Glue collecting robot and glue collecting method

Abstract

The embodiment of the invention provides a glue collecting robot and a glue collecting method. The glue collecting robot comprises a walking mechanism; the glue storage tank is mounted on the walking mechanism; the glue collecting mechanical arm is mounted on the walking mechanism; the glue collecting mechanism is mounted at the free end of the glue collecting mechanical arm; wherein the rubber collecting mechanism is used for taking and placing rubber bowls, and the rubber collecting mechanical arm is used for driving the rubber collecting mechanism to move, so that the rubber collecting mechanism can grab the rubber bowls from rubber trees and place the rubber bowls into the rubber storage tank. The rubber collecting robot can continuously move in a rubber forest from one rubber collecting point to another, interruption is not needed, the rubber collecting process is extremely fast, only the taken rubber bowl needs to be directly placed into the rubber storage barrel, waiting for rubber pouring or rubber suction is not needed, and therefore the overall operation efficiency is improved, and the rubber collecting process is faster. The rubber bowl is integrally placed in the rubber storage tank, so that the problem that the latex in the rubber bowl is not completely collected due to poor flowability of the latex is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and more specifically, to a rubber collecting robot and a rubber collecting method. Background Art

[0002] The existing method of collecting rubber in rubber forests is to place a rubber bowl on the tree. After the rubber is tapped, the rubber liquid flows into the rubber bowl through the guide groove on the surface of the rubber tree. After waiting for a few hours, the rubber liquid completely flows out of the rubber bowl, and then the rubber liquid is collected by hand in front of each tree and poured into the bucket carried by the rubber worker to collect the rubber liquid. It is necessary to carry the rubber bucket and go to each tree in the rubber forest to collect the rubber liquid.

[0003] In order to reduce labor input, some automatic rubber collection equipment has appeared, such as the open patent application with application number CN202410720986.3, which adopts the method of absorbing latex, and utilizes suction pump to suck the latex in the rubber bowl into the rubber storage barrel. However, this method can neither ensure that the semi-solidified latex at the bottom of the rubber bowl is sucked clean, nor does it make the rubber collection efficiency very low. As the rubber collection time becomes longer, the latex fluidity in the rubber bowl on the subsequent rubber tree will become worse, affecting the rubber collection efficiency and quantity. Therefore, although some technologies are currently being automated for rubber tapping operations, the effect in terms of rubber collection is poor, especially partially solidified rubber will stick to the rubber bowl and be difficult to be sucked out, resulting in the rubber latex remaining in the rubber bowl, resulting in the problem of loss of latex production. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a rubber collecting robot and a rubber collecting method, which can solve the problem that the existing pump-suction rubber collecting equipment cannot fully suck out the rubber remaining at the bottom of the rubber bowl, thereby causing latex loss and affecting the efficiency and quantity of rubber collection.

[0005] The present application embodiment provides a glue collecting robot, comprising:

[0006] Traveling mechanism;

[0007] A glue storage tank is installed on the walking mechanism;

[0008] A rubber collecting mechanical arm is installed on the walking mechanism;

[0009] A glue collecting mechanism, installed at the free end of the glue collecting mechanical arm;

[0010] The rubber collecting mechanism is used to take and place the rubber bowl, and the rubber collecting mechanical arm is used to drive the rubber collecting mechanism to move, so that the rubber collecting mechanism can grab the rubber bowl from the rubber tree and put the rubber bowl into the rubber storage tank.

[0011] In the above implementation process, at least the following beneficial effects are achieved:

[0012] 1. Significantly improve rubber collection efficiency: The autonomous walking of the rubber collection robot and the precise operation of the robotic arm greatly reduce human intervention. The rubber collection robot can move continuously in the rubber forest. After performing rubber collection operations in front of a rubber tree, it moves to the next rubber tree to continue the rubber collection operation without interruption. The rubber collection process is also extremely fast. You only need to put the removed rubber bowl directly into the rubber storage barrel, saving the time of dumping the rubber bowl and cleaning the residual latex at the bottom of the rubber bowl, as well as the time of sucking rubber during suction-type rubber collection, thereby improving the overall operation efficiency and making the rubber collection process faster.

[0013] 2. Reduce labor input: It reduces the need for people to walk back and forth in the rubber forest and manually empty the rubber bowls, reducing physical exertion and labor costs.

