Collecting and scraping integrated natural rubber collecting robot and rubber collecting method

Abstract

The invention discloses a collecting and scraping integrated natural rubber collecting robot and a rubber collecting method, and the collecting and scraping integrated natural rubber collecting robot comprises a walking mechanism, a multi-degree-of-freedom mechanical arm, a collecting and scraping integrated mechanical claw, a rubber collecting box and a rubber bowl fixer. The collecting and scraping integrated mechanical claw comprises a plurality of bowl grabbing claw fingers, the outer side faces of the bowl grabbing claw fingers are provided with bowl wall dry glue scraping pieces used for conducting dry glue scraping on the inner side walls of the rubber bowls, and the bottom ends of the bowl grabbing claw fingers are provided with multifunctional claw toes. The bowl grabbing claw fingers, the bowl wall dry glue scraping pieces and the multifunctional claw fingers are integrated into a whole to form the collecting and scraping integrated mechanical claw, the collecting and scraping integrated mechanical claw is used in cooperation with a multi-degree-of-freedom mechanical arm, and under the combined action of multiple actions of rotating, lifting and opening and closing, the mechanical claw can be folded and scraped. According to the glue collecting device, multiple functions of grabbing and reversing glue bowls, scraping glue on the bottom surfaces of the glue bowls, scraping glue on the inner side walls of the glue bowls, clamping solidified glue blocks and crushing the solidified glue blocks can be realized, the problem that dry glue and glue blocks in the bowls cannot be collected in the prior art is solved, and the glue collecting quality and the glue collecting efficiency are improved.

Description

Technical Field

[0001] The present invention relates to a combined scraping and rubber collecting robot for natural rubber and a rubber collecting method. Background Art

[0002] Natural rubber is an important industrial raw material and strategic resource, which is widely used in many fields such as industry, agriculture, national defense, transportation, machinery manufacturing, medicine and health, and daily life, and the consumption demand shows an increasing trend year by year. Natural rubber mainly comes from tapping rubber trees. Among them, rubber trees are perennial tall trees, which can reach 20 - 30 meters in height and 25 - 40 centimeters in breast diameter, with grayish-white and smooth bark; rubber tapping is to cut oblique openings on the outer bark and phloem of rubber trees so that latex flows down naturally from the openings and is collected centrally. Generally, it is carried out at least once every two days; and based on the characteristic that latex is collected by relying on its own flow, rubber tapping and rubber collecting are mainly carried out at night or early in the morning.

[0003] At present, the natural rubber industry mainly relies on manual rubber tapping and rubber collecting, which is inefficient, consumes a large amount of labor, and the working environment and time are relatively harsh. Intelligent and automated rubber tapping technologies have been adopted in rubber plantations everywhere, but after rubber tapping is completed, there is still a rubber collecting task. At present, automated rubber collecting has not been realized in the rubber industry. In the prior art, CN118177034B discloses a profiling rubber scraping type automatic rubber collecting machine for natural rubber, including a rail trolley, a vision processing device, a six-axis robotic arm, a profiling rubber scraping mechanism, and a latex guiding mechanism; among them, the profiling rubber scraping mechanism includes a rubber scraping head with the scraping surface facing upwards and a blade power device for driving the rubber scraping head to rotate automatically, and a power trigger device for controlling the automatic opening and closing of the blade power device is also provided between the rubber scraping head and the blade power device; the present invention solves the problem that manual collection is still required after natural rubber tapping, and proposes a method based on a profiling rubber scraping mechanism. Through the combination of visual recognition function and the robotic arm, the collecting bowl is stably and efficiently grabbed above the profiling rubber scraping mechanism, so that the rubber scraping head can stably complete the rubber collecting work. However, this automatic rubber collecting machine has the following problems: First, the rubber scraping blades provided on the rubber scraping head in this scheme are rubber scraping sheets, which are mainly used for scraping liquid latex and cannot scrape the dry rubber solidified and attached to the inner wall of the rubber bowl, so that dry rubber accumulates on the surface of the rubber bowl; Second, the rubber scraping blades can only scrape the inner peripheral wall of the rubber bowl and cannot scrape the dry rubber on the bottom surface of the rubber bowl. If the dry rubber on the bottom surface of the rubber bowl is not cleaned, it will accumulate thicker and thicker, which will affect the use of the rubber bowl; Third, for the rubber blocks solidified inside the rubber bowl, when the rubber bowl is inverted, the rubber blocks are difficult to directly fall off due to adhering to the inside of the rubber bowl, and it is also impossible to scrape them with the rubber scraping blades. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a rubber collecting robot with integrated scraping function that combines grasping, scraping, and clamping. It can not only grasp and invert the rubber bowl, but also scrape the dry rubber on the bottom surface and inner side wall of the rubber bowl, clamp the rubber block solidified in the rubber bowl, and break the rubber block solidified in the rubber bowl. Both the rubber collecting efficiency and the rubber collecting quality are relatively high.

