A displacement control system for multi-tree rubber tapping

Abstract

The present invention relates to a displacement control system for latex tapping of multiple trees, belonging to the technical field of mechanical latex tapping, and comprising: a walking track fixed between multiple tree trunks; a walking mechanism; a displacement mechanism arranged on the walking mechanism and moving synchronously therewith; a latex tap; a tree girth detector for detecting the diameter of a tree trunk; a position sensor that is triggered and the tree girth detector can detect the diameter of the tree trunk; a distance detector moving synchronously with the latex tap, the distance detector being used for detecting the distance between the latex tap and the tree surface; and a background controller that receives the detection data of the tree girth detector and the distance detector and controls the displacement mechanism to move the latex tap to a specified position. By adopting a suspended track structure, the displacement control for latex tapping between multiple rubber trees is realized, the influence of terrain is eliminated, and the latex tapping management of one machine for multiple trees can be realized; through precise control of displacement, the damage to rubber trees caused by latex tapping is reduced, and the risks of rubber tree interruption of latex production, quality decline, and lifespan reduction are reduced.

Description

Technical Field

[0001] The present invention relates to a displacement control system for latex collection from multiple rubber trees, belonging to the technical field of mechanical latex collection. Background Art

[0002] Natural rubber is a natural latex collected from rubber trees and made into an elastic solid through processes such as coagulation and drying. It is an important strategic material of the country. Due to its excellent resilience, insulation, water isolation, plasticity and other characteristics, natural rubber has a wide range of uses in daily life, transportation, industry, agriculture, aerospace and other fields.

[0003] Currently, rubber collection is still carried out manually using traditional rubber tapping knives (such as the device disclosed in the publication number CN205213638U), cutting a spiral tapping line on the rubber tree and using a rubber cup to collect the rubber flowing out of the tapping line. The manual tapping method is likely to cause greater trauma to the rubber tree, and physiological disorders are likely to occur at the persistent tapping dead skin, that is, the so-called "brown skin disease", thus affecting the lifespan of the rubber and causing the latex production of the tree to be interrupted. For all these reasons, there is a serious shortage of rubber tappers nowadays, resulting in at least 60% of the rubber plantations being abandoned.

[0004] In recent years, the industry has been continuously exploring automated rubber tapping tools to solve the current difficulties in latex collection. However, due to the particularity of the rubber tapping operation, technical problems such as the old rubber line cutting and winding machines, mechanical cutting debris contaminating the glue, and being unable to perform negative knife tapping have always been unsolved. The solutions disclosed in the prior arts such as the publication numbers CN110558198A, CN108243896A, CN210298832U, etc. cannot solve the above problems. Especially for the technical problem of cutting debris contaminating the glue, the mechanized rubber tapping knife has always been difficult to meet the requirements of the latex collection technical indicators.

[0005] Although the handheld reciprocating rubber tapping equipment developed by the applicant (publication numbers CN208480406U, CN208480405U, etc.) solves the above technical problems, it still needs to be held manually, and still cannot solve the problems of shortage of rubber tappers and abandonment of rubber plantations.

[0006] Fully automatic rubber tapping equipment in the prior art, such as the tapping equipment disclosed in publication numbers CN110720374A and CN110696008A, is basically conceived in a one-to-one correspondence relationship of "one machine for one tree". Although the above concept seems to solve the problem, it cannot be realized in practice at all. The reasons are as follows: In a standard rubber plantation, 33 rubber trees are planted per mu. In private rubber plantations, the number of trees planted usually exceeds the standard, reaching about 50 to 60 trees per mu. Generally, the area of a rubber plantation is hundreds of mu, and the smallest is also 20 mu. The total area of rubber plantations in the three major rubber planting areas in China is 17 million mu. From the above data, it can be found that the demand for equipment in the "one machine for one tree" concept is astonishingly large, and the erection and maintenance costs are much higher than the income of the rubber plantation. Although it seems good, it cannot solve the problem. On the other hand, the equipment of "one machine for one tree" is heavy, and the tapping line position is fixed. The physiological disorder is still likely to occur at the dead skin area during continuous tapping, that is, the so-called "brown skin disease" appears, which affects the lifespan of rubber and causes the rubber production of tree strains to be interrupted at the same time. This is also an inevitable technical problem brought about by the nature of the solution itself.

[0007] At present, in the rubber tapping industry, the concept is gradually being changed, and a solution using intelligent robots is adopted. For example, the rubber tapping robots disclosed in publication numbers CN110558196A, CN110122256A, and CN109328973A use technologies such as visual servo, integrated multi-sensor navigation, and wireless charging; autonomous rubber tapping between rubber trees is realized through solutions such as crawler and track displacement. However, in addition to the reasons such as the current common problems of accuracy and control in intelligent robots, the ground environment of rubber forest land is complex. In order to increase land utilization rate, understory economic crops are usually planted in a supporting manner. Over-standard planting will also lead to narrow tree spacing. At the same time, drainage ditches and drainage slopes will be set on the ground. The terrain under the forest is complex, leaving a narrow walking space for the robot, making it difficult for the robot to walk freely in the rubber plantation. The ground track design also has the above problems, resulting in difficult track laying, and fallen leaves are easy to get stuck in the track, making it difficult to maintain.

