Automatic natural rubber tapping machine with a cleanable tapping knife head

Abstract

The present invention relates to the technical field of agricultural machinery, and particularly to an automatic natural rubber tapping machine capable of cleaning a tapping knife head. The tapping assembly therein includes a wheel shaft fixing mechanism, a gear transmission mechanism, a depth limiting mechanism, a tapping mechanism, and a blade cleaning mechanism; the tapping mechanism is installed on the depth limiting mechanism to adjust the cutting depth, and the gear transmission mechanism drives the depth limiting mechanism and the tapping mechanism to move circumferentially along the rubber tree to be tapped and complete the tapping operation; the blade cleaning mechanism is installed on a fixing frame, and the gear transmission mechanism places the wheel shaft fixing mechanism, the depth limiting mechanism, and the tapping mechanism inside the blade cleaning mechanism, so that the gear transmission mechanism drives the depth limiting mechanism and the tapping mechanism to turn inside the blade cleaning mechanism. The blade cleaning mechanism quickly disinfects and cleans the tapping blade after the tapping mechanism completes a single tapping, avoiding cross-infection of rubber tree diseases and increasing the rubber yield of rubber trees.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and particularly to an automatic natural rubber tapping machine with a cleanable tapping knife head. Background Art

[0002] Natural rubber is an important industrial raw material and strategic resource, which is widely used in many fields such as industry, agriculture, transportation, machinery manufacturing, medicine and health, and daily life, and the consumption demand shows an increasing trend year by year. At present, the rubber tapping process in most rubber plantations still relies heavily on manual labor. The rubber tapping cost accounts for about 70% of the total rubber plantation management cost. At the same time, manual rubber tapping has high technical requirements for rubber tappers, with high labor intensity and low efficiency. Coupled with the decreasing number of rubber tappers, the intelligent and automatic rubber tapping technology is becoming more and more urgent.

[0003] Therefore, various rubber plantations have mostly carried out automatic rubber tapping technology to replace manual rubber tapping operations. Among them, the "one machine for one tree" and "one machine for multiple trees" models are the most studied rubber tapping technologies at present, and the "one machine for multiple trees" model is also the most promising automatic rubber tapping technology at the present stage. "One machine for multiple trees" means that a rubber tapping component is set on the working end of a self - movable rubber tapping robot. After the rubber tapping robot moves to the position of the target rubber tree, by identifying the identification plate on the tree, etc., it retrieves the tapping position or identifies the tapping track on the tree trunk through establishing a database, automatically calculates the initial tapping point and the tapping path line for this time, and then carries out the rubber tapping operation.

[0004] However, the "one machine for multiple trees" model also has some disadvantages. Currently, it generally mounts a robotic arm and suspends a single rubber tapping component, resulting in a high overall machine cost; and during the rubber tapping process, the rubber tapping component is constantly affected by the changing reaction force of the tree bark, which is likely to cause the instability of the rubber tapping component, and then lead to inaccurate cutting of the tree bark. At the same time, natural rubber trees are prone to diseases such as anthracnose, powdery mildew and root diseases, which harm the leaves and bark of natural rubber trees, causing problems such as postponed rubber tapping time and reduced latex production. Currently, during manual rubber tapping and "one machine for multiple trees" rubber tapping, only a single rubber tapping knife is used to carry out the rubber tapping operation on the rubber trees in the entire rubber forest, resulting in the inner bark of multiple different rubber trees being in close contact with the blade of the same rubber tapping knife, and it is extremely easy to spread rubber tree diseases through the rubber tapping blade, causing cross - infection to the natural rubber trees in the entire rubber forest. Summary of the Invention

[0005] In order to solve the above problems, the present invention provides an automatic natural rubber tapping machine with a cleanable tapping knife head, which realizes tree - adhering profiling and precise control of the tapping depth during rubber tapping. While realizing the "one machine for multiple trees" rubber tapping mode, after each single rubber tapping operation is completed, the rubber tapping blade is cleaned and disinfected, effectively avoiding the spread of rubber tree diseases through the rubber tapping blade, and thus preventing the occurrence of cross - infection problems to the natural rubber trees in the entire rubber forest.

[0006] The automatic natural rubber tapping machine with a cleanable tapping cutter head provided by the present invention comprises a mobile chassis, an external support, a sliding guide rail, a fixing frame and a tapping assembly. Among them, the external support is installed on the mobile chassis, the sliding guide rail is installed inside the external support, and the tapping assembly is installed on the sliding guide rail through the fixing frame, so that the sliding guide rail drives the tapping assembly to move in three-dimensional directions. The tapping assembly includes a wheel shaft fixing mechanism, a gear transmission mechanism, a depth limiting mechanism, a tapping mechanism and a blade cleaning mechanism. The gear transmission mechanism is installed on the fixing frame, and the depth limiting mechanism is installed on the gear transmission mechanism through the wheel shaft fixing mechanism, so that the gear transmission mechanism drives the depth limiting mechanism to move circumferentially along the rubber tree to be tapped. The tapping mechanism is installed on the depth limiting mechanism, so that the depth limiting mechanism controls the cutting depth of the tapping mechanism. The blade cleaning mechanism is installed on the fixing frame, and the gear transmission mechanism places the wheel shaft fixing mechanism, the depth limiting mechanism and the tapping mechanism inside the blade cleaning mechanism, so that the gear transmission mechanism drives the depth limiting mechanism and the tapping mechanism to turn inside the blade cleaning mechanism, and the blade cleaning mechanism disinfects and cleans the tapping mechanism.

[0007] Furthermore, the tapping mechanism includes a tool connecting piece, a blade fixing seat, a buffer spring, a tapping blade, a depth control piece, a vertical waterproof baffle and a multi-purpose distance measuring module. Among them, the tool connecting piece is installed on the depth limiting mechanism through bolts; the blade fixing seat is connected to the tool connecting piece through a pin, so that the tool connecting piece swings horizontally on the blade fixing seat, and the relative position between the blade fixing seat and the tool connecting piece is adjusted through the buffer spring; the tapping blade and the depth control piece are installed on the blade fixing seat; the vertical waterproof baffle is located on one side of the tool connecting piece close to the depth limiting mechanism, and is used to block the depth limiting mechanism during the cleaning and disinfection process of the blade cleaning mechanism; the multi-purpose distance measuring module is fixed at the top of the vertical waterproof baffle, and is used to measure the distance between the tapping blade and the rubber tree to be tapped, and to detect the positioning point of the tapping blade in the blade cleaning mechanism.