[0005] To solve the above technical problem, the technical solution of the present invention is: A rubber collecting robot with integrated scraping function for natural rubber, comprising: A traveling mechanism, including a chassis platform and a traveling chassis. A controller, a vision recognition system, a power module, and a center of gravity adjuster are provided on the chassis platform; A multi-degree-of-freedom robotic arm is installed on the chassis platform. A rotating end seat and a rotating power device for driving the rotation of the rotating end seat are provided at the working end of the multi-degree-of-freedom robotic arm; A scraping and grasping integrated mechanical claw, including a mounting seat installed on the rotating end seat. At least three bowl-gripping claw fingers are circumferentially and evenly arranged on the mounting seat, and a claw finger driving device for driving multiple claw fingers to simultaneously close inward or open outward is provided. A rubber bowl grasping part is provided on the inner side surface of the claw finger, and a dry rubber scraping blade for scraping the inner side wall of the rubber bowl is provided on the outer side surface of the claw finger. An arc-shaped scraping surface of the bowl wall that extends upward and outward from the bottom end of the claw finger is provided on the outer surface of the dry rubber scraping blade of the bowl wall. A multi-functional claw toe is provided at the bottom end of the claw finger, and the multi-functional claw toe can scrape the dry rubber on the bottom of the rubber bowl, clamp the rubber block solidified in the rubber bowl, and break the rubber block solidified in the rubber bowl; A rubber collecting box, including a rubber liquid collecting box and a dry rubber filtering box. The dry rubber filtering box is detachably installed at the upper inlet of the rubber liquid collecting box, and the dry rubber filtering box divides the inside of the rubber liquid collecting box into a dry rubber area and a rubber liquid area; A rubber bowl fixator is provided on the top of the rubber collecting box and is arranged close to the dry rubber filtering box for clamping and fixing the rubber bowl.

[0006] As a preferred technical solution, the rubber bowl fixator includes a fixed ring seat fixed at a corner of the rubber liquid collecting box. A plurality of radial sliding grooves are circumferentially arranged on the inner wall of the fixed ring seat. Radial sliding blocks are slidably installed in the radial sliding grooves. An arc-shaped clamping part is provided on the inner side of the radial sliding blocks, and a pressure spring is provided on the outer side of the radial sliding blocks. Multiple radial sliding blocks cooperate to clamp and fix the rubber bowl under the action of the pressure spring.

[0007] As a preferred technical solution, a connecting bracket is fixedly installed on the mounting seat, and the claw finger is connected to the connecting bracket through a connecting rod member.

[0008] As a preferred technical solution, the claw finger driving device includes a claw finger driving motor mounted on the mounting base. A transmission lead screw is provided at the output end of the claw finger driving motor. The top end of the transmission lead screw is fixedly connected to the output end of the claw finger driving motor. The upper part of the transmission lead screw is rotationally supported on a support base. A lifting transmission block is threadedly installed on the lower part of the transmission lead screw. A driving swing rod is connected between the lifting transmission block and the connecting rod member.

[0009] As a preferred technical solution, the bowl wall dry glue scraper is a polyurethane scraper.

[0010] As a preferred technical solution, the multi-functional claw toe is a metal claw toe, and the multi-functional claw toe is a triangular hook with a tip at the bottom end, an inner surface inclined downward and inward, and an outer surface extending in an arc.

[0011] As a preferred technical solution, the glue bowl grasping part is arranged at the top and bottom of the inner side surface of the bowl grasping claw finger, and the glue bowl grasping part is provided with anti-slip lines.

[0012] Another preferred technical solution is a method for collecting and scraping natural rubber. A collecting and scraping integrated natural rubber collecting robot is used, and it includes the following steps: S1. The collecting robot identifies the rubber tree and plans a walking route to move beside the rubber tree. S2. Identify the position of the glue bowl to adjust the collecting robot, and drive the collecting and scraping integrated mechanical claw to move above the bowl mouth of the glue bowl filled with glue liquid through a multi-degree-of-freedom robotic arm. The claw finger driving device is used to open and close multiple bowl grasping claw fingers to grasp the glue bowl. S3. Move the glue bowl above the dry glue filtering box under the control of the multi-degree-of-freedom robotic arm. Invert the glue bowl under the action of the multi-degree-of-freedom robotic arm, and the glue liquid enters the glue liquid collecting box below through the dry glue filtering box. After pouring is completed, upright the glue bowl. S4. Translate the upright glue bowl above the glue bowl fixator. After aligning the glue bowl with the center of the glue bowl fixator, under the cooperation of the multi-degree-of-freedom robotic arm and the collecting and scraping integrated mechanical claw, vertically squeeze the glue bowl downward into the glue bowl fixator. After the glue bowl fixator clamps and fixes the glue bowl, stop, and the collecting and scraping integrated mechanical claw releases the glue bowl. S5. The claw finger driving device controls multiple bowl-gripping claw fingers to close to the minimum. Under the action of the multi-degree-of-freedom robotic arm, the bowl-gripping claw fingers are inserted into the glue bowl. When the multi-functional claw toes touch the bottom of the glue bowl downward, they stop. Subsequently, the multi-degree-of-freedom robotic arm and the claw finger driving device act simultaneously. The multi-degree-of-freedom robotic arm drives the scraping and integrating robotic claw to rotate and slowly rise at the same time. The claw finger driving device drives the bowl-gripping claw fingers to gradually open. Under the synchronous compound action of rotation and opening of the multi-functional claw toes, the multi-functional claw toes rotate and scrape the glue from the center of the bottom of the glue bowl gradually towards the edge of the bottom of the bowl. When the multi-functional claw toes move to the edge of the bottom of the bowl, the dry glue scraper on the bowl wall just fits against the inner wall of the glue bowl. The bowl-gripping claw fingers continue to open, rotate and rise. Under the compound action of multiple movements, the arc-shaped scraping surface of the dry glue scraper on the bowl wall always fits against the inner wall of the glue bowl and continuously scrapes the inner wall until it moves out of the mouth of the glue bowl from above and then stops. S6. Adjust the height of the bowl-gripping claw fingers, and through the claw finger driving device, make multiple bowl-gripping claw fingers open and close. Grasp the glue bowl and take it out from the glue bowl fixator. Move the glue bowl above the dry glue filter box under the control of the multi-degree-of-freedom robotic arm. Invert the glue bowl under the action of the multi-degree-of-freedom robotic arm, and pour the dry glue in the glue bowl into the dry glue filter box. S7. After pouring is completed, set the glue bowl upright and put it back to the rubber tree. S8. Move to the next rubber tree and collect the glue liquid in the next glue bowl.

