7) is provided with an upper traveling wheel assembly (8) cooperating with the upper guide track ring (2) and the upper gear ring (3); A lower traveling assembly (9), wherein the lower traveling assembly (9) is provided with a lower traveling wheel set (10) cooperating with the lower guide track ring (5) and the lower gear ring (6); and A lifting and cutting assembly (11) is arranged between the upper walking assembly (7) and the lower walking assembly (9), the upper toothed ring fixing mechanism (1) and the lower toothed ring fixing mechanism (4) are both provided with locking assemblies (12), and a scanner module (13) is arranged on the lifting and cutting assembly (11), and the scanner module (13) is used for scanning the internal structure of a tree trunk (14) fixed between the upper toothed ring fixing mechanism (1) and the lower toothed ring fixing mechanism (4).

2. The intelligent rubber tapping machine with scanning function according to claim 1, characterized in that: The upper gear ring fixing mechanism (1) and the lower gear ring fixing mechanism (4) are both provided with connection ports (15) facing the same direction, and the locking components in the upper gear ring fixing mechanism (1) and the lower gear ring fixing mechanism (4) are arranged in their respective circumferential directions.

3. The intelligent rubber tapping machine with scanning function according to claim 2, characterized in that: The locking assembly (12) comprises a tensioning belt (16) arranged along the circumferential direction of the upper guide track ring (2) and a plurality of tightening components (17) arranged along the circumferential direction of the inner wall of the upper guide track ring (2).

4. The intelligent rubber tapping machine with scanning function according to claim 1, characterized in that: The upper traveling wheel assembly (8) comprises an upper shell (18), a traveling motor (19) fixedly arranged in the upper shell (18), a driving gear (20) transmitted with the tooth pattern of the output end of the traveling motor (19), and an upper wheel assembly (21), wherein the driving gear (20) is rotatably arranged inside the upper shell (18), and the upper wheel assembly (21) comprises a supporting wheel (22) and a guide wheel (23) which are perpendicular to each other and rotatably arranged in the upper shell (18), and the supporting wheel (22) and the guide wheel (23) are clamped with the upper guide track ring (2).

5. The intelligent rubber tapping machine with scanning function according to claim 1, characterized in that: The lifting and cutting assembly (11) comprises two vertically parallel guide rails (24), a rack (25) arranged on the guide rails (24) and a tool holder module (26); the tool holder module (26) is sleeved on the two guide rails (24) and slidably arranged; a synchronous gear assembly (27) and a rotating tool (28) are arranged inside the tool holder module (26); the synchronous gear assembly (27) is respectively meshed with the racks (25) on the two guide rails (24).

6. The intelligent rubber tapping machine with scanning function according to claim 5, characterized in that: The synchronous gear assembly (27) includes four synchronous gears (29) meshed in sequence. The four synchronous gears (29) are all rotatably arranged inside the tool holder module (26). The two synchronous gears (29) arranged on the outside are respectively meshed with the racks (25) on the two guide rails (24). The inner synchronous gear (29) is provided with a lifting motor (30), and the lifting motor (30) is fixedly arranged on the tool holder module (26).

7. The intelligent rubber tapping machine with scanning function according to claim 5, characterized in that: The rotary tool (28) comprises a linear slide (36) and a rotating tool body (31) which are arranged perpendicularly to the guide rail (24); the rotating tool body (31) is movably arranged on the tool holder module (26); and the telescopic end of the linear slide (36) is fixedly connected to the fixed end of the rotating tool body (31).

8. The intelligent rubber tapping machine with scanning function according to claim 5, characterized in that: The scanner module (13) comprises a mounting frame (32) fixedly mounted on the tool holder module (26) and a detection plate (33) and an X-ray source (34) arranged on the mounting frame (32); the mounting frame (32) is arranged vertically to the guide rail (24); the detection plate (33) and the X-ray source (34) are respectively arranged at two ends of the mounting frame (32) and are located on the same horizontal axis; the rays of the X-ray source (34) can pass through the trunk (14) and be received by the detection plate (33).

9. The intelligent rubber tapping machine with scanning function according to claim 7, characterized in that: The rotary tool (28) moves in a reciprocating helical trajectory with a lift angle of 25° to 30° in the vertical direction.

10. The intelligent rubber tapping machine with scanning function according to claim 3, characterized in that: The tightening components (17) are evenly distributed in the circumferential direction between the upper gear ring fixing mechanism (1) and the tensioning belt (16), and the tightening components (17) are provided with a tightening rubber block (35), and the side of the tightening rubber block (35) close to the tree trunk (14) is a curved surface structure.

Images