A kind of rubber tapping equipment and rubber tapping method capable of precise positioning

Abstract

This invention discloses a precision-positioning rubber tapping device and method. The rubber tapping device includes a tracked self-propelled robot and a telescopic rotating mechanism. A toothed rail frame is installed at the free end of the telescopic rotating mechanism. Arc-shaped toothed rails are installed at the top and bottom ends of the toothed rail frame. A rubber tapping device is installed on the arc-shaped outer surface of the arc-shaped toothed rails. The rubber tapping device includes a rubber tapping motion module that meshes with the arc-shaped toothed rails. A rubber tapping lifting module is installed on the rubber tapping motion module, and a cutting blade module is installed on the rubber tapping lifting module. A rail frame positioning device is fixedly installed in the middle of the arc-shaped inner surface of the arc-shaped toothed rails. A tree positioning device is detachably and pluggably installed on the rail frame positioning device. This invention integrates the stability and precision tapping mode of a fixed rubber tapping machine ("one machine, one tree") with the autonomy and flexibility of a fully self-propelled rubber tapping robot, achieving true automated rubber tapping. It can not only autonomously navigate to the target rubber tree but also quickly and accurately fix itself to the tree.

Description

Technical Field

[0001] This invention relates to the field of rubber tapping, and more particularly to a rubber tapping device and method with precise positioning capability. Background Technology

[0002] In the rubber production industry, traditional tapping methods rely primarily on manual labor. Workers use hand tools to make long, narrow cuts along the bark of the rubber tree to guide the flow of rubber resin. While simple, this method is extremely inefficient and requires a high level of skill from the workers; inconsistent cut depth and direction can affect yield and the health of the trees.

[0003] To improve efficiency, stationary rubber tapping robots, designed for single trees, have emerged. These robots are fixed to individual trees and can automatically tap rubber, reducing the labor intensity and technical requirements of manual tapping. However, they cannot move autonomously, requiring manual relocation to the next tree after each tapping session. This significantly limits production efficiency and increases labor costs.

[0004] Subsequently, fully autonomous rubber tapping robots emerged on the market. These robots can move autonomously in rubber plantations, locate trees, and perform tapping operations. Although they have significantly improved in autonomy and flexibility, they still have shortcomings in tree positioning and tapping accuracy. Autonomous robots often result in unsatisfactory tapping results due to inaccurate positioning, and external intervention is still required when fixing and releasing the machine, which not only reduces operational efficiency but also increases the risk of mechanical failure. Summary of the Invention

[0005] To address the above technical problems, this invention provides a self-propelled robotic rubber tapping device and method that features fast, accurate, and stable positioning.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is: a precision-positioning rubber tapping device, comprising a tracked self-propelled robot and a telescopic rotating mechanism mounted on the tracked self-propelled robot platform. A toothed rail frame is mounted on the free end of the telescopic rotating mechanism. Arc-shaped toothed rails are mounted on the top and bottom ends of the toothed rail frame. A rubber tapping device is mounted on the arc-shaped outer surface of the arc-shaped toothed rails. The rubber tapping device includes a rubber tapping motion module that meshes with the arc-shaped toothed rails. A rubber tapping lifting module is mounted on the rubber tapping motion module, and a cutting blade module is mounted on the rubber tapping lifting module. A rail frame positioning device is fixedly mounted in the middle of the arc-shaped inner surface of the arc-shaped toothed rails, and a ring tree positioning device is correspondingly and detachably plugged into the rail frame positioning device.

[0007] The rail frame positioning device includes a positioning seat fixed on the toothed rail frame. The positioning seat is provided with a docking guide structure, an insertion trigger structure, and a rotation anti-detachment structure. The insertion trigger structure and the rotation anti-detachment structure are signal connected. The ring tree positioning device includes a ring fixing structure pre-encircling and fixed on the rubber tree and a ring positioning structure fixedly installed on the ring fixing structure. The docking guide structure is used to guide the rail frame positioning device toward the center of the ring positioning structure, assisting the insertion trigger structure and the rotation anti-detachment structure to accurately insert into the ring positioning mechanism. After the insertion trigger structure is inserted into place, it generates a trigger signal to control the rotation anti-detachment structure to rotate. The rotation anti-detachment structure and the insertion trigger structure are interlocked and fixed in the ring positioning structure.

[0008] The tracked self-propelled robot is equipped with a control and identification system, and the telescopic rotation mechanism, the rubber cutting device, and the rotation anti-detachment structure are all connected to the control and identification system.

[0009] As a preferred technical solution, the docking guide structure includes docking guide plates fixedly installed on the top and sides of the positioning seat. The docking guide plates are correspondingly attached to the top surface and side surfaces of the ring positioning structure. The outer end of the docking guide plate is provided with an outwardly inclined docking guide surface. The docking guide surface guides the center of the rail frame positioning device to approach the center of the ring positioning structure.

[0010] As a preferred technical solution, the plug-in trigger structure includes a trigger switch fixedly installed on the surface of the positioning seat. A horizontally arranged plug-in positioning post is fixedly installed on the pressing end of the trigger switch. The outer end of the plug-in positioning post is provided with a tapered positioning end, and the lower part of the plug-in positioning post is provided with an interlocking notch.