[0008] Furthermore, a film for preventing the disinfection liquid from getting wet is laid on the surface of the multi-purpose distance measuring module; a chute is opened on the blade fixing seat, which cooperates with the locking bolt on the depth control piece to install the depth control piece on the blade fixing seat, and the extension amount of the tapping blade is adjusted by sliding and rotating the locking bolt, so as to adjust the tapping depth of the tapping blade.

[0009] Further, the depth-limiting mechanism includes a servo support frame and a depth-limiting slide rail. The depth-limiting slide rail and the servo support frame are both fixed on the axle fixing mechanism. The two ends of the depth-limiting slide rail are respectively provided with a front slider back plate and a rear slider back plate. A U-shaped part is provided on the front slider back plate, and the U-shaped part is bolted to the tool connecting part. An L-shaped part is provided on the rear slider back plate. One end of the depth-limiting spring is threadedly connected to the U-shaped part through a long bolt, and the other end of the depth-limiting spring is inserted into the narrow surface round hole of the L-shaped part through a long bolt, so that the depth-limiting spring drives the front slider back plate and the rear slider back plate to slide simultaneously on the depth-limiting slide rail. A 180-degree servo is installed on the servo support frame. The output end of the 180-degree servo is provided with a depth-limiting gear connected by a depth-limiting servo disc. The depth-limiting gear is meshed and connected with a rack fixed on the side of the rear slider back plate, so that the 180-degree servo drives the rack to move forward and backward through the depth-limiting gear, and further enables the rear slider back plate to drive the front slider back plate to extend or retract under the action of the depth-limiting spring.

[0010] Further, the axle fixing mechanism includes an axle fixing plate and a module mounting base. The axle fixing plate is installed on the gear transmission mechanism, and waterproof plates are added on both sides of the axle fixing plate. The depth-limiting slide rail and the servo support frame are installed on the axle fixing plate, and the moving direction of the depth-limiting slide rail is consistent with the length direction of the axle fixing plate. The module mounting base is installed at one end of the axle fixing plate close to the front slider back plate, and a profiling ranging module is installed on the module mounting base. The profiling ranging module is used to measure the distance between the rubber tapping assembly and the rubber tree to be tapped in real time. An internal waterproof shell is installed on the periphery of the depth-limiting mechanism. The internal waterproof shell is used to protect the depth-limiting mechanism, and a control circuit board and a battery are provided at the top of the internal waterproof shell. The control circuit board is electrically connected to the multi-purpose ranging module, the 180-degree servo and the profiling ranging module, and is used to receive and transmit the distance information collected by the multi-purpose ranging module and the profiling ranging module, and control the rotation of the 180-degree servo. The battery is electrically connected to the control circuit board to provide power.

[0011] Further, the gear transmission mechanism includes a first gear, a second gear, a 360-degree servo, a servo mounting seat and a gear transmission base. The gear transmission base and the servo mounting seat are both installed on the fixing frame. The top of the first gear is provided with a protruding circular platform for placing the axle fixing plate and avoiding direct contact between the axle fixing plate and the first gear. The bottom of the first gear is connected to the gear transmission base through a gear shaft, and a gear bearing matching the gear shaft is installed between the first gear and the gear shaft. The second gear meshes with the first gear and is installed on the output end of the 360-degree servo through a rotating servo disc. The 360-degree servo is installed on the servo mounting seat to ensure that the second gear and the first gear are at the same height.

[0012] Furthermore, the blade cleaning mechanism includes a waterproof isolation housing, a cleaning nozzle, a disinfection nozzle, a brush assembly, a liquid storage tank, and an identification camera. The waterproof isolation housing is fixed on the fixing frame and is located around the gear transmission mechanism, the wheel axle fixing mechanism, the depth limiting mechanism, and the rubber tapping mechanism. The liquid storage tank and the identification camera are fixed on the top of the waterproof isolation housing. The liquid storage tank has areas for storing pure water and disinfectant respectively. The identification camera is installed on the top of the waterproof isolation housing through a camera fixing plate and is used to detect the cleaning condition of the rubber tapping blade and obtain the initial rubber tapping position of the rubber tapping blade. Inside the waterproof isolation housing, there is a water isolation plate for dividing the cleaning area and the disinfection area, and the water isolation plate is connected to a ratchet structure installed on the top of the waterproof isolation housing. After the rubber tapping blade pushes the water isolation plate from the cleaning area into the disinfection area, the ratchet structure drives the water isolation plate to reset. In the cleaning area, the cleaning nozzle is embedded in the top plate and the side wall of the waterproof isolation housing and is connected to the area storing pure water in the liquid storage tank through a hose, so that the cleaning nozzle sprays the pure water provided by the liquid storage tank into the cleaning area. In the disinfection area, the disinfection nozzle is embedded in the top plate of the waterproof isolation housing, and a warm air fan and a brush assembly are installed inside the waterproof isolation housing. The brush assembly is close to the water isolation plate, and the warm air fan is connected to a ventilation duct opened on the side wall of the isolation housing. The rubber tapping blade sequentially passes through the brush assembly and the disinfection nozzle to complete the wiping operation and the disinfection operation according to the positioning points detected by the multi-purpose distance measuring module, and then the warm air fan completes the drying operation.

[0013] A cleaning positioning point and a disinfection positioning point are respectively provided in the cleaning area and the disinfection area for the multi-purpose distance measuring module to detect and monitor the position of the rubber tapping blade in the waterproof isolation housing and the cleaning operation.

[0014] Furthermore, the fixing frame includes a fixing base and fixing side plates. The fixing base is installed on the sliding guide through the fixing side plates, and the gear transmission base, the servo motor mounting base, and the waterproof isolation housing are all fixed on the fixing base.

