Load-bearing balanced natural rubber tapping robot

Abstract

The present invention discloses a load-balancing natural rubber tapping robot, which comprises an autonomous mobile trolley, a load-balancing mechanism, a six-axis robotic arm, a pneumatic fastening mechanism, a tapping actuator and a control system; the pneumatic fastening mechanism comprises a rubber tree support arm, the upper and lower parts of the rubber tree support arm are respectively provided with airbag support layers, the airbag support layers are flatly and fixedly mounted on an arcuate support surface, and the autonomous mobile trolley is further provided with an air pressure supply device connected to the airbag support layer for inflation; the tapping actuator comprises an arcuate open guide groove provided on the rubber tree support arm, a cutter walking device is mounted on the arcuate open guide groove, a walking power device is connected between the cutter walking device and the rubber tree support arm, and a terminal cutter device is mounted on the cutter walking device; the present invention provides a tapping robot suitable for autonomous walking in an orchard and capable of realizing automatic and stable tapping, which provides a breakthrough improvement for fully automated tapping operations in the industry and greatly improves tapping efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a load-bearing balanced natural rubber tapping robot. Background Art

[0002] Natural rubber is considered a vital strategic resource and industrial raw material in my country, one of the four major industrial raw materials along with steel, oil, and coal. Tapping is the primary means of obtaining natural rubber and is a core and key technical step in its production. This process requires high physical and technical skills from workers, with labor input accounting for approximately 70% of total natural rubber production. Currently, natural rubber tapping primarily relies on manual labor, which presents several challenges. Manual tapping is labor-intensive, time-consuming, labor-intensive, inefficient, and requires high labor costs. Therefore, the development of automated natural rubber tree tapping robots is crucial. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a load-bearing balanced natural rubber tapping robot which is suitable for autonomous walking in an orchard and can conveniently realize automatic tapping.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: a load-balancing natural rubber tapping robot, comprising an autonomous mobile vehicle, a load-balancing mechanism, a six-axis robotic arm, a pneumatic fastening mechanism, a tapping actuator, and a control system;

[0005] The autonomous mobile vehicle serves as the installation carrier of the following mechanisms and carries the following mechanisms to move within the rubber plantation;

[0006] The load-bearing balancing mechanism includes, from bottom to top, a platform base, a balancing member, and a top platform. The platform base is fixedly mounted on the autonomous mobile vehicle. The balancing member is connected between the platform base and the top platform and is used to control the top platform to maintain a horizontal balance state.

[0007] A six-axis robotic arm, the bottom end of which is fixedly mounted on the top platform, is used to drive the pneumatic fastening mechanism and the rubber tapping actuator to adjust their posture;

[0008] The pneumatic fastening mechanism includes a rubber tree support arm connected to the end of the six-axis robotic arm and having an arc-shaped structure. The arc-shaped inner surface of the rubber tree support arm faces outward as an arc-shaped support surface corresponding to the surface of the natural rubber tree. The upper and lower parts of the rubber tree support arm are respectively provided with airbag support layers, and the airbag support layers are flatly and fixedly installed on the arc-shaped support surface. The autonomous mobile vehicle is also equipped with an air supply pressure device connected to the airbag support layer for inflation;

[0009] The rubber tapping actuator comprises an arc-shaped open guide groove provided on the rubber tree support arm, wherein the shape of the arc-shaped open guide groove corresponds to the arc-shaped rubber tapping trajectory, the arc-shaped open guide groove is located between the upper and lower airbag support layers, a cutter walking device is installed on the arc-shaped open guide groove, a walking power device for driving the cutter walking device to move along the arc-shaped open guide groove is connected between the cutter walking device and the rubber tree support arm, and an end cutter device is installed on the cutter walking device on one side of the arc support surface;

[0010] The control system, the autonomous mobile vehicle, the load-bearing balancing mechanism, the six-axis robotic arm, the pneumatic fastening mechanism, and the rubber tapping actuator are all connected to the control system.

[0011] As a preferred technical solution, the air pressure supply device includes an air pressure tank fixedly installed on the autonomous mobile vehicle, and the air outlet of the air pressure tank is connected to the two air bag support layers respectively through an air pressure hose.