[0011] As a preferred technical solution, the rotating anti-detachment structure includes a rotary motor fixedly installed on the surface of the positioning seat. The output end of the rotary motor is horizontally positioned at the center of the rail frame positioning device, and an elliptical anti-detachment block is fixedly installed on the side of the output end facing the ring-shaped fixing structure. When the elliptical anti-detachment block is horizontal, it can be inserted into or removed from the ring-shaped fixing structure. When the elliptical anti-detachment block is vertical, it is inserted into the interlocking notch and interlocked with the insertion positioning post to be fixed in the ring-shaped fixing structure.

[0012] As a preferred technical solution, after the trigger switch is triggered, the rotary motor rotates 90°, driving the elliptical anti-detachment block to move horizontally or vertically.

[0013] As a preferred technical solution, a horizontally arranged auxiliary insertion post is fixed at the bottom end of the surface of the positioning seat, and the ring tree positioning device is provided with an auxiliary insertion hole that corresponds to and engages with the auxiliary insertion post.

[0014] As a preferred technical solution, the ring positioning structure includes a ring mounting base fixed to the ring fixing structure. The outer end of the ring mounting base is provided with a positioning mounting plate. An anti-disengagement interlocking cavity is formed between the ring mounting base and the positioning mounting plate. The center of the surface of the positioning mounting plate is provided with an elliptical anti-disengagement hole corresponding to the rotational anti-disengagement structure. The surface of the positioning mounting plate is provided with an insertion positioning hole for insertion and engagement with the insertion trigger structure. The outer side of the insertion positioning hole is an outwardly expanding conical structure. The inner surface of the ring mounting base is provided with a trigger plane for abutting and engaging with the insertion trigger structure.

[0015] As a preferred technical solution, the telescopic rotating mechanism includes a rotating column rotatably mounted on the tracked self-propelled robot, a swing arm rotatably mounted on the top of the rotating column, a swing arm drive cylinder for driving the swing arm to swing up and down between the rotating column and the swing arm, a telescopic arm also mounted inside the front end of the swing arm, a telescopic arm drive cylinder mounted inside the swing arm and the telescopic arm, a gear frame mounted on the front end of the telescopic arm drive cylinder via a rotating shaft, and a gear frame drive cylinder for driving the rotating shaft to swing up and down on the telescopic arm.

[0016] As a preferred technical solution, the rubber cutting motion module includes upper and lower gear seats. A motion gear that meshes with the arc-shaped toothed rail is installed in the gear seat. The motion gear is rotatably mounted on the gear seat via a rotating shaft. The gear seat is also provided with an anti-detachment roller for limiting the installation of the arc-shaped toothed rail. A gear motor is also fixedly mounted on the gear seat. The power shaft of the gear motor is connected to the motion gear through a transmission.

[0017] The rubber cutting lifting module includes a lifting support rail fixedly connected between the two gear seats, and a lifting screw rotatably connected between the two gear seats. The lifting screw is parallel to the lifting support rail. The cutting module is slidably mounted on the lifting support rail, and the cutting module is threadedly connected to the lifting screw. A lifting motor is also fixedly mounted on one of the gear seats, and the power shaft of the lifting motor is fixedly connected to one end of the lifting screw.

[0018] The cutting module includes a cutting mounting base slidably mounted on the lifting support rail. A cutting bracket is rotatably mounted on the cutting mounting base via a cutting shaft. A return spring is installed between the cutting bracket and the cutting mounting base. The return spring forces the cutting bracket to swing around the cutting shaft and approach the surface of the natural rubber tree. A rubber cutting blade is fixedly mounted on the outer end of the cutting bracket.

[0019] As a preferred technical solution, the rubber tapping method, employing the aforementioned precision-positioning rubber tapping equipment, includes the following steps:

[0020] Step 1: The control and recognition system controls the tracked self-propelled robot to stop in front of the rubber tree to which the ring-shaped fixing structure is attached, and adjusts the position and posture of the tracked self-propelled robot and the telescopic rotation mechanism so that the track frame positioning device and the ring tree positioning device are opposite each other and their center positions are approximately close.

[0021] Step 2: The telescopic rotating mechanism extends, causing the toothed rail frame to move closer to the rubber tree. First, the docking guide structure guides the rail frame positioning device to move closer to the center of the ring positioning structure, assisting the insertion contact mechanism and the rotating anti-detachment structure to accurately insert into the ring positioning mechanism. After the insertion contact mechanism is inserted into place, it generates a trigger signal to control the rotation of the rotating anti-detachment structure. The rotating anti-detachment structure and the insertion contact mechanism are interlocked and fixed in the ring positioning structure to complete automatic locking and anti-detachment. The arc-shaped toothed rail is fixed and fits the arc shape of the rubber tree surface.

[0022] Step 3: The telescopic rotating mechanism pulls the toothed rail frame away from the tree positioning device by a short distance. At this time, the trigger signal is disconnected, and the rubber tapping device starts the rubber tapping operation. After the rubber tapping operation is completed, the telescopic rotating mechanism drives the toothed rail frame to continue to approach the tree positioning device. The insert contact mechanism generates a trigger signal again, and the rotating anti-detachment structure rotates in the opposite direction to reset. The lock between the rotating anti-detachment structure and the insert contact mechanism is released, and the lock release is completed.