[0014] 3. Improve latex recovery rate: By placing the entire rubber bowl into the rubber storage tank, the problem of incomplete latex collection in the rubber bowl due to poor latex fluidity can be avoided. The latex and rubber bowl in the rubber storage tank can be uniformly processed at the centralized rubber collection center, and the semi-solidified latex remaining in the rubber bowl can be stripped off by scraping and / or washing, thus achieving almost complete recovery of the latex.

[0015] In some embodiments, the glue collecting robot also includes a main control board and a visual module. The visual module and the glue collecting robotic arm are respectively connected to the main control board signal. The main control board can control the operation of the glue collecting robotic arm according to the information collected by the visual module.

[0016] In the above implementation process, the introduction of the visual module enables the rubber collecting robot to accurately identify the location of the rubber tree and the rubber bowl, thereby improving the accuracy of the rubber collecting operation, which helps to reduce latex loss or machine damage caused by misoperation. Through the information collected by the visual module, the main control board can adjust the action of the rubber collecting robot arm in real time to adapt to different working environments and conditions, which makes the rubber collecting robot more flexible and reliable when facing complex and changeable rubber forests. The collaborative work of the main control board and the visual module enables the rubber collecting robot to autonomously complete the entire process from environmental perception to action execution without human intervention, which greatly improves the degree of automation of the rubber collecting operation and reduces labor costs. Since the rubber collecting robot can accurately and quickly identify targets and perform actions, the efficiency of the entire rubber collecting process has been significantly improved, which helps to shorten the operation cycle and increase the output and benefits of the rubber forest.

[0017] In some embodiments, the visual module is installed on the glue collecting mechanism.

[0018] In the above implementation process, the vision module is directly installed on the rubber collecting mechanism. When the rubber collecting robot arm drives the rubber collecting mechanism to move, the vision module also moves accordingly, which means that the vision module can collect information about the surrounding environment of the rubber collecting mechanism in real time, including the specific location of the rubber tree, the precise placement of the rubber bowl, and possible obstacles. Based on the information fed back by the vision module, the main control board can accurately control the movement trajectory of the rubber collecting robot arm and the grabbing action of the rubber collecting mechanism, which ensures that the rubber collecting mechanism can accurately approach and grab the rubber bowl, avoiding damage to the rubber bowl or latex leakage caused by misoperation. After grabbing the rubber bowl, the rubber collecting robot arm continues to move and brings the rubber bowl to the top of the rubber storage barrel. At this time, the vision module comes into play again, helping the main control board to determine the relative position of the rubber bowl and the rubber storage barrel, thereby ensuring that the rubber bowl can be placed in the rubber storage barrel smoothly and accurately, avoiding latex splashing or the rubber bowl getting stuck.

[0019] In some embodiments, the glue collecting mechanism includes a mounting bracket and a bowl support rack, the bowl support rack is provided with a bracket suitable for fixing the glue bowl, the mounting bracket is installed at the free end of the glue collecting robotic arm, and the visual module and the bowl support rack are respectively installed at the upper and lower ends of the mounting bracket.

[0020] In the above implementation process, the glue collecting mechanism adopts a simple mounting bracket and bowl support structure, which not only reduces the manufacturing cost, but also improves the operation efficiency of the robot. At the same time, this design makes the maintenance and maintenance of the glue collecting robot easier. The brackets set on the bowl support can accurately clamp the bottom of the rubber bowl, thereby ensuring the stability of the rubber bowl during the grabbing and moving process, which greatly reduces the risk of damage to the rubber bowl or latex leakage.

[0021] In some embodiments, the glue collecting robot arm is a six-axis robot arm.

[0022] In the above implementation process, the six-axis robot arm has higher flexibility than other types of robot arms. Its six joints (or axes) allow it to achieve complex motion trajectories in three-dimensional space. This flexibility enables the rubber collection robot arm to easily adapt to rubber trees of different shapes and sizes, as well as rubber bowls at different positions and angles. In addition, due to the flexibility and precision of the six-axis robot arm, it can adapt to various complex working environments. For example, in a rubber forest, the spacing between trees may be uneven, and the ground may be uneven. The six-axis robot arm can flexibly avoid these obstacles to ensure the smooth progress of the rubber collection task.

[0023] In some embodiments, the walking mechanism includes a navigation module, and the navigation module is used to navigate the walking mechanism to walk autonomously.

[0024] In the above implementation process, the introduction of the navigation module enables the walking mechanism to get rid of its dependence on manual operation and achieve autonomous walking, which greatly improves the flexibility and work efficiency of the equipment. By sensing the surrounding environment in real time and planning a safe path, the navigation module helps to avoid collisions between the walking mechanism and obstacles, thereby reducing the risk of accidents. In addition, the navigation module can accurately calculate the position and speed of the walking mechanism and adjust the walking path according to the actual situation, thereby ensuring the accuracy and efficiency of walking.