[0008] Therefore, in the current industry, there is a lack of a displacement control system that can truly replace manual labor, adapt to the actual situation of rubber plantations, accurately position the rubber tapping tools, and achieve automatic rubber tapping with low cost and easy maintenance. Summary of the Invention

[0009] The purpose of the present invention is to provide a displacement control solution for realizing the rubber tapping control of multiple rubber trees.

[0010] The technical solution adopted by the present invention to solve its technical problems is:

[0011] The present invention discloses a displacement control system for multi-tree rubber tapping, including:

[0012] A walking track, which is suspended and fixed between multiple tree strains through a fixing frame;

[0013] A traveling mechanism, which is arranged on the traveling track and can move along the traveling track;

[0014] A displacement mechanism, which is arranged on the traveling mechanism and moves synchronously with it;

[0015] A rubber tapping device, which is arranged on the displacement mechanism, and the displacement mechanism controls the rubber tapping device to move along the vertical, circumferential or / and radial direction of the tree trunk respectively;

[0016] A tree girth detector, which includes a first distance sensor and a second distance sensor arranged on the displacement mechanism, and the two sensors are arranged opposite to each other to detect the diameter of the tree trunk;

[0017] A position sensor, which is arranged on the traveling mechanism and moves synchronously with it. When the traveling mechanism travels to a specified position, the position sensor is triggered and the tree girth detector can detect the diameter of the tree trunk;

[0018] A distance detector, which is arranged on the rubber tapping device and moves synchronously with it, and the distance detector is used to detect the distance between the rubber tapping device and the tree surface;

[0019] A background controller, which receives the detection data of the tree girth detector and the distance detector and controls the displacement mechanism to move the rubber tapping device to a specified position.

[0020] Preferably, the displacement mechanism includes a rotary arm that can semi-encircle one side of the tree trunk. The first distance sensor and the second distance sensor are respectively arranged at both ends of the rotary arm. The background controller calculates the diameter and offset of the tree trunk according to the detection data of the two sensors and controls the moving distance of the rubber tapping device in the circumferential direction of the tree trunk in combination with the radian of the rotary arm.

[0021] Preferably, the displacement mechanism further includes a lifting mechanism, a joint rotator arranged on the lifting mechanism and controlled by it to perform a lifting action, a rotary transmission mechanism arranged on the rotary arm and capable of moving along the rotary arm, and a depth control mechanism arranged on the rotary transmission mechanism; the rotary arm is arranged on the joint rotator and is in an arc shape, and the joint rotator can rotate the rotary arm to semi-encircle one side of the tree trunk.

[0022] Preferably, the joint rotator includes a rotation control motor, a rotating table controlled by the rotation control motor to rotate, and a fixing plate that fixes the rotation control motor and can move with the traveling mechanism; the rotary arm is fixed on the rotating table and can rotate with the rotating table.

[0023] Preferably, the swing arm includes an arc-shaped guide rail portion and a toothed ring rail portion, and the arc-shaped guide rail portion overlaps above the toothed ring rail portion; the swing drive mechanism includes a rotary table connected to the depth control mechanism, a plurality of guide rollers that cooperate to hold the arc-shaped guide rail portion and are supported below the rotary table, a guide gear that meshes with the toothed ring rail portion, and a swing motor that drives the guide gear to move the rotary table along the swing arm.

[0024] Preferably, the depth control mechanism includes a radial slide rail disposed on the rotary table and parallel to the radial direction of the swing arm, a radial slider that slidably cooperates with the radial slide rail, a screw nut fixed on the radial slider and connected to the rubber tapping device, a screw rod that cooperates to drive the screw nut to move, and a depth control motor that drives the screw rod to rotate.

[0025] Preferably, the lifting mechanism includes a first linear drive module, a connecting plate, and a second linear drive module. The first linear drive module is connected to the second linear drive module through the connecting plate and controls its lifting; the second linear drive module is connected to the joint rotator and controls its lifting; vertical guide rails and guide rail sliders that can cooperate and slide are respectively provided on the first linear drive module and the second linear drive module.

[0026] Preferably, the rubber tapping device is a needle drill rubber tapping device, which includes a drill bit for drilling the tree, a quick chuck that can quickly disassemble and assemble drill bits of different diameters, a drilling motor connected to the quick chuck and rotating the drill bit, and a needle drill base that supports the drilling motor; the needle drill base is fixed on the depth control mechanism and is controlled by it to move radially along the tree.

[0027] Preferably, the rubber tapping device is a needle pricking rubber tapping device, which includes a needle pricking base disposed on the depth control mechanism, a guide post for radially pricking the tree, a energy storage spring disposed on the guide post, a rack portion disposed on the guide post and moving the energy storage spring backward to store energy, a sector gear that meshes with the rack portion, and a needle pricking motor that drives the sector gear to rotate.