[0015] Further, the sliding guide rails include an X-axis sliding guide rail, a Y-axis sliding guide rail, and a Z-axis sliding guide rail. Among them, the Y-axis sliding guide rail is laid at the bottom of the external bracket, and the moving direction of the Y-axis moving slider that cooperates with the Y-axis sliding guide rail is the same as the moving direction of the moving chassis. The Z-axis sliding guide rail is vertically fixed on the Y-axis moving slider through a right-angle connecting plate, so that the Y-axis moving slider drives the Z-axis sliding guide rail to move along the Y-axis sliding guide rail. The X-axis moving slider that cooperates with the X-axis sliding guide rail is fixed on the Z-axis moving slider that cooperates with the Z-axis sliding guide rail through a flat connecting plate, and the fixed side plate is installed at one end of the X-axis sliding guide rail. The X-axis sliding guide rail and the X-axis moving slider move relative to each other, so that the fixed side plate drives the rubber tapping assembly to approach the rubber tree to be tapped. An X-axis limit switch and an X-axis laser rangefinder are provided on the X-axis sliding guide rail, which are respectively used to set the initial position and the moving distance of the rubber tapping assembly along the X-axis sliding guide rail. A Y-axis limit switch and a Y-axis laser rangefinder are provided on the Y-axis sliding guide rail, which are respectively used to set the initial position and the moving distance of the rubber tapping assembly along the Y-axis sliding guide rail. A Z-axis limit switch and a Z-axis laser rangefinder are provided on the Z-axis sliding guide rail, which are respectively used to set the initial position and the moving distance of the rubber tapping assembly along the Z-axis sliding guide rail.

[0016] Further, the external bracket is built with aluminum section steel as the frame and fixed on the moving chassis. The drive motors of the X-axis sliding guide rail, the Y-axis sliding guide rail, and the Z-axis sliding guide rail are installed on the external bracket. An infrared sensor for collecting position information is provided on the top cross bar of the external bracket, and it cooperates with the industrial control computer installed on the external bracket to draw a map of the rubber forest. The industrial control computer controls the X-axis sliding guide rail, the Y-axis sliding guide rail, and the Z-axis sliding guide rail to adjust the position of the rubber tapping assembly according to the initial tapping point provided by the recognition camera. Two clamping devices are respectively provided on the upper and lower long rods of the external bracket close to the rubber tree to be tapped, which are used to reduce the shaking of the rubber tree to be tapped caused by the tapping operation. And the inner arc wall of each clamping device is laid with no less than two layers of raised elastic circular blocks, which are used to closely adhere to the rubber tree to be tapped and increase the friction between the clamping device and the rubber tree to be tapped. A whole machine battery for providing power to the natural rubber automatic tapping machine is installed at the bottom of the external bracket. An auxiliary sliding rail is erected on the top cross bar of the external bracket, and the top end of the Z-axis sliding guide rail is connected to the slider on the auxiliary sliding rail through a triangular connecting piece, so that the auxiliary sliding rail stabilizes the Z-axis sliding guide rail.

[0017] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0018] 1) The automatic tapping machine provided by the present invention has a tapping mode and a blade cleaning mode, can realize the whole-process automatic tapping operation in a large-area rubber forest, and can quickly disinfect and clean the tapping blade after a single tapping, avoiding cross-infection of rubber tree diseases and improving the rubber yield and economic life of rubber trees.

[0019] 2) A depth-limiting mechanism and a rubber tapping mechanism that follow a gear transmission mechanism to achieve tree-following profiling rotation are provided, which can avoid the low rubber tapping efficiency caused by the structure not being closely attached to the tree or being too closely attached, and improve the rubber tapping efficiency of the device;

[0020] 3) An identification camera is provided on the top of the waterproof isolation housing, which analyzes the conventional rubber tapping trajectory line in the rubber tapping mode and detects the cleaning condition of the rubber tapping blade in the blade cleaning mode. Description of the Drawings

[0021] Figure 1 is a three-dimensional structural schematic diagram of an automatic natural rubber tapping machine with a cleanable rubber tapping cutter head according to an embodiment of the present invention;

[0022] Figure 2 is an enlarged schematic diagram of a partial structure of an external support according to an embodiment of the present invention;

[0023] Figure 3 is an enlarged schematic diagram of a partial structure of an external support according to an embodiment of the present invention;

[0024] Figure 4 is a three-dimensional structural schematic diagram of an X-axis sliding guide according to an embodiment of the present invention;

[0025] Figure 5 is a three-dimensional structural schematic diagram of a rubber tapping assembly according to an embodiment of the present invention;

[0026] Figure 6 is an internal structural schematic diagram of a gear transmission mechanism according to an embodiment of the present invention;

[0027] Figure 7 is a three-dimensional structural schematic diagram of a blade cleaning mechanism according to an embodiment of the present invention;

[0028] Figure 8 is a combined structural schematic diagram of a depth-limiting mechanism and a wheel axle fixing mechanism according to an embodiment of the present invention;

[0029] Figure 9 is a three-dimensional structural schematic diagram of a rubber tapping mechanism according to an embodiment of the present invention.

[0030] Reference Numerals:

[0031] Mobile chassis 1, external support 2, clamping device 3, infrared sensor 4, drive motor 5, industrial control computer 6, whole machine battery 7, X-axis sliding guide rail 8, X-axis limit switch 9, X-axis laser rangefinder 10, Y-axis sliding guide rail 11, Y-axis limit switch 12, Y-axis laser rangefinder 13, Z-axis sliding guide rail 14, Z-axis limit switch 15, Z-axis laser rangefinder 16, right-angle connecting plate 17, plane connecting plate 18, auxiliary sliding rail 19, fixed base 20, fixed side plate 21, rubber tapping assembly 22, gear transmission mechanism 23, first gear 24, rotating servo disc 25, 360-degree servo 26, servo mounting seat 27, second gear 28, gear shaft 29, gear transmission base 30, blade cleaning mechanism 31, waterproof isolation housing 32, cleaning nozzle 33, water separation plate 34, ratchet structure 35, brush assembly 36, disinfection nozzle 37, warm air fan 38, liquid storage tank 39, camera fixing plate 40, recognition camera 41, wheel axle fixing mechanism 42, waterproof plate 43, profiling rangefinder module 44, module mounting base 45, wheel axle fixing plate 46, depth limiting mechanism 47, servo support frame 48, depth limiting sliding rail 49, front slider back plate 50, U-shaped part 51, rear slider back plate 52, L-shaped part 53, rack 54, long bolt 55, depth limiting spring 56, depth limiting servo disc 57, depth limiting gear 58, 180-degree servo 59, internal waterproof housing 60, control circuit board 61, battery 62, rubber tapping mechanism 63, tool connecting piece 64, blade fixing seat 65, buffer spring 66, rubber tapping blade 67, depth control piece 68, vertical waterproof baffle 69, multi-purpose rangefinder module 70. Detailed implementation manners

[0032] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation to the present invention.