[0013] As a preferred technical solution, before step S5, if the visual recognition system recognizes that the height of the solidified glue block in the remaining glue bowl is greater than 1 / 3 of the depth of the bowl, perform the following step S4-1. Otherwise, directly perform step S5. Step S4-1 includes: The claw finger driving device controls multiple bowl-gripping claw fingers to close corresponding to the surface area of the glue block in the glue bowl. Under the action of the multi-degree-of-freedom robotic arm, insert the bowl-gripping claw fingers into the glue bowl so that the multi-functional claw toes are completely inserted into the solidified glue block, and continue to close the multi-functional claw toes. Multiple multi-functional claw toes cooperate to grasp the solidified glue block, drive it to move above the dry glue filter box under the multi-degree-of-freedom robotic arm, and then release the multi-functional claw toes to release the solidified glue block, which falls into the dry glue filter box. After this step is completed, continue to perform step S5.

[0014] As a preferred technical solution, if during step S4-1, the solidified glue block cannot be grasped out of the glue bowl, perform step S4-2. Step S4-2 includes: the multi-degree-of-freedom robotic arm drives the multi-functional claw toes to continue descending and rotating simultaneously, breaking the solidified glue block. At the same time, the multi-functional claw toes gradually close. Under the combined movement of descending, rotating, and closing, the solidified glue block is broken until the multi-functional claw toes touch the bottom of the glue bowl and then stop. Then, adjust the height of the bowl-gripping claw fingers, and through the claw finger driving device, make the multiple bowl-gripping claw fingers open and close, grab the glue bowl and take it out from the glue bowl fixture. Move the glue bowl above the dry glue filter box under the control of the multi-degree-of-freedom robotic arm. Under the action of the multi-degree-of-freedom robotic arm, invert the glue bowl, and the broken glue blocks in the glue bowl are poured into the dry glue filter box. After this step is completed, continue to execute step S5.

[0015] Due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows: 1. The present invention integrates multiple structures such as bowl-gripping claw fingers, dry glue scraping blades on the bowl wall, and multi-functional claw toes into one, forming a scraping and collecting integrated mechanical claw, which is used in cooperation with a multi-degree-of-freedom robotic arm. Under the combined action of multiple movements such as rotation, lifting, and opening and closing, it can realize multiple functions such as grabbing and inverting the glue bowl, scraping the bottom surface of the glue bowl, scraping the inner side wall of the glue bowl, clamping the solidified glue block, and breaking the solidified glue block, solving the problem in the prior art that the dry glue and glue blocks in the bowl cannot be collected, and improving the glue collection quality and efficiency. 2. The present invention uses the dry glue filter box in cooperation with the glue liquid collection box, which can directly and quickly separate the dry glue from the glue liquid, avoiding the mixing of the dry glue and the glue liquid from affecting the quality of the glue liquid. At the same time, the wet-dry separation process can also be omitted, facilitating the operator to collect. 3. The present invention uses the scraping and collecting integrated mechanical claw in cooperation with the glue bowl fixture to ensure the fixation of the glue bowl and avoid the rotation of the glue bowl during the dry glue scraping, which affects the scraping effect. Description of the Drawings