[0028] Preferably, the fixing frame includes an upper fixing bracket, a lower fixing bracket, and a support rod. The support rod is connected between the upper fixing bracket and the lower fixing bracket. The upper fixing bracket is fixedly surrounded by a plurality of tightening studs on its inner side on the tree; the traveling track is fixed on one side of the fixing frame and is in an I-shaped or inverted T-shaped.

[0029] In the 1980s, the state farms carried out experiments on tapping with acupuncture combined with calcium carbide stimulation technology. Honggang Farm in Chengmai County, Hainan Province also conducted experiments on tapping with acupuncture combined with calcium carbide stimulation. In the 1990s, tapping with acupuncture was also a research upsurge in various countries. However, since this tapping method was not ideal, later all switched to the method of tapping with a rubber tapping knife, and tapping with acupuncture was no longer recognized in this field. The reason for abandoning this method is that the rate of stopping tapping due to bark necrosis of rubber trees using the rubber tapping knife method is much lower than that of rubber trees using acupuncture tapping. Acupuncture tapping causes serious damage to the conduction system of the bark, resulting in hindered nutrient flow, abnormal physiological metabolism of the local bark, and causing bark necrosis. However, this technical solution overcomes the technical prejudice by precisely controlling the drilling depth through mechanization, so as to ensure that the drilling depth only reaches the inner layer of the sand bark and the yellow bark can produce latex, without damaging the water sac bark, thus avoiding damage to the conduction system of the bark. In fact, when manually tapping with a rubber tapping knife, during the process of continuously cutting the bark, it is also a process of gradually probing the depth. Once latex can flow out, the knife is stopped. However, when manually drilling, due to the inability to precisely control the depth, the drilling is often too deep and damages the water sac bark, thus leading to the stopping of tapping due to bark necrosis of rubber trees.

[0030] The beneficial effects of the present invention are as follows:

[0031] 1. In the displacement control system of this solution, the vertical displacement is controlled by the lifting mechanism, the circumferential displacement is controlled by the rotary transmission mechanism, and the radial displacement is controlled by the depth control mechanism, making the displacement control of the three relatively independent. Thus, it is convenient to precisely control the position of the tapping hole, and also ensures that the depth of the tapping hole only reaches the inner layer of the sand bark and the yellow bark can produce latex, without damaging the water sac bark, thus avoiding damage to the conduction system of the bark and avoiding the stopping of tapping due to bark necrosis of rubber trees.

[0032] 2. In this solution, the tree girth detector is used to detect the tree girth and the position relative to the rotary arm, and the tree girth detector is used to detect the diameter of the tree strain. After the detected data is converted by the background controller, data such as the diameter of the tree strain and the offset of the tree strain relative to the rotary arm are obtained. These data, combined with some fixed parameters, such as the radian parameter of the rotary arm, can precisely control the position and moving distance of the tapping device, enable the spacing of the tapping holes to be the same, thus realizing the precise control of the number of holes per tree girth, and controlling the tapping amount according to needs, which is also impossible to achieve by using spiral tapping. When using spiral tapping, after the rubber line is cut, since the length of the rubber line is fixed, each rubber line can only passively receive the latex regardless of the amount of latex produced, so there will be a situation of excessive or insufficient tapping amount. However, in this technical solution, the number of tapping holes per circle can be precisely controlled to achieve the purpose of controlling the latex output. In addition, the depth control mechanism can control the radial position of the tapping device to obtain the corresponding depth of the tapping hole, making the depth of the tapping hole controllable in real time, avoiding damaging the tree due to excessive depth or reducing production due to insufficient depth.

[0033] 3. The rubber tapping device in this displacement control system can use a needle drill or a needle prick method to open rubber tapping holes on the rubber tree trunks, or it can also use a suitable traditional rubber tapping knife, which is conducive to the transition of traditional rubber tapping methods. If the method of opening rubber tapping holes is adopted, it can effectively overcome technical problems such as old rubber lines getting entangled with the machine, mechanical cutting debris polluting the glue, and being unable to perform negative knife rubber tapping, realizing the automation of rubber tapping agronomy. At the same time, it overcomes the technical prejudice, causes less damage to rubber trees compared with the existing rubber tapping operations, only needs to open 5 - 8 rubber tapping holes on the tree trunks, not only reduces the damage to rubber trees during rubber tapping operations, but also is not restricted by the tapping position, can tap rubber around the entire tree circumference, and reduces the risks of rubber trees interrupting latex production, quality decline, and lifespan reduction.

