Profile scraping type natural rubber automatic rubber collecting machine

Abstract

The invention discloses a natural rubber automatic rubber collection machine with a profile-like scraping mechanism, including a track trolley, a visual processing device, a six-axis mechanical arm, a profile-like scraping mechanism and a latex guiding mechanism; wherein the profile-like scraping mechanism includes a scraping head with the scraping surface facing upward and a blade power device driving the scraping head to rotate automatically, and a power trigger device for controlling the automatic opening and closing of the blade power device is also provided between the scraping head and the blade power device; the invention solves the problem that natural rubber still needs to be collected manually after tapping, and proposes a method based on the profile-like scraping mechanism, through the combination of visual recognition function and mechanical arm, the collection bowl is stably and efficiently grasped to the top of the profile-like scraping mechanism, so that the scraping head can stably complete the rubber collection work. The profile-like scraping blade is adopted to improve the rubber collection efficiency, change the rubber collection method, and integrate the "harvesting and collecting process" of natural rubber, greatly reduce labor costs, and change the traditional operation method.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, in particular to a contour-scraping type natural rubber automatic rubber collecting machine. Background Art

[0002] Natural rubber is an important industrial raw material and strategic resource. It is widely used in many fields such as industry, agriculture, national defense, transportation, machinery manufacturing, medicine and health, and daily life. Consumption demand has maintained an increasing trend year by year. Natural rubber mainly comes from tapping rubber trees. Rubber trees are perennial tall trees that can reach 20 to 30 meters in height and 25 to 40 centimeters in diameter at breast height. The bark is gray and smooth. Tapping is to cut oblique crossings on the outer bark and bast of rubber trees, so that the latex naturally flows from the crossings and is collected in a centralized manner. It is usually done once every two days at the fastest. And based on the characteristics of latex being collected by its own flow, tapping and collecting rubber is mainly concentrated at night or early in the morning.

[0003] At present, the natural rubber industry mainly relies on manual tapping and rubber collection, which is inefficient, consumes a lot of labor, and has a relatively poor working environment and time. Rubber plantations in various places have begun to adopt intelligent and automated tapping technology, but after tapping, they still have to face the work of rubber collection. At present, automated rubber collection has not been realized in the rubber industry. In order to solve this situation, the device of the present invention is made according to the shape of the rubber bowl and the rubber forest environment. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a contour-scraping type natural rubber automatic rubber collecting machine which is convenient for collecting rubber, has high rubber collecting efficiency and reduces the labor for collecting rubber.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a natural rubber automatic rubber collecting machine with a profile scraping type, comprising a track trolley, a visual processing device, a six-axis mechanical arm, a profile scraping mechanism and a latex guiding mechanism;

[0006] The track trolley comprises a rubber collecting track arranged and installed inside the rubber forest, on which a power traveling trolley and a follower rubber collecting trolley are installed, and the follower rubber collecting trolley is connected in front of the power traveling trolley;

[0007] A visual processing device, mounted on the top of the powered walking trolley and close to one side of the powered walking trolley, for identifying a collection bowl hanging on a rubber tree;

[0008] A six-axis mechanical arm is installed on the top of the power walking trolley, and a rubber bowl grabbing manipulator is installed at the end of the six-axis mechanical arm, which is used to grab the collection bowl hanging on the rubber tree and move, flip and buckle the collection bowl on the contour scraping mechanism;

[0009] The contour scraping mechanism is installed at the top of the power walking trolley and located above the follow-up glue collecting trolley, and includes a scraping head with the scraping surface facing upward and a blade power device driving the scraping head to automatically rotate. A power trigger device for controlling the automatic opening and closing of the blade power device is also provided between the scraping head and the blade power device;

[0010] The latex guiding mechanism is correspondingly arranged below the rubber scraping head, and is used for receiving the latex dripping from the rubber scraping head and guiding it downwardly into the follow-up rubber collecting trolley.