[0025] In some embodiments, the navigation module includes any one or more of a three-dimensional laser radar, an inertial measurement unit, an ultrasonic radar, a visual sensor, and a satellite navigation unit.

[0026] In the above implementation process, the 3D laser radar can construct a 3D point cloud map of the surrounding environment by emitting lasers and receiving reflected signals. This high-precision environmental perception capability enables the walking mechanism to accurately identify obstacles, terrain changes and other information. The 3D laser radar has high ranging accuracy and is less affected by lighting conditions, making it suitable for various complex environments.

[0027] The inertial measurement unit (IMU) can measure the acceleration, angular velocity and other motion parameters of the walking mechanism in real time through built-in sensors such as accelerometers and gyroscopes, thereby calculating its position, speed and posture. IMU has the characteristics of fast response speed and no interference from the external environment, and can provide continuous navigation information for the walking mechanism.

[0028] Ultrasonic radar can measure the distance of obstacles in front by emitting ultrasonic waves and receiving the reflected signals. This distance measurement method is simple and reliable and is suitable for close-range obstacle detection. Ultrasonic radar is low-cost, small in size, and easy to integrate into the navigation module.

[0029] Vision sensors capture images of the surrounding environment through cameras and use image processing algorithms to identify road signs, pedestrians, vehicles and other targets. This visual perception capability enables the walking mechanism to better adapt to the urban traffic environment. Vision sensors can provide rich environmental information, which helps the walking mechanism to make more complex decisions and plans.

[0030] The satellite navigation unit can determine the global position of the travel mechanism by receiving signals from satellites. This positioning method has the characteristics of wide coverage and high accuracy. The satellite navigation unit can provide the travel mechanism with stable positioning information that is not restricted by the environment.

[0031] Through the combined use of multiple sensors, the navigation module can achieve comprehensive perception of the surrounding environment, thereby improving the autonomous navigation capability of the walking mechanism.

[0032] In some embodiments, the walking mechanism walks in a crawler-type, wheel-type, leg-foot type or wheel-foot type.

[0033] In the above implementation process, the crawler walking mechanism is composed of guide wheels, tensioning devices, crawler frames, etc., and the crawler tracks are driven by wheels with different functions to complete the movement of the mechanical equipment. The crawler tracks have a large contact area with the ground, so they have strong ground adhesion and passability. It can walk on uneven ground, cross obstacles, climb not too high steps, etc. It is suitable for complex terrain and scenes that require high adhesion, but the speed is relatively slow and the energy consumption is high.

[0034] The wheeled walking method has good moving stability, low energy consumption, high running speed, and is relatively simple to control. Commonly used wheel structures include two-wheel, three-wheel and four-wheel types, among which three-wheel and four-wheel types are widely used in the market. Compared with the crawler walking mechanism, the wheeled walking mechanism has higher speed and efficiency on flat ground. It is suitable for flat ground and scenes requiring high-speed movement. It has high efficiency and speed, but its ground adaptability is relatively poor. It is specifically suitable for rubber forests with relatively flat terrain.

[0035] The leg-foot walking method has good adaptability to rough roads. The footholds are discrete points. The optimal support points can be selected on the ground that can be reached. It has active seismic isolation capabilities, and the movement of the fuselage can remain stable. The movement speed on uneven and soft ground is high, and the energy consumption is low. For example, it can be a two-legged walking robot, a four-legged walking robot, etc. It is suitable for scenes with complex terrain and high flexibility, such as stairs, rough roads, etc., but the technical difficulty and cost are high.

[0036] On the other hand, this embodiment also provides a glue collecting method based on the above-mentioned glue collecting robot, comprising the steps of:

[0037] S1. The rubber collecting robot moves close to the rubber tree and stops steadily;

[0038] S2. The glue collecting robot arm drives the glue collecting mechanism to move to the glue bowl position, and the glue collecting mechanism grabs the glue bowl;

[0039] S3. The glue collecting robot arm drives the glue collecting mechanism with the glue bowl to move to the top of the glue storage tank, and the glue collecting mechanism puts the glue bowl into the glue storage tank;

[0040] S4. The glue collecting robot moves to the next glue collecting point and repeats steps S1-S3.

