Movable rubber tapping device

Abstract

The invention discloses a movable rubber tapping device, and relates to the technical field of rubber tapping machines. Comprising a moving platform and a rubber tapping machine, the moving platform comprises a frame body with one side provided with an open groove, a walking mechanism is arranged at the bottom of the frame body and comprises a plurality of steering mechanisms which are independently controlled, and each steering mechanism is provided with a driving part which is independently controlled; the walking mechanism can drive the frame main body to walk and steer along a preset route; and the rubber tapping machine is arranged at the opening groove of the frame main body, can move to the rubber tree along with the frame main body, and is tightly attached to the skin of the rubber tree for rotary-cutting rubber tapping. According to the movable rubber tapping device, the rubber tapping machine can be driven to move among a plurality of rubber trees, and continuous rubber tapping operation is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of rubber tapping machines, in particular to a mobile rubber tapping device. Background Art

[0002] Rubber tapping refers to a method of harvesting rubber trees by scraping the bark of rubber trees with a cutting knife and collecting the sap into a rubber cup. The development of rubber tapping has gone through the stages from manual to mechanized. The mechanized rubber tapping machines known to the inventor are all one-tree-one-machine type. A rubber tapping machine is fixed on each rubber tree in the rubber forest. For the entire rubber forest, the overall layout cost is too high. Summary of the invention

[0003] The object of the present invention is to provide a mobile rubber tapping device to solve the problems existing in the above-mentioned prior art, and can drive a rubber tapping machine to move between a plurality of rubber trees, without arranging a rubber tapping machine on each rubber tree, thereby reducing the cost.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a mobile rubber tapping device, comprising:

[0006] A mobile platform, the mobile platform includes a frame body with an open slot on one side, a walking mechanism is provided at the bottom of the frame body, the walking mechanism includes a plurality of independently controlled steering mechanisms, each steering mechanism is provided with an independently controlled driving unit, and the walking mechanism can drive the frame body to walk and turn along a predetermined route;

[0007] The rubber tapping machine is arranged at the opening groove of the frame body, can move to the rubber tree with the frame body, and perform rotary cutting rubber tapping close to the rubber tree skin.

[0008] Preferably, the traveling mechanism includes a driving unit and a steering mechanism; the steering mechanism includes a steering connecting plate, the steering connecting plate is connected to the frame body, a servo motor is provided on the steering connecting plate, the output shaft of the servo motor is transmission-connected to the traveling mechanism via a reducer and a flange coupling, the servo motor of the steering mechanism has an accuracy of up to 0.36°, and a closed-loop control is provided between the servo motor encoder and the servo motor, which can ensure the accuracy of the steering angle.

[0009] Preferably, the driving part includes an L-shaped driving connecting plate, the top plate of which is drivingly connected to the output shaft of the servo motor; a DC motor is provided on one side of the bottom plate of the driving connecting plate, and the DC motor is drivingly connected to the wheel through a reducer and a flange coupling. The driver of the DC motor and the main control chip also have a pid closed-loop control to ensure that the speed of the DC motor is the set speed. The four DC motors and the four servo motors cooperate with each other to realize multiple modes of movement, including but not limited to Ackerman mode, in-situ steering mode, oblique shift mode, etc., to ensure that the mobile platform moves precisely in strict accordance with the predetermined route.

[0010] Preferably, the frame body includes two acrylic plates arranged in parallel up and down, the outer sides of the two acrylic plates are fixedly connected by aluminum profiles, and one side of the acrylic plate is provided with the open groove; a suspension mechanism is provided on the outer side of the aluminum profile, and the suspension mechanism includes a suspension connecting plate fixedly connected to the aluminum profile, the suspension connecting plate is connected to the steering connecting plate through a four-link rod, and a shock-absorbing spring is provided between the top of the steering connecting plate and the suspension connecting plate.