[0016] The following drawings are only intended to illustrate and explain the present invention schematically and do not limit the scope of the present invention. Among them: Figure 1 is the structural schematic diagram of the embodiment of the present invention; Figure 2 is the side view of the embodiment of the present invention; Figure 3 is the schematic diagram of the chassis platform of the embodiment of the present invention; Figure 4 is the structural schematic diagram of the multi-degree-of-freedom robotic arm of the embodiment of the present invention; Figure 5 is the structural schematic diagram of the glue collection box of the embodiment of the present invention; Figure 6 is the exploded view of the glue collection box of the embodiment of the present invention; Figure 7 is the structural schematic diagram of the scraping and collecting integrated mechanical claw of the embodiment of the present invention; Figure 8 is a structural sectional view of the scraping and gripping integrated robotic claw according to an embodiment of the present invention; Figure 9 is a state diagram of the scraping and gripping integrated robotic claw grasping a glue bowl according to an embodiment of the present invention; Figure 10 is a state diagram of the scraping and gripping integrated robotic claw before scraping the bottom surface of the glue bowl after closing according to an embodiment of the present invention; Figure 11 is a state where the scraping and gripping integrated robotic claw of the embodiment of the present invention opens to scrape the inner wall of the glue bowl Figure 1 ; Figure 12 is a state where the scraping and gripping integrated robotic claw of the embodiment of the present invention opens to scrape the inner wall of the glue bowl Figure 2 ; Figure 13 is a state where the scraping and gripping integrated robotic claw of the embodiment of the present invention opens to scrape the inner wall of the glue bowl Figure 3 ; Figure 14 is a state diagram of the scraping and gripping integrated robotic claw of the embodiment of the present invention opening to pick up the glue block inside the glue bowl; In the figure: 100 - traveling mechanism; 101 - chassis platform; 102 - traveling chassis; 103 - controller; 104 - power supply module; 105 - center of gravity adjuster; 200 - multi - degree - of - freedom robotic arm; 201 - rotating end seat; 202 - rotating power device; 300 - scraping and gripping integrated robotic claw; 301 - mounting seat; 302 - bowl - gripping claw fingers; 303 - connecting bracket; 304 - connecting rod member; 305 - claw finger driving motor; 306 - transmission lead screw; 307 - support seat; 308 - lifting transmission block; 309 - driving swing rod; 310 - glue bowl gripping part; 311 - dry glue scraper on the bowl wall; 312 - multi - functional claw toe; 400 - glue collecting box; 401 - glue liquid collecting box; 402 - dry glue filtering box; 500 - glue bowl fixator; 501 - fixed ring seat; 502 - radial slider; 503 - pressing spring. Detailed implementation manners

[0017] The present invention will be further described below in conjunction with the drawings and embodiments. In the following detailed description, only some exemplary embodiments of the present invention are described by way of illustration. Without doubt, those of ordinary skill in the art can recognize that the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Therefore, the drawings and description are illustrative in nature and are not used to limit the protection scope of the claims.

[0018] As Figure 1 and Figure 2As shown in the figure, a natural rubber collecting and scraping integrated robot includes a traveling mechanism 100, a multi-degree-of-freedom robotic arm 200, a collecting and scraping integrated mechanical claw 300, a glue collecting box 400, and a glue bowl fixator 500.

[0019] See Figures 1 to 3 , the traveling mechanism 100 includes a chassis platform 101 and a traveling chassis 102. A controller 103, a vision recognition system, a power module 104, and a center of gravity adjuster 105 are provided on the chassis platform 101. The controller 103 is a computer mainframe with vision processing and intelligent algorithms, including a control box. Inside the control box, there are hardware such as a CPU, a memory module, and a motherboard hard disk, including an intelligent algorithm module, a vision processing module, a side intelligent display screen, control buttons, and a one-key start / stop button. It can send action instructions to the chassis to control the movement of the traveling chassis 102, and at the same time can perform obstacle avoidance and autonomous navigation in the forest, which belongs to the prior art and will not be elaborated here. The vision recognition system is a vision camera, which is used for the road conditions in the field, to identify the glue bowls hanging on the rubber trees and the latex state in the glue bowls. The power module 104 is located below the chassis platform 101 and above the support seat of the traveling chassis 102, including battery blocks and fast and slow charging ports, which is used to provide the power energy for the whole vehicle. The traveling chassis 102 adopts a crawler chassis, which belongs to the prior art and will not be elaborated here. The center of gravity adjuster 105 is installed on both sides of the collecting and scraping integrated mechanical claw 300, with a center of gravity sensor built-in. A vision camera is arranged at the front side to identify the steepness and flatness of the road surface in front of the vehicle, and a movable weight can be moved back and forth is built-in. The center of gravity adjuster 105 is used to balance the vehicle, ensure that the vehicle can run smoothly on mountain roads, and make the vehicle not affected by the sloshing of the glue in the glue-filled box, which belongs to the prior art and will not be elaborated here.

[0020] See Figure 4 , the multi-degree-of-freedom robotic arm 200 is installed on the chassis platform 101. A rotating end seat 201 and a rotating power device 202 for driving the rotation of the rotating end seat 201 are provided at the working end of the multi-degree-of-freedom robotic arm 200. The rotating power device 202 is a rotating motor. The multi-degree-of-freedom robotic arm 200 can adopt a six-degree-of-freedom robotic arm, which can perform various operations in six degrees of freedom to achieve various actions in space, which belongs to the prior art and will not be elaborated here. The rotating end seat 201 serves as the installation base of the collecting and scraping integrated mechanical claw 300 and can drive the collecting and scraping integrated mechanical claw 300 to rotate.

[0021] See Figure 5 and Figure 6, the glue collecting box 400 includes a glue liquid collecting box 401 and a dry glue filtering box 402. The dry glue filtering box 402 is detachably installed at the upper inlet of the glue liquid collecting box 401. The dry glue filtering box 402 divides the inside of the glue liquid collecting box 401 into a dry glue area and a glue liquid area. The glue liquid collecting box 401 is used for collecting glue liquid, and the dry glue filtering box 402 has a filter screen for collecting dry glue and glue blocks. In this embodiment, the glue liquid collecting box 401 is a rectangular box, a part of the rectangular box is slidably covered by a detachable dust-proof cover, another part of the rectangular box serves as a glue liquid inlet, the outer edge of the dry glue filtering box 402 is detachably mounted on the edge of the other part of the rectangular box, and a glue outlet and a sealing cover are further provided at the bottom end of the glue liquid collecting box 401.