[0012] As a preferred technical solution, the cutter walking device includes an arc-shaped flexible rack rail arranged along the arc-shaped open guide groove, the bottom end of the arc-shaped flexible rack rail is flatly fixed on the bottom surface of the arc-shaped open guide groove, and a cutter walking gear is meshed and installed on the arc-shaped flexible rack rail. A support bearing is installed at the center of the cutter walking gear, the outer ring of the support bearing is fixed to the cutter walking gear, and the end cutter device is installed on the inner ring of the support bearing.

[0013] As an optimal technical solution, the upper surface and the lower surface of the inner side of the arc-shaped open guide groove are respectively provided with gear limiting shoulders, one side end face of the cutter travel gear corresponds to the two gear limiting shoulders, and the other end face of the cutter travel gear is provided with a gear limiting cover plate, and the upper surface and the lower surface of the gear limiting cover plate are provided with gear limiting strips, and the end faces on both sides of the cutter travel gear are limitedly installed between the gear limiting shoulders and the gear limiting strips, and the thickness of the cutter travel gear is less than the width between the gear limiting shoulders and the gear limiting strips.

[0014] As a preferred technical solution, the walking power device includes a power motor, the axis of the power shaft end of the power motor coincides with the axis of the cutter walking gear, and the two are fixedly connected by a follower bracket, the casing of the power motor is located outside the arc-shaped opening guide groove, and the outer surface of the rubber tree support arm is provided with a motor guide groove consistent with the curvature of the arc-shaped opening guide groove, and a motor guide bracket is fixedly installed on the casing of the power motor, and the end of the motor guide bracket is slidably installed along the motor guide groove.

[0015] As an optimal technical solution, a motor guide end block is fixedly installed at the end of the motor guide bracket, and the motor guide end block is covered with a motor end block cover. The motor end block cover is fixedly installed on the surface of the rubber tree support arm, and the motor end block cover limits the motor guide end block and installs it in the motor guide groove.

[0016] As an optimal technical solution, the end cutter device includes a cutter support shaft fixedly mounted on the inner ring of the support bearing, the inner end of the cutter support shaft is fixedly mounted with a cutter mounting seat facing the inner surface of the rubber tree support arm, the cutter structure is mounted on the cutter mounting seat, the inner surface of the rubber tree support arm is provided with a cutter head guide groove consistent with the curvature of the arc-shaped opening guide groove, the cutter mounting seat is fixedly mounted with a cutter guide bracket, and the end of the cutter guide bracket is slidably mounted along the cutter head guide groove.

[0017] As an optimal technical solution, a cutter guide end block is fixedly installed at the end of the cutter guide bracket, and the cutter guide end block is covered with a cutter end block cover plate. The cutter end block cover plate is fixedly installed on the surface of the rubber tree support arm, and the cutter end block cover plate limits the cutter guide end block to be installed in the cutter head guide groove.

[0018] As a preferred technical solution, the balancing component includes six telescopic balancing push rods, the fixed ends of the telescopic balancing push rods are hinged on the platform base, the telescopic ends of the telescopic balancing push rods are hinged on the top platform, and the six telescopic balancing push rods are arranged in pairs in a V shape.

[0019] As a preferred technical solution, the control system includes a controller and a depth camera, the controller is fixedly mounted on the autonomous mobile vehicle, the depth camera is fixedly mounted on the top platform and is arranged facing forward, the depth camera is electrically connected to the controller, and the depth camera is used to identify the tapping position on the natural rubber tree and transmit it to the controller, and the controller controls the autonomous mobile vehicle, the load-bearing balancing mechanism, the six-axis robotic arm, the pneumatic fastening mechanism, and the tapping actuator to move to the tapping starting position and complete automatic tapping.

[0020] Due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0021] 1. The present invention utilizes an autonomous mobile trolley, which enables the mechanism to shuttle between natural rubber trees in the rubber plantation and move to the side of each natural rubber tree to automatically tap the natural rubber trees, replacing the current labor method of manual or trolley transportation, greatly reducing labor; combined with a load-bearing balancing mechanism, it can ensure that the installation plane of the six-axis robotic arm is level, facilitating posture adjustment;