[0033] The automatic natural rubber tapping machine with a cleanable rubber tapping cutter head provided by the present invention has a rubber tapping mode and a blade cleaning mode while completing the rubber tapping work of "one machine for multiple trees", realizing rapid cleaning of the rubber tapping blade after a single rubber tapping, and avoiding cross-infection of rubber tree diseases; moreover, the depth limiting mechanism and the rubber tapping mechanism can realize tree-following profiling rotation, avoiding low rubber tapping efficiency caused by the structure not being closely attached to the tree or being too closely attached to the tree, and improving the rubber tapping efficiency of the device.

[0034] Figure 1 The three-dimensional structure of the automatic natural rubber tapping machine with a cleanable rubber tapping cutter head provided by an embodiment of the present invention is shown, Figure 2 and Figure 3 The partial structure of the external support provided by an embodiment of the present invention is shown, Figure 4 The three-dimensional structure of the X-axis sliding guide rail provided by an embodiment of the present invention is shown.

[0035] As Figures 1 to 4 shown in the figure, the automatic natural rubber tapping machine with a cleanable tapping cutter head provided by the embodiment of the present invention includes a moving chassis 1, an external bracket 2, a sliding guide rail, a fixing bracket, and a tapping assembly 22.

[0036] Among them, the external bracket 2 is installed on the moving chassis 1, the sliding guide rail is installed inside the external bracket 2, and the tapping assembly 22 is installed on the sliding guide rail through the fixing bracket, so that the sliding guide rail drives the tapping assembly 22 to move in three-dimensional directions.

[0037] In the embodiment of the present invention, the external bracket 2 is composed of nine 3030 aluminum alloy steels of 300 mm and nine 3030 aluminum alloy steels of 1000 mm, and is fixed on the moving chassis 1.

[0038] The driving motor 5 of the sliding guide rail is installed on the external bracket 2. An infrared sensor 4 for collecting position information is provided on the top cross bar of the external bracket 2, and cooperates with the industrial control computer 6 installed on the external bracket 2 to draw a map of the rubber forest. The industrial control computer 6 calculates and plans the tapping route of the tapping assembly 22 according to the initial tapping point, and controls the sliding guide rail to adjust the position of the tapping assembly 22 through the driving motor 5. A whole machine battery 7 for supplying power to the automatic natural rubber tapping machine is installed at the bottom of the external bracket 2.

[0039] On the upper and lower two long rods of the external bracket 2 close to the rubber tree to be tapped, two clamping devices 3 are respectively provided, which are used to reduce the shaking of the rubber tree to be tapped caused by the tapping operation, and the inner arc wall of each clamping device 3 is paved with no less than two layers of raised elastic circular blocks, which are used to closely adhere to the rubber tree to be tapped and increase the friction between the clamping device 3 and the rubber tree to be tapped.

[0040] The sliding guide rail includes an X-axis sliding guide rail 8, a Y-axis sliding guide rail 11, and a Z-axis sliding guide rail 14. Among them, the Y-axis sliding guide rail 11 is laid at the bottom of the external bracket 2, and the movement direction of the Y-axis moving slider cooperating with the Y-axis sliding guide rail 11 is the same as the movement direction of the moving chassis 1. A Y-axis limit switch 12 and a Y-axis laser rangefinder 13 are provided on the Y-axis sliding guide rail 11, which are respectively used to set the initial position and the moving distance of the tapping assembly along the Y-axis sliding guide rail 11.

[0041] The Z-axis sliding guide rail 14 is vertically fixed on the Y-axis moving slider through a right-angle connecting plate 17, so that the Y-axis moving slider drives the Z-axis sliding guide rail 14 to move along the Y-axis sliding guide rail 11. A Z-axis limit switch 15 and a Z-axis laser rangefinder 16 are provided on the Z-axis sliding guide rail 14, which are respectively used to set the initial position and the moving distance of the rubber tapping assembly 22 along the Z-axis sliding guide rail 14. The top end of the Z-axis sliding guide rail 14 is connected to the slider on the auxiliary sliding rail 19 erected on the top cross bar of the external support 2 through a triangular connecting piece, so that the auxiliary sliding rail 19 assists the Z-axis sliding guide rail 14 during the stable operation.

[0042] The X-axis moving slider cooperating with the X-axis sliding guide rail 8 is fixed on the Z-axis moving slider cooperating with the Z-axis sliding guide rail 14 through a flat connecting plate 18, and the fixing frame is installed at one end of the X-axis sliding guide rail 8. The X-axis sliding guide rail 8 and the X-axis moving slider move relative to each other, so that the fixing frame drives the rubber tapping assembly 22 to approach and contact the rubber tree to be tapped. An X-axis limit switch 9 and an X-axis laser rangefinder 10 are provided on the X-axis sliding guide rail 8, which are respectively used to set the initial position and the moving distance of the rubber tapping assembly along the X-axis sliding guide rail.

[0043] The fixing frame includes a fixing base 20 and a fixing side plate 21; wherein, the fixing base 20 is installed at one end of the X-axis sliding guide rail 8 through the fixing side plate 21, and the gear transmission base 30, the depth limiting mechanism 45 and the blade cleaning mechanism 31 are all fixed on the fixing base 20.

[0044] Figure 5 The three-dimensional structure of the rubber tapping assembly provided according to the embodiment of the present invention is shown.

[0045] As Figure 5 shown, the rubber tapping assembly 22 includes a gear transmission mechanism 23, a blade cleaning mechanism 31, a wheel shaft fixing mechanism 42, a depth limiting mechanism 47 and a rubber tapping mechanism 63.

