A rubber tapping robot control device

Abstract

The present invention discloses a control device for a rubber tapping robot, comprising a motion control mechanism, a motion positioning mechanism, an anti-theft detection device, a fault detection device, and a control system. The rubber tapping robot is fixed on a rubber tree through a track; an upper walking frame and a lower walking frame are connected to the track; a gear is connected to the control system through a motor; and the control system controls the motion control mechanism according to a pre-set program. The motion control mechanism, the anti-theft detection device, the fault detection device, and the control system are installed on a feed frame, and the control system controls the motor to drive the motion control mechanism to complete the cutting movement. The communication module in the anti-theft detection device can send the theft information of the rubber tapping robot to achieve the purpose of anti-theft. The present invention can greatly reduce the dependence of rubber tapping work on labor, reduce the labor cost of rubber tapping, and improve work efficiency.

Description

Technical Field

[0001] The invention mainly relates to the technical field of robots, and in particular to a rubber tapping robot control device. Background Art

[0002] The rubber industry is one of the important basic industries of my country's economy. In recent years, it has become more and more indispensable in people's daily lives. The main input of the rubber industry is in the tapping process after the rubber trees are put into production. The input of tapping alone accounts for 50% of the total input. In particular, due to the hard work of tapping, the number of practitioners has decreased sharply in recent years, which has hindered the development of the rubber industry. There are many tapping robots in the domestic and foreign markets, but this problem has not been well solved, and the dependence on manual labor is still very strong. With the continuous development of computer technology and robotics technology, the development of an intelligent and practical new tapping robot has become an urgent problem to be solved. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a rubber tapping robot control device with a simple structure, which improves the accuracy of rubber tapping, is easy to operate, highly automated, and has anti-theft and remote control functions, thereby maximally liberating manpower and improving work efficiency.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a rubber tapping robot control device, which includes a motion control mechanism, a motion positioning mechanism, an anti-theft detection device, a fault detection device, and a control system.

[0005] Furthermore, the motion control mechanism includes a motion trajectory control mechanism, a tool holder clamp motion control mechanism and a fixed descent stroke control mechanism; its main feature is that the power of the motion trajectory control mechanism, the tool holder clamp motion control mechanism and the fixed descent stroke control mechanism are all provided by a motor through gears and mechanisms.

[0006] Furthermore, the motion positioning mechanism includes a square bar or a lead screw magnet longitudinally connecting the upper walking frame and the lower walking frame, a magnetic block and a Hall detection circuit. Its main feature is that the magnetic signal on the track is transmitted to the Hall detection circuit fixed on the feed frame through the square bar or the lead screw magnet without wires.

[0007] Furthermore, the anti-theft detection device includes a ring tree metal wire as an anti-theft sensitive element. When the ring tree metal wire is in a normal ring tree state, the anti-theft detection circuit state outputs a low level; when the robot is stolen, the ring tree metal wire is forced to disconnect, and the anti-theft detection circuit output state is reversed and outputs a high level; when theft occurs, the controller pushes the stolen information to the administrator's mobile phone through the wireless communication module.

[0008] Furthermore, the control system utilizes a pre-set program to drive the action control mechanism through a motor; the control system includes an embedded system, a communication module, a motor drive module, a power supply and a motor.

[0009] Furthermore, the tool holder clamp motion control mechanism includes a slider composed of a driving gear, a rebound spring, a fixed tooth part and a rotating tooth part with a return torsion spring; the rotating tooth part is provided with an opening slot, and the opening slot is linked with the pin on the slider to complete the action of inserting and pulling out the pin from the limit block area, thereby completing the function of locking and releasing the slider; the rotating tooth part has the function of driving and disengaging the driving gear and the slider; the opening slot drives the tool holder connecting rod to drive the tool holder rod through the tool holder connecting rod torsion spring during the movement of the slider, thereby completing the action of folding and lowering the rubber tapping knife.

[0010] Furthermore, the fixed descending stroke control is completed by the action of the pawl seat, pawl fixed on the track and the indexing ratchet fixed on the screw; the screw locking is completed by the action of the indexing locking claw, spring and corresponding indexing locking wheel. Its main feature is that the mechanism installed on the track and the mechanism fixed on the screw produce a fixed angle rotation of the screw.