[0034] 4. In this solution, a suspended track - type structural design is adopted, which eliminates the influence of terrain, does not interfere with the planting of under - forest economic crops, effectively utilizes the space in the middle of the rubber plantation, and can adapt to rubber plantations with over - standard planting. When the area of the rubber plantation increases, the track can be expanded at any time to realize the tapping of newly planted rubber trees. The equipment cost is low, the erection is flexible, and it is easy to maintain, and it can truly realize the rubber tapping management of one machine for multiple trees. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0036] Figure 1 It is an example layout diagram of the automatic needle - type rubber tapping equipment among tree trunks;

[0037] Figure 2 It is an example main structure diagram of the automatic needle - type rubber tapping equipment;

[0038] Figure 3 It is a diagram of the in - place state of the automatic needle - type rubber tapping equipment;

[0039] Figure 4 It is a detailed example diagram of the automatic rubber tapping fixing frame;

[0040] Figure 5 For Figure 2 The enlarged view of the partial A in

[0041] Figure 6 It is an example diagram of the traveling mechanism;

[0042] Figure 7 It is an example diagram of another traveling mechanism;

[0043] Figure 8 It is a detailed example diagram of the lifting mechanism;

[0044] Figure 9 is Figure 2 an enlarged view of the local B in;

[0045] Figure 10 is an example diagram of the rotational state of the joint rotator;

[0046] Figure 11 is a detailed structure diagram of the slewing arm;

[0047] Figure 12 is a structure diagram of the slewing drive mechanism, depth control mechanism, and needle drill rubber collector;

[0048] Figure 13 is a detailed structure diagram of the needle drill rubber collector and depth control mechanism;

[0049] Figure 14 is a detailed structure diagram of the slewing drive mechanism cooperating with the slewing arm;

[0050] Figure 15 is an installation structure diagram of the needle prick rubber collector;

[0051] Figure 16 is a detailed structure diagram of the needle prick rubber collector;

[0052] Figure 17 is another angle view of the detailed structure of the needle prick rubber collector;

[0053] Figure 18 is a usage state diagram of the guide rubber ring, rubber collecting bowl, and rubber bowl support.

[0054] Reference numerals: 1 - rubber tree, 2 - walking track, 3 - fixing frame, 301 - upper fixing bracket, 302 - support rod, 303 - lower fixing bracket, 304 - tightening stud, 4 - walking mechanism, 401 - connecting seat, 402 - gear seat, 403 - walking motor, 404 - first driving gear, 405 - first driven wheel, 406 - lateral guide wheel, 407 - vertical guide wheel, 408 - first walking roller, 409 - second driving gear, 4010 - second driven wheel, 4011 - second walking roller, 5 - in - place detector, 501 - position sensor, 502 - position trigger, 6 - lifting mechanism, 601 - first linear driving module, 602 - connecting plate, 603 - second linear driving module, 604 - first lifting arm rod, 605 - second lifting arm rod, 606 - vertical guide rail, 607 - guide rail slider, 608 - first driving motor, 609 - second driving motor, 610 - housing, 7 - tree girth detector, 701 - first distance sensor, 702 - second distance sensor, 703 - sensor seat, 8 - joint rotator, 801 - rotation control motor, 802 - fixing plate, 803 - rotation coupling, 804 - rotating table, 9 - slewing arm, 901 - arc - shaped guide rail part, 902 - toothed ring rail part, 903 - ridge part, 10 - slewing transmission mechanism, 1001 - slewing motor, 1002 - connecting platform, 1003 - slewing table, 1004 - guide gear, 1005 - roller connecting column, 1006 - guide roller, 11 - depth control mechanism, 1101 - depth control motor, 1102 - connector, 1103 - lead screw, 1104 - radial slider, 1105 - lead screw nut, 1106 - front support plate, 1107 - radial slide rail, 1108 - rear support plate, 12 - needle - drill rubber tapping device, 1201 - drilling motor, 1202 - motor bracket, 1203 - needle - drill coupling, 1204 - drill bit, 1205 - quick - change chuck, 1206 - needle - drill base, 13 - distance detector, 14 - needle - prick rubber tapping device, 1401 - needle - prick motor, 1402 - needle - prick base, 1403 - reduction gear, 1404 - sector gear, 1405 - front guide post platform, 1406 - guide post, 1407 - energy - storage spring, 1408 - rear guide post platform, 1409 - rack part, 1410 - power gear, 1411 - transmission gear, 1412 - housing, 15 - rubber - guiding rubber ring, 16 - rubber - collecting bowl, 17 - rubber - bowl support bracket. Detailed implementation mode

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0056] As shown in the attached drawings, the present invention designs a complete set of automatic needle tapping rubber collecting equipment, including a suspended track mechanism, a traveling mechanism 4, a position detector 5, a lifting mechanism 6, a tree girth detector 7, a joint rotator 8, a swing arm 9, a swing transmission mechanism 10, a depth control mechanism 11, a needle drill rubber collector 12, a distance detector 13, a rubber guiding ring 15, a rubber collecting bowl 16, a rubber bowl support 17 and other structures; among them, components such as the suspended track mechanism, the traveling mechanism 4, the position detector 5, the lifting mechanism 6, the tree girth detector 7, the joint rotator 8, the swing arm 9, the swing transmission mechanism 10, the depth control mechanism 11, and the distance detector 13 constitute the displacement control system for rubber collection.

[0057] As Figure 1 shown, the suspended track mechanism includes a fixed frame 3 and a traveling track 2. The fixed frame 3 is fixedly surrounded by the trunk part of the rubber tree. The traveling track 2 is fixedly connected to the fixed frame 3 and is suspended. The traveling track 2 is connected to multiple rubber trees; the traveling track 2 can be connected end to end to form a ring or can be in other shapes, depending on the distribution of the rubber tree plants in the rubber forest; in this solution, only the structure of the ring-shaped traveling track 2 is disclosed.