[0046] Among them, the gear transmission mechanism 23 is installed on the fixing base 20, and the depth limiting mechanism 47 is installed on the gear transmission mechanism 23 through the wheel shaft fixing mechanism 42, so that the gear transmission mechanism 23 drives the depth limiting mechanism 47 to perform a cutting motion along the circumferential direction of the rubber tree to be tapped. The rubber tapping mechanism 63 is installed on the depth limiting mechanism 47, so that the depth limiting mechanism 47 controls the cutting depth of the rubber tapping mechanism 53. The blade cleaning mechanism 31 is installed on the fixing frame, and the gear transmission mechanism 23 places the wheel shaft fixing mechanism 42, the depth limiting mechanism 47 and the rubber tapping mechanism 63 inside the blade cleaning mechanism 31, so that the gear transmission mechanism 23 drives the depth limiting mechanism 47 and the rubber tapping mechanism 63 to turn into the inside of the blade cleaning mechanism 31, and the blade cleaning mechanism 31 disinfects and cleans the rubber tapping mechanism 63.

[0047] Figure 6 The internal structure of the gear transmission mechanism provided according to the embodiment of the present invention is shown.

[0048] As Figure 6 shown, the gear transmission mechanism 23 includes a first gear 24, a 360-degree servo 26, a servo mounting base 27, a second gear 28, and a gear transmission base 30. Among them, both the servo mounting base 27 and the gear transmission base 30 are mounted on the fixed base 20. The top of the first gear 24 is provided with a raised circular platform for placing the wheel axle fixing mechanism 42 and preventing the wheel axle fixing mechanism 42 from directly contacting the first gear 24. The bottom of the first gear 24 is connected to the gear transmission base 30 through a gear shaft 29, and a gear bearing matching the gear shaft 29 is installed between the first gear 24 and the gear shaft 29.

[0049] The second gear 28 meshes with the first gear 24 and is installed on the output end of the 360-degree servo 26 through a rotating servo disc 25. The 360-degree servo 26 is installed on the servo mounting base 27 to ensure that the second gear 28 and the first gear 24 are at the same height.

[0050] Figure 7 The three-dimensional structure of the blade cleaning mechanism provided by the embodiment of the present invention is shown.

[0051] As Figure 7 shown, the blade cleaning mechanism 31 includes a waterproof isolation housing 32, a cleaning spray head 33, a brush assembly 36, a disinfection spray head 37, a liquid storage tank 39, and an identification camera 41.

[0052] Among them, the waterproof isolation housing 32 is fixed on the fixed base 20 and is located around the gear transmission mechanism 23, the wheel axle fixing mechanism 42, the depth limiting mechanism 47, and the rubber tapping mechanism 63. The liquid storage tank 39 is fixed on the top of the waterproof isolation housing 32, and areas for storing pure water and disinfectant are provided in the liquid storage tank 32. The identification camera 41 is installed on the top of the waterproof isolation housing 32 through a camera fixing plate 41 for detecting the cleaning condition of the rubber tapping mechanism 63 and obtaining the initial rubber tapping position of the rubber tapping mechanism 63.

[0053] A water isolation plate 34 for dividing the cleaning area and the disinfection area is provided inside the waterproof isolation housing 32, and the water isolation plate 34 is connected to a ratchet structure 35 installed on the top of the waterproof isolation housing 32. After the rubber tapping mechanism 63 pushes the water isolation plate 34 from the cleaning area into the disinfection area, the ratchet structure 35 drives the water isolation plate 34 to reset.

[0054] In the cleaning area, the cleaning spray head 33 is embedded in the top plate and side wall of the waterproof isolation housing 32 and is communicated with the area for storing pure water in the liquid storage tank 39 through a hose, so that the cleaning spray head 33 sprays the pure water provided by the liquid storage tank 39 into the cleaning area.

[0055] In the disinfection area, the disinfection nozzle 37 is embedded in the top plate of the waterproof isolation housing 32, and a warm air fan 38 and a brush assembly 36 are installed inside the waterproof isolation housing 32. The brush assembly 36 is close to the water isolation plate 34, and the warm air fan 38 is connected to a ventilation duct provided on the side wall of the waterproof isolation housing 32. The rubber tapping mechanism 63 sequentially passes through the brush assembly 36 and the disinfection nozzle 37 according to the detected positioning points to complete the wiping operation and the disinfection operation, and then the warm air fan 38 completes the drying operation.

[0056] In the cleaning area and the disinfection area, a cleaning positioning point and a disinfection positioning point are respectively provided for detecting and monitoring the position of the rubber tapping mechanism 63 in the waterproof isolation housing 32 and the cleaning operation.

[0057] Figure 8 The combination of the depth limiting mechanism and the wheel axle fixing mechanism provided by the embodiment of the present invention is shown.

[0058] As Figure 8 shown, the wheel axle fixing mechanism 42 includes a module mounting base 45 and a wheel axle fixing plate 46. Among them, the wheel axle fixing plate 46 is installed on the annular platform of the first gear 24, and waterproof plates 43 are additionally provided on both sides of the wheel axle fixing plate 46. The depth limiting mechanism 47 is installed on the wheel axle fixing plate 46. The module mounting base 45 is installed at one end of the wheel axle fixing plate close to the front slider back plate, and a profiling distance measuring module 44 is provided on the module mounting base 45. The profiling distance measuring module 44 is used to measure the distance between the rubber tapping assembly 22 and the rubber tree to be tapped in real time.

[0059] An internal waterproof housing 60 is installed around the depth limiting mechanism 47. The internal waterproof housing 60 is used to protect the depth limiting mechanism 47, and a control circuit board 61 and a battery 62 are provided at the top of the internal waterproof housing 60. The control circuit board 61 is electrically connected to the depth limiting mechanism 47, the rubber tapping mechanism 63, and the profiling distance measuring module 44, and is used to receive and transmit the distance information collected by the rubber tapping mechanism 6 and the profiling distance measuring module 44, and control the depth limiting mechanism 47; the battery 62 is electrically connected to the control circuit board 61 and is used to provide power.

[0060] In the embodiment of the present invention, a waterproof film is laid on the surfaces of the internal waterproof housing 60 and the control circuit board 61 to prevent the disinfectant from wetting the internal mechanical structure and the circuit module, and to ensure the stable operation of the program. Two profiling distance measuring modules 44 are installed on the module mounting base 45, and the binocular detection method is used to detect the distance between the rubber tapping assembly 22 and the rubber tree to be tapped.

[0061] The depth limiting mechanism 47 includes a servo support frame 48 and a depth limiting slide rail 49. The servo support frame 48 and the depth limiting slide rail 49 are installed on the axle fixing plate 46, and the moving direction of the depth limiting slide rail 49 is consistent with the length direction of the axle fixing plate 46. Front slider back plates 50 and rear slider back plates 52 are respectively provided at both ends of the depth limiting slide rail 49, and the front slider back plate 50 is close to the module mounting base 45.