[0023] Step 4: Finally, the telescopic rotation mechanism drives the toothed rail frame away from and completely disengages from the tree positioning device, thus completing the rubber cutting.

[0024] Due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0025] This invention integrates the stability and precise tapping mode of a fixed rubber tapping machine ("one machine, one tree") with the autonomy and flexibility of a fully self-propelled rubber tapping robot, achieving true automated rubber tapping. The robot can not only autonomously navigate to the target rubber tree, but also quickly and accurately fix itself to the tree through the combined use of docking guidance structures, insertion contact structures, and rotational anti-detachment structures. It also has an anti-detachment function to ensure safety and accuracy during tapping operations. Its retractable, 360° rotating positioning device allows for continuous tapping without human intervention, greatly improving efficiency and quality. Furthermore, after completing tapping, the equipment can automatically disconnect and move to the next tree without human intervention, reducing labor costs and damage to the rubber tree during operation, thus contributing to the sustainable development of the rubber plantation industry. Attached Figure Description

[0026] The following figures are intended only to illustrate and explain the present invention and do not limit the scope of the invention. Wherein:

[0027] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;

[0028] Figure 2 This is a partial structural diagram of an embodiment of the present invention in the unconnected state;

[0029] Figure 3 yes Figure 2 Another perspective illustration;

[0030] Figure 4 This is a partial structural diagram of the plugged-in state according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the rail frame positioning device according to an embodiment of the present invention;

[0032] Figure 6 This is a structural cross-sectional view of the rail frame positioning device according to an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of the tree positioning device according to an embodiment of the present invention;

[0034] Figure 8 This is a structural cross-sectional view of the tree positioning device according to an embodiment of the present invention;

[0035] Figure 9 This is a state diagram of the docking guidance structure during the guidance process in an embodiment of the present invention;

[0036] Figure 10 This is a state diagram of the insertion and triggering structure before it is inserted and triggered according to an embodiment of the present invention;

[0037] Figure 11 This is a state diagram of the insert-contact trigger structure after triggering and interlocking according to an embodiment of the present invention;

[0038] Figure 12 This is a state diagram of the insertion contact trigger structure retracting and disconnecting to trigger the glue cutting process in an embodiment of the present invention;

[0039] Figure 13 This is a schematic diagram of the usage state of an embodiment of the present invention;

[0040] In the diagram: 100-Tracked self-propelled robot; 200-Telescopic rotating mechanism; 201-Rotating column; 202-Swing arm; 203-Swing arm drive cylinder; 204-Telescopic arm; 205-Gear rail drive cylinder; 301-Gear rail; 302-Arc-shaped gear rail; 400-Rubber cutting device; 401-Gear seat; 402-Moving gear; 403-Anti-detachment roller; 404-Gear motor; 405-Lifting support rail; 406-Lifting screw; 407-Lifting motor; 408-Cutter mounting base; 4 09-Cutter bracket; 410-Rubber tapping knife; 500-Rail frame positioning device; 501-Positioning seat; 502-Dating guide plate; 503-Dating guide surface; 504-Trigger switch; 505-Plug-in positioning post; 506-Interlocking notch; 507-Rotating motor; 508-Oval anti-detachment block; 509-Auxiliary plug-in post; 600-Ring tree positioning device; 601-Ring body fixing structure; 602-Ring body mounting seat; 603-Positioning mounting plate; 604-Oval anti-detachment hole; 605-Plug-in positioning hole. Detailed Implementation

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the following detailed description, only certain exemplary embodiments of the invention are described by way of illustration. Undoubtedly, those skilled in the art will recognize that various modifications can be made to the described embodiments without departing from the spirit and scope of the invention. Therefore, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.

[0042] like Figures 1 to 4 As shown, a precision-positioning rubber tapping device includes a tracked self-propelled robot 100 and a telescopic rotating mechanism 200 mounted on the platform of the tracked self-propelled robot 100. A toothed rail frame 301 is mounted on the free end of the telescopic rotating mechanism 200. Arc-shaped toothed rails 302 are mounted on the top and bottom ends of the toothed rail frame 301, respectively. A rubber tapping device 400 is mounted on the arc-shaped outer surface of the arc-shaped toothed rails 302. The rubber tapping device 400 includes a rubber tapping motion module that meshes with the arc-shaped toothed rails 302. A rubber tapping lifting module is mounted on the rubber tapping motion module, and a cutting blade module is mounted on the rubber tapping lifting module. A rail frame positioning device 500 is fixedly mounted in the middle of the arc-shaped inner surface of the arc-shaped toothed rails 302. A ring tree positioning device 600 is correspondingly and detachably plugged into the rail frame positioning device 500.