[0022] See Figure 7 and Figure 8 , the scraping and grasping integrated mechanical claw 300 includes a mounting seat 301 installed on the rotating end seat 201. At least three grasping bowl claw fingers 302 are circumferentially and evenly arranged on the mounting seat 301, and a claw finger driving device for driving the plurality of grasping bowl claw fingers 302 to simultaneously close inward or open outward is provided. A connecting bracket 303 is fixedly installed on the mounting seat 301. The grasping bowl claw fingers 302 are connected to the connecting bracket 303 through a connecting rod member 304. In this embodiment, the connecting rod member 304 includes two connecting rods, which are respectively rotatably connected to the grasping bowl claw fingers 302 and the connecting bracket 303, and form a four-bar structure with the grasping bowl claw fingers 302 and the connecting bracket 303. Of course, it can be a parallel four-bar structure to achieve the purpose of driving the grasping bowl claw fingers 302 to open and close. The claw finger driving device includes a claw finger driving motor 305 installed on the mounting seat 301. A transmission lead screw 306 is provided at the output end of the claw finger driving motor 305. The top end of the transmission lead screw 306 is fixedly connected to the output end of the claw finger driving motor 305. The upper part of the transmission lead screw 306 is rotatably supported on a support seat 307. A lifting transmission block 308 is threadedly installed on the lower part of the transmission lead screw 306. A driving swing rod 309 is connected between the lifting transmission block 308 and the connecting rod member 304. The two ends of the driving swing rod 309 are rotatably connected to the lifting transmission block 308 and the connecting rod member 304.

[0023] In this embodiment, there are four grasping bowl claw fingers 302. The four grasping bowl claw fingers 302 can cooperate to close and open, and are used to perform actions such as grasping, scraping glue, and clamping glue.

[0024] The inner side surface of the bowl-gripping claw finger 302 is provided with a rubber bowl gripping portion 310. The rubber bowl gripping portion 310 is arranged at the top end and the bottom end of the inner side surface of the bowl-gripping claw finger 302. The rubber bowl gripping portion 310 is provided with anti-slip lines. The outer side surface of the bowl-gripping claw finger 302 is provided with a bowl wall dry glue scraping blade 311 for dry glue scraping of the inner side wall of the rubber bowl. The bowl wall dry glue scraping blade 311 is a polyurethane scraping blade, using medium-hard polyurethane of Shore A 60A-90A, with both elasticity, wear resistance and hardness. The outer side surface of the bowl wall dry glue scraping blade 311 is provided with a bowl wall arc-shaped scraping surface that bends and extends outward and upward from the bottom end of the bowl-gripping claw finger 302. The bowl wall arc-shaped scraping surface is coupled according to the inner wall arc surfaces of various rubber bowls, and its surface has a certain curvature. During the process of the bowl-gripping claw finger 302 opening, there will always be a part on the surface with curvature that fits the inner wall surface of the rubber bowl. The bottom end of the bowl-gripping claw finger 302 is provided with a multi-functional claw toe 312. The multi-functional claw toe 312 can perform dry glue scraping on the bottom surface of the rubber bowl, clamp the glue block solidified in the rubber bowl, and break the glue block solidified in the rubber bowl. In this embodiment, the multi-functional claw toe 312 is a metal claw toe, and the multi-functional claw toe 312 is a triangular hook with a tip at the bottom end, an inner side surface inclined downward and inward, and an outer side surface extending in an arc shape.

[0025] The working principle of the scraping and gripping integrated mechanical claw 300 is as follows: When it is necessary to grip the rubber bowl, the claw finger driving motor 305 operates to drive the transmission lead screw 306 to rotate, so that the lifting transmission block 308 moves upward. The lifting transmission block 308 drives the link member 304 to close through the driving swing rod 309, so that each bowl-gripping claw finger 302 closes inward, and each rubber bowl gripping portion 310 cooperates to clamp the outer edge of the rubber bowl; when it is necessary to place the rubber bowl, the claw finger driving motor 305 operates to drive the transmission lead screw 306 to rotate in the reverse direction, so that the lifting transmission block 308 moves downward. The lifting transmission block 308 drives the link member 304 to open through the driving swing rod 309, so that each bowl-gripping claw finger 302 opens, and the rubber bowl can be released.

[0026] See Figure 5 and Figure 6, the glue bowl holder 500 is provided at the top of the glue collection box 400 and is close to the dry glue filter box 402, and is used for clamping and fixing the glue bowl. The glue bowl holder 500 includes a fixed ring seat 501 fixed at a corner of the glue liquid collection box 401. A plurality of radial chutes are circumferentially provided on the inner wall of the fixed ring seat 501. A radial slider 502 is slidably installed in the radial chute. An arc-shaped clamping portion is provided on the inner side of the radial slider 502. Anti-slip lines are provided on the inner surface of the arc-shaped clamping portion. A pressing spring 503 is installed on the outer side of the radial slider 502. The plurality of radial sliders 502 cooperate to clamp and fix the glue bowl under the action of the pressing spring 503.