[0041] In the above implementation process, the entire glue collection process is completed autonomously by the glue collection robot without manual intervention, which greatly improves work efficiency. The glue collection process is also extremely fast. You only need to put the removed glue bowl directly into the glue storage barrel without waiting for glue pouring or sucking glue, thereby improving the overall work efficiency and making the glue collection process faster. By placing the entire glue bowl into the glue storage tank, the problem of incomplete collection of latex in the glue bowl due to poor latex fluidity is avoided.

[0042] In some embodiments, the rubber collecting method also includes the following steps: after reaching the set amount of rubber collected, the rubber collecting robot automatically returns to the rubber collection center; thereafter, the rubber and rubber bowls in the rubber storage tank are collected manually or by equipment, and the rubber bowls are separated from the rubber and then cleaned; the rubber collecting robot then puts the cleaned rubber bowls back on the rubber tree.

[0043] In the above implementation process, on the basis of the original automatic rubber collection process, additional steps such as returning to the rubber collection center, separating and cleaning the rubber bowl, and resetting the rubber bowl were added to form a complete, closed-loop rubber collection process. This method not only improves the efficiency of rubber collection, but also ensures the recycling of the rubber bowl and reduces production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 This is a schematic diagram of the structure of the glue collecting robot described in this embodiment;

[0046] Figure 2 This is a state diagram of the glue collecting process of the glue collecting robot described in this embodiment.

[0047] in,

[0048] 1. Walking mechanism; 11. Navigation module; 2. Glue storage tank; 3. Glue collecting robot arm; 4. Glue collecting mechanism; 41. Mounting bracket; 42. Bowl support rack; 43. Vision module; 5. Glue bowl. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0050] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0051] Please refer to Figure 1 and Figure 2 This embodiment provides a glue collecting robot, comprising:

[0052] Walking mechanism 1;

[0053] A glue storage tank 2 is installed on the walking mechanism 1;

[0054] The rubber collecting robot arm 3 is installed on the walking mechanism 1;

[0055] The glue collecting mechanism 4 is installed at the free end of the glue collecting mechanical arm 3;

[0056] The rubber collecting mechanism 4 is used for taking and placing the rubber bowl 5 , and the rubber collecting mechanical arm 3 is used for driving the rubber collecting mechanism 4 to move, so that the rubber collecting mechanism 4 can grab the rubber bowl 5 from the rubber tree and put the rubber bowl 5 into the rubber storage tank 2 .

[0057] When the rubber collecting robot of this embodiment is in operation, it can walk autonomously in the rubber forest based on the walking mechanism 1. When it walks near the rubber tree where the rubber needs to be collected, the rubber collecting robot stops, and the rubber collecting mechanical arm 3 drives the rubber collecting mechanism 4 to move, so that the rubber collecting mechanism 4 approaches and grabs the rubber bowl 5. Then the rubber collecting mechanical arm 3 drives the rubber collecting mechanism 4 and the rubber bowl 5 to move together to the top of the opening of the rubber storage tank 2. The rubber collecting mechanism 4 puts the rubber bowl 5 together with the latex inside into the rubber storage tank 2 for recycling; then the walking mechanism 1 drives the rubber collecting robot to move to the next rubber collecting point and repeats the above-mentioned rubber collecting process, and so on.

[0058] When the rubber storage tank 2 is full or the rubber collection task is completed, the rubber collection robot moves to the centralized rubber collection center of the rubber garden, and the latex and rubber bowl 5 in the rubber storage tank 2 are poured out manually or by equipment in the rubber collection center, and then the rubber bowl 5 is separated from the latex. The semi-solidified latex remaining in the rubber bowl 5 can be peeled off by scraping and / or washing. If it is washed with clean water, the latex in the washed water can also be separated and recovered. In this way, the purpose of complete recovery of the latex can be basically achieved. The existing method of manually pouring the rubber bowl 5 to collect the rubber on site, or pumping to absorb the rubber, cannot achieve such high recovery efficiency and high recovery quantity.

[0059] In summary, the rubber collecting robot of this embodiment realizes the automation and efficiency of rubber collecting operations in rubber forests, and at least achieves the following beneficial effects:

[0060] 1. Significantly improve rubber collection efficiency: The autonomous walking of the rubber collection robot and the precise operation of the robotic arm greatly reduce human intervention. The rubber collection robot can move continuously in the rubber forest from one rubber collection point to another without interruption. The rubber collection process is also extremely fast. You only need to put the removed rubber bowl 5 directly into the rubber storage barrel without waiting for the rubber to be poured or sucked, thereby improving the overall operation efficiency and making the rubber collection process faster.