[0043] As a mobile platform, the tracked self-propelled robot 100's robust construction and tracked design provide balanced support and high mobility across various forest terrains. Equipped with a rubber tapping device 400 and a positioning device, the robot stably transports itself to various predetermined work sites. Upon arrival at the work location, the positioning device begins its workflow, including precisely aligning the robot with the rubber trees and adjusting the tapping device 400 to accommodate different tree heights and angles. Therefore, the tracked robot not only transports the positioning mechanism to the work site but also provides the necessary stability throughout the tapping process, ensuring the positioning mechanism can perform its precise tapping tasks. The tracked self-propelled robot 100 is centered around its robust main frame, which houses all key components. The tracked self-propelled robot 100's superior mobility and stability in various terrain conditions, especially on uneven or soft forest ground, ensures stable movement and precise operation even in complex environments. It is equipped with a power distribution box, the core of the power system, distributing energy to the robot's drive system and other electronic components.

[0044] See Figure 1 The telescopic rotation mechanism 200 includes a rotating column 201 rotatably mounted on the tracked self-propelled robot 100. Inside the tracked self-propelled robot 100, a rotation drive structure is provided to drive the rotating column 201 to rotate. A swing arm 202 is rotatably mounted on the top of the rotating column 201. A swing arm drive cylinder 203 is provided between the rotating column 201 and the swing arm 202 to drive the swing arm 202 to swing up and down. A telescopic arm 204 is also installed inside the front end of the swing arm 202. A telescopic arm drive cylinder is installed inside the swing arm 202 and the telescopic arm 204. A toothed rail frame 301 is mounted on the front end of the telescopic arm drive cylinder via a rotating shaft. A toothed rail frame drive cylinder 205 is mounted on the telescopic arm 204 to drive the rotating shaft to swing up and down. The telescopic rotation mechanism 200 embodies innovative mechanical engineering design, enabling the rubber tapping device 400 to make precise adjustments in multiple dimensions in space. This mechanism consists of a series of articulated arms, each of which can be precisely controlled, allowing the tapping head to reach any predetermined position on the rubber tree. Whether it's the height of the trunk or the angle of inclination, the mechanism can freely adjust the tapping device 400 to achieve a customized tapping path. Through an integrated drive system, the articulated arms achieve smooth and continuous movement, maintaining stable contact between the tapping device 400 and the tree at different stages of operation, avoiding unnecessary stress and damage to the rubber tree.

[0045] The telescopic rotating mechanism 200 can rotate 360° omnidirectionally on the tracked self-propelled robot 100, allowing the tapping equipment to be precisely aligned with any position on the rubber tree. This rotation method consists of a set of precision bearings and a rotary drive, ensuring that the tapper can quickly and accurately turn to the required position in different working environments. Because rubber trees vary in size, their optimal tapping position may differ in height. The telescopic rotating mechanism 200 can move the tapper vertically up and down relative to the ground, ensuring that the tapping equipment is raised to the same height as the tree positioning device 600 on the tree. The design of the rotating shaft ensures an inclined insertion connection, significantly improving tapping efficiency and quality while reducing potential damage to the trees caused by improper operation.

[0046] The rubber tapping device 400 employs precise gear-driven operation to achieve rapid yet gentle spiral tapping of the rubber trees. By adjusting the tapping depth and speed, this device maximizes tapping efficiency while minimizing damage to the rubber trees. The rubber tapping device 400 utilizes a commonly used tapping structure in existing technology, which is therefore not described in detail here.

[0047] See Figures 2 to 4 The rubber tapping motion module includes upper and lower gear seats 401. A moving gear 402, which meshes with the arc-shaped toothed rail 302, is installed inside each gear seat 401. The moving gear 402 is rotatably mounted on the gear seat 401 via a rotating shaft. The gear seat 401 is also provided with an anti-detachment roller 403 for limiting the mounting of the arc-shaped toothed rail 302. A gear motor 404 is also fixedly mounted on the gear seat 401. The power shaft of the gear motor 404 is connected to the moving gear 402. When the gear motor 404 is running, the moving gear 402 rotates and slides along the arc-shaped toothed rail 302, adjusting the relative position of the tapping module and the natural rubber tree along the circumference.

[0048] The rubber tapping lifting module includes a lifting support rail 405 fixedly connected between two gear seats 401. A lifting screw 406 is also rotatably connected between the two gear seats 401. The lifting screw 406 is parallel to the lifting support rail 405. The cutter module is slidably mounted on the lifting support rail 405. The cutter module is threadedly connected to the lifting screw 406. A lifting motor 407 is also fixedly mounted on one of the gear seats 401. The power shaft of the lifting motor 407 is fixedly connected to one end of the lifting screw 406. When the lifting motor 407 is running, the lifting screw 406 rotates, causing the cutter module to slide up or down along the lifting support rail 405, adjusting the vertical relative position of the cutter module and the natural rubber tree.

[0049] The cutting module includes a cutting mounting base 408 slidably mounted on the lifting support rail 405. A cutting bracket 409 is rotatably mounted on the cutting mounting base 408 via a cutting shaft. A return spring is installed between the cutting bracket 409 and the cutting mounting base 408. The return spring forces the cutting bracket 409 to swing around the cutting shaft and approach the surface of the natural rubber tree. A rubber tapping blade 410 is fixedly mounted on the outer end of the cutting bracket 409.

[0050] See Figure 2 and Figure 3 The track positioning device 500 and the tree-loop positioning device 600 are the core of this invention. They enable the robot to quickly and automatically establish a stable physical connection with the rubber tree after it arrives. Since the tree-loop positioning device 600 is fixed to the tree, it can adapt to rubber trees of different diameters, ensuring stability and accuracy during the tapping process.