[0011] Preferably, the rubber tapping machine includes a track circumferential motion device, the track circumferential motion device includes two arc tracks arranged horizontally up and down, the side of the arc track close to the frame body is fixed to the position of the opening groove of the frame body through a support rod, and the arc track is open at one end away from the opening groove; a rubber tapping machine housing is provided between the two arc tracks, and a vertical motion device is provided on the rubber tapping machine housing, and a flexible rotary tapping mechanism is movably provided on the vertical motion device, the vertical motion device can move circumferentially along the arc track, and the flexible rotary tapping mechanism can move vertically on the vertical motion device, and the flexible rotary tapping mechanism is used to perform rotary tapping in close contact with the rubber tree skin.

[0012] Preferably, a plurality of support rod seats are fixedly provided on one side of the arc track close to the frame body, one end of the support rod is fixedly connected to the support rod seat of the arc track at the upper part, and the other end is fixedly connected to the support rod seat of the arc track at the lower part; ball slide rails are respectively provided at the bottom of the upper arc track and the top of the lower arc track, and the rubber tapping machine housing is provided between the two ball slide rails, and the upper and lower ends of the rubber tapping machine housing are rollingly connected to the ball slide rails at the corresponding ends through bull's eye balls; seat bearings are respectively fixedly provided at the upper and lower ends of the rubber tapping machine housing, a through shaft is passed through the two seat bearings, and end gears are fixedly provided at the upper and lower ends of the through shaft, an arc rack is provided in the arc track, and the end gear is meshed with the arc rack at the corresponding end, and a middle gear is provided in the middle of the through shaft, and a circumferential DC reduction motor is fixedly provided on the rubber tapping machine housing through a motor bracket, and a driving gear is provided on the motor shaft of the circumferential DC reduction motor, and the driving gear is meshed with the middle gear.

[0013] Preferably, both sides of the bottom and top of the rubber tapping machine housing are connected to limit wheels through columns respectively, the limit wheels located on both sides of the bottom of the rubber tapping machine housing are connected in rolling contact with the side walls of the arc-shaped guide rail located at the lower part, and the limit wheels located on both sides of the top of the rubber tapping machine housing are connected in rolling contact with the side walls of the arc-shaped guide rail located at the upper part.

[0014] Preferably, the vertical motion device comprises a stepper motor support fixedly arranged on the rubber tapping machine housing, a screw stepper motor is installed on the stepper motor support, the screw stepper motor is connected to a screw through a vertical bearing with a seat, the screw is arranged on the rubber tapping machine housing through a vertical bearing with a seat, a T-shaped round flange nut is threadedly connected to the screw, the T-shaped round flange nut is connected to a nut conversion seat, the nut conversion seat is connected to the flexible rotary cutting rubber tapping mechanism, and the rubber tapping machine housing on both sides of the screw is fixed with a slide rail, and the two sides of the nut conversion seat are slidably arranged on the slide rails on the corresponding side. The precision of the screw stepper motor can reach 1.8°, and the screw stepper motor control part adopts step control, by setting the corresponding number of steps for the secant inclination of the corresponding rubber tree, and matching with the fixed circumferential motion speed of the circumferential DC reduction motor, it can achieve arbitrary secant adaptation to the rubber tree.

[0015] Preferably, the flexible rotary cutting rubber tapping device includes a tool base, which is fixedly connected to the nut conversion seat; a steering gear is fixedly provided on the tool base, and the steering gear is connected to a tool slider through a crank-connecting rod mechanism, a tool slide rail is provided on the tool base, and the tool slider is slidably arranged in the tool slide rail; a milling cutter DC reduction motor is fixedly provided on the tool slider through a tool motor bracket, and a milling cutter is connected to the output shaft of the milling cutter DC reduction motor through a plum blossom coupling; a limiting wheel is connected to one side of the tool slider through an extension rod, and the end of the limiting wheel can be rolled on the rubber tree, and the radial section of the limiting wheel is arranged parallel to the axis of the milling cutter. When the milling cutter is tapping rubber, the limiting wheel rolls on the rubber tree, and by selecting limiting wheels of different sizes, the distance at which the cutter head of the milling cutter enters the rubber tree can be adjusted, thereby adjusting the tapping depth.