[0022] 2. The present invention adds an airbag support layer on the arc-shaped inner surface of the rubber tree support arm. When the rubber tree support arm is pressed toward the natural rubber tree side, the airbag support layer will adaptively deform under the action of pressure, filling the gap between the airbag and the natural rubber tree, ensuring a close fit with the natural rubber tree. The present invention adopts this airbag method, which can not only adjust the cutting knife depth, but also ensure more comprehensive contact with the natural rubber tree. The air pressure inside the airbag makes the pressure of the contact surface between the airbag surface and the natural rubber tree basically the same. The entire contact surface of the natural rubber tree can provide better support reaction force for this solution, realizing comprehensive and stable support, achieving the best support effect, and ensuring the accuracy of rubber tapping. In the prior art, the rubber tree support arm is generally fixed by manual binding, or a fixing frame for positioning and supporting is pre-installed in the natural rubber tree, and the support and fixation are achieved by docking. This method also requires manual auxiliary work and cannot realize the automated tapping operation in the rubber plantation. However, the present embodiment utilizes the flexibility and pressure characteristics of the airbag to achieve stable support of the rubber tree support arm, providing a breakthrough improvement for the fully automated tapping operation in the industry and greatly improving the tapping efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 1 It is a structural diagram of an embodiment of the present invention;

[0025] Figure 2 It is a structural schematic diagram of another angle of an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of a side view of an embodiment of the present invention;

[0027] Figure 4 is a schematic structural diagram of a pneumatic fastening mechanism according to an embodiment of the present invention;

[0028] Figure 5 is a front view of the pneumatic fastening mechanism according to an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the cooperation between the airbag support layer and the natural rubber tree in the embodiment of the present invention. Figure 1 ;

[0030] Figure 7 This is a schematic diagram of the cooperation between the airbag support layer and the natural rubber tree in the embodiment of the present invention. Figure 2 ;

[0031] Figure 8 This is a structural principle diagram of a rubber tapping actuator according to an embodiment of the present invention;

[0032] Figure 9 2. It is a structural diagram of a rubber tapping actuator according to an embodiment of the present invention;

[0033] Figure 10 This is a structural diagram of the rubber tapping actuator from another angle according to an embodiment of the present invention;

[0034] In the figure: 100 - autonomous mobile vehicle; 200 - load-bearing balancing mechanism; 201 - platform base; 202 - top platform; 203 - telescopic balancing push rod; 204 - mounting ear; 205 - articulated seat; 206 - universal joint hinge block; 300 - six-axis robotic arm; 400 - pneumatic fastening mechanism; 401 - rubber tree support arm; 402 - airbag support layer; 403 - air pressure tank; 404 - air pressure hose; 500 - rubber tapping actuator; 501 - arc-shaped opening guide groove; 502 - arc-shaped flexible rack rail; 503 - cutting knife line Traveling gear; 504-support bearing; 505-gear limiting shoulder; 506-gear limiting cover; 507-gear limiting strip; 508-power motor; 509-follow-up bracket; 510-motor guide groove; 511-motor guide bracket; 512-motor guide end block; 513-motor end block cover; 514-cutter support shaft; 515-cutter mounting seat; 516-cutter structure; 517-cutter head guide groove; 518-cutter guide bracket; 519-cutter guide end block; 520-cutter end block cover. DETAILED DESCRIPTION

[0035] The present invention will be further described below with reference to the accompanying drawings and examples. In the following detailed description, certain exemplary embodiments of the present invention are described by way of illustration only. It is understood that those skilled 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 the claims.

[0036] like Figures 1 to 3 As shown, the load-bearing and balancing natural rubber tapping robot includes an autonomous mobile vehicle 100, a load-bearing and balancing mechanism 200, a six-axis robotic arm 300, a pneumatic fastening mechanism 400, a tapping actuator 500 and a control system. The autonomous mobile vehicle 100, the load-bearing and balancing mechanism 200, the six-axis robotic arm 300, the pneumatic fastening mechanism 400, and the tapping actuator 500 are all connected to the control system.

[0037] See also Figure 1The autonomous mobile vehicle 100 serves as a mounting carrier for the following mechanisms and carries the following mechanisms to move in the rubber plantation. In this embodiment, the autonomous mobile vehicle 100 is a tracked vehicle, including an integral chassis, a track on each side, and six track wheels. A drive motor is installed on the upper surface of the vehicle, and the drive motor drives the track wheels to rotate through a transmission mechanism, thereby causing the vehicle to move. This tracked vehicle can move flexibly in a complex rubber plantation environment.