[0062] A U-shaped part 51 is provided on the front slider back plate 50, and the U-shaped part 51 is bolted to the rubber tapping mechanism 63. An L-shaped part 53 is provided on the rear slider back plate 52. One end of the depth limiting spring 56 is threadedly connected to the U-shaped part 51 through a long bolt 55, and the other end of the depth limiting spring 56 is inserted into the narrow surface round hole of the L-shaped part 53 through the long bolt 55, so that the depth limiting spring 56 drives the front slider back plate 50 and the rear slider back plate 52 to slide simultaneously on the depth limiting slide rail 49.

[0063] A 180-degree servo 59 is installed on the servo support frame 48. The 180-degree servo 59 is respectively controlled and powered by the control circuit board 61 and the battery 62. A depth limiting gear 58 connected by a depth limiting servo disc 57 is provided at the output end of the 180-degree servo 59. The depth limiting gear 58 is meshed and connected with a rack 54 fixed on the side of the rear slider back plate 52, so that the 180-degree servo 59 drives the rack 54 to move forward and backward through the depth limiting gear 58, and further makes the rear slider back plate 52 drive the front slider back plate 50 to extend or retract under the action of the depth limiting spring 56.

[0064] Figure 9 The three-dimensional structure of the rubber tapping mechanism provided according to the embodiment of the present invention is shown.

[0065] As Figure 9 shown, the rubber tapping mechanism 63 includes a tool connecting piece 64, a blade fixing seat 65, a buffer spring 66, a rubber tapping blade 67, a depth control piece 68, a vertical waterproof baffle 69 and a multi-purpose ranging module 70.

[0066] Among them, the tool connecting piece 64 is located on the front slider back plate 50 and is connected to the U-shaped part 5, and the blade fixing seat 65 is connected to the tool connecting piece 64 through a pin, so that the tool connecting piece 64 swings horizontally on the blade fixing seat 65, and the relative position between the blade fixing seat 65 and the tool connecting piece 64 is adjusted through the buffer spring 66.

[0067] The rubber tapping blade 67 is fixed on the depth control piece 68. A chute is opened on the blade fixing seat 65 and is matched with a locking bolt on the depth control piece 68 to install the depth control piece 68 on the blade fixing seat 65, and the extending amount of the rubber tapping blade 67 is adjusted by sliding and rotating the locking bolt, so as to adjust the rubber tapping depth of the rubber tapping blade 67.

[0068] The vertical waterproof baffle 69 is fixed on the U-shaped part 5 and close to the tool connecting piece 64, and is used together with the internal waterproof shell 60 to block the depth limiting mechanism 47 during the cleaning and disinfection process of the blade cleaning mechanism 31.

[0069] The multi-purpose ranging module 70 is fixed at the top of the vertical waterproof baffle 69, and a film for preventing the disinfection liquid from getting wet is laid on its surface, which is used to measure the distance between the rubber tapping blade 67 and the rubber tree to be tapped, and to detect the positioning point of the rubber tapping blade 67 in the waterproof isolation housing 32.

[0070] The working modes of the natural rubber automatic rubber tapping machine with a cleanable rubber tapping cutter head provided by the embodiments of the present invention include a rubber tapping mode and a cleaning mode.

[0071] During the rubber tapping mode, the mobile chassis 1 moves and approaches the rubber tree to be tapped, the clamping device 3 is in close contact with the current rubber tree to be tapped, and at the same time, the recognition camera 41 takes pictures of the bark surface of the rubber tree to be tapped and transmits them back to the industrial control computer 6. The industrial control computer 6 analyzes the previous rubber tapping trajectory of the current rubber tree to be tapped and formulates the current rubber tapping trajectory, and then controls the sliding guide rail through the driving motor 5 to adjust the position of the rubber tapping assembly 22, so that the rubber tapping assembly 22 gradually approaches and contacts the current rubber tree to be tapped.

[0072] After the rubber tapping assembly 22 contacts the current rubber tree to be tapped, the depth limiting mechanism 47 adjusts the rubber tapping depth of the rubber tapping blade 67. After determining the rubber tapping depth, the gear transmission mechanism 23 cooperates with the sliding guide rail to drive the rubber tapping mechanism 63 to perform a rotary rubber tapping action with a vertical movement around the current rubber tree to be tapped. Among them, the rubber tapping range of the gear transmission mechanism 23 driving the rubber tapping mechanism 63 is 2 / 3 of the cross-section of the current rubber tree to be tapped. During the rubber tapping action, the profiling ranging module 44 performs real-time feedback of the tree-attached distance, so that the rubber tapping mechanism 63 stably faces the rubber tapping trajectory and completes the tree-attached profiling rubber tapping relying on the depth limiting mechanism 47.

[0073] The cleaning mode starts at the end of the rubber tapping action on the current rubber tree to be tapped. The gear transmission mechanism 23 and the sliding guide rail drive the rubber tapping mechanism 63 away from the current rubber tree to be tapped, and the mobile chassis 1 goes to the next rubber tree to be tapped.

[0074] At this time, the gear transmission mechanism 23 continues to drive the rubber tapping mechanism 63 to rotate into the cleaning area of the waterproof isolation housing 32. When the multi-purpose ranging module 70 detects the cleaning positioning point, the gear transmission mechanism 23 stops operating, and the cleaning nozzle 33 sprays the pure liquid in the liquid storage tank 39 to clean the rubber tapping blade 67.

[0075] After the cleaning operation for the set time is completed, the gear transmission mechanism 23 continues to drive the rubber tapping mechanism 63 to push the water separation plate 34 into the disinfection area. When the multi-purpose ranging module 70 detects the cleaning positioning point, the gear transmission mechanism 23 stops running again. First, it is wiped by the brush assembly 36, then the disinfectant liquid in the liquid storage tank 39 is sprayed by the disinfection nozzle 37 to disinfect and sterilize the rubber tapping blade 67, and finally it is dried by the warm air fan 38.

[0076] During the cleaning process and the disinfection process, the depth limiting mechanism 47 drives the rubber tapping mechanism 63 to move reciprocally to increase the cleaning and disinfection area, so that the rubber tapping mechanism 63 can be comprehensively cleaned and disinfected.