[0027] An integrated scraping and collecting method for natural rubber glue collection uses an integrated scraping and collecting robot for natural rubber glue collection, and includes the following steps: S1. Use a charging gun with the national standard number GB / T 20234.3-2015 to perform fast charging or slow charging through the battery charging port. After fully charging the glue collection robot, wait for the latex in the rubber forest to flow into the glue bowl. When the latex in the glue bowl is collected completely, the operator presses the one-key start button next to the intelligent display screen of the trolley, and then sets the number a of rubber trees and the number b of glue collection bowls through the touch display, so that a = b and ensure that the collected rubber reaches a certain amount, not too little and not overloaded. After setting, click to run, and the trolley starts to run in the forest. The glue collection robot identifies the rubber trees through the visual recognition system. After identifying the rubber trees, it automatically drives to the side of the rubber trees through real-time path planning and intelligent obstacle avoidance.

[0028] S2. Identify the position of the glue bowl and adjust the glue collection robot, and drive the integrated scraping and grabbing mechanical claw 300 to move to directly above the bowl mouth of the glue bowl filled with glue liquid through the multi-degree-of-freedom robotic arm 200. Control the grasping bowl claw fingers 302 to open to the maximum, and when moving vertically downward above the bowl mouth until the grasping bowl claw fingers 302 exceed the bowl mouth of the glue bowl by 3 - 5 cm, control the grasping bowl claw fingers 302 to close, and smoothly grab the glue bowl filled with latex. The state is shown in Figure 9 .

[0029] S3. Move the smoothly grabbed glue bowl to a position 5 - 10 cm above the dry glue filter box 402 under the control of the multi-degree-of-freedom robotic arm 200. Invert the glue bowl under the action of the multi-degree-of-freedom robotic arm 200, and the glue liquid enters the glue liquid collection box 401 below through the dry glue filter box 402. After pouring is completed, set the glue bowl upright. At this time, there is residual dry glue in the glue bowl, and further scrape the dry glue.

[0030] S4. After the plastic bowl with residual dry glue is upright, it is translated to the top of the plastic bowl holder 500. After the plastic bowl is aligned with the center of the plastic bowl holder 500, the plastic bowl is squeezed vertically downward into the plastic bowl holder 500 with the cooperation of the multi-degree-of-freedom robot arm 200 and the integrated scraping mechanical claw 300. When the bowl mouth is higher than the plastic bowl holder 500 by 1-2 cm, the downward movement is stopped. At this time, the upper side of the outer wall of the plastic bowl will squeeze the pressure spring 503 of the plastic bowl holder 500, which will cause the pressure spring 503 to give the plastic bowl a reaction clamping force. The spring clamping force clamps the plastic bowl through the action of the radial slider 502. At this time, the integrated scraping mechanical claw 300 releases the plastic bowl and translates to the top of the plastic bowl.

[0031] S5. After the plastic bowl is fixed by the plastic bowl holder 500, the plastic bowl scraping action is performed. First, the claw finger driving device controls the multiple bowl gripping claw fingers 302 to be retracted to the minimum. The outer diameter of the mechanical claw after closing is smaller than the minimum part of the inner diameter of the plastic bowl. Under the action of the multi-degree-of-freedom mechanical arm 200, the bowl gripping claw fingers 302 are extended into the plastic bowl. When the multi-functional claw toe 312 touches the bottom surface of the plastic bowl downward, it stops. The status is shown in FIG. Figure 10 When the multifunctional claw toe 312 touches the bottom surface of the rubber bowl, a reaction force will be given to the multifunctional claw toe 312, and a signal will be given to the multi-degree-of-freedom robotic arm 200 to control the integrated scraping mechanical claw 300 to stop descending. Here, the multifunctional claw toe 312 also serves as a trigger structure for the limit stop; subsequently, the multi-degree-of-freedom robotic arm 200 and the claw finger driving device act at the same time, and the multi-degree-of-freedom robotic arm 200 drives the integrated scraping mechanical claw 300 to rotate. At this time, the integrated scraping mechanical claw 300 rotates slowly at a speed of 2 revolutions per second, driving the bowl grabbing claw finger 302 to rotate slowly in the bowl parallel to the bottom of the bowl (2 revolutions per second). At the same time, the claw finger driving device drives the bowl grabbing claw finger 302 to gradually open. During the rotation and opening process of the bowl grabbing claw finger 302, the multi-degree-of-freedom robotic arm 200 controls the height of the integrated scraping mechanical claw 300, so that the multifunctional claw toe 312 is always in contact with the bottom of the rubber bowl, and the bowl bottom is moved. The multifunctional claw 312 rotates and opens in a synchronous combination of multiple movements, and gradually rotates and scrapes the glue from the center of the bottom of the rubber bowl toward the edge of the bottom of the bowl. When the multifunctional claw 312 moves to the edge of the bottom of the bowl, the bowl wall dry glue scraper 311 just fits the inner wall of the rubber bowl, and the bowl grasping fingers continue to open, rotate, and rise. While rotating, the integrated scraping mechanical claw 300 opens and slowly moves vertically upward (vertical upward translation speed is 0.01 m / s). Under the combination of multiple movements, the bowl wall arc scraping surface of the bowl wall dry glue scraper 311 is always pressed and fitted to the inner wall of the rubber bowl (the whole process of fitting can reach 100%, which is suitable for various rubber bowls with wide top and narrow bottom. When the mechanical claw rotates and scrapes the inner wall, the rubber bowl will not slide sideways due to the anti-skid effect of the arc-shaped clamping part of the rubber bowl holder 500), and the inner wall is continuously scraped along the arc-shaped inner part of the rubber bowl until it moves out of the mouth of the rubber bowl from the top and stops, see Figure 11 , Figure 12 and Figure 13These are two schematic diagrams of the process of scraping the inner wall of the rubber bowl. At this time, the dry glue adhering to the inner wall of the rubber bowl is all scraped off to the bottom of the bowl by the dry glue scraper 311 on the bowl wall with a certain hardness, and the glue scraping action ends; S6. Adjust the height of the bowl-gripping claw fingers 302, and through the claw finger driving device, make the multiple bowl-gripping claw fingers 302 open and close, grab the rubber bowl and take it out of the rubber bowl fixator 500, move the rubber bowl above the dry glue filter box 402 under the control of the multi-degree-of-freedom robotic arm 200, and invert the rubber bowl under the action of the multi-degree-of-freedom robotic arm 200, and pour the dry glue in the rubber bowl into the dry glue filter box 402, and the glue pouring action ends.