[0016] Preferably, the crank-connecting rod mechanism comprises a crank and a connecting rod; the crank is fixedly connected to the steering wheel of the steering gear by a screw, a hollow slot is designed in the middle of the connecting rod, the end of the crank is rotatably connected to one end of the connecting rod by a bolt, and the end of the connecting rod away from the crank is rotatably connected to the tool slider by a bolt; a spring is installed at one end of the tool slider close to the steering gear, and the end of the spring is fixedly connected to the tool base. When the rubber tree has a bulge, the spring will be squeezed, and when there is a dent, the spring will stretch back, thereby achieving consistency in the tapping depth of rubber trees in any tree condition, and the tapping depth can be adjusted by changing the size of the limiting wheel.

[0017] Compared with the prior art, the present invention has achieved the following technical effects:

[0018] The mobile platform of the present invention can realize precise movement in the complex environment of the rubber forest, and then cooperate with the rubber tapping machine to realize the one-machine-multiple-tree rubber tapping mode, and the overall cost is low, which can effectively reduce the rubber tapping cost of the rubber garden; the present invention can adopt the mobile platform to fit any rubber tree to the opening groove of the mobile platform, and then realize precise positioning at any position on the rubber tree in different tree conditions through the track circumferential motion device and the vertical motion device of the rubber tapping machine, and at the same time, the flexible mobile rubber tapping device can realize the rubber tapping operation of the rubber tree in any tree condition with a fixed tapping depth, thereby realizing the rubber tapping operation at any position; after the rubber tapping is completed, the mobile platform can drive the rubber tapping machine to transfer to the next rubber tree, realizing automatic and continuous rubber tapping operation, improving work efficiency, and reducing labor cost and automatic rubber tapping cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of the three-dimensional structure of a mobile rubber tapping device according to one embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a track circumferential motion device according to one embodiment of the present invention;

[0022] Figure 3 A schematic diagram of a vertical motion device according to one embodiment of the present invention;

[0023] Figure 4 A schematic diagram of a flexible rotary rubber tapping device according to one embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the connection between the arc track at the bottom and the mobile platform of the present invention;

[0025] Figure 6 It is a schematic diagram of the rubber tapping movement process of the rubber tapping machine of the present invention.