[0058] As Figure 4 shown, the fixed frame 3 includes components such as an upper fixed support 301, a support rod 302, a lower fixed support 303, and a tightening stud 304. Both the upper fixed support 301 and the lower fixed support 303 are annular. The upper fixed support 301 and the lower fixed support 303 surround the trunk of the rubber tree. A plurality of support rods 302 are vertically connected between the upper fixed support 301 and the lower fixed support 303. A number of tightening studs 304 are arranged along the circumference of the upper fixed support 301. The tightening stud 304 cooperates with the upper fixed support 301 and can expand and contract along the radial direction of the upper fixed support 301 to tighten the trunk, so that the fixed frame 3 is fixed to the trunk of the rubber tree.

[0059] The traveling track 2 is fixed on one side of the fixed frame 3, and the traveling track 2 is in an I-shaped or inverted T-shaped.

[0060] The position detector 5 includes a position sensor 501 and a position trigger 502. The position sensor 501 is arranged on the traveling mechanism 4, and the position trigger 502 is arranged on the fixed frame 3 or the traveling track 2 at each tree plant; when the position sensor 501 reaches the tree plant with the traveling mechanism 4 and is triggered by the position trigger 502 to generate a position signal, the traveling mechanism 4 stops moving forward.

[0061] As Figure 6As shown in the figure, the traveling mechanism 4 is a single-wheel drive structure, including a connecting seat 401, a gear seat 402, a traveling motor 403, a first driving gear 404, a first driven gear 405, a lateral guide wheel 406, a vertical guide wheel 407, a first traveling roller 408 and other components; the connecting seat 401 is U-shaped, and two groups of vertical guide wheels 407 are arranged on the left side inside the connecting seat 401, and a group of vertical guide wheels 407 and a combination of a vertical guide wheel 407 and the first traveling roller 408 are arranged on the right side. The three groups of vertical guide wheels 407 are arranged up and down, and the lower horizontal part of the traveling track 2 is clamped between the two vertical guide wheels 407 in the same group; the first traveling roller 408 is located above the lower horizontal part of the traveling track 2 and cooperates with a vertical guide wheel 407 to clamp the traveling track 2; lateral guide wheels 406 are arranged on both sides of the upper part of the connecting seat 401, and the two lateral guide wheels 406 cooperate to clamp the vertical part of the traveling track 2; the gear seat 402 is L-shaped and connected to the outer side of the right side of the connecting seat 401. The first driving gear 404 is arranged between the gear seat 402 and the connecting seat 401. The traveling motor 403 is fixed on the gear seat 402, and the rotating shaft of the traveling motor 403 is coaxially connected to the first driving gear 404. The first driven gear 405 meshes with the first driving gear 404 and is coaxially connected to the first traveling roller 408; when the traveling motor 403 drives the first traveling roller 408 to rotate, the traveling mechanism 4 can move forward or backward along the traveling track 2.

[0062] As Figure 7 shown, the traveling mechanism 4 can adopt a double-wheel drive structure. Compared with the Figure 6 structure, it also includes a second driving gear 409, a second driven gear 4010 and a second traveling roller 4011. The second traveling roller 4011 is arranged on the opposite side of the first traveling roller 408. The second driven gear 4010 is arranged on the left side of the connecting seat 401 and is coaxially connected to the second traveling roller 4011. The second driving gear 409 meshes with the second driven gear 4010 and is coaxially connected and synchronously rotated with the first driving gear 404; the vertical guide wheel 407 located below the second traveling roller 4011 or the first traveling roller 408 can be at a certain distance from the connecting seat 401, so that the vertical guide wheels 407 on the same side of the connecting seat 401 are not in the same plane.

[0063] As Figure 8As shown in the figure, the lifting mechanism 6 includes a first linear drive module 601, a connecting plate 602, a second linear drive module 603, a first lifting arm 604, a second lifting arm 605, a vertical guide rail 606, a guide rail slider 607, a first drive motor 608, a second drive motor 609, a cover body and other components. The first drive motor 608 and the first lifting arm 604 are part of the first linear drive module 601. The first linear drive module 601 and the second linear drive module 603 can be directly purchased from the market. The first drive motor 608 is used to control the lifting action of the first lifting arm 604. The connecting plate 602 is fixed to the lower end of the first lifting arm 604. The first linear drive module 601 is fixed to the connecting seat 401 of the traveling mechanism 4. The second linear drive module 603 is fixed to the connecting plate 602. A vertical guide rail 606 is fixed to the outer side of the housing of the first linear drive module 601. A guide rail slider 607 is fixed to the outer side of the housing of the second linear drive module 603. The guide rail slider 607 can slide up and down along the vertical guide rail 606. The second drive motor 609 can drive the second lifting arm 605 to perform a lifting action. The joint rotator 8 is fixed to the lower end of the second lifting arm and is jointly controlled by the second linear drive module 603 and the second linear drive module 603 for the lifting action. A cover body is provided outside the first linear drive module 601 and the second linear drive module 603, and this cover body also covers the traveling mechanism 4 outside.