[0051] See Figure 2 , Figure 3 , Figures 5 to 8 The rail frame positioning device 500 includes a positioning seat 501 fixed on the toothed rail frame 301. The positioning seat 501 is provided with a docking guide structure, an insertion trigger structure, and a rotation anti-detachment structure. The insertion trigger structure and the rotation anti-detachment structure are signal connected. The ring tree positioning device 600 includes a ring fixing structure pre-encircling and fixed on the rubber tree and a ring positioning structure fixedly installed on the ring fixing structure. The docking guide structure is used to guide the rail frame positioning device 500 toward the center of the ring positioning structure, assisting the insertion trigger structure and the rotation anti-detachment structure to accurately insert into the ring positioning mechanism. After the insertion trigger structure is inserted into place, it generates a trigger signal to control the rotation anti-detachment structure to rotate. The rotation anti-detachment structure and the insertion trigger structure are interlocked and fixed in the ring positioning structure.

[0052] The tracked self-propelled robot 100 is equipped with a control and identification system. The telescopic rotation mechanism 200, the rubber tapping device 400, and the rotational anti-detachment structure are all connected to the control and identification system. The control and identification system includes an industrial computer and a depth camera. The industrial computer is fixedly mounted on the tracked self-propelled robot 100, and the depth camera is fixedly mounted on the tracked self-propelled robot 100 via a bracket, facing the corresponding natural rubber tree. The depth camera is electrically connected to the industrial computer and is used to identify the rubber tapping position on the natural rubber tree and transmit the information to the industrial computer. The industrial computer controls the mechanism to automatically complete the insertion positioning and rubber tapping operations. The control and identification system, as the brain of this invention, is responsible for integrating the functions of each component, realizing real-time data processing and precise command issuance. The system supports remote monitoring and operation, ensuring the efficiency and safety of robot operations. Simultaneously, by controlling the actions of each component, automatic docking, automatic disconnection, and transfer functions can be achieved. The system can automatically command the fixing and release of the insertion, and guide the robot smoothly to the next rubber tree to be tapped through an autonomous navigation system. The automation of this process has significantly improved operational efficiency.

[0053] The rubber tapping method, using one of the aforementioned precision-positioning rubber tapping devices, includes the following steps:

[0054] Step 1: The control and recognition system controls the tracked self-propelled robot 100 to stop in front of the rubber tree to which the ring-shaped fixing structure is attached, and adjusts the position and posture of the tracked self-propelled robot 100 and the telescopic rotation mechanism 200 so that the rail frame positioning device 500 and the ring tree positioning device 600 are opposite each other and their center positions are approximately close.

[0055] Step 2: The telescopic rotating mechanism 200 extends, causing the toothed rail frame 301 to move closer to the rubber tree. First, the docking guide structure guides the rail frame positioning device 500 to move closer to the center of the ring positioning structure, assisting the insertion contact mechanism and the rotating anti-detachment structure to accurately insert into the ring positioning mechanism. After the insertion contact mechanism is inserted into place, it generates a trigger signal to control the rotation of the rotating anti-detachment structure. The rotating anti-detachment structure and the insertion contact mechanism are interlocked and fixed in the ring positioning structure to complete automatic locking and anti-detachment. The arc-shaped toothed rail 302 is fixed and fits the arc shape of the rubber tree surface.

[0056] Step 3: The telescopic rotating mechanism 200 pulls the toothed rail frame 301 away from the tree positioning device 600 by a small distance. At this time, the trigger signal is disconnected, and the rubber tapping device 400 starts the rubber tapping operation. After the rubber tapping operation is completed, the telescopic rotating mechanism 200 drives the toothed rail frame 301 to continue to approach the tree positioning device 600. The insert contact mechanism generates a trigger signal again, and the rotating anti-detachment structure rotates in the opposite direction to reset. The lock between the rotating anti-detachment structure and the insert contact mechanism is released, and the lock release is completed.

[0057] Step 4: Finally, the telescopic rotation mechanism 200 drives the toothed rail frame 301 away from and completely disengages from the tree ring positioning device 600, and the rubber cutting is completed.

[0058] See Figure 5 and Figure 6 The docking guide structure includes docking guide plates 502 fixedly installed on the top and both sides of the positioning seat 501. The docking guide plates 502 are correspondingly attached to the top surface and the two side surfaces of the ring positioning structure. The outer end of the docking guide plate 502 is provided with an outwardly inclined docking guide surface 503. The docking guide surface 503 guides the center of the rail frame positioning device 500 to approach the center of the ring positioning structure. When fully docked, the three docking guide plates 502 are in complete contact with the ring positioning structure and can be stably supported on the ring positioning structure.

[0059] See Figure 5 and Figure 6 The insertion trigger structure includes a trigger switch 504 fixedly mounted on the surface of the positioning base 501. A horizontally positioned insertion positioning post 505 is fixedly mounted on the pressing end of the trigger switch 504. The outer end of the insertion positioning post 505 has a tapered positioning end, and the lower part of the insertion positioning post 505 has an interlocking notch 506. The trigger switch 504 generates a signal for the rotational anti-detachment structure to rotate.