[0026] Description of the accompanying drawings: 1-frame body, 101-opening groove, 2-driving part, 201-driving connecting plate, 3-steering mechanism, 301-steering connecting plate, 4-suspension mechanism, 401-suspension connecting plate, 5-track circumferential motion device, 6-vertical motion device, 7-flexible rotary cutting rubber tapping device, 8-arc track, 9-circumferential DC reduction motor, 10-motor bracket, 11-seat bearing, 12-through shaft, 13-end gear, 14-bull's eye ball, 15-limiting wheel, 16-tapping machine housing, 17 -arc rack, 18-ball slide rail, 19-support rod seat, 20-column, 21-screw stepper motor, 22-stepper motor bracket, 23-vertical seat bearing, 24-T-type round flange nut, 25-nut conversion seat, 26-slide rail, 27-milling cutter, 28-plum blossom coupling, 29-milling cutter DC reduction motor, 30-tool motor bracket, 31-servo gear, 32-crank, 33-connecting rod, 34-tool slider, 3401-limiting wheel, 35-tool base, 36-spring, 37-screw connection hole. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] The object of the present invention is to provide a mobile rubber tapping device to solve the problems existing in the above-mentioned prior art, and can drive a rubber tapping machine to move between a plurality of rubber trees, without arranging a rubber tapping machine on each rubber tree, thereby reducing the cost.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] In order to solve the problem of excessive cost of automatic rubber tapping in the rubber forest brought about by the one-tree-one-machine tapping mode, the present invention provides a reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the present invention provides a mobile rubber tapping device, including a mobile platform and a rubber tapping machine, the mobile platform includes a frame body 1 with an open groove 101 on one side, a walking mechanism is provided at the bottom of the frame body 1, and the walking mechanism can drive the frame body 1 to walk and turn; the rubber tapping machine is arranged at the open groove 101 of the frame body 1, and can follow the frame body 1 to move to the rubber tree, the rubber tapping machine includes a track circumferential motion device 5, the track circumferential motion device 5 includes two arc tracks 8 arranged horizontally up and down, and the arc track 8 is close to the frame body 1. One side is fixed to the position of the open groove 101 of the vehicle frame body 1 by a support rod, and the arc track 8 is open at one end away from the open groove 101; a rubber tapping machine housing 16 is provided between the two arc tracks 8, and a vertical motion device 6 is provided on the rubber tapping machine housing 16, and a flexible rotary-cut rubber tapping mechanism is movably provided on the vertical motion device 6, and the vertical motion device 6 can move circumferentially along the arc track 8, and the flexible rotary-cut rubber tapping mechanism can move vertically on the vertical motion device 6, and the flexible rotary-cut rubber tapping mechanism is used to perform rotary-cut rubber tapping close to the rubber tree epidermis. During work, the mobile platform walks along a predetermined route and moves to the rubber tree in the open groove, and then the track circumferential motion device 5 realizes the circumferential motion positioning of the ring tree track, and the vertical motion device 6 drives the flexible rotary-cut rubber tapping device 7 to perform axial motion positioning, and the flexible rotary-cut rubber tapping device 7 performs rotary-cut rubber tapping close to the rubber tree epidermis. One complete rubber tapping action includes: the mobile platform moves to the front of the rubber tree according to the predetermined route, and makes the open groove close to the rubber tree, the track circumferential motion device 5 and the vertical motion device 6 cooperate with each other to realize the spiral upward motion of the flexible rotary cutting rubber tapping device 7, and at the same time drive the flexible rotary cutting rubber tapping device 7 to move forward, so as to realize the track circular positioning rotary cutting rubber tapping operation; after the rubber tapping is completed, the track circumferential motion device 5 and the vertical motion device 6 drive the flexible rotary cutting rubber tapping device 7 to do a spiral downward motion, and at the same time drive the flexible rotary cutting rubber tapping device 7 to move backward until the flexible rotary cutting rubber tapping device 7 is reset to the initial position; the mobile platform retreats away from the rubber tree, and continues to move to the next rubber tree along the predetermined route.

[0031] In order to solve the problems of inaccurate positioning of the milling cutter and poor adaptability of common rubber tapping machines, the present embodiment has made further improvements on the above basis. The frame body 1 of the present embodiment includes a main frame made of aluminum profiles and two acrylic plates arranged in parallel up and down. The aluminum profiles are locked and connected by angle pieces. The two acrylic plates are respectively placed in the middle and bottom of the aluminum profiles and are locked in the aluminum profiles by screws. An open groove 101 is opened on one side of the acrylic plate; four suspension mechanisms 4 are provided on the outside of the aluminum profiles, and the suspension mechanisms 4 include a suspension connecting plate 401 fixedly connected to the aluminum profiles. The suspension connecting plate 401 is connected to the steering connecting plate 301 of the steering mechanism 3 through a four-link rod, and a shock-absorbing spring 36 is provided between the top of the steering connecting plate 301 and the suspension connecting plate 401. The suspension mechanism 4 remains stable when the mobile platform is walking, and a servo motor is provided on the steering connecting plate 301. The output shaft of the servo motor is transmission-connected to the L-shaped driving connecting plate 201 of the driving part 2 through a reducer and a flange coupling. A DC motor is provided on one side of the bottom plate of the driving connection plate 201, and the DC motor is connected to the wheel through a reducer and a flange coupling. The present invention can realize the forward and backward movement of the driving part 2 and the rotation of the steering mechanism 3 under the control of the control module; the control module uses STM32F103ZET6 as the main control chip. The circumferential movement of the track is driven by the circumferential DC reduction motor 9, which is a planetary reduction motor 36GP-555, and the controller selects the BRT-30A motor drive module. The vertical movement is driven by the screw stepper motor 21, and the controller selects the TB6600 driver. The advance and retreat movement is driven by the servo 31DS3115. The DC-DC power conversion module can convert the 24V voltage into 5V and 3.3V for powering various electronic components.