[0032] S7. After pouring is completed, right the rubber bowl and put it back to the rubber tree; S8. After the glue collection action for a single tree is completed, return to steps S2 to S7 to perform the glue collection action for the next rubber bowl under the next tree. Keep looping the actions of steps S2 to S7 until the number of rubber trees and the number of rubber bowls with collected glue reach the set values of a and b. Then, the glue collection vehicle goes to the end point set by the system according to the navigation. The operator opens the sealing cover, opens the glue outlet, and removes the dry glue filter box 402 to unload the glue.

[0033] The above glue collection steps are applicable when the rubber bowl mainly contains glue liquid. For the glue blocks solidified inside the rubber bowl, when the rubber bowl is inverted, the glue blocks are difficult to directly fall off due to adhering to the inside of the rubber bowl, and it is also impossible to clean them with the dry glue scraper 311 on the bowl wall. Therefore, step S4-1 is added before step S5 of scraping glue. Specifically, before step S5, if the visual recognition system recognizes that the height of the solidified glue block in the remaining rubber bowl is greater than 1 / 3 of the depth of the bowl, perform the following step S4-1; otherwise, directly perform step S5. Step S4-1 includes: the claw finger driving device controls the multiple bowl-gripping claw fingers 302 to close corresponding to the surface area of the glue block in the rubber bowl. Under the action of the multi-degree-of-freedom robotic arm 200, insert the bowl-gripping claw fingers 302 into the inside of the rubber bowl so that the multi-functional claw toes 312 are completely inserted into the solidified glue block, and continue to close the multi-functional claw toes 312. The multiple multi-functional claw toes 312 cooperate to clamp the solidified glue block. The state is shown in Figure 14 , drive it to move above the dry glue filter box 402 by the multi-degree-of-freedom robotic arm 200, and then release the multi-functional claw toes 312 to release the solidified glue block, which falls into the dry glue filter box 402; after this step is completed, continue to perform step S5. This step can directly clamp and grab the solidified glue block with a certain thickness, which can solve the problem that the glue block cannot be taken out smoothly. After the glue block is clamped and grabbed and taken out, then use the dry glue scraper 311 on the bowl wall to further scrape the glue, which can improve the quality of glue scraping.

[0034] If the solidified glue block is crushed and cannot be smoothly picked up during the process of step S4-1, then step S4-2 is executed. Step S4-2 includes: the multi-degree-of-freedom robotic arm 200 drives the multi-functional claw toe 312 to continue to descend and rotate at the same time, breaking the solidified glue block. At the same time, the multi-functional claw toe 312 gradually closes. Under the compound movement of descending, rotating, and closing, the solidified glue block is broken until the multi-functional claw toe 312 touches the bottom surface of the glue bowl and then stops; then adjust the height of the bowl-gripping claw fingers 302, and make the multiple bowl-gripping claw fingers 302 open and close through the claw finger driving device, grab the glue bowl and take it out of the glue bowl fixture 500, move the glue bowl above the dry glue filter box 402 under the control of the multi-degree-of-freedom robotic arm 200, and invert the glue bowl under the action of the multi-degree-of-freedom robotic arm 200, so that the broken glue block in the glue bowl is poured into the dry glue filter box 402; after this step is completed, step S5 is continued. This step is a further optimization of step S4-1. Because the glue block may be incompletely solidified, or there is less glue block and it cannot be smoothly picked up, step S4-2 is added. The multi-functional claw toe 312 is used to stir and break the glue block, and then it is poured and further scraped by the dry glue scraper 311 on the bowl wall, which can improve the scraping quality.