[0060] See Figure 5 and Figure 6 The rotating anti-detachment structure includes a rotary motor 507 fixedly installed on the surface of the positioning seat 501. The output end of the rotary motor 507 is horizontally positioned at the center of the rail frame positioning device 500, and an elliptical anti-detachment block 508 is fixedly installed on the side of the output end facing the ring-shaped fixing structure. When the elliptical anti-detachment block 508 is horizontal, it can be inserted into or removed from the ring-shaped fixing structure. When the elliptical anti-detachment block 508 is vertical, it is inserted into the interlocking notch 506 and interlocked with the insertion positioning post 505 to be fixed in the ring-shaped fixing structure.

[0061] When the trigger switch 504 is triggered, the rotary motor 507 rotates 90°, causing the elliptical anti-detachment block 508 to move horizontally or vertically.

[0062] See Figure 6 and Figure 7 The bottom of the surface of the positioning base 501 is fixed with a horizontally arranged auxiliary insertion post 509. The ring tree positioning device 600 is provided with an auxiliary insertion hole that corresponds to the auxiliary insertion post 509 for insertion and engagement. When the auxiliary insertion post 509 is inserted into the corresponding auxiliary insertion hole, it forms a fit at the bottom and engages with the docking guide plates 502 on the upper side and the left and right sides to achieve a stable engagement relationship.

[0063] The tree positioning device 600 includes a ring-shaped fixing structure 601 pre-encircling and fixed to the rubber tree, and a ring-shaped positioning structure fixedly installed on the ring-shaped fixing structure 601. The ring-shaped positioning structure is tied to the tree, and it needs to be tied to each tree in the rubber plantation and firmly fixed at a suitable height. The ring-shaped fixing structure 601 is fixed to the ring-shaped positioning structure. Since the force of the entire machine is mainly borne by the telescopic rotating mechanism 200, the ring-shaped positioning structure mainly plays the role of precise positioning. In this invention, the arc-shaped toothed rail 302 is no longer tightly tied to the tree as in the traditional design. This improvement reduces damage to the rubber tree bark and improves work efficiency. The cooperation of the ring-shaped positioning structure ensures that the arc-shaped toothed rail 302 maintains an appropriate distance from the bark, which ensures the consistency of the tapping depth and avoids excessive compression of the bark. Furthermore, the upper and lower arc-shaped toothed rails 302 are welded together by a support plate. The support plate is designed to be sturdy and durable, ensuring the rigidity and stability of the arc-shaped toothed rail 302 during tapping.

[0064] The ring-shaped fixing structure 601 can be fixed to the rubber tree using a ring hoop.

[0065] See Figure 7 and Figure 8The ring positioning structure includes a ring mounting base 602 fixed to the ring fixing structure 601. A positioning mounting plate 603 is provided at the outer end of the ring mounting base 602. An anti-detachment interlocking cavity is formed between the ring mounting base 602 and the positioning mounting plate 603. An elliptical anti-detachment hole 604, corresponding to the rotational anti-detachment structure, is provided at the center of the surface of the positioning mounting plate 603. The elliptical anti-detachment hole 604 is an elliptical hole with the same shape as the elliptical anti-detachment block 508. When the elliptical anti-detachment block 508 is horizontal, it can be inserted into the ring. When the elliptical anti-detachment block 508 is vertical, it cannot be removed from the elliptical anti-detachment hole 604. The surface of the positioning mounting plate 603 is provided with a plug-in positioning hole 605 for plugging into the plug-in trigger structure. The size of the plug-in positioning hole 605 is basically the same as the size of the plug-in positioning post 505. The outer side of the plug-in positioning hole 605 is an outwardly expanding tapered structure to facilitate plugging. The inner surface of the ring mounting base 602 is provided with a trigger plane for abutting against the plug-in trigger structure.

[0066] In practical applications, a tree-ringing positioning device 600 is installed on each rubber tree, fixed at an appropriate height to facilitate the robot's tapping operations. This plug-in connection simplifies the robot's adjustment process for the tapping position and reduces potential tapping problems caused by positional errors. Since the stress points of the tapping device 400 and components such as the arc-shaped toothed rail 302 are designed on the telescopic rotating mechanism 200, the tree-ringing positioning device 600 primarily serves to maintain the positioning of the arc-shaped toothed rail 302. This configuration ensures the robot's stability throughout the tapping process, reduces equipment wear and maintenance costs, and simultaneously improves tapping efficiency and latex collection quality.

[0067] The specific steps for docking and positioning are as follows:

[0068] Step 1: The control and recognition system controls the tracked self-propelled robot 100 to stop in front of the rubber tree to which the ring-shaped fixing structure 601 is attached, and adjusts the position and posture of the tracked self-propelled robot 100 and the telescopic rotation mechanism 200 so that the rail frame positioning device 500 and the ring tree positioning device 600 are opposite each other and their center positions are approximately close.