[0038] The load-bearing balancing mechanism 200 includes, from bottom to top, a platform base 201, a balancing member, and a top platform 202. The platform base 201 is fixedly mounted on the autonomous mobile vehicle 100. The balancing member is connected between the platform base 201 and the top platform 202 to control the top platform 202 to maintain a horizontal balance. The balancing member includes six telescopic balancing push rods 203, the fixed ends of which are hinged to the platform base 201, and the telescopic ends of which are hinged to the top platform 202. The six telescopic balancing push rods 203 are arranged in a V-shape, and this staggered installation method can better ensure the balance of the top platform 202, making the tapping trajectory more accurate. The telescopic balancing push rods 203 can be electric push rods, and the fixed ends of the telescopic balancing push rods 203 are provided with mounting ears 204. The platform base 201 is provided with an articulated seat 205. The mounting ears 204 and the articulated seat 205 are connected by a universal joint hinge block 206. The top platform 202 is provided with a sensor. After receiving a signal indicating that the top platform 202 is not level, the sensor transmits the signal to the controller to control the telescopic balancing push rod 203 to be pushed out, thereby ensuring that the upper surface of the top platform 202 is level.

[0039] The bottom end of the six-axis robotic arm 300 is fixedly mounted on the top platform 202, and is used to drive the pneumatic fastening mechanism 400 and the rubber tapping actuator 500 to adjust their posture; the six-axis robotic arm 300 is a product of existing technology and will not be described in detail here. The six-axis robotic arm 300 can rotate with multiple degrees of freedom, and can better achieve the purpose of posture adjustment.

[0040] The pneumatic fastening mechanism 400 includes a rubber tree support arm 401 with an arc-shaped structure connected to the end of the six-axis robotic arm 300. In this embodiment, the rubber tree support arm 401 adopts a metal structure, which mainly plays a supporting effect. The arc-shaped inner surface of the rubber tree support arm 401 faces outward as an arc-shaped support surface corresponding to the surface of the natural rubber tree. The upper and lower parts of the rubber tree support arm 401 are respectively provided with airbag support layers 402, and the airbag support layer 402 is flatly and fixedly installed on the arc-shaped support surface. One side surface of the airbag support layer 402 is attached to the arc-shaped inner surface of the arc-shaped support arm. The airbag support layer 402 is an arc-shaped thin layer with a shape basically consistent with that of the rubber tree support arm 401. The airbag support layer 402 is fixed to the arc-shaped inner surface of the rubber tree support arm 401 by gluing or screws.

[0041] The autonomous mobile cart 100 is also equipped with an air supply pressure device that is connected to the airbag support layer 402 for inflation. The air supply pressure device includes an air pressure tank 403 fixedly installed on the autonomous mobile cart 100. The air outlet of the air pressure tank 403 is connected to the two airbag support layers 402 respectively through an air pressure hose 404. The air outlet of the air pressure tank 403 is correspondingly provided with an air pressure valve that controls the opening and closing of the air outlet. The air pressure valve is connected to the control system. The control system can control the air intake of the airbag support layer 402, thereby controlling the thickness of the airbag support layer 402. When the air intake is small, the thickness of the airbag support layer 402 is small. When the air intake is large, the thickness of the airbag support layer 402 is large. The thickness of the airbag is adjusted by the air intake, thereby adjusting the cutting depth. To accurately determine whether the two airbag support layers 402 are fully supported, air pressure sensors are installed at the air pressure valve outlets to detect the pressure within each of the two airbag support layers 402. When fully supported, the airbag support layers 402 are squeezed between the natural rubber tree and the rubber tree support arm 401. Once the air pressure sensors detect that the internal pressure has increased to a certain level, they transmit a signal to the six-axis robotic arm 300 to stop pressing toward the natural rubber tree. Once fully supported, the pressure in the two airbag support layers 402 is essentially the same, and the thickness of the contact between the two airbag support layers 402 and the natural rubber tree is essentially the same.