[0011] Furthermore, when the square bar or lead screw magnet moves above or below the magnetic block, the square bar or lead screw magnet generates strong magnetic coupling with the upper and lower magnetic blocks, and a closed strong magnetic field is generated inside the square bar or lead screw magnet and the upper and lower magnetic blocks. The motion positioning is achieved by outputting a switching signal through the Hall sensor close to the square bar or lead screw magnet; when the square bar or lead screw magnet is not above the upper and lower magnetic blocks, the closed magnetic field generated inside the square bar or lead screw magnet and the upper and lower magnetic blocks is weakened, and the output state of the Hall sensor will flip.

[0012] Furthermore, the fault diagnosis device includes a fault detection module and a cloud analysis algorithm. The fault detection module includes a shunt, a sampling resistor and a signal amplifier; wherein the current signal of the robot motor is obtained through the shunt, and is sent to the AD converter of the robot control device after passing through the sampling resistor and the signal amplifier, and the real-time current signal of the robot motor is sent to the cloud terminal, and the fault state of the rubber tapping robot is diagnosed through the cloud terminal data fusion algorithm, and displayed on the user terminal in the form of visual data. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is the overall structural diagram of the rubber tapping robot control device;

[0014] Figure 2 It is a structural schematic diagram of a fixed descending stroke control mechanism in a rubber tapping robot control device;

[0015] Figure 3 It is a schematic diagram of the structure of the knife holder clamp motion control mechanism in the rubber tapping robot control device;

[0016] Figure 4 This is a schematic diagram of the anti-theft principle in the rubber tapping robot control device;

[0017] Figure 5 It is the control system block diagram;

[0018] In the figure: 1. magnetic block, 2. track, 3. upper traveling frame, 4. lead screw, 5. square bar, 6. ring tree metal wire, 7. stable square tube, 8. feed frame, 9. lower traveling frame, 10. spring, 11. indexing locking claw, 12. indexing locking wheel, 13. indexing ratchet, 14. pawl, 15. torsion spring, 16. pawl seat, 17. opening slot, 18. slide block, 19 rebound block, 20. rebound spring, 21. rotating gear, 22. return torsion spring, 23. rotating gear top tooth, 24. latch, 25. fixed tooth, 26. limit block, 27. tool holder connecting rod, 28. driving gear, 29. tool holder connecting rod torsion spring, 30. tool holder rod rotating shaft, 31. tool holder rod, 32. comparator, 33. embedded system, 34. alarm. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0021] like Figure 1 As shown, the present invention provides a rubber tapping robot control device, which includes a motion control mechanism, a motion positioning mechanism, an anti-theft detection device, a fault diagnosis device, and a control system. The rubber tapping robot of the present invention is fixed on a rubber tree through a track 2; the upper walking frame 3 and the lower walking frame 9 are connected to the track 2, and the gears are connected to the control system through a motor, and the control system controls the motion control mechanism according to a pre-set program. The motion control mechanism, the anti-theft detection device, and the control system are installed on the feed frame 8, and the control system controls the motor to drive the motion control mechanism to complete the cutting movement.

[0022] like Figure 1Preferably, the motion trajectory control mechanism includes a track 2, an upper walking frame 3 and a lower walking frame 9, a square bar 5 or a lead screw 4 magnet, a magnetic block 1, and a Hall detection circuit, which mainly forms a variable magnetic circuit through the square bar 5 or the lead screw 4 magnet and the magnetic block 1. When the square bar 5 or the lead screw 4 magnet moves above or below the magnetic block 1, the square bar 5 or the lead screw 4 magnet and the upper and lower magnetic blocks 1 generate strong magnetic coupling. At this time, the magnetic circuit generates a closed strong magnetic field with the upper and lower magnetic blocks 1 inside the square bar 5 or the lead screw 4 magnet, and the Hall sensor close to the square bar 5 or the lead screw 4 magnet outputs a switching signal to achieve motion positioning; when the square bar 5 or the lead screw 4 magnet is not above the magnetic block 1, the magnetic circuit generates a closed magnetic field weakened with the left and right magnetic blocks 1 inside the square bar 5 or the lead screw 4 magnet, and the output state of the Hall sensor will flip. The magnetic signal on the circular track 2 is transmitted to the Hall detection circuit fixed on the feed frame 8 without wires, thereby reducing the wire connection on the device and effectively preventing the wire from interfering with the movement of the device.