[0064] As Figure 9 , 10 shown in the figure, the joint rotator 8 includes a rotation control motor 801, a fixing plate 802, a rotation coupling 803 and a rotating table 804. The rotation control motor 801 is fixed to the lower part of the fixing plate 802. The fixing plate 802 is connected to the second lifting arm 605 of the second linear drive module 603. A rotating table 804 is provided above the fixing plate 802, and this rotating table 804 is used to connect the slewing arm 9. The bottom of the rotating table 804 is connected to the rotating shaft of the rotation control motor 801 through the rotation coupling 803. The rotation control motor 801 drives the slewing arm 9 to rotate in the horizontal direction through the rotating table 804.

[0065] As Figure 11 shown in the figure, the slewing arm 9 is semicircular arc-shaped and includes an arc guide rail part 901 and a toothed ring rail part 902. The toothed ring rail part 902 is arranged below the arc guide rail part 901. A plurality of tooth structures are provided on the arc outer side of the toothed ring rail part 902. Ridge-shaped parts 903 are respectively provided on the inner and outer sides of the arc guide rail part 901.

[0066] As Figure 12As shown, the distance detector 13 is fixed above the motor bracket 1202 and is used to detect the distance between the rubber tapping device and the tree bark; a tree girth detector 7 is provided on the slewing arm 9. The tree girth detector 7 includes components such as a first distance sensor 701, a second distance sensor 702, and a sensor base 703. The first distance sensor 701 and the second distance sensor 702 are arranged oppositely and are respectively fixed to both ends of the slewing arm 9 through the sensor base 703. The first distance sensor 701 and the second distance sensor 702 are on the same straight line and are used to detect the trunk diameter of the rubber tree, and the tree girth of the trunk is calculated through the measured trunk diameter.

[0067] As Figure 13 , 14 As shown, the slewing drive mechanism 10 includes components such as a slewing motor 1001, a connecting platform 1002, a slewing platform 1003, a guide gear 1004, a roller connecting column 1005, and a guide roller 1006. The slewing motor 1001 is fixed below the connecting platform 1002; the guide gear 1004 is connected to the rotating shaft of the slewing motor 1001 and is arranged at the connection between the connecting platform 1002 and the slewing platform 1003. The guide gear 1004 meshes with the toothed ring rail part 902 of the slewing arm 9; the connecting platform 1002 is fixedly connected below the slewing platform 1003; four guide rollers 1006 are further provided below the slewing platform 1003. Each guide roller 1006 is respectively connected to the slewing platform 1003 through a roller connecting column 1005. A groove is provided in the circumferential middle of each guide roller 1006, and the groove fits with the ridge part 903 of the arc-shaped guide rail part 901. Corresponding guide rollers 1006 are provided on both the inner and outer sides of the arc-shaped guide rail part 901 to clamp the slewing arm 9; when the slewing motor 1001 rotates, it can drive the slewing platform 1003 to move along the slewing arm 9.

[0068] As Figure 12 , 13As shown in the figure, a depth control mechanism 11 is provided above the rotary table 1003. The depth control mechanism 11 includes a depth control motor 1101, a connector 1102, a lead screw 1103, a radial slider 1104, a lead screw nut 1105, a rear support plate 1108, a radial slide rail 1107 and a front support plate 1106. The rear support plate 1108 and the front support plate 1106 are parallel to each other and vertically connected to the rotary table 1003. A radial slide rail 1107 is arranged between the front support plate 1106 and the rear support plate 1108. The radial slide rail 1107 is arranged along the radial direction of the rotary arm 9. A radial slider 1104 that slides in cooperation with it is arranged on the radial slide rail 1107. The lead screw nut 1105 is fixed on the radial slider 1104. The lead screw 1103 is arranged in the middle of the lead screw nut 1105 and cooperates with it. The front end of the lead screw 1103 is rotatably connected to the front support plate, and the rear end is connected to the rotating shaft of the depth control motor 1101 through the connector 1102. The depth control motor 1101 is fixed on the rear support plate 1108. When the depth control motor 1101 rotates, the lead screw 1103 drives the lead screw nut 1105 to move along the radial direction of the rotary arm 9.

[0069] As Figure 13 shown, a needle drill rubber tapping device 12 that moves with it is arranged on the lead screw nut 1105. The needle drill rubber tapping device 12 includes components such as a drilling motor 1201, a motor bracket 1202, a needle drill coupling 1203, a drill bit, a quick chuck 1205, and a needle drill base 1206. Among them, the needle drill base 1206 is L-shaped. The lower part of the needle drill base 1206 is fixedly connected to the lead screw nut 1105, and the upper part is connected to the motor bracket 1202. The drilling motor 1201 is fixed on the motor bracket 1202. The rotating shaft of the drilling motor 1201 is connected to a shaft rod through the needle drill coupling 1203. The other end of the shaft rod passes through the needle drill base 1206 and is connected to a quick chuck 1205. The quick chuck 1205 is used to connect the drill bit. The needle drill rubber tapping device 12 is controlled by the depth control mechanism 11 to move along the radial direction of the rotary arm 9, so as to drill holes in the trunk part of the rubber tree.