[0042] During the rubber tapping operation, the six-axis robot arm 300 drives the rubber tree support arm 401 close to the natural rubber tree to be cut, so that the airbag support layer 402 is supported on the surface of the natural rubber tree. By adjusting the air intake in the airbag support layer 402, the thickness of the airbag support layer 402, that is, the cutting depth of the cutter, can be changed. At the same time, before the rubber tapping operation, the six-axis robot arm 300 applies force to drive the rubber tree support arm 401 to be close to the surface of the natural rubber tree. At this time, the airbag support layer 402 can be closely attached to the surface of the natural rubber tree. Figure 6 When the rubber tree support arm 401 is completely smooth and completely consistent with the arc shape, the two will fit together best. Figure 7 When the surface shown is uneven, if the airbag support layer 402 is not provided at this time, and the rubber tree support arm 401 is used to directly contact the natural rubber tree, there will be an untouched gap between the natural rubber tree and the rubber tree support arm 401, resulting in unstable support and inability to support the cutter well, resulting in poor accuracy of the rubber tapping process. To solve this problem, this solution adds a layer of airbag support layer 402 between the rubber tree support arm 401 and the natural rubber tree. When the rubber tree support arm 401 is pressed toward the side of the natural rubber tree, the airbag support layer 402 will deform adaptively under the action of pressure, filling the gap between it and the natural rubber tree, ensuring a close fit with the natural rubber tree, see Figure 7 The fitting relationship shown in ; the present invention adopts this air bag method, which can not only adjust the cutting knife depth, but also ensure more comprehensive contact with the natural rubber tree. The air pressure inside the air bag makes the pressure of the contact surface between the air bag surface and the natural rubber tree basically the same. The entire contact surface of the natural rubber tree can provide better supporting reaction force for this solution, realizing comprehensive and stable support, and achieving the best supporting effect; in the prior art, sponge blocks or rubber pads may also be used to increase the contact with the natural rubber tree. When the sponge blocks and rubber pads are adaptively deformed, although the outer end faces of the sponge blocks and rubber pads can contact the surface of the natural rubber tree, for the position where the natural rubber tree is concave inward, the contact pressure between the sponge blocks, rubber pads and the natural rubber tree is relatively small, and only the contact effect can be achieved here, and the purpose of stable support cannot be achieved. The supporting effect is poor, and it is far from achieving the comprehensive and stable support effect that can be achieved by the air bag in the present application.

[0043] In this embodiment, the airbag support layer 402 is a thin layer, which allows for subtle adjustments in tapping depth and ensures a stable, full fit with the natural rubber tree surface. The upper and lower airbag support layers 402 have substantially the same thickness and air intake. The airbag support layer 402 is composed of multiple airbag compartments, which are interconnected by communication holes.

[0044] See also Figures 8 to 10 The rubber tapping actuator 500 includes an arc-shaped open guide groove 501 provided on the rubber tree support arm 401. The shape of the arc-shaped open guide groove 501 corresponds to the arc-shaped rubber tapping trajectory. The arc-shaped open guide groove 501 is located between the upper and lower air bag support layers 402. A cutter walking device is installed on the arc-shaped open guide groove 501. A walking power device that drives the cutter walking device to move along the arc-shaped open guide groove 501 is connected between the cutter walking device and the rubber tree support arm 401. An end cutter device is installed on the cutter walking device on one side of the arc support surface. The cutter part of the end cutter device is located inside the arc of the arc support arm. When the air bag support layer 402 is stably supported to the surface of the natural rubber tree, the outer end of the end cutter device can cut the natural rubber tree.

[0045] See also Figure 8 The cutter travel device includes an arc-shaped flexible rack 502 arranged along the arc-shaped open guide groove 501. The bottom end of the arc-shaped flexible rack 502 is flatly fixed to the bottom surface of the arc-shaped open guide groove 501. A cutter travel gear 503 is meshed and mounted on the arc-shaped flexible rack 502. A support bearing 504 is mounted at the center of the cutter travel gear 503. The outer ring of the support bearing 504 is fixed to the cutter travel gear 503, and the end cutter device is mounted on the inner ring of the support bearing 504. In this embodiment, because the arc-shaped flexible rack 502 has a certain degree of flexibility, it can be laid along the arc-shaped open guide groove 501. The arc-shaped flexible rack 502 can be fixed by screws or other means. During rubber tapping, the cutter travel gear 503 rotates and travels along the arc-shaped flexible rack 502, driving the end cutter device thereon to move along the arc-shaped open guide groove 501, thereby cutting an arc-shaped cutter trajectory.