[0061] 2. Reduce labor input: It reduces the need for people to walk back and forth in the rubber forest and manually dump the rubber bowl 5, reducing physical exertion and labor costs.

[0062] 3. Improve the latex recovery rate: By placing the rubber bowl 5 as a whole into the rubber storage tank 2, the problem of incomplete collection of latex in the rubber bowl due to poor latex fluidity is avoided. The latex in the rubber storage tank 2 and the rubber bowl 5 can be uniformly processed in the centralized rubber collection center, and the semi-solidified latex remaining in the rubber bowl 5 can be stripped off by scraping and / or washing, thereby achieving almost complete recovery of the latex.

[0063] In some embodiments, the glue collecting robot also includes a main control board and a visual module 43. The visual module 43 and the glue collecting robotic arm 3 are respectively connected to the main control board signal. The main control board can control the operation of the glue collecting robotic arm 3 according to the information collected by the visual module 43.

[0064] Among them, the visual module 43 is responsible for collecting environmental information in the rubber forest, especially the position of the rubber tree, the placement state of the rubber bowl 5, and the position of the surrounding obstacles, etc., and this information is transmitted to the main control board through a signal. After receiving the information from the visual module 43, the main control board processes and analyzes it, and based on the preset algorithm and program, and the current position state of the rubber collecting mechanical arm 3, the main control board determines the next action of the rubber collecting mechanical arm 3. According to the decision of the main control board, the rubber collecting mechanical arm 3 starts to operate, it first moves to the vicinity of the rubber tree, and then accurately adjusts the position to grab the rubber bowl 5; after the grab is successful, the rubber collecting mechanical arm 3 lifts the rubber bowl 5 to a certain height to avoid contact with the ground or other obstacles, and then translates to the top of the rubber storage tank 2 to avoid latex spilling midway; above the rubber storage tank 2, the rubber collecting mechanical arm 3 slowly puts the rubber bowl 5 into the tank.

[0065] Based on the above embodiment scheme, the introduction of the visual module 43 enables the rubber collecting robot to accurately identify the position of the rubber tree and the rubber bowl 5, thereby improving the accuracy of the rubber collecting operation, which helps to reduce the latex loss or machine damage caused by misoperation. Through the information collected by the visual module 43, the main control board can adjust the action of the rubber collecting mechanical arm 3 in real time to adapt to different operating environments and conditions, which makes the rubber collecting robot more flexible and reliable when facing complex and changeable rubber forests. The collaborative work of the main control board and the visual module 43 enables the rubber collecting robot to autonomously complete the whole process from environmental perception to action execution without manual intervention, which greatly improves the automation of the rubber collecting operation and reduces labor costs. Because the rubber collecting robot can accurately and quickly identify the target and perform actions, the efficiency of the whole rubber collecting process is significantly improved, which helps to shorten the operating cycle and improve the output and benefits of the rubber forest.

[0066] In some embodiments, the visual module 43 is installed on the glue collecting mechanism 4 .

[0067] The visual module 43 is directly mounted on the rubber collecting mechanism 4. When the rubber collecting mechanical arm 3 drives the rubber collecting mechanism 4 to move, the visual module 43 also moves accordingly, which means that the visual module 43 can collect information about the surrounding environment of the rubber collecting mechanism 4 in real time, including the specific location of the rubber tree, the precise placement of the rubber bowl 5, and possible obstacles. Based on the information fed back by the visual module 43, the main control board can accurately control the motion trajectory of the rubber collecting mechanical arm 3 and the grabbing action of the rubber collecting mechanism 4, which ensures that the rubber collecting mechanism 4 can accurately approach and grab the rubber bowl 5, avoiding damage to the rubber bowl 5 or latex leakage caused by misoperation. After grabbing the rubber bowl 5, the rubber collecting mechanical arm 3 continues to move and brings the rubber bowl 5 to the top of the rubber storage barrel. At this time, the visual module 43 plays a role again, helping the main control board to judge the relative position of the rubber bowl 5 and the rubber storage barrel, thereby ensuring that the rubber bowl 5 can be smoothly and accurately placed in the rubber storage barrel to avoid latex splashing or the rubber bowl 5 getting stuck.

[0068] Based on the design that the visual module 43 moves with the glue collecting mechanism 4, the glue collecting robot can obtain information on the work site in real time, so as to make more accurate and efficient decisions, which helps to reduce misoperation and improve operation accuracy and efficiency.