[0077] When the disinfection work is completed, the identification camera 41 detects the cleaning completion situation of the rubber tapping blade 41. If foreign objects are detected on the rubber tapping blade 41, the above content is repeated to clean the rubber tapping mechanism 63 again; if the detection and monitoring are completed, the wheel transmission mechanism 23 drives the rubber tapping mechanism 63 to rotate out of the waterproof isolation housing 23. When the mobile chassis 1 has completed its movement, the above rubber tapping mode is repeated.

[0078] The above specific implementation manners do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic natural rubber tapping machine with a cleanable tapping cutter head, comprising a moving chassis, an external support, a sliding guide rail, and a fixing frame, characterized in that, It also includes a rubber tapping assembly; wherein, The external bracket is installed on the mobile chassis, the sliding guide rail is installed inside the external bracket, and the rubber tapping assembly is installed on the sliding guide rail through the fixing frame, so that the sliding guide rail drives the rubber tapping assembly to move in three-dimensional directions; The rubber tapping assembly includes a wheel shaft fixing mechanism, a gear transmission mechanism, a depth limiting mechanism, a rubber tapping mechanism and a blade cleaning mechanism; the gear transmission mechanism is installed on the fixing frame, and the depth limiting mechanism is installed on the gear transmission mechanism through the wheel shaft fixing mechanism, so that the gear transmission mechanism drives the depth limiting mechanism to move along the circumferential direction of the rubber tree to be tapped; the rubber tapping mechanism is installed on the depth limiting mechanism, so that the depth limiting mechanism controls the cutting depth of the rubber tapping mechanism; the blade cleaning mechanism is installed on the fixing frame, and the gear transmission mechanism places the wheel shaft fixing mechanism, the depth limiting mechanism and the rubber tapping mechanism inside the blade cleaning mechanism, so that the gear transmission mechanism drives the depth limiting mechanism and the rubber tapping mechanism to turn inside the blade cleaning mechanism, and the blade cleaning mechanism performs disinfection and cleaning operations on the rubber tapping mechanism; The blade cleaning mechanism includes a waterproof isolation housing, a cleaning nozzle, a disinfection nozzle, a brush assembly, a liquid storage tank and an identification camera; wherein, the waterproof isolation housing is fixed on the fixing frame and is located around the gear transmission mechanism, the wheel shaft fixing mechanism, the depth limiting mechanism and the rubber tapping mechanism; a water isolation plate for dividing the cleaning area and the disinfection area is arranged inside the waterproof isolation housing, and the water isolation plate is connected to a ratchet structure installed on the top of the waterproof isolation housing. After the rubber tapping blade pushes the water isolation plate from the cleaning area into the disinfection area, the ratchet structure drives the water isolation plate to reset.

2. The automatic natural rubber tapping machine with a cleanable tapping knife head according to claim 1, characterized in that, The rubber tapping mechanism includes a tool connecting piece, a blade fixing seat, a buffer spring, a rubber tapping blade, a depth control piece, a vertical waterproof baffle and a multi-purpose distance measuring module; wherein, The blade fixing seat is connected to the tool connecting piece by a pin, so that the tool connecting piece swings horizontally on the blade fixing seat, and the relative position between the blade fixing seat and the tool connecting piece is adjusted by the buffer spring; The rubber tapping blade and the depth control piece are installed on the blade fixing seat; The vertical waterproof baffle is located on one side of the tool connecting piece close to the depth limiting mechanism and is used to block the depth limiting mechanism during the cleaning and disinfection process of the blade cleaning mechanism; The multi-purpose distance measuring module is fixed at the top end of the vertical waterproof baffle and is used to measure the distance between the rubber tapping blade and the rubber tree to be tapped and to detect the positioning point of the rubber tapping blade in the blade cleaning mechanism.

3. The automatic natural rubber tapping machine with a cleanable tapping knife head according to claim 2, characterized in that, A film for preventing the disinfection liquid from getting wet is laid on the surface of the multi-purpose distance measuring module; a sliding groove is opened on the blade fixing seat and is matched with the locking bolt on the depth control piece to install the depth control piece on the blade fixing seat, and the protruding amount of the rubber tapping blade is adjusted by sliding and rotating the locking bolt, so as to adjust the rubber tapping depth of the rubber tapping blade.

4. The automatic natural rubber tapping machine with a cleanable tapping cutter head according to claim 2, characterized in that The depth-limiting mechanism includes a servo support frame and a depth-limiting slide rail; wherein, The depth-limiting slide rail and the servo support frame are both fixed on the wheel axle fixing mechanism, and a front slider back plate and a rear slider back plate are respectively arranged at both ends of the depth-limiting slide rail; A U-shaped part is arranged on the front slider back plate, and the U-shaped part is bolted to the tool connecting part; An L-shaped part is arranged on the rear slider back plate. One end of the depth-limiting spring is threadedly connected to the U-shaped part through a long bolt, and the other end of the depth-limiting spring is inserted into the narrow surface round hole of the L-shaped part through a long bolt, so that the depth-limiting spring drives the front slider back plate and the rear slider back plate to slide simultaneously on the depth-limiting slide rail; An 180-degree servo is installed on the servo support frame. A depth-limiting gear connected by a depth-limiting servo disc is arranged at the output end of the 180-degree servo. The depth-limiting gear is meshed and connected with a rack fixed on the side of the rear slider back plate, so that the 180-degree servo drives the rack to move forward and backward through the depth-limiting gear, and further makes the rear slider back plate drive the front slider back plate to extend or retract simultaneously under the action of the depth-limiting spring.

5. The automatic natural rubber tapping machine with a cleanable tapping knife head according to claim 4, wherein The wheel axle fixing mechanism includes a wheel axle fixing plate and a module mounting base; wherein, The wheel axle fixing plate is installed on the gear transmission mechanism, and waterproof plates are added on both sides of the wheel axle fixing plate; the depth-limiting slide rail and the servo support frame are installed on the wheel axle fixing plate, and the moving direction of the depth-limiting slide rail is consistent with the length direction of the wheel axle fixing plate; The module mounting base is installed at one end of the wheel axle fixing plate close to the front slider back plate, and a profiling ranging module is installed on the module mounting base. The profiling ranging module is used to measure the distance between the rubber tapping assembly and the rubber tree to be tapped in real time; An internal waterproof shell is installed on the periphery of the depth-limiting mechanism. The internal waterproof shell is used to protect the depth-limiting mechanism, and a control circuit board and a battery are arranged at the top of the internal waterproof shell. The control circuit board is circuit-connected with the multi-purpose ranging module, the 180-degree servo and the profiling ranging module, and is used to receive and transmit the distance information collected by the multi-purpose ranging module and the profiling ranging module, and control the rotation of the 180-degree servo; the battery is circuit-connected with the control circuit board and is used to provide power.