[0011] As a preferred technical solution, the scraper head includes a vertically arranged scraper handle, and a plurality of scraper blades are circumferentially arranged at the top of the scraper handle. The outer edges of the scraper blades are arc-shaped structures adapted to the inner wall of the collection bowl, and the outer edges of all the scraper blades cooperate to form an upward scraper surface.

[0012] As a preferred technical solution, a plurality of vertically arranged T-slots are arranged on the outer periphery of the scraper handle, and the scraper blade is an integrally formed rubber blade, on which a T-block that cooperates with the T-slot is integrally formed, and the T-block is squeezed and inserted into the corresponding T-slot, and a scraper blade that fits tightly with the inner wall of the collection bowl is provided at the outer edge of the rubber blade.

[0013] As a preferred technical solution, the blade power device includes a mounting base fixedly installed on the top of the power walking trolley, the top of the mounting base is fixedly connected with a mounting cover plate, the top of the mounting cover plate is fixedly installed with an internal hollow mounting bracket, the middle part of the scraper handle is rotatably installed in the mounting bracket, the bottom end of the scraper handle passes through the mounting base and is fixedly installed with a driven bevel gear, a power motor is fixedly installed in the mounting base, and an active bevel gear is fixedly installed at the output end of the power motor, and the active bevel gear is meshingly transmission connected with the driven bevel gear.

[0014] As a preferred technical solution, support bearings are respectively installed at the top and bottom ends of the inner circumference of the mounting bracket, and the scraper handle is rotatably mounted on the mounting bracket via the two support bearings.

[0015] As a preferred technical solution, the power trigger device includes a trigger pressure rod slidably arranged inside the scraper handle, the top of the trigger pressure rod is provided with a trigger rod end extending out of the top of the scraper handle, the bottom end of the trigger pressure rod is provided with a trigger rod tail end extending out of the bottom end of the scraper handle, a reset spring is installed at the bottom end of the reset spring, a pressure sensor is installed at the bottom end of the reset spring, the pressing head of the pressure sensor is arranged upward to correspond to the tail end of the trigger rod, and the pressure sensor is electrically connected to the power motor.

[0016] As a preferred technical solution, the reset spring is sleeved on the outside of the tail end of the trigger rod, the bottom end of the reset spring abuts against the top of the pressure sensor and is staggered with the pressing head, and a pressure rod baffle is installed on the tail end of the trigger rod, which cooperates with the top of the reset spring, and the pressure rod baffle corresponds to the bottom end of the scraper handle, and a pressure rod cylindrical hole is provided through the center of the scraper handle, and the trigger pressure rod is a cylindrical pressure rod that is gap-mounted in the cylindrical hole of the pressure rod, and the top end of the pressure rod baffle abuts against the limiting shoulder of the cylindrical pressure rod.

[0017] As a preferred technical solution, the latex guiding mechanism includes a conical protective cover fixedly mounted on the outer periphery of the scraper handle, the periphery of the conical protective cover extends downwardly and tilts to cover the fitting gap between the scraper handle and the mounting bracket, a latex guide plate is provided below the conical protective cover, the bottom end of the latex guide plate is fixed on the mounting cover plate, the mounting bracket passes through the latex guide plate, the latex guide plate extends downwardly and tilts to the upper middle part of the follow-up rubber collection trolley, guide protective plates are provided on the front and rear sides of the latex guide plate and on the side away from the follow-up rubber collection trolley and tilted outward and upward, and the outer periphery of each guide protective plate exceeds the outer periphery of the scraper head.

[0018] As a preferred technical solution, the rubber bowl grasping robot includes a grasping frame installed at the end of the six-axis robot arm, and the two ends of the grasping frame are respectively rotatably installed with grasping inner claws, and the outer ends of the two grasping inner claws are respectively rotatably installed with grasping outer claws, and the inner surfaces of the grasping inner claws and the grasping outer claws are both provided with rubber anti-slip pads, and the rubber anti-slip pads are also provided with anti-slip teeth.