[0046] The upper and lower surfaces of the inner side of the arc-shaped open guide groove 501 are respectively provided with gear limiting shoulders 505, and one end face of the cutter travel gear 503 corresponds to the two gear limiting shoulders 505. A gear limiting cover plate 506 is provided at the other end face of the cutter travel gear 503, and the upper and lower surfaces of the gear limiting cover plate 506 are provided with gear limiting bars 507. The end faces of both sides of the cutter travel gear 503 are limited and installed between the gear limiting shoulders 505 and the gear limiting bars 507. The thickness of the cutter travel gear 503 is less than the width between the gear limiting shoulders 505 and the gear limiting bars 507. The gear limiting shoulders 505 and the gear limiting bars 507 are used in conjunction with each other to prevent the cutter travel gear 503 from falling off from the arc-shaped open guide groove 501, and at the same time, it can also rotate and move between the gear limiting shoulders 505 and the gear limiting bars 507. During installation, the arc-shaped flexible rack 502 is first fixed to the arc-shaped open guide groove 501 and rests against the gear limiting shoulder 505, and then the cutter travel gear 503 is meshed and installed on the arc-shaped flexible rack 502. One side end face of the cutter travel gear 503 is limited by the gear limiting shoulder 505, and the other side end face is installed with the gear limiting cover 506. The gear limiting cover 506 is fixed to the outer surface of the rubber tree support arm 401 by screws, and the other side end face of the cutter travel gear 503 is limited by the gear limiting cover 506 to prevent the cutter travel gear 503 from falling off.

[0047] The travel power device includes a power motor 508, the axis of the power shaft end of the power motor 508 coincides with the axis of the cutter travel gear 503, and the two are fixedly connected by a follower bracket 509. The housing of the power motor 508 is located outside the arc-shaped open guide groove 501, and the outer surface of the rubber tree support arm 401 is provided with a motor guide groove 510 with the same curvature as the arc-shaped open guide groove 501. A motor guide bracket 511 is fixedly mounted on the housing of the power motor 508, and the end of the motor guide bracket 511 is slidably mounted along the motor guide groove 510. A motor guide end block 512 is fixedly mounted on the end of the motor guide bracket 511, and the motor guide end block 512 is covered with a motor end block cover plate 513. The motor end block cover plate 513 is fixedly mounted on the outer surface of the rubber tree support arm 401, and the motor end block cover plate 513 limits the motor guide end block 512 to be installed in the motor guide groove 510. The motor guide bracket 511 serves as a mounting base for the power motor 508. When the power motor 508 rotates, the cutter travel gear 503 is driven to rotate via the follower bracket 509, and travels along the arc-shaped flexible rack rail 502. During the travel of the arc-shaped flexible rack rail 502, the power motor 508 is driven to undergo non-rotational translation. At this time, the power motor 508 and the motor guide bracket 511 translate along the motor guide slot 510. The coordinated design of the motor guide bracket, the motor guide end block 512, and the motor guide slot 510 is used to support the power motor 508 and prevent the body of the power motor 508 from rotating.

[0048] The end cutting knife device includes a cutting knife support shaft 514 fixedly mounted on the inner ring of the support bearing 504, and the inner end of the cutting knife support shaft 514 is fixedly mounted with a cutting knife mounting seat 515 facing the inner surface of the rubber tree support arm 401, and a cutting knife structure 516 is mounted on the cutting knife mounting seat 515. The inner surface of the rubber tree support arm 401 is provided with a cutting head guide groove 517 with the same curvature as the arc-shaped opening guide groove 501, and a cutting knife guide bracket 518 is fixedly mounted on the cutting knife mounting seat 515, and the end of the cutting knife guide bracket 518 is slidably mounted along the cutting head guide groove 517. A cutter guide end block 519 is fixedly mounted on the end of the cutter guide bracket 518. This cutter guide end block 519 is covered with a cutter end block cover 520, which is fixedly mounted on the surface of the rubber tree support arm 401. This cutter end block cover 520 positions the cutter guide end block 519 within the cutter head guide slot 517. As the cutter travel gear 503 rotates along the curved flexible rack 502, the cutter mounting base 515 and the cutter guide bracket 518 translate along the cutter head guide slot 517, thereby driving the cutter structure 516 to translate and cut the natural rubber tree. The coordinated design of the cutter guide bracket 518, the cutter guide end block 519, and the cutter head guide slot 517 supports the cutter structure 516 and prevents it from rotating. In this embodiment, the cutter structure 516 can adopt an L-shaped cutter in the prior art, or a swing cutter through a servo motor, a return spring and other structures, which belongs to the prior art and will not be described in detail here.