[0032] In a specific embodiment, the arc track 8 has a track groove with an opening at the top, and a plurality of support rod seats 19 are fixedly provided on one side of the arc track 8 close to the frame body 1. The support rod seat 19 is provided with a screw connection hole 37 for connecting the arc track 8 by screws, and one end of the support rod is fixedly connected to the support rod seat 19 of the upper arc track 8, and the other end is fixedly connected to the support rod seat 19 of the lower arc track 8; a ball slide rail 18 is respectively provided at the bottom of the upper arc track 8 and the top of the lower arc track 8, and a rubber tapping machine housing 16 is provided between the two ball slide rails 18, and the upper and lower ends of the rubber tapping machine housing 16 are respectively connected to the ball slide rails 18 at the corresponding ends by three bull's eye balls 14 for rolling connection. During circumferential motion, the bull's eye balls 14 slide in the ball slide rails 18 of the arc track 8, so that the rubber tapping machine housing 16 and the arc track 8 change from surface contact to point contact, and the friction is reduced; the upper and lower ends of the rubber tapping machine housing 16 are respectively fixed with seat bearings 11, two A through shaft 12 is passed through the seat bearings 11, and end gears 13 are fixedly provided at the upper and lower ends of the through shaft 12. An arc rack 17 is provided on the inner side wall of the track groove of the arc track 8. The end gear 13 is movably arranged in the track groove and meshed with the arc rack 17 at the corresponding end. A middle gear is provided in the middle of the through shaft 12. A circumferential DC reduction motor 9 is fixedly provided on the rubber tapping machine housing 16 through a motor bracket 10. A driving gear is provided on the motor shaft of the circumferential DC reduction motor 9, and the driving gear is meshed with the middle gear; in this embodiment, both sides of the bottom and both sides of the top of the rubber tapping machine housing 16 are respectively connected with limiting wheels 15 through columns 20, and the limiting wheels 15 located on both sides of the bottom of the rubber tapping machine housing 16 are connected to the side walls of the arc guide located at the bottom in rolling contact, and the limiting wheels 15 located on both sides of the top of the rubber tapping machine housing 16 are connected to the side walls of the arc guide located at the top in rolling contact; the limiting wheels 15 fixed on the rubber tapping machine housing 16 roll on both sides of the arc track 8 to limit the radial displacement of the rubber tapping machine.

[0033] In a specific embodiment, the vertical motion device 6 includes a stepper motor bracket 22 fixedly mounted on the rubber tapping machine housing 16, a screw stepper motor 21 is mounted on the stepper motor bracket 22, the screw stepper motor 21 is transmission-connected with a screw, the screw is arranged on the rubber tapping machine housing 16 through a vertical seat bearing 23, the control part of the screw stepper motor 21 adopts step control, and the corresponding number of steps is set for the secant inclination of the corresponding rubber tree, and the fixed circumferential motion speed of the circumferential DC reduction motor 9 is matched to achieve arbitrary secant adaptation to the rubber tree; a T-shaped round flange nut 24 is threadedly connected to the screw, and the T-shaped round flange nut 24 is connected to a nut conversion seat, and the nut conversion seat is connected to the flexible rotary cutting rubber tapping mechanism, and slide rails 26 are fixedly provided on the rubber tapping machine housing 16 on both sides of the screw, and the nut conversion seat 25 is slidably arranged on the slide rails 26 on the corresponding side on both sides, and the slide rails 26 limit the nut conversion seat 25 from shaking left and right.