[0069] In some embodiments, please refer to Figure 1 The glue collecting mechanism 4 includes a mounting bracket 41 and a bowl support rack 42. The bowl support rack 42 is provided with a bracket suitable for fixing the glue bowl 5. The mounting bracket 41 is installed at the free end of the glue collecting robot arm 3. The visual module 43 and the bowl support rack 42 are respectively installed at the upper and lower ends of the mounting bracket 41.

[0070] Among them, the glue collecting mechanism 4 is mainly composed of a mounting bracket 41, a bowl support rack 42 and a visual module 43. The mounting bracket 41 serves as a bridge connecting the glue collecting robot arm 3 and the bowl support rack 42, and is firmly installed on the free end of the glue collecting robot arm 3. The bowl support rack 42 is arranged at the lower end of the mounting bracket 41, and is provided with a bracket specifically for fixing the glue bowl 5; the visual module 43 is installed at the upper end of the mounting bracket 41 to facilitate real-time collection of surrounding environment information.

[0071] During the process of grabbing the rubber bowl 5, when the rubber collecting robot receives the instruction to grab the rubber bowl 5, the rubber collecting robotic arm 3 first accurately moves the bowl supporting rack 42 to the bottom of the rubber bowl 5 according to the positioning information provided by the visual module 43; then, the rubber collecting robotic arm 3 drives the bowl supporting rack 42 to move slowly upwards, so that the bracket just catches the bottom of the rubber bowl 5, thereby steadily lifting the rubber bowl 5; during this process, the visual module 43 continuously monitors the relative position of the bowl supporting rack 42 and the rubber bowl 5 to ensure the accuracy and safety of the grabbing action.

[0072] During the process of lowering the rubber bowl 5, when the rubber collecting robot arm 3 brings the rubber bowl 5 to the top of the rubber storage box, it first adjusts the position of the bowl support rack 42 according to the feedback of the visual module 43 to ensure that the rubber bowl 5 can be accurately aligned with the opening of the rubber storage box; then, the rubber collecting robot arm 3 gradually tilts the bowl support rack 42 by rotating or tilting, and the rubber bowl 5 is thus freely dropped from the bracket by gravity and falls steadily into the rubber storage box; in this process, the visual module 43 also plays a key role, which monitors the falling process of the rubber bowl 5 in real time to ensure that the rubber bowl 5 can smoothly and safely enter the rubber storage box.

[0073] The glue collecting mechanism 4 of this embodiment adopts a simple mounting bracket 41 and a bowl support frame 42 structure, which not only reduces the manufacturing cost, but also improves the operation efficiency of the robot. At the same time, this design makes the maintenance and care of the glue collecting robot easier. The brackets provided on the bowl support frame 42 can accurately clamp the bottom of the glue bowl 5, thereby ensuring the stability of the glue bowl 5 during the grabbing and moving process, which greatly reduces the risk of damage to the glue bowl 5 or latex leakage.

[0074] In some embodiments, the glue collecting robot arm 3 is a six-axis robot arm.

[0075] Compared with other types of robotic arms, the six-axis robotic arm has higher flexibility. Its six joints (or axes) allow it to achieve complex motion trajectories in three-dimensional space. This flexibility enables the rubber collection robotic arm 3 to easily adapt to rubber trees of different shapes and sizes, as well as rubber bowls 5 at different positions and angles. In addition, due to the flexibility and precision of the six-axis robotic arm, it can adapt to various complex working environments. For example, in a rubber forest, the spacing between trees may be uneven, and the ground may be uneven. The six-axis robotic arm can flexibly avoid these obstacles to ensure the smooth progress of the rubber collection task.

[0076] In some embodiments, the walking mechanism 1 includes a navigation module 11, and the navigation module 11 is used to navigate the walking mechanism 1 to walk autonomously.

[0077] In the embodiment of the walking mechanism 1 including the navigation module 11, the navigation module 11 plays a vital role. It is responsible for guiding the walking mechanism 1 to walk autonomously. Specifically, the navigation module 11 integrates multiple sensors (such as GPS, lidar, camera, etc.) and advanced positioning algorithms. It can perceive the surrounding environment in real time, determine the position, direction and speed of the walking mechanism 1, and plan the optimal walking path accordingly.