[0019] Due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows: the present invention solves the problem that natural rubber still needs to be collected manually after tapping, and proposes a method based on a form-matching scraping mechanism. Through the combination of visual recognition function and mechanical arm, the collection bowl is stably and efficiently grasped above the form-matching scraping mechanism, so that the scraping head can stably complete the rubber collection work. The form-matching scraping blade is adopted to improve the rubber collection efficiency, change the rubber collection method, and integrate the "harvesting-collecting process" of natural rubber, greatly reduce labor costs, change the traditional working method, and has the advantages of simple structure, convenient rubber collection, high rubber collection rate, reduced rubber collection labor, and can replace the staff to work for a long time in harsh environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The following drawings are intended only to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0021] Figure 1 It is a structural schematic diagram of the shaft side angle of an embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of the structure of an embodiment of the present invention from a side view angle;

[0023] Figure 3 2 is a schematic structural diagram of a profile scraping mechanism according to an embodiment of the present invention;

[0024] Figure 4 is a cross-sectional view of a contour scraping mechanism according to an embodiment of the present invention;

[0025] Figure 5 It is a partial enlarged principle diagram of the triggering pressure rod of the contour scraping mechanism of the embodiment of the present invention before being pressed;

[0026] Figure 6 It is a partial enlarged principle diagram of the triggering pressure rod of the contour scraping mechanism of the embodiment of the present invention after being pressed;

[0027] Figure 7 It is an exploded view of a part of the structure of the contour scraping mechanism of the embodiment of the present invention;

[0028] Figure 8 It is a schematic diagram of the cooperation between the scraping edge of the scraping blade and the collecting bowl in an embodiment of the present invention;

[0029] Fig. 9 It is a structural schematic diagram of a latex guiding mechanism according to an embodiment of the present invention;

[0030] Fig.10 2 is a schematic diagram of the structure of a rubber bowl grabbing robot according to an embodiment of the present invention;

[0031] Fig.11 is a schematic structural diagram of a collecting bowl according to an embodiment of the present invention;

[0032] Fig.12 is a schematic diagram of a rubber bowl grabbing robot grabbing a collection bowl according to an embodiment of the present invention;

[0033] In the figure: 100-track trolley; 101-glue collection track; 102-powered walking trolley; 103-follow-up glue collection trolley; 200-visual processing device; 300-six-axis mechanical arm; 301-grabbing frame; 302-grabbing inner claw; 303-grabbing outer claw; 304-rubber anti-skid pad; 400-profile scraping mechanism; 401-scraping handle; 402-scraping blade; 403-T-slot; 404-T-block; 405 -installing base; 406-installing cover; 407-installing bracket; 408-driven bevel gear; 409-power motor; 410-driving bevel gear; 411-trigger pressure rod; 412-reset spring; 413-pressure sensor; 414-pressure rod baffle; 500-latex guiding mechanism; 501-conical protective cover; 502-latex guiding plate; 503-guiding protective plate; 600-collecting bowl; 601-positioning groove. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings and examples. In the following detailed description, certain exemplary embodiments of the present invention are described only by way of illustration. Needless to say, those of ordinary skill in the art will recognize that the described embodiments may be modified in various ways without departing from the spirit and scope of the present invention. Therefore, the drawings and description are illustrative in nature and are not intended to limit the scope of protection of the claims.

[0035] like Figures 1 to 10 As shown, the automatic natural rubber scraping machine with a contour scraping method includes a track trolley 100, a visual processing device 200, a six-axis robot arm 300, a contour scraping mechanism 400 and a latex guiding mechanism 500.