[0034] In a specific embodiment, the flexible rotary cutting rubber tapping device 7 includes a tool base 35, which is fixedly connected to the nut conversion seat 25; a steering gear 31 is fixedly arranged on the tool base 35, and the steering plate of the steering gear 31 is fixedly connected to one end of the crank 32, and the other end of the crank 32 is rotatably connected to one end of the connecting rod 33 by a bolt, and the end of the connecting rod 33 away from the crank 32 is rotatably connected to the tool slider 34 by a bolt; a spring 36 is installed at the end of the tool slider 34 close to the steering gear 31, and the spring 36 is located at the lower part of the connection end of the tool slider 34 and the connecting rod 33. An arc groove is provided at the position where the spring 36 is installed on the tool slider 34, and one end of the spring 36 is inserted into the arc groove, so that the spring 36 will not shake up and down due to compression during the movement, thereby affecting the accuracy of rubber tapping; the spring The end of 36 is fixedly connected to the tool base 35, and the tool base 35 is provided with a tool slide rail, and the tool slider 34 is slidably arranged in the tool slide rail; a milling cutter DC reduction motor 29 is fixedly provided on the tool slider 34 through a tool motor bracket 30, and the milling cutter 27 is connected to the output shaft of the milling cutter DC reduction motor 29 through a plum blossom coupling 28. One side of the tool slider 34 is connected to a limiting wheel 3401 through an extension rod, and the end of the limiting wheel 3401 can be rolled on the rubber tree, and the radial section of the limiting wheel 3401 is arranged parallel to the axis of the milling cutter 27. When the milling cutter 27 is tapping rubber, the limiting wheel 3401 rolls on the rubber tree. By selecting limiting wheels 3401 of different sizes, the distance that the cutter head of the milling cutter 27 enters the rubber tree can be adjusted, thereby adjusting the tapping depth. The steering gear 31 rotates and drives the steering plate to rotate, and then drives the crank 32 and the connecting rod 33 to rotate. The connecting rod 33 is connected with the tool slide block 34 by screws and nuts, and then promotes the tool slide block 34 to move linearly in the tool slide rail. The milling cutter 27 completes the advance and retreat of the cutter along the linear motion of the tool slide block 34, and along the linear motion of the tool slide block 34, the spring 36 is compressed to varying degrees by the original length. When not tapping rubber, the steering gear 31 is not powered on, and the milling cutter 27 and the limit wheel 3401 are attached to the rubber tree, and now the spring 36 is compressed by 17mm by the rubber tree. When preparing to tap rubber, the steering gear 31 is powered on and drives the crank 32 and the connecting rod 33 to rotate, and the milling cutter 27 is retracted to the end face position away from the rubber tree. The force provided by the steering gear 31 further compresses the spring 36, and the spring 36 is further compressed by 5mm, and now the spring 36 is compressed by 22mm. When the rubber tapping machine moves to the position of the front waterline, the steering gear 31 rotates in the opposite direction to make the crank 32 perpendicular to the horizontal slide groove. At this time, the milling cutter 27 advances. After the milling cutter 27 reaches a stable state, if the rubber tree does not have extreme conditions such as bulges and depressions, the spring 36 is compressed by the rubber tree by 10 mm. 10 mm is the margin of the spring 36 designed to prevent depression. During the rubber tapping process of the milling cutter 27, the limiting wheel 3401 rolls along the side wall of the rubber tree. The limiting wheel 3401 is used to limit the milling cutter 27, thereby achieving a fixed tapping depth.