[0069] Step 2: The telescopic rotation mechanism 200 extends, causing the toothed rail frame 301 and all its structures to move closer to the rubber tree. First, the docking guide surface 503 contacts the outer end of the ring positioning structure. Then, as the device gradually moves closer, the center of the rail frame positioning device 500 approaches the center of the ring positioning structure. Again, the docking guide surface 503 acts as a fine-tuning element, assisting the insertion positioning post 505 to quickly insert into the insertion positioning hole 605. (See attached diagram for details.) Figure 9 As the insertion positioning post 505 is continuously inserted into the insertion positioning hole 605, the elliptical anti-detachment block 508 is horizontally inserted into the elliptical anti-detachment hole 604, as shown in the attached diagram. Figure 10 When the end of the insertion positioning post 505 abuts against the trigger plane, it indicates that the insertion is complete. The trigger switch 504 is then pressed and triggered, sending a trigger signal to control the rotary motor 507 to rotate 90°. The elliptical anti-detachment block 508 rotates vertically and inserts into the interlocking notch 506, interlocking and fixing with the insertion positioning post 505 to the ring-shaped fixing structure 601. (See attached diagram for details.) Figure 11 The automatic locking and anti-detachment mechanism is completed. The arc-shaped toothed rail 302 is fixed and fits the arc shape of the rubber tree surface. See the equipment status section for details. Figure 12 ;

[0070] Step 3: The telescopic rotation mechanism 200 pulls the toothed rail frame 301 away from the tree positioning device 600 by a small stroke, approximately 5mm, which does not affect the fit between the arc-shaped toothed rail 302 and the rubber tree. The elliptical anti-detachment block 508 abuts against the surface of the positioning mounting plate 603. At this time, the trigger switch 504 is turned off, and the rubber tapping device 400 begins the rubber tapping operation. After the rubber tapping operation is completed, a signal is sent to control the telescopic rotation mechanism 200 to drive the toothed rail frame 301 to continue to approach the tree positioning device 600. The end of the insertion positioning post 505 stops when it abuts against the trigger plane, and a trigger signal is generated again to control the rotary motor 507 to rotate 90° in the opposite direction. The elliptical anti-detachment block 508 is dislodged from the interlocking notch 506, and the lock between the insertion positioning post 505 and the elliptical anti-detachment block 508 is released, completing the lock release.

[0071] Step 4: Finally, the telescopic rotation mechanism 200 drives the toothed rail frame 301 away, the elliptical anti-detachment block 508 disengages from the elliptical anti-detachment groove, and the insertion positioning post 505 disengages from the insertion positioning hole 605 until they are completely disengaged, and the rubber cutting is completed.

[0072] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A precision-positioning rubber tapping device, comprising a tracked self-propelled robot and a telescopic rotating mechanism mounted on the tracked self-propelled robot platform, characterized in that: The free end of the telescopic rotation mechanism is equipped with a toothed rail frame, and the top and bottom ends of the toothed rail frame are respectively equipped with arc-shaped toothed rails. A rubber cutting device is installed on the arc-shaped outer surface of the arc-shaped toothed rail. The rubber cutting device includes a rubber cutting motion module that meshes with the arc-shaped toothed rail. A rubber cutting lifting module is installed on the rubber cutting motion module, and a cutting blade module is installed on the rubber cutting lifting module. A rail frame positioning device is fixedly installed in the middle of the arc-shaped inner surface of the arc-shaped toothed rail, and a ring tree positioning device is correspondingly and detachably plugged into the rail frame positioning device. The rail frame positioning device includes a positioning seat fixed on the toothed rail frame. The positioning seat is provided with a docking guide structure, an insertion trigger structure, and a rotation anti-detachment structure. The insertion trigger structure and the rotation anti-detachment structure are signal connected. The ring tree positioning device includes a ring fixing structure pre-encircling and fixed to the rubber tree and a ring positioning structure fixedly installed on the ring fixing structure. The docking guide structure is used to guide the rail frame positioning device toward the center of the ring positioning structure, assisting the insertion trigger structure and the rotation anti-detachment structure to accurately insert into the ring positioning mechanism. After the insertion trigger structure is inserted into place, it generates a trigger signal to control the rotation anti-detachment structure to rotate. The rotation anti-detachment structure and the insertion trigger structure are interlocked and fixed in the ring positioning structure. The insertion trigger structure includes a trigger switch fixedly installed on the surface of the positioning seat. The pressing end of the trigger switch is fixedly installed with a horizontally arranged insertion positioning post. The outer end of the insertion positioning post is provided with a tapered positioning end, and the lower part of the insertion positioning post is provided with an interlocking mechanism. The rotating anti-detachment structure includes a rotating motor fixedly installed on the surface of the positioning seat. The output end of the rotating motor is horizontally positioned at the center of the rail frame positioning device, and an elliptical anti-detachment block is fixedly installed on the side of the output end facing the ring-shaped fixing structure. When the elliptical anti-detachment block is horizontal, it can be inserted into or removed from the ring-shaped fixing structure. When the elliptical anti-detachment block is vertical, it is inserted into the interlocking notch and interlocked with the insertion positioning post within the ring-shaped fixing structure. The ring-shaped positioning structure includes a ring-shaped mounting seat fixed to the ring-shaped fixing structure. The outer end of the ring-shaped mounting seat is provided with a positioning mounting plate. An anti-detachment interlocking cavity is formed between the ring-shaped mounting seat and the positioning mounting plate. The center of the surface of the positioning mounting plate is provided with an elliptical anti-detachment hole corresponding to the rotating anti-detachment structure. The surface of the positioning mounting plate is provided with an insertion positioning hole for insertion and engagement with the insertion trigger structure. The outer side of the insertion positioning hole is an outwardly expanding conical structure. The inner surface of the ring-shaped mounting seat is provided with a trigger plane for abutting and engaging with the insertion trigger structure. The tracked self-propelled robot is equipped with a control and identification system, and the telescopic rotation mechanism, the rubber cutting device, and the rotation anti-detachment structure are all connected to the control and identification system.