[0023] like Figure 2 Preferably, the pawl seat 16 of the fixed descending stroke mechanism is fixed on the track 2, and the pawl 14 is fixed on the pawl seat 16; the indexing locking wheel 12 is fixed on the screw 4; the indexing locking claw 11 and the spring 10 are fixed on the walking frame 3. Its main feature is that the track mechanism and the screw mechanism act to produce a fixed angle rotation of the screw.

[0024] like Figure 3 Preferably, the driving gear 28 is meshed with the fixed teeth 25 on the slider 18 and the top teeth 23 on the rotating toothed member 21 with a return torsion spring 22; the rotating toothed member 21 is provided with an opening slot 17, and the latch 24 moves in the opening slot 17 to complete the action of inserting and removing the latch 24 from the limit block 26, thereby completing the function of locking and releasing the slider 18; the rotating toothed member 21 has the function of driving and disengaging the driving gear 28 and the slider 18; the slider 18 drives the tool holder connecting rod 27 to drive the tool holder rod 31 through the tool holder connecting rod torsion spring 29 to complete the action of folding and putting down the rubber tapping knife.

[0025] like Figure 4 The anti-theft detection device includes a ring tree metal wire 6 and a comparator 32. The circuit disconnection is used as the working signal of the alarm. When the circuit is disconnected by malicious damage, the alarm program can be triggered, and the real-time location of the alarm device can be sent to a remote personal device to achieve the anti-theft function.

[0026] like Figure 5Preferably, the control system includes an embedded system 33, a motor drive module, a communication module, a power supply and a motor. The power supply supplies power to the control system, and the embedded system 33 controls the motor drive module to drive the motor to move according to a pre-set program and a signal input by a sensor receiving device, thereby causing the upper walking frame 3 and the lower walking frame 9 to reciprocate on the track 2 in a specified area.

[0027] like Figure 5 Preferably, the fault detection device can monitor the state of the current and voltage inside the control system, thereby detecting the working state inside the rubber tapping robot. At the same time, the current and voltage data are uploaded to the cloud algorithm for analysis and processing to determine the type of fault, and the communication module sends an alarm message to the remote device, thereby realizing the fault detection and alarm function of the robot.

[0028] After the control system is powered on, the motor is driven according to the preset program and the signal input by the magnetic block 1 to move the upper walking frame 3 and the lower walking frame 9 to the origin position of the track, and at the same time, the feed frame 8 is driven to return to the origin along the square bar 5 and the lead screw 4 in the up and down movement direction. The arc motion and the up and down motion simultaneously reach the pre-set magnetic block 1 at the other end at the preset speed and stop. When reaching the limit position, it automatically stops and returns to the starting point. The combination of the arc motion and the up and down motion forms a cutting trajectory line. At the same time, the anti-theft detection device in the control system can prevent the equipment from being maliciously disassembled, and the fault detection device can monitor the current and voltage status of the equipment when it is working and use it to analyze whether a fault occurs, and at the same time send the above information to the remote personal device through the communication module in the control system.

[0029] In the above embodiments, the present invention can also be networked and operated on a large scale through the communication module in the control system, and the cutting function can be started in batches. By sending instructions remotely to the existing control system, when the rubber tapping robot leaves the preset working area, the communication module can trigger the alarm device and send the stolen information to the mobile device of the remote user to realize the anti-theft function. In this way, the rubber tapping robots in an area can tap rubber at the same time without the need for a large number of people to be present, and can work in a reciprocating manner.