[0035] During specific operation, the tool slider 34 moves horizontally in the tool slide rail, and the servo 31 rotates counterclockwise. Under the push of the spring 36, the tool slider 34 and the milling cutter 27 are driven to feed the rubber tree. When the circumferential DC reduction motor 9 rotates clockwise, the through shaft 12 drives the upper and lower gears to rotate, meshing with the arc racks 17 of the upper and lower arc tracks 8, driving the rubber tapping machine to move circumferentially along the upper and lower arc tracks 8. At the same time, the lead screw stepping motor 21 of the vertical motion device 6 rotates clockwise, so that the lead screw drives the nut conversion seat 25 to move upward along the slide rail, and the rubber tapping movement is completed when the set time ends. When the servo 31 rotates clockwise, it drives the connecting rod 33 to move backward, so that the tool slider 34 drives the milling cutter 27 to withdraw away from the rubber tree. When the circumferential DC reduction motor 9 reverses counterclockwise, the through shaft 12 drives the upper and lower gears to rotate, meshing with the arc racks 17 of the upper and lower arc tracks 8, driving the rubber tapping machine to move circumferentially along the upper and lower arc tracks 8. At the same time, the lead screw stepping motor 21 of the vertical motion device 6 reverses counterclockwise, causing the lead screw to drive the nut conversion seat 25 to move downward along the slide rail 26, and the reset movement is completed when the set time ends. The present invention cooperates with the vertical motion device 6, the steering gear 31, and the track circumferential motion device 5. The secant trajectory is completed by the combination of the two movements of the track circumferential motion device 5 and the vertical motion device 6. The size of the secant spiral angle can be adjusted by changing the rotation speed ratio of the two to meet the needs of rubber trees with different tree conditions; the tapping depth can be adjusted by cooperating with the steering gear 31; the steering gear 31 cooperates with the spring 36 so that the milling cutter 27 can change the feed amount in real time according to the real-time tree condition, and rubber can still be tapped normally when the rubber tree has depressions or protrusions, thereby realizing flexible dynamic tapping.

[0036] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A mobile rubber tapping device, characterized in that: include: A mobile platform, the mobile platform includes a frame body with an open slot on one side, a walking mechanism is provided at the bottom of the frame body, the walking mechanism includes a plurality of independently controlled steering mechanisms, each steering mechanism is provided with an independently controlled driving unit, and the walking mechanism can drive the frame body to walk and turn along a predetermined route; The rubber tapping machine is arranged at the opening groove of the frame body, can move to the rubber tree with the frame body, and perform rotary cutting rubber tapping close to the rubber tree skin.

2. The mobile rubber tapping device according to claim 1, characterized in that: The traveling mechanism comprises a driving part and a steering mechanism; the steering mechanism comprises a steering connecting plate, the steering connecting plate is connected to the frame body, a servo motor is arranged on the steering connecting plate, and the output shaft of the servo motor is transmission-connected to the traveling mechanism through a reducer and a flange coupling.

3. The mobile rubber tapping device according to claim 2, characterized in that: The driving part includes an L-shaped driving connecting plate, the top plate of which is drivingly connected to the output shaft of the servo motor; a DC motor is provided on one side of the bottom plate of the driving connecting plate, and the DC motor is drivingly connected to the wheel through a reducer and a flange coupling.

4. The mobile rubber tapping device according to claim 2, characterized in that: The frame body includes two acrylic plates arranged in parallel up and down, the outer sides of the two acrylic plates are fixedly connected by aluminum profiles, and one side of the acrylic plate is provided with the opening groove; a suspension mechanism is provided on the outer side of the aluminum profile, and the suspension mechanism includes a suspension connecting plate fixedly connected to the aluminum profile, the suspension connecting plate is connected to the steering connecting plate through a four-link rod, and a shock-absorbing spring is provided between the top of the steering connecting plate and the suspension connecting plate.

5. The mobile rubber tapping device according to claim 1, characterized in that: The rubber tapping machine includes a track circumferential motion device, which includes two arc tracks arranged horizontally up and down, and the side of the arc track close to the frame body is fixed to the position of the open groove of the frame body through a support rod, and the arc track is open at one end away from the open groove; a rubber tapping machine housing is arranged between the two arc tracks, and a vertical motion device is arranged on the rubber tapping machine housing, and a flexible rotary cutting rubber tapping mechanism is movably arranged on the vertical motion device, the vertical motion device can move circumferentially along the arc track, and the flexible rotary cutting rubber tapping mechanism can move vertically on the vertical motion device, and the flexible rotary cutting rubber tapping mechanism is used to perform rotary cutting rubber tapping in close contact with the rubber tree skin.