6. The automatic natural rubber tapping machine with a cleanable tapping knife head according to claim 5, wherein, The gear transmission mechanism includes a first gear, a second gear, a 360-degree servo, a servo mounting seat and a gear transmission base; wherein, The gear transmission base and the servo mounting seat are both installed on the fixed frame; A raised circular platform is arranged at the top of the first gear for placing the wheel axle fixing plate and avoiding direct contact between the wheel axle fixing plate and the first gear; the bottom of the first gear is connected to the gear transmission base through a gear shaft, and a gear bearing matching the gear shaft is installed between the first gear and the gear shaft; The second gear meshes with the first gear and is installed at the output end of the 360-degree servo through a rotating servo disc. The 360-degree servo is installed on the servo mounting seat to ensure that the second gear and the first gear are at the same height.

7. The automatic natural rubber tapping machine with a cleanable tapping knife head according to claim 6, characterized in that, The liquid storage tank and the identification camera are fixed on the top of the waterproof isolation housing. The liquid storage tank is provided with areas for storing pure water and disinfectant respectively; the identification camera is installed on the top of the waterproof isolation housing through a camera fixing plate, and is used to detect the cleaning condition of the rubber tapping blade and obtain the initial rubber tapping position of the rubber tapping blade. In the cleaning area, the cleaning spray head is embedded in the top plate and side wall of the waterproof isolation housing, and is communicated with the area for storing pure water in the liquid storage tank through a hose, so that the cleaning spray head sprays the pure water provided by the liquid storage tank into the cleaning area. In the disinfection area, the disinfection spray head is embedded in the top plate of the waterproof isolation housing, and a warm air fan and a brush assembly are installed inside the waterproof isolation housing. The brush assembly is close to the water isolation plate, and the warm air fan is connected to a ventilation duct opened on the side wall of the isolation housing; the rubber tapping blade sequentially passes through the brush assembly and the disinfection spray head to complete the wiping operation and the disinfection operation according to the positioning points detected by the multi-purpose ranging module, and then the warm air fan completes the drying operation. A cleaning positioning point and a disinfection positioning point are respectively arranged in the cleaning area and the disinfection area, and are used for the multi-purpose ranging module to detect and monitor the position of the rubber tapping blade in the waterproof isolation housing and the cleaning operation.

8. The automatic natural rubber tapping machine with a cleanable tapping cutter head according to claim 7, characterized in that The fixing frame includes a fixing base and fixing side plates; wherein, the fixing base is installed on the sliding guide rail through the fixing side plates, and the gear transmission base, the servo motor mounting seat and the waterproof isolation housing are all fixed on the fixing base.

9. The automatic natural rubber tapping machine with a cleanable tapping knife head according to claim 8, characterized in that, The sliding guide rail includes an X-axis sliding guide rail, a Y-axis sliding guide rail and a Z-axis sliding guide rail; wherein, The Y-axis sliding guide rail is laid at the bottom of the external support, and the movement direction of the Y-axis moving slider cooperating with the Y-axis sliding guide rail is the same as the movement direction of the moving chassis. The Z-axis sliding guide rail is vertically fixed on the Y-axis moving slider through a right-angle connecting plate, so that the Y-axis moving slider drives the Z-axis sliding guide rail to move along the Y-axis sliding guide rail. The X-axis moving slider cooperating with the X-axis sliding guide rail is fixed on the Z-axis moving slider cooperating with the Z-axis sliding guide rail through a flat connecting plate, and the fixing side plate is installed at one end of the X-axis sliding guide rail. The X-axis sliding guide rail and the X-axis moving slider move relatively, so that the fixing side plate drives the rubber tapping assembly to approach the rubber tree to be tapped. An X-axis limit switch and an X-axis laser rangefinder are arranged on the X-axis sliding guide rail, which are respectively used to set the initial position and the moving distance of the rubber tapping assembly along the X-axis sliding guide rail; a Y-axis limit switch and a Y-axis laser rangefinder are arranged on the Y-axis sliding guide rail, which are respectively used to set the initial position and the moving distance of the rubber tapping assembly along the Y-axis sliding guide rail; a Z-axis limit switch and a Z-axis laser rangefinder are arranged on the Z-axis sliding guide rail, which are respectively used to set the initial position and the moving distance of the rubber tapping assembly along the Z-axis sliding guide rail.

10. The automatic natural rubber tapping machine with a cleanable tapping knife head according to claim 9, characterized in that, The external support is built with aluminum section steel as the frame and is fixed on the moving chassis. The driving motors of the X-axis sliding guide rail, the Y-axis sliding guide rail and the Z-axis sliding guide rail are installed on the external bracket; An infrared sensor for collecting position information is provided on the top cross bar of the external bracket, and cooperates with an industrial control computer installed on the external bracket to draw a map of the rubber forest; A whole machine battery for supplying power to the natural rubber automatic rubber tapping machine is installed at the bottom of the external bracket; Based on the initial rubber tapping point provided by the recognition camera, the industrial control computer controls the X-axis sliding guide rail, the Y-axis sliding guide rail and the Z-axis sliding guide rail through the driving motor to adjust the position of the rubber tapping assembly; Two clamping devices are respectively provided on the upper and lower two long rods of the external bracket close to the rubber tree to be tapped, so as to reduce the shaking of the rubber tree to be tapped caused by the rubber tapping operation, and the inner arc wall of each clamping device is provided with no less than two layers of raised elastic circular blocks for tightly attaching to the rubber tree to be tapped and increasing the friction between the clamping device and the rubber tree to be tapped; An auxiliary sliding rail is installed on the top cross bar of the external bracket, and the top end of the Z-axis sliding guide rail is connected to the slider on the auxiliary sliding rail through a triangular connecting piece to stabilize the Z-axis sliding guide rail by the auxiliary sliding rail.

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