2. The precision positioning rubber tapping equipment as described in claim 1, characterized in that: The docking guide structure includes docking guide plates fixedly installed on the top and sides of the positioning seat. The docking guide plates are correspondingly attached to the top surface and side surfaces of the ring positioning structure. The outer end of the docking guide plate is provided with an outwardly inclined docking guide surface. The docking guide surface guides the center of the rail frame positioning device to approach the center of the ring positioning structure.

3. The precision positioning rubber tapping equipment as described in claim 1, characterized in that: When the trigger switch is triggered, the rotary motor rotates 90°, causing the elliptical anti-detachment block to move horizontally or vertically.

4. The precision positioning rubber tapping equipment as described in claim 1, characterized in that: The bottom of the positioning base is fixed with a horizontally arranged auxiliary insertion post, and the ring tree positioning device is provided with an auxiliary insertion hole that corresponds to and engages with the auxiliary insertion post.

5. The precision positioning rubber tapping equipment as described in claim 1, characterized in that: The telescopic and rotating mechanism includes a rotating column rotatably mounted on the tracked self-propelled robot, a swing arm rotatably mounted on the top of the rotating column, a swing arm drive cylinder between the rotating column and the swing arm to drive the swing arm to swing up and down, a telescopic arm is also installed inside the front end of the swing arm, a telescopic arm drive cylinder is installed inside the swing arm and the telescopic arm, a gear frame is mounted on the front end of the telescopic arm drive cylinder via a rotating shaft, and a gear frame drive cylinder is installed on the telescopic arm to drive the rotating shaft to swing up and down.

6. The precision positioning rubber tapping equipment as described in claim 1, characterized in that: The rubber cutting motion module includes upper and lower gear seats. A motion gear that meshes with the arc-shaped toothed rail is installed in the gear seat. The motion gear is rotatably mounted on the gear seat via a rotating shaft. The gear seat is also provided with an anti-detachment roller for limiting the installation of the arc-shaped toothed rail. A gear motor is also fixedly mounted on the gear seat. The power shaft of the gear motor is connected to the motion gear through a transmission. The rubber cutting lifting module includes a lifting support rail fixedly connected between the two gear seats, and a lifting screw rotatably connected between the two gear seats. The lifting screw is parallel to the lifting support rail. The cutting module is slidably mounted on the lifting support rail, and the cutting module is threadedly connected to the lifting screw. A lifting motor is also fixedly mounted on one of the gear seats, and the power shaft of the lifting motor is fixedly connected to one end of the lifting screw. The cutting module includes a cutting mounting base slidably mounted on the lifting support rail. A cutting bracket is rotatably mounted on the cutting mounting base via a cutting shaft. A return spring is installed between the cutting bracket and the cutting mounting base. The return spring forces the cutting bracket to swing around the cutting shaft and approach the surface of the natural rubber tree. A rubber cutting blade is fixedly mounted on the outer end of the cutting bracket.

7. A rubber tapping method, employing a precision-positioning rubber tapping device as described in any one of claims 1 to 6, characterized in that, Includes the following steps: Step 1: The control and recognition system controls the tracked self-propelled robot to stop in front of the rubber tree to which the ring-shaped fixing structure is attached, and adjusts the position and posture of the tracked self-propelled robot and the telescopic rotation mechanism so that the track frame positioning device and the ring tree positioning device are opposite each other and their center positions are approximately close. Step 2: The telescopic rotating mechanism extends, causing the toothed rail frame to move closer to the rubber tree. First, the docking guide structure guides the rail frame positioning device to move closer to the center of the ring positioning structure, assisting the insertion contact mechanism and the rotating anti-detachment structure to accurately insert into the ring positioning mechanism. After the insertion contact mechanism is inserted into place, it generates a trigger signal to control the rotation of the rotating anti-detachment structure. The rotating anti-detachment structure and the insertion contact mechanism are interlocked and fixed in the ring positioning structure to complete automatic locking and anti-detachment. The arc-shaped toothed rail is fixed and fits the arc shape of the rubber tree surface. Step 3: The telescopic rotation mechanism pulls the toothed rail frame away from the tree positioning device by a short distance. At this time, the trigger signal is disconnected, and the rubber tapping device starts the rubber tapping operation. After the rubber tapping operation is completed, the telescopic rotation mechanism drives the toothed rail frame to continue to approach the tree positioning device. The insert contact mechanism generates a trigger signal again, and the rotating anti-detachment structure rotates in the opposite direction to reset. The lock between the rotating anti-detachment structure and the insert contact mechanism is released, and the lock release is completed. Step 4: Finally, the telescopic rotation mechanism drives the toothed rail frame away from and completely disengages from the tree positioning device, thus completing the rubber cutting.

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