[0036] See also Figure 1 and Figure 2 The rail trolley 100 includes a rubber collecting track 101 arranged and installed inside the rubber forest, and a power walking trolley 102 and a follow-up rubber collecting trolley 103 are installed on the rubber collecting track 101, and the follow-up rubber collecting trolley 103 is connected in front of the power walking trolley 102; the laying path of the rubber collecting track 101 is planned and arranged according to the positions of the rubber trees in the rubber forest, so as to ensure that the rail trolley 100 can move to the vicinity of each rubber tree, and the rubber collecting track 101 is close to the position of the corresponding rubber tree, and in order to ensure that the power walking trolley 102 is convenient to walk and park, the rubber collecting track 101 avoids large upslope and downslope as much as possible, and when the rail trolley 100 moves to the corresponding rubber tree, the relative height between it and the corresponding rubber tree is small, so as to avoid affecting the recognition of the visual processing device 200 and the grasping of the six-axis robot arm 300. In this embodiment, the power walking trolley 102 is used as the driving force for the machine to run for a long time and with a high load. The power walking trolley 102 uses a built-in battery to supply power to the motor as power. Two pairs of track wheels that cooperate with the glue collecting track 101 are installed below. The motor drives the active track wheel to rotate, driving the driven track wheel to move along the glue collecting track 101 according to a predetermined route. After the power walking trolley 102 moves, it can pull or push the follower glue collecting trolley 103 to move along the glue collecting track 101. In this embodiment, the follower glue collecting trolley 103 can be detachably connected to the power walking trolley 102, and the detachable connection can be achieved by plugging the pin shaft seat with the pin shaft.

[0037] A control cabinet is provided inside the powered walking trolley 102 , and the track trolley 100 , the visual processing device 200 , the six-axis robot arm 300 , and the contour scraping mechanism 400 are all electrically connected to the control cabinet.

[0038] The visual processing device 200 is installed at the top of the power walking trolley 102 and close to one side of the power walking trolley 102, and is used to identify the collection bowl 600 hanging on the rubber tree; the visual processing device 200 includes a panoramic camera and a processor, and the panoramic camera is installed on the top surface of the power walking trolley 102 through a bracket and is located on one side of the power walking trolley 102, close to the corresponding rubber tree, and can face the corresponding rubber tree for feature recognition. The panoramic camera outer cover has a glass protective cover, and the processor outer cover has a processor protective cover. The panoramic camera performs feature recognition, identifies the exact position of the collection bowl 600 on the corresponding rubber tree, transmits the recognition signal to the processor, and the processor computer runs the program to perform relevant positioning recognition, and transmits the processed results to the control cabinet, and controls the six-axis robot 300 to operate. The feature processing method of the visual processing device 200 is a prior art and will not be repeated here.

[0039] See also Figures 3 to 8 The contoured scraping mechanism 400 is installed at the top of the power walking trolley 102 and above the follow-up glue collecting trolley 103, including a scraping head with the scraping surface facing upward and a blade power device that drives the scraping head to rotate automatically. A power trigger device that controls the automatic opening and closing of the blade power device is also provided between the scraping head and the blade power device. This mechanism uses the power trigger device to realize the rotation start and stop of the scraping head. This mechanical triggering method can ensure that the collection bowl 600 is stably turned upside down at the scraping head before it is turned on and operated. The control is accurate, which can reduce the control error and achieve the purpose of precise control.

[0040] The scraper head includes a vertically arranged scraper handle 401, and a plurality of scraper blades 402 are arranged circumferentially at the top of the scraper handle 401. The outer edges of the scraper blades 402 are arc-shaped structures adapted to the inner wall of the collection bowl 600, and the outer edges of all the scraper blades 402 cooperate to form an upward scraper surface. The outer periphery of the scraper handle 401 is arranged with a plurality of vertically arranged T-slots 403, and the scraper blades 402 are integrally formed rubber blades, and a T-block 404 that cooperates with the T-slot 403 is integrally formed on the rubber blade, and the T-block 404 is squeezed and inserted into the corresponding T-slot 403, and the outer edge of the rubber blade is correspondingly provided with a scraper blade that fits tightly with the inner wall of the collection bowl 600. The scraper blade 402 is made of rubber material, which can reduce the adhesion of latex to the scraper blade 402. At the same time, since the rubber material has a certain degree of deformation, when the collection bowl 600 is forcibly turned upside down on the scraper blade 402, the scraper blade 402 can appropriately undergo a slight deformation to adapt to the arc shape of the inner wall of the collection bowl 600, thereby ensuring that the outer edge of the scraper blade 402 can fit tightly against the inner wall of the collection bowl 600. In order to facilitate the scraping of latex, the outer edge of the scraper blade 402 is set to a triangular scraper blade.