[0070] As Figure 14 、 15As shown in the figure, a needle-pricking rubber tapping device 14 that moves along with it can also be provided on the lead screw nut 1105. The needle-pricking rubber tapping device 14 includes components such as a needle-pricking motor 1401, a needle-pricking base 1402, a reduction gear 1403, a sector gear 1404, a front guide post platform 1405, a guide post 1406, an energy storage spring 1407, a rear guide post platform 1408, a rack portion 1409, a power gear 1410, a transmission gear 1411, etc. Among them, the lower side of the needle-pricking base 1402 is fixed on the lead screw nut 1105. The front guide post platform 1405 and the rear guide post platform 1408 are respectively arranged on the needle-pricking base 1402. The front and rear ends of the guide post 1406 respectively pass through the front guide post platform 1405 and the rear guide post 1406 and can move axially. A rack portion 1409 and an energy storage spring 1407 are arranged in the middle of the guide post 1406. The energy storage spring 1407 abuts between the rack portion 1409 and the rear guide post platform 1408. The sector gear 1404 and the reduction gear 1403 are coaxially and rotatably arranged on the needle-pricking base 1402. The needle-pricking motor 1401 is fixed on the needle-pricking base 1402 and is connected to the power gear 1410. The needle-pricking base 1402 is also provided with a transmission gear 1411. The transmission gear 1411 is a double-layer gear and meshes with the power gear 1410 and the reduction gear 1403 respectively. After the needle-pricking motor 1401 is started, it can drive the sector gear 1404 to rotate. The sector gear 1404 meshes with the rack portion 1409 and pushes the guide post 1406 to move backward. When the teeth of the sector gear 1404 are disengaged from the rack portion 1409, the energy storage spring 1407 releases its elastic potential energy to make the front section of the guide post 1406 pierce holes in the trunk of the rubber tree; the housing covers the needle-pricking rubber tapping device 14 therein.

[0071] As Figure 18 shown in the figure, components such as a flow guiding rubber ring 15, a rubber collecting bowl 16, and a rubber bowl support 17 are arranged below the rotary arm 9. The flow guiding rubber ring 15 surrounds the trunk of the tree. The flow guiding rubber ring 15 has an annular groove. A rubber tongue is provided at the bottom of the flow guiding rubber ring 15. The rubber liquid flows into the rubber collecting bowl 16 below it through the rubber tongue. The rubber collecting bowl 16 is fixed by the rubber bowl support 17.

[0072] When this automatic needle tapping and rubber collection equipment is working, the traveling mechanism 4 travels along the traveling track 2. When the in-place detector 5 is triggered, the traveling mechanism 4 stops; the lifting mechanism 6 expands and contracts to make the rotary arm 9 reach the set height. The joint rotator 8 drives the rotary arm 9 to rotate and laterally embrace the rubber tree. Through the position adjustment of the in-place detector 5, the sensor of the tree girth detector 7 can detect the diameter of the tree strain, and then send the corresponding data to the background controller, so as to calculate and obtain the tree girth data of the tree strain. The rotary drive mechanism 10 drives the needle drill rubber collector 12 / needle prick rubber collector 14 to reach the specified position to open the rubber tapping hole. The distance detector 13 detects the distance between it and the tree strain epidermis, so that the depth control mechanism 11 controls the feeding depth of the needle drill rubber collector 12 or the needle prick rubber collector 14; among them, the needle drill rubber collector 12 needs to be controlled by the depth control mechanism 11 for its drilling depth; after the data detected by the tree girth detector 7 and the distance detector 13 are converted by the background controller, the moving distance of the rotary drive mechanism 10 is controlled, so as to ensure that the distance between adjacent rubber tapping holes in the circumferential direction of the same rubber tree is the same, and the distance between adjacent rubber tapping holes in the vertical direction is controlled by the lifting mechanism 6; multiple rubber tapping holes are often opened on the same tree strain, and the rubber liquid flowing out of the rubber tapping holes flows into the diversion rubber ring 15 and the collection rubber bowl 16 in sequence.