[0049] The control system includes a controller and a depth camera. The controller is fixedly mounted on the autonomous mobile vehicle 100. The depth camera is fixedly mounted on the top platform 202 and faces forward. The depth camera is electrically connected to the controller and is used to identify the tapping position on the natural rubber tree and transmit it to the controller. The controller controls the autonomous mobile vehicle 100, the load-bearing balancing mechanism 200, the six-axis robotic arm 300, the pneumatic fastening mechanism 400, and the tapping actuator 500 to move to the tapping starting position and complete automatic tapping. The operating principles of the depth camera and the controller are prior art and will not be repeated here.

[0050] The working principle of this embodiment is:

[0051] After the power is turned on, the autonomous mobile car 100 moves along a fixed track in the rubber plantation under the control of the controller. During the movement, the load-bearing balance mechanism 200 is dynamically adjusted so that the top platform always remains in a horizontal state, so that the six-axis robotic arm 300, the pneumatic fastening mechanism 400, and the rubber tapping actuator 500 thereon remain balanced; during the movement, the depth camera collects the tapping position information of the natural rubber tree and transmits the collected information to the controller. The controller constructs a point cloud map based on the received information to assist the autonomous mobile car 100 to move to the natural rubber tree. At the same time, the six-axis robotic arm 300 assists the pneumatic fastening mechanism 400 to move toward the natural rubber tree and moves the rubber tapping actuator 500 to the tapping position of the natural rubber tree. The controller controls the six-axis robotic arm 300 to drive the pneumatic fastening mechanism 400 to fit tightly against the natural rubber tree. On the surface, in this process, the air intake of the airbag support layer 402 is first controlled to adjust the thickness between the airbag support layer 402 and the natural rubber tree, so as to achieve the purpose of adjusting the cutting knife depth, and then when the pressure of the airbag support layer 402 after being squeezed between the rubber tree support arm 401 and the natural rubber tree reaches a certain range, the six-axis robot arm 300 is controlled to stop moving. At this time, stable support has been achieved between the airbag support layer 402 and the natural rubber tree. The six-axis robot arm 300 maintains this compacted state under the control of the controller, which is convenient for the accuracy of the subsequent tapping process; finally, the controller controls the power motor 508 to start, driving the cutter to move along the arc-shaped open guide groove 501 to cut the natural rubber tree, realizing the automatic tapping of the equipment, thereby reducing the labor intensity of tapping work, reducing the dependence of tapping work on professional rubber workers, being conducive to the smooth development of tapping work, and being conducive to increasing the output of natural rubber.

[0052] This embodiment is mainly suitable for natural rubber trees whose outer surface curvature is slightly different from the inner surface curvature of the rubber tree support arm 401, and the tapping length required for tapping is less than half of the inner length of the rubber tree support arm 401. At this time, the depth of the tapping track has a small change and can be ignored.