[0041] The blade power device includes a mounting base 405 fixedly mounted on the top of the power walking trolley 102, the top of the mounting base 405 is fixedly connected with a mounting cover 406, the top of the mounting cover 406 is fixedly mounted with an internal hollow mounting bracket 407, the middle part of the scraper handle 401 is rotatably mounted in the mounting bracket 407, the top and bottom ends of the inner circumference of the mounting bracket 407 are respectively mounted with support bearings, the scraper handle 401 is rotatably mounted on the mounting bracket 407 through the two support bearings, the bottom end of the scraper handle 401 passes through the mounting base 405 and is fixedly mounted with a driven bevel gear 408, a power motor 409 is fixedly mounted in the mounting base 405, an active bevel gear 410 is fixedly mounted on the output end of the power motor 409, and the active bevel gear 410 is meshed and transmission-connected with the driven bevel gear 408. When the power motor 409 starts running, the driven bevel gear 408 is driven to rotate through the active bevel gear 410, so that the scraper handle 401 rotates, and the scraper blade 402 installed on the top of the scraper handle 401 is driven to rotate to scrape the inner wall of the collection bowl 600.

[0042] The power trigger device includes a trigger pressure rod 411 slidably arranged inside the scraper handle 401, the top of the trigger pressure rod 411 is provided with a trigger rod end extending out of the top of the scraper handle 401, the bottom of the trigger pressure rod 411 is provided with a trigger rod tail end extending out of the bottom of the scraper handle 401, the bottom of the trigger pressure rod 411 is installed with a reset spring 412, the bottom of the reset spring 412 is installed with a pressure sensor 413, the pressing head of the pressure sensor 413 is arranged upward to correspond to the tail end of the trigger rod, and the pressure sensor 413 is electrically connected to the power motor 409 The reset spring 412 is sleeved on the outside of the tail end of the trigger rod, the bottom end of the reset spring 412 abuts against the top end of the pressure sensor 413 and is staggered with the pressing head. A pressure rod baffle 414 is installed on the tail end of the trigger rod to cooperate with the top end of the reset spring 412. The pressure rod baffle 414 corresponds to the bottom end of the scraper handle 401. The center of the scraper handle 401 is provided with a pressure rod cylindrical hole. The trigger rod 411 is a cylindrical rod that is sleeved in the pressure rod cylindrical hole. The top end of the pressure rod baffle 414 abuts against the limit shoulder of the cylindrical rod. The state of the trigger rod 411 when it is not pressed can be seen in Figure 5The return spring 412 pushes the pressure rod baffle 414 upward so that the top end of the pressure rod baffle 414 abuts against the bottom end surface of the scraper handle 401. At this time, the end of the trigger rod extends out of the top end of the scraper handle 401. When the bottom end surface of the collecting bowl 600 abuts against the end of the trigger rod, the elastic force of the return spring 412 is overcome, and the trigger pressure rod 411 moves downward as a whole. When the trigger pressure rod 411 contacts the pressure sensor 413, the trigger pressure rod 411 cannot continue to move downward. See the status. Figure 6 At this time, the end of the trigger rod just enters the scraper handle 401 completely, the pressure sensor 413 senses the pressure of the trigger pressure rod 411, and transmits the pressure signal to the power motor 409. The power motor 409 starts to run, and the scraper handle 401 is driven to rotate. During the rotation of the scraper handle 401, the trigger pressure rod 411 is subjected to the friction of the top collection bowl 600 and the bottom pressure sensor 413, and does not rotate.