6. The mobile rubber tapping device according to claim 5, characterized in that: A plurality of support rod seats are fixedly provided on one side of the arc track close to the frame body, one end of the support rod is fixedly connected to the support rod seat of the arc track at the upper part, and the other end is fixedly connected to the support rod seat of the arc track at the lower part; ball slide rails are respectively provided at the bottom of the upper arc track and the top of the lower arc track, and the rubber tapping machine housing is provided between the two ball slide rails, and the upper and lower ends of the rubber tapping machine housing are respectively rollingly connected with the ball slide rails at the corresponding ends through bull's eye balls; seat bearings are respectively fixedly provided at the upper and lower ends of the rubber tapping machine housing, a through shaft is passed through the two seat bearings, and end gears are fixedly provided at the upper and lower ends of the through shaft, an arc rack is provided in the arc track, and the end gear is meshed with the arc rack at the corresponding end, and a middle gear is provided in the middle of the through shaft, and a circumferential DC reduction motor is fixedly provided on the rubber tapping machine housing through a motor bracket, and a driving gear is provided on the motor shaft of the circumferential DC reduction motor, and the driving gear is meshed with the middle gear.

7. The mobile rubber tapping device according to claim 6, characterized in that: The two sides of the bottom and the two sides of the top of the rubber tapping machine housing are respectively connected with limiting wheels through columns, the limiting wheels located on the two sides of the bottom of the rubber tapping machine housing are connected in rolling contact with the side walls of the arc-shaped guide rail located at the lower part, and the limiting wheels located on the two sides of the top of the rubber tapping machine housing are connected in rolling contact with the side walls of the arc-shaped guide rail located at the upper part.

8. The mobile rubber tapping device according to claim 5, characterized in that: The vertical motion device includes a stepper motor bracket fixedly arranged on the rubber tapping machine housing, a screw stepper motor is installed on the stepper motor bracket, the screw stepper motor is transmission-connected with a screw, and the screw is arranged on the rubber tapping machine housing through a vertical seat bearing; a T-shaped round flange nut is threadedly connected to the screw, and the T-shaped round flange nut is connected to a nut conversion seat, and the nut conversion seat is connected to the flexible rotary cutting rubber tapping mechanism, and slide rails are fixedly arranged on the rubber tapping machine housing on both sides of the screw, and both sides of the nut conversion seat are slidably arranged on the slide rails on the corresponding sides.

9. The mobile rubber tapping device according to claim 8, characterized in that: The flexible rotary cutting rubber tapping device includes a tool base, which is fixedly connected to the nut conversion seat; a steering gear is fixedly provided on the tool base, and the steering gear is connected to a tool slider through a crank-connecting rod mechanism, and a tool slide rail is provided on the tool base, and the tool slider is slidably arranged in the tool slide rail; a milling cutter DC reduction motor is fixedly provided on the tool slider through a tool motor bracket, and a milling cutter is connected to the output shaft of the milling cutter DC reduction motor through a plum blossom coupling; one side of the tool slider is connected to a limiting wheel through an extension rod, and the end of the limiting wheel can be rolled and arranged on the rubber tree.

10. The mobile rubber tapping device according to claim 9, characterized in that: The crank-connecting rod mechanism includes a crank and a connecting rod; the crank is fixedly connected to the steering disc of the servo gear by screws, a hollow slide groove is designed in the middle of the connecting rod, the end of the crank is rotatably connected to one end of the connecting rod by bolts, and the end of the connecting rod away from the crank is rotatably connected to the tool slider by bolts; a spring is installed at the end of the tool slider close to the servo gear, and the end of the spring is fixedly connected to the tool base.

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