[0030] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A rubber tapping robot control device, comprising a motion control mechanism, a motion positioning mechanism, an anti-theft detection device, a fault detection device, and a control system; characterized in that: The motion control mechanism comprises a motion trajectory control mechanism, a tool holder clamp motion control mechanism and a fixed descending stroke control mechanism; the motion positioning mechanism comprises a bar longitudinally connecting an upper traveling frame (3) and a lower traveling frame (9), a magnetic block (1) and a Hall detection circuit; the anti-theft detection device comprises a ring tree metal wire (6) and an anti-theft detection circuit inside a controller; the control system utilizes a pre-set program to drive the motion control mechanism through a motor; Wherein, the rod is a square rod (5) and / or a lead screw (4), and the rod is a magnetic conductor; The power of the motion trajectory control mechanism, the tool holder clamp motion control mechanism and the fixed descending stroke control mechanism is provided by a motor through gears and mechanisms; The control system includes an embedded system (33), a communication module, a motor drive module, a power supply and a motor.

2. A rubber tapping robot control device according to claim 1, characterized in that: The motion positioning mechanism comprises a rod longitudinally connecting an upper traveling frame (3) and a lower traveling frame (9), a magnetic block (1) and a Hall detection circuit, and its main feature is that a magnetic signal on a track (2) is transmitted to a Hall detection circuit fixed on a feed frame (8) through the rod.

3. A rubber tapping robot control device according to claim 1, characterized in that: The anti-theft detection device comprises a ring tree metal wire (6) as an anti-theft sensitive element. When the ring tree metal wire (6) is in a normal ring tree state, the anti-theft detection circuit outputs a low level. When the rubber tapping robot is stolen, the ring tree metal wire (6) is forced to disconnect, and the anti-theft detection circuit output state is reversed and outputs a high level. When theft occurs, the controller pushes the stolen information to the administrator's mobile phone through the wireless communication module.

4. A rubber tapping robot control device according to claim 1, characterized in that: The tool holder clamp motion control mechanism comprises a slider (18) composed of a driving gear (28), a rebound spring (20), a fixed tooth (25) and a rotating tooth (21) with a return torsion spring (22); the rotating tooth (21) is provided with an opening slot (17), the opening slot (17) and the latch (24) on the slider (18) are linked to complete the action of inserting and removing the latch (24) from the limit block (26) area, thereby completing the function of locking and releasing the slider (18); the rotating tooth (21) has the function of driving and disengaging the driving gear (28) and the slider (18).

5. A rubber tapping robot control device according to claim 1, characterized in that: The fixed descending stroke control is achieved by the action of a pawl seat (16) fixed on the track (2), a pawl (14) and a graduated ratchet wheel (13) fixed on the lead screw (4); the lead screw (4) is locked by the action of a graduated locking claw (11), a spring (10) and a corresponding graduated locking wheel (12). The main feature is that the action of a mechanism installed on the track (2) and a mechanism fixed on the lead screw (4) causes the lead screw (4) to rotate at a fixed angle.

6. A rubber tapping robot control device according to claim 3, characterized in that: When the square bar (5) or the lead screw (4) moves to the upper or lower side of the magnetic block (1), the square bar (5) or the lead screw (4) generates strong magnetic coupling with the upper and lower magnetic blocks (1), and generates a closed strong magnetic field inside the square bar (5) or the lead screw (4) and the upper and lower magnetic blocks (1). The Hall sensor close to the square bar (5) or the lead screw (4) outputs a switch signal to achieve motion positioning. When the square bar (5) or the lead screw (4) is not above the upper and lower magnetic blocks (1), the closed magnetic field generated inside the square bar (5) or the lead screw (4) and the upper and lower magnetic blocks (1) is weakened, and the output state of the Hall sensor is reversed.

7. A rubber tapping robot control device according to claim 1, characterized in that: The fault detection device includes a fault detection module and a cloud analysis algorithm; the fault detection module includes a shunt, a sampling resistor and a signal amplifier; the current signal of the robot motor is obtained through the shunt, and is sent to the AD converter of the robot control device after passing through the sampling resistor and the signal amplifier, and the real-time current signal of the robot motor is sent to the cloud terminal. Through the cloud terminal data fusion algorithm, the fault state of the rubber tapping robot is diagnosed and displayed on the user terminal in the form of visual data.

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