[0043] See also Fig. 9 The latex guiding mechanism 500 is correspondingly arranged below the rubber scraping head, and is used to receive the latex dripping from the rubber scraping head and guide it downwardly into the follow-up rubber collecting trolley 103. The latex guiding mechanism 500 includes a conical protective cover 501 fixedly mounted on the outer periphery of the scraper handle 401, the periphery of the conical protective cover 501 is tilted downward to cover the fitting gap between the scraper handle 401 and the mounting bracket 407, a latex guiding plate 502 is provided below the conical protective cover 501, the bottom end of the latex guiding plate 502 is fixed on the mounting cover 406, the mounting bracket 407 passes through the latex guiding plate 502, the latex guiding plate 502 is tilted downward to extend to the upper middle part of the follow-up glue collecting trolley 103, and guiding protective plates 503 are tilted outward and upward on the front and rear sides of the latex guiding plate 502 and on the side away from the follow-up glue collecting trolley 103, and the outer periphery of each guiding protective plate 503 exceeds the outer periphery of the scraper head. The function of the conical protective cover 501 is to prevent the latex dripping downwards from contacting the fitting gap between the scraper handle 401 and the mounting bracket 407. The latex guide plate is used to receive the latex and prevent the latex from dripping into the powered walking trolley 102, thereby ensuring that the latex can smoothly enter the follow-up collection trolley.

[0044] The six-axis robot arm 300 is installed at the top of the powered walking trolley 102. The end of the six-axis robot arm 300 is equipped with a rubber bowl grabbing robot for grabbing the collection bowl 600 hanging on the rubber tree and moving, flipping, and buckling the collection bowl 600 on the contour scraping mechanism 400. The structure and movement principle of the six-axis robot arm 300 are prior art and will not be described here. Fig.10 The rubber bowl grabbing manipulator includes a grabbing frame 301 installed at the end of the six-axis robot arm 300, and the two ends of the grabbing frame 301 are respectively rotatably installed with grabbing inner claws 302, and the outer ends of the two grabbing inner claws 302 are respectively rotatably installed with grabbing outer claws 303. The inner surfaces of the grabbing inner claws 302 and the grabbing outer claws 303 are both provided with rubber anti-skid pads 304, and the rubber anti-skid pads 304 are also provided with anti-skid teeth. The multi-joint rotation of the six-axis robot arm 300 belongs to the prior art and will not be repeated here. The inward and outward swinging of the grabbing inner claw 302 and the grabbing outer claw 303 are both realized by a rotating motor. The rotating motor installed on the grabbing frame 301 can drive the grabbing inner claw 302 to swing inward and outward, and the rotating motor installed on the outer end of the grabbing inner claw 302 can drive the grabbing outer claw 303 to swing inward and outward.

[0045] In order to better grasp, flip and invert the collection bowl 600, a positioning groove 601 is added at the outer edge of the opening of the collection bowl 600 to facilitate the clamping and matching of the plastic bowl grasping robot, see Fig.11 Before grabbing the collection bowl 600, the grabbing outer claw 303 and the grabbing inner claw 302 are both open, and then after approaching the collection bowl 600, the grabbing outer claw 303 and the grabbing inner claw 302 swing inwards, and the inner side is clamped in the positioning groove 601 on the outer periphery of the collection bowl 600. The grabbing state is shown in FIG. Fig.12 During the process of collecting rubber, the outer gripping claw 303 and the inner gripping claw 302 always maintain the gripping action. Due to the presence of the positioning groove 601, the collecting bowl 600 will not fall off during the flipping and inverting process. At the same time, since the inner surfaces of the outer gripping claw 303 and the inner gripping claw 302 are provided with rubber anti-skid pads 304 and anti-skid teeth, the collecting bowl 600 can be prevented from slipping. The collecting bowl 600 can be made of a porcelain bowl material that does not adhere to latex. The collecting bowl 600 is suspended next to the rubber tree by a bracket, and the positioning groove 601 used to cooperate with the rubber bowl grabbing manipulator is located above the bracket, which is convenient for the manipulator to operate.