[0078] The introduction of the navigation module 11 enables the walking mechanism 1 to get rid of its dependence on manual operation and realize autonomous walking, which greatly improves the flexibility and work efficiency of the equipment. By sensing the surrounding environment in real time and planning a safe path, the navigation module 11 helps to avoid collisions between the walking mechanism 1 and obstacles, thereby reducing the risk of accidents. In addition, the navigation module 11 can accurately calculate the position and speed of the walking mechanism 1 and adjust the walking path according to the actual situation, thereby ensuring the accuracy and efficiency of walking.

[0079] In some embodiments, the navigation module 11 includes any one or more of a three-dimensional laser radar, an inertial measurement unit, an ultrasonic radar, a visual sensor, and a satellite navigation unit.

[0080] Among them, the three-dimensional laser radar can construct a three-dimensional point cloud map of the surrounding environment by emitting lasers and receiving reflected signals. This high-precision environmental perception capability enables the walking mechanism 1 to accurately identify obstacles, terrain changes and other information. The three-dimensional laser radar has high ranging accuracy and is less affected by lighting conditions, and is suitable for various complex environments.

[0081] The inertial measurement unit (IMU) can measure the acceleration, angular velocity and other motion parameters of the walking mechanism 1 in real time through built-in sensors such as accelerometers and gyroscopes, thereby calculating its position, speed and posture. IMU has the characteristics of fast response speed and no interference from the external environment, and can provide continuous navigation information for the walking mechanism 1.

[0082] Ultrasonic radar can measure the distance of obstacles ahead by emitting ultrasonic waves and receiving reflected signals. This distance measurement method is simple and reliable and is suitable for close-range obstacle detection. Ultrasonic radar is low in cost and small in size and can be easily integrated into the navigation module 11.

[0083] The visual sensor captures images of the surrounding environment through a camera and uses image processing algorithms to identify targets such as road signs, pedestrians, and vehicles. This visual perception capability enables the walking mechanism 1 to better adapt to the urban traffic environment. The visual sensor can provide rich environmental information, which helps the walking mechanism 1 to make more complex decisions and plans.

[0084] The satellite navigation unit can determine the global position of the traveling mechanism 1 by receiving signals from satellites. This positioning method has the characteristics of wide coverage and high accuracy. The satellite navigation unit can provide the traveling mechanism 1 with stable positioning information that is not restricted by the environment.

[0085] By using a combination of multiple sensors, the navigation module 11 can achieve comprehensive perception of the surrounding environment, thereby improving the autonomous navigation capability of the walking mechanism 1.

[0086] In some embodiments, the walking mechanism 1 can walk in different forms such as track type, wheel type, leg-foot type or wheel-foot type.

[0087] The crawler walking mechanism 1 is composed of guide wheels, tensioning devices, crawler frames, etc., and the crawler tracks are driven by wheels with different functions to complete the movement of the mechanical equipment. The crawler tracks have a large contact area with the ground, so they have strong ground adhesion and passability. They can walk on uneven ground, cross obstacles, climb not-too-high steps, etc. They are suitable for complex terrain and scenes requiring high adhesion, but the speed is relatively slow and the energy consumption is high.

[0088] The wheeled walking mode has good moving stability, low energy consumption, high running speed, and is relatively simple to control. Commonly used wheeled structures include two-wheeled, three-wheeled and four-wheeled structures, among which three-wheeled and four-wheeled structures are widely used in the market. Compared with the crawler walking mechanism 1, the wheeled walking mechanism 1 has higher speed and efficiency on flat ground. It is suitable for flat ground and scenes requiring high-speed movement. It has higher efficiency and speed, but its ground adaptability is relatively poor. It is specifically suitable for rubber forests with relatively flat terrain.

[0089] The leg-foot walking method has good adaptability to rough roads. The footholds are discrete points. The optimal support points can be selected on the ground that can be reached. It has active seismic isolation capabilities, and the movement of the fuselage can remain stable. The movement speed on uneven and soft ground is high, and the energy consumption is low. For example, it can be a two-legged walking robot, a four-legged walking robot, etc. It is suitable for scenes with complex terrain and high flexibility, such as stairs, rough roads, etc., but the technical difficulty and cost are high.

[0090] On the other hand, this embodiment also provides a glue collecting method based on the above-mentioned glue collecting robot, comprising the steps of:

[0091] S1. The rubber collecting robot moves close to the rubber tree and stops steadily;

[0092] S2. The glue collecting robot arm 3 drives the glue collecting mechanism 4 to move to the position of the glue bowl 5, and the glue collecting mechanism 4 grabs the glue bowl 5;

[0093] S3. The glue collecting robot arm 3 drives the glue collecting mechanism 4 to grab the glue bowl 5 and move it to the top of the glue storage tank 2. The glue collecting mechanism 4 puts the glue bowl 5 into the glue storage tank 2;

[0094] S4. The glue collecting robot moves to the next glue collecting point and repeats steps S1-S3.