[0073] The above embodiments are only examples for clear illustration and not limitations on the implementation manners. For those skilled in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. Displacement control system for latex tapping of multiple trees, characterized in that , comprising: A walking track (2), which is suspended and fixed between multiple tree trunks through a fixing frame (3); A walking mechanism (4), which is arranged on the walking track (2) and can move along the walking track (2); A displacement mechanism, which is arranged on the walking mechanism (4) and moves synchronously with the walking mechanism (4); A latex tapping device, which is arranged on the displacement mechanism, and the displacement mechanism controls the latex tapping device to move along the vertical, circumferential and radial directions of the tree trunk respectively; A tree girth detector (7), which includes a first distance sensor (701) and a second distance sensor (702) arranged on the displacement mechanism, and the first distance sensor (701) and the second distance sensor (702) are arranged opposite to each other to detect the diameter of the tree trunk; A position sensor (501), which is arranged on the walking mechanism (4) and moves synchronously with the walking mechanism (4). When the walking mechanism (4) travels to a specified position, the position sensor (501) is triggered and the tree girth detector (7) can detect the diameter of the tree trunk; A distance detector (13), which is arranged on the latex tapping device and moves synchronously with the latex tapping device, and the distance detector (13) is used to detect the distance between the latex tapping device and the tree surface; A background controller, which is used to receive the detection data of the tree girth detector (7) and the distance detector (13) and control the displacement mechanism to move the latex tapping device to a specified position; The displacement mechanism includes a rotary arm (9) that can semi-encircle one side of the tree trunk. The displacement mechanism further includes a lifting mechanism (6), a joint rotator (8) arranged on the lifting mechanism (6) and controlled by the lifting mechanism (6) to perform lifting actions, a rotary transmission mechanism (10) arranged on the rotary arm (9) and capable of moving along the rotary arm (9), and a depth control mechanism (11) arranged on the rotary transmission mechanism (10); the rotary arm (9) is arranged on the joint rotator (8) and is arc-shaped, and the joint rotator (8) can rotate the rotary arm (9) to semi-encircle one side of the tree trunk; The joint rotator (8) includes a rotation control motor (801), a rotating table (804) controlled by the rotation control motor (801) to rotate, and a fixing plate (802) that fixes the rotation control motor (801) and can move with the walking mechanism (4); the rotary arm (9) is fixed on the rotating table (804), and the rotary arm (9) can rotate with the rotating table (804); The swing arm (9) includes an arc-shaped guide rail part (901) and a toothed ring rail part (902), and the arc-shaped guide rail part (901) overlaps above the toothed ring rail part (902); the swing transmission mechanism (10) includes a rotary table (1003) connected to the depth control mechanism (11), a plurality of guide rollers (1006) that cooperate to clamp the arc-shaped guide rail part (901) and are supported below the rotary table (1003), a guide gear (1004) that meshes with the toothed ring rail part (902), and a swing motor (1001) that drives the guide gear (1004) to move the rotary table (1003) along the swing arm (9).

2. The displacement control system for multi-tree rubber tapping according to claim 1, wherein, the first distance sensor (701) and the second distance sensor (702) are respectively arranged at both ends of the swing arm (9), and the background controller calculates the tree trunk diameter and the offset according to the detection data of the two sensors and controls the moving distance of the rubber tapping device in the circumferential direction of the tree trunk in combination with the radian of the swing arm (9).

3. The displacement control system for multi-tree rubber tapping according to claim 1, wherein , the depth control mechanism (11) includes a radial slide rail (1107) arranged on the rotary table (1003) and parallel to the radial direction of the swing arm (9), a radial slider (1104) that slidably cooperates with the radial slide rail (1107), a lead screw nut (1105) fixed on the radial slider (1104) and connected to the rubber tapping device, a lead screw (1103) that cooperates to drive the lead screw nut to move, and a depth control motor (1101) that drives the lead screw (1103) to rotate.

4. The displacement control system for multi-tree rubber tapping according to claim 1, wherein , the lifting mechanism includes a first linear drive module (601), a connecting plate (602) and a second linear drive module (603). The first linear drive module (601) connects the second linear drive module (603) through the connecting plate (602) and controls the lifting of the second linear drive module (603); the second linear drive module (603) is connected to the joint rotator (8) and controls its lifting; vertical guide rails (606) and guide rail sliders (607) that can cooperate and slide are respectively arranged on the first linear drive module (601) and the second linear drive module (603).

5. The displacement control system for multi-tree rubber tapping according to claim 1, wherein , the rubber tapping device is a needle drill rubber tapping device (12), and the needle drill rubber tapping device (12) includes a drill bit for drilling the tree trunk, a quick chuck that can quickly disassemble and assemble drill bits of different diameters, a drilling motor (1201) that is connected to the quick chuck and rotates the drill bit, and a needle drill base (1206) that supports the drilling motor (1201); the needle drill base (1206) is fixed on the depth control mechanism (11) and is controlled by the depth control mechanism (11) to move along the radial direction of the tree trunk.

6. The displacement control system for multi-tree rubber tapping as claimed in claim 1 or 2, characterized in that, the rubber tapping device is a needle-type rubber tapping device (14), and the needle-type rubber tapping device (14) comprises a needle base (1402) arranged on the depth control mechanism (11), a guide post (1406) for radially punching holes in the tree strain, an energy storage spring (1407) arranged on the guide post (1406), a rack portion (1409) arranged on the guide post (1406) and used for moving the energy storage spring (1407) backward to store energy, a sector gear (1404) meshed with the rack portion (1409), and a needle-type motor (1401) for driving the sector gear (1404) to rotate.

7. The displacement control system for multi-tree rubber tapping as claimed in claim 1, characterized in that , the fixing frame (3) comprises an upper fixing bracket (301), a lower fixing bracket (303) and a support rod (302), the support rod (302) is connected between the upper fixing bracket (301) and the lower fixing bracket (303), and the upper fixing bracket (301) is fixedly surrounded on the tree strain by a plurality of tightening studs (304) on its inner side; the walking track (2) is fixed on one side of the fixing frame (3) and is in an I shape or an inverted T shape.

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