[0053] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. Load-bearing balanced natural rubber tapping robot, characterized by: It includes an autonomous mobile vehicle, a load-bearing balancing mechanism, a six-axis robotic arm, a pneumatic fastening mechanism, a rubber tapping actuator, and a control system; The autonomous mobile vehicle serves as the installation carrier of the following mechanisms and carries the following mechanisms to move within the rubber plantation; The load-bearing balancing mechanism includes, from bottom to top, a platform base, a balancing member, and a top platform. The platform base is fixedly mounted on the autonomous mobile vehicle. The balancing member is connected between the platform base and the top platform and is used to control the top platform to maintain a horizontal balance state. A six-axis robotic arm, the bottom end of which is fixedly mounted on the top platform, is used to drive the pneumatic fastening mechanism and the rubber tapping actuator to adjust their posture; The pneumatic fastening mechanism includes a rubber tree support arm connected to the end of the six-axis robotic arm and having an arc-shaped structure. The arc-shaped inner surface of the rubber tree support arm faces outward as an arc-shaped support surface corresponding to the surface of the natural rubber tree. The upper and lower parts of the rubber tree support arm are respectively provided with airbag support layers, and the airbag support layers are flatly and fixedly installed on the arc-shaped support surface. The autonomous mobile vehicle is also equipped with an air supply pressure device connected to the airbag support layer for inflation; The rubber tapping actuator comprises an arc-shaped open guide groove provided on the rubber tree support arm, the shape of the arc-shaped open guide groove corresponds to the arc-shaped rubber tapping trajectory, the arc-shaped open guide groove is located between the upper and lower air bag support layers, a cutter walking device is installed on the arc-shaped open guide groove, a walking power device for driving the cutter walking device to move along the arc-shaped open guide groove is connected between the cutter walking device and the rubber tree support arm, and an end cutter device is installed on the cutter walking device on one side of the arc support surface; the cutter walking device comprises an arc-shaped flexible rack provided along the arc-shaped open guide groove, the bottom end of the arc-shaped flexible rack is flatly fixed on the bottom surface of the arc-shaped open guide groove, a cutter walking gear is meshed and installed on the arc-shaped flexible rack, a support bearing is installed in the center of the cutter walking gear, the outer ring of the support bearing is fixed to the cutter walking gear, and the end cutter device is installed on the inner ring of the support bearing; the upper surface of the inner side of the arc-shaped open guide groove The transmission gear of the present invention is a gear which is fixedly mounted on the transmission housing, and the gears are connected along the transmission shaft to form a circle around the transmission gear of the present invention. The control system, the autonomous mobile vehicle, the load-bearing balancing mechanism, the six-axis robotic arm, the pneumatic fastening mechanism, and the rubber tapping actuator are all connected to the control system.

2. The load-bearing balanced natural rubber tapping robot according to claim 1, wherein: The air pressure supply device includes an air pressure tank fixedly installed on the autonomous mobile vehicle, and the air outlet of the air pressure tank is connected to the two air bag support layers respectively through an air pressure hose.

3. The load-bearing balanced natural rubber tapping robot according to claim 1, wherein: A motor guide end block is fixedly installed at the end of the motor guide bracket, and the motor guide end block is covered with a motor end block cover. The motor end block cover is fixedly installed on the surface of the rubber tree support arm, and the motor end block cover limits the motor guide end block and installs it in the motor guide groove.

4. The load-bearing balanced natural rubber tapping robot according to claim 1, wherein: The end cutter device includes a cutter support shaft fixedly mounted on the inner ring of the support bearing, the inner end of the cutter support shaft is fixedly mounted with a cutter mounting seat facing the inner surface of the rubber tree support arm, a cutter structure is mounted on the cutter mounting seat, the inner surface of the rubber tree support arm is provided with a cutter head guide groove with the same curvature as the arc-shaped opening guide groove, a cutter guide bracket is fixedly mounted on the cutter mounting seat, and the end of the cutter guide bracket is slidably mounted along the cutter head guide groove.

5. The load-bearing balanced natural rubber tapping robot according to claim 4, characterized in that: A cutter guide end block is fixedly installed at the end of the cutter guide bracket, and the cutter guide end block is covered with a cutter end block cover plate. The cutter end block cover plate is fixedly installed on the surface of the rubber tree support arm, and the cutter end block cover plate limits the cutter guide end block to be installed in the cutter head guide groove.

6. The load-bearing balanced natural rubber tapping robot according to claim 1, wherein: The balancing member includes six telescopic balancing push rods, the fixed ends of the telescopic balancing push rods are hinged on the platform base, the telescopic ends of the telescopic balancing push rods are hinged on the top platform, and the six telescopic balancing push rods are arranged in pairs in a V shape.

7. The load-bearing balanced natural rubber tapping robot according to any one of claims 1 to 6, characterized in that: The control system includes a controller and a depth camera, wherein the controller is fixedly mounted on the autonomous mobile vehicle, the depth camera is fixedly mounted on the top platform and is arranged to face forward, the depth camera is electrically connected to the controller, and the depth camera is used to identify the tapping position on the natural rubber tree and transmit the position to the controller, and the controller controls the autonomous mobile vehicle, the load-bearing balancing mechanism, the six-axis robotic arm, the pneumatic fastening mechanism, and the tapping actuator to move to the tapping starting position and complete automatic tapping.

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