[0046] The working principle of this embodiment is:

[0047] When collecting rubber, the powered walking trolley 102 and the follower rubber collecting trolley 103 walk along the rubber collecting track 101 and stay beside the corresponding rubber tree. The collecting bowl 600 hanging beside the rubber tree is accurately identified by the visual processing device 200. The six-axis robotic arm 300 is controlled by the control cabinet to clamp the collecting bowl 600, move and flip it, and pour the latex into the follower rubber collecting trolley 103. Then, it continues to move to the top of the rubber scraping head, flips and buckles it upside down on the rubber scraping head. The robotic arm is used to tightly buckle the collecting bowl 600 on the rubber scraping head. On the scraper head, the trigger rod end at the top is pressed by the bottom of the collecting bowl 600 to make the power trigger device, thereby driving the scraper head to rotate, so that the natural latex attached to the collecting bowl 600 can be scraped clean, and the scraped latex flows into the follow-up glue collecting trolley 103 through the latex guide plate 502; after completing the scraping work, the six-axis robot arm 300 can place the collecting bowl 600 to its original position according to a predetermined movement route. After the placement action is completed, the powered walking trolley 102 will move to the next point to repeat the glue collecting work.

[0048] The present invention solves the problem that natural rubber still needs to be collected manually after tapping, and proposes a method based on a shape-like scraping mechanism. Through the combination of visual recognition function and mechanical arm, the collection bowl 600 is stably and efficiently grasped above the shape-like scraping mechanism 400, so that the scraping head can stably complete the rubber collection work. The shape-like scraping blade 402 is used to improve the rubber collection efficiency, change the rubber collection method, and integrate the "harvesting-collecting process" of natural rubber, greatly reduce labor costs, change the traditional working method, and have the advantages of simple structure, convenient rubber collection, high rubber collection rate, reduced rubber collection labor, and can replace workers working for a long time in harsh environments.

[0049] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. The automatic rubber collecting machine with profile scraping type is characterized by: It includes a track trolley, a visual processing device, a six-axis robotic arm, a contour scraping mechanism and a latex guiding mechanism; The track trolley comprises a rubber collecting track arranged and installed inside the rubber forest, on which a power traveling trolley and a follower rubber collecting trolley are installed, and the follower rubber collecting trolley is connected in front of the power traveling trolley; A visual processing device, mounted on the top of the powered walking trolley and close to one side of the powered walking trolley, for identifying a collection bowl hanging on a rubber tree; A six-axis mechanical arm is installed on the top of the power walking trolley, and a rubber bowl grabbing manipulator is installed at the end of the six-axis mechanical arm, which is used to grab the collection bowl hanging on the rubber tree and move, flip and buckle the collection bowl on the contour scraping mechanism; The contoured glue scraping mechanism is installed at the top of the powered walking trolley and located above the follow-up glue collecting trolley, and comprises a glue scraping head with the glue scraping surface facing upward and a blade power device that drives the glue scraping head to automatically rotate, and a power trigger device that controls the automatic opening and closing of the blade power device is also provided between the glue scraping head and the blade power device; the glue scraping head comprises a vertically arranged glue scraping handle, and a plurality of glue scraping blades are circumferentially arranged at the top of the glue scraping handle, and the outer edges of the glue scraping blades are arc-shaped structures that are adapted to the inner wall of the collecting bowl, and the outer edges of all the glue scraping blades cooperate to form an upward glue scraping surface; the blade power device comprises a mounting base fixedly mounted on the top of the powered walking trolley, a mounting cover plate is fixedly connected to the top of the mounting base, and an internally hollow mounting bracket is fixedly mounted on the top of the mounting cover plate, and the glue scraping The middle part of the handle is rotatably installed in the mounting bracket, and the bottom end of the scraper handle passes through the mounting base and is fixedly installed with a driven bevel gear, and a power motor is fixedly installed in the mounting base, and an active bevel gear is fixedly installed at the output end of the power motor, and the active bevel gear is meshed and transmission-connected with the driven bevel gear; the power trigger device includes a trigger pressure rod slidably arranged inside the scraper handle, the top end of the trigger pressure rod is provided with a trigger rod end head extending out of the top end of the scraper handle, the bottom end of the trigger pressure rod is provided with a trigger rod tail end extending out of the bottom end of the scraper handle, a reset spring is installed at the bottom end of the reset spring, and a pressure sensor is installed at the bottom end of the reset spring, the pressing head of the pressure sensor is arranged upward to correspond to the tail end of the trigger rod, and the pressure sensor is electrically connected to the power motor; The latex guiding mechanism is correspondingly arranged below the rubber scraping head, and is used for receiving the latex dripping from the rubber scraping head and guiding it downwardly into the follow-up rubber collecting trolley.