[0095] Based on the glue collecting method of this embodiment, the entire glue collecting process is completed autonomously by the glue collecting robot without manual intervention, which greatly improves work efficiency. The glue collecting process is also extremely fast, and only needs to directly put the removed glue bowl 5 into the glue storage barrel, without waiting for glue pouring or sucking glue, thereby improving the overall work efficiency and making the glue collecting process faster. By placing the entire glue bowl 5 into the glue storage tank 2, the problem of incomplete collection of latex in the glue bowl due to poor latex fluidity is avoided.

[0096] In some embodiments, the rubber collecting method also includes the following steps: after reaching the set amount of rubber collected, the rubber collecting robot automatically returns to the rubber collection center; thereafter, the rubber and the rubber bowl 5 in the rubber storage tank 2 are collected manually or by equipment, and the rubber bowl 5 is separated from the rubber and then cleaned; the rubber collecting robot then puts the cleaned rubber bowl 5 back on the rubber tree.

[0097] The rubber collection method provided in this embodiment adds steps such as returning to the rubber collection center, separating and cleaning the rubber bowl, and resetting the rubber bowl on the basis of the original automated rubber collection process, thus forming a complete, closed-loop rubber collection process. This method not only improves the efficiency of rubber collection, but also ensures the recycling of the rubber bowl and reduces production costs.

[0098] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0099] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0100] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A rubber collecting robot, characterized in that: include: Traveling mechanism; A glue storage tank is installed on the walking mechanism; A rubber collecting mechanical arm is installed on the walking mechanism; A glue collecting mechanism, installed at the free end of the glue collecting mechanical arm; The rubber collecting mechanism is used to take and place the rubber bowl, and the rubber collecting mechanical arm is used to drive the rubber collecting mechanism to move, so that the rubber collecting mechanism can grab the rubber bowl from the rubber tree and put the rubber bowl into the rubber storage tank.

2. The glue collecting robot according to claim 1, characterized in that: It also includes a main control board and a visual module. The visual module and the glue collecting robot arm are respectively connected to the main control board by signal. The main control board can control the operation of the glue collecting robot arm according to the information collected by the visual module.

3. The glue collecting robot according to claim 2, characterized in that: The visual module is installed on the glue collecting mechanism.

4. The glue collecting robot according to claim 3, characterized in that: The glue collecting mechanism includes a mounting bracket and a bowl support rack, the bowl support rack is provided with a bracket suitable for fixing the glue bowl, the mounting bracket is installed at the free end of the glue collecting robot arm, and the visual module and the bowl support rack are respectively installed at the upper and lower ends of the mounting bracket.

5. The glue collecting robot according to claim 1, characterized in that: The glue collecting robotic arm is a six-axis robotic arm.

6. The glue collecting robot according to claim 1, characterized in that: The walking mechanism comprises a navigation module, and the navigation module is used for navigating the walking mechanism to walk autonomously.

7. The glue collecting robot according to claim 6, characterized in that: The navigation module includes any one or more of a three-dimensional laser radar, an inertial measurement unit, an ultrasonic radar, a visual sensor, and a satellite navigation unit.

8. The glue collecting robot according to claim 1, characterized in that: The walking mechanism has a walking mode of crawler type, wheel type, leg-foot type or wheel-foot type.

9. A method for collecting glue using a glue collecting robot according to any one of claims 1 to 8, characterized in that: Includes steps: S1. The rubber collecting robot moves close to the rubber tree and stops steadily; S2. The glue collecting robot arm drives the glue collecting mechanism to move to the glue bowl position, and the glue collecting mechanism grabs the glue bowl; S3. The glue collecting robot arm drives the glue collecting mechanism with the glue bowl to move to the top of the glue storage tank, and the glue collecting mechanism puts the glue bowl into the glue storage tank; S4. The glue collecting robot moves to the next glue collecting point and repeats steps S1-S3.

10. The method for collecting glue according to claim 9, characterized in that: After reaching the set amount of rubber collected, the rubber collecting robot automatically returns to the rubber collection center; then the rubber and rubber bowls in the rubber storage tank are collected manually or by equipment, the rubber bowls are separated from the rubber and cleaned; the rubber collecting robot then puts the cleaned rubber bowls back on the rubber tree.

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