2. The automatic natural rubber scraping machine according to claim 1, characterized in that: The outer periphery of the scraper handle is arranged with a plurality of vertically arranged T-slots, the scraper blade is an integrally formed rubber blade, and a T-block that cooperates with the T-slot is integrally formed on the rubber blade, the T-block is squeezed and inserted into the corresponding T-slot, and a scraper blade that fits tightly with the inner wall of the collection bowl is correspondingly provided at the outer edge of the rubber blade.

3. The automatic natural rubber scraping machine according to claim 1, characterized in that: The top end and the bottom end of the inner circumference of the mounting bracket are respectively provided with supporting bearings, and the scraper handle is rotatably mounted on the mounting bracket via the two supporting bearings.

4. The automatic natural rubber scraping machine according to claim 1, characterized in that: The reset spring is sleeved on the outside of the tail end of the trigger rod, the bottom end of the reset spring abuts against the top of the pressure sensor and is staggered with the pressing head, and a pressure rod baffle plate that cooperates with the top of the reset spring is installed on the tail end of the trigger rod, and the pressure rod baffle plate corresponds to the bottom end of the scraper handle, and a pressure rod cylindrical hole is provided through the center of the scraper handle, and the trigger pressure rod is a cylindrical pressure rod that is gap-fitted in the cylindrical hole of the pressure rod, and the top end of the pressure rod baffle plate abuts against the limiting shoulder of the cylindrical pressure rod.

5. The automatic natural rubber scraping machine according to claim 1, characterized in that: The latex guiding mechanism includes a conical protective cover fixedly mounted on the outer periphery of the scraper handle, the periphery of the conical protective cover extends downwardly and tilts to cover the fitting gap between the scraper handle and the mounting bracket, a latex guide plate is provided below the conical protective cover, the bottom end of the latex guide plate is fixed on the mounting cover plate, the mounting bracket passes through the latex guide plate, the latex guide plate extends downwardly and tilts to the upper middle part of the follow-up rubber collection trolley, guide protective plates are provided on the front and rear sides of the latex guide plate and on the side away from the follow-up rubber collection trolley and tilted outward and upward, and the outer periphery of each guide protective plate exceeds the outer periphery of the scraper head.

6. The automatic natural rubber scraping machine according to claim 1, characterized in that: The rubber bowl grasping robot comprises a grasping frame installed at the end of the six-axis robot arm, and grasping inner claws are rotatably installed at both ends of the grasping frame, and grasping outer claws are rotatably installed at the outer ends of the two grasping inner claws. The inner surfaces of the grasping inner claws and the grasping outer claws are provided with rubber anti-slip pads, and the rubber anti-slip pads are also provided with anti-slip teeth.

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