[0035] The above shows and describes 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 by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A natural rubber scraping robot with integrated scraping function, characterized in that: include: A walking mechanism, including a chassis platform and a walking chassis, wherein the chassis platform is provided with a controller, a visual recognition system, a power module and a center of gravity adjuster; A multi-degree-of-freedom mechanical arm is installed on the chassis platform, and a working end of the multi-degree-of-freedom mechanical arm is provided with a rotating end seat and a rotating power device for driving the rotating end seat to rotate; The scraping integrated mechanical claw comprises a mounting seat mounted on the rotating end seat, the mounting seat being circumferentially evenly provided with at least three bowl-grabbing claw fingers and a claw finger driving device for driving the plurality of bowl-grabbing claw fingers to simultaneously retract inward or open outward, the inner side surface of the bowl-grabbing claw fingers being provided with a rubber bowl grasping portion, the outer side surface of the bowl-grabbing claw fingers being provided with a bowl wall dry glue scraper for scraping the inner wall of the rubber bowl for dry glue, the outer surface of the bowl wall dry glue scraper being provided with a bowl wall arc-shaped scraping surface extending outwardly and upwardly from the bottom end of the bowl-grabbing claw fingers, the bottom end of the bowl-grabbing claw fingers being provided with a multifunctional claw toe, the multifunctional claw toe being able to scrape the dry glue from the bottom of the rubber bowl, clamp the rubber block solidified in the rubber bowl, and crush the rubber block solidified in the rubber bowl; The glue collecting box comprises a glue liquid collecting box and a dry glue filtering box, wherein the dry glue filtering box is detachably mounted at the upper entrance of the glue liquid collecting box, and the dry glue filtering box separates the glue liquid collecting box into a dry glue area and a glue liquid area; The glue bowl fixer is arranged on the top of the glue collecting box and close to the dry glue filtering box, and is used for clamping and fixing the glue bowl.

2. The natural rubber collecting robot with integrated scraping function as claimed in claim 1, characterized in that: The glue bowl holder includes a fixed ring seat fixed at a corner of the glue collection box, the inner wall of the fixed ring seat is circumferentially provided with a plurality of radial grooves, a radial slider is slidably installed in the radial groove, an arc-shaped clamping portion is provided on the inner side of the radial slider, a pressure spring is provided on the outer side of the radial slider, and the plurality of radial sliders cooperate to clamp and fix the glue bowl under the action of the pressure spring.

3. The natural rubber collecting robot with integrated scraping function as claimed in claim 1, characterized in that: A connecting bracket is fixedly mounted on the mounting seat, and the bowl-grasping claw fingers are connected to the connecting bracket through a connecting rod.

4. The natural rubber collecting robot with integrated scraping function as claimed in claim 3, characterized in that: The claw finger driving device includes a claw finger driving motor installed on the mounting seat, the output end of the claw finger driving motor is provided with a transmission screw, the top end of the transmission screw is fixedly connected to the output end of the claw finger driving motor, the upper part of the transmission screw is rotatably supported on the support seat, the lower part of the transmission screw is threadedly installed with a lifting transmission block, and a driving rocker arm is connected between the lifting transmission block and the connecting rod.

5. The natural rubber collecting robot with integrated scraping function as claimed in claim 1, characterized in that: The bowl wall dry glue scraper is a polyurethane scraper.

6. The natural rubber collecting robot with integrated scraping function as claimed in claim 1, characterized in that: The multifunctional claw toe is a metal claw toe, and the multifunctional claw toe is a triangular hook with a pointed tip at the bottom, an inner surface inclined inwardly and downwardly, and an outer surface extending in an arc shape.

7. The natural rubber collecting robot with integrated scraping function as claimed in claim 1, characterized in that: The rubber bowl grasping portion is arranged at the top and bottom ends of the inner side surfaces of the grasping bowl claws, and the rubber bowl grasping portion is provided with anti-slip grooves.

8. A method for collecting natural rubber by scraping and integrating, using a natural rubber collecting robot by scraping and integrating as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: S1, the rubber collecting robot identifies the rubber tree and plans a walking route to move to the rubber tree; S2, identify the position of the glue bowl and adjust the glue collecting robot, and drive the scraping integrated mechanical claw to move to the top of the bowl mouth of the glue bowl filled with glue liquid through the multi-degree-of-freedom mechanical arm, and open and tighten the multiple bowl grabbing claws through the claw finger driving device to grab the glue bowl; S3, the glue bowl is moved to the top of the dry glue filter box under the control of the multi-degree-of-freedom robot arm, and the glue bowl is inverted under the action of the multi-degree-of-freedom robot arm, and the glue liquid enters the glue liquid collection box below through the dry glue filter box, and the glue bowl is upright after the dumping is completed; S4, the upright plastic bowl is translated to the top of the plastic bowl holder, and after the plastic bowl is aligned with the center of the plastic bowl holder, the plastic bowl is vertically squeezed downward into the plastic bowl holder with the cooperation of the multi-degree-of-freedom robot arm and the integrated scraping mechanical claw. The plastic bowl holder clamps the plastic bowl and stops, and the integrated scraping mechanical claw releases the plastic bowl. S5. The claw finger driving device controls the multiple bowl-grabbing claw fingers to retract to the minimum, and the bowl-grabbing claw fingers are extended into the inside of the rubber bowl under the action of the multi-degree-of-freedom mechanical arm. When the multi-functional claw toe touches the bottom of the rubber bowl, it stops. Then the multi-degree-of-freedom mechanical arm and the claw finger driving device act simultaneously. The multi-degree-of-freedom mechanical arm drives the integrated scraping mechanical claw to rotate and slowly rise at the same time. The claw finger driving device drives the bowl-grabbing claw fingers to gradually open. The multi-functional claw toe rotates and scrapes the glue from the center of the bottom of the rubber bowl gradually toward the edge of the bottom of the bowl under the synchronous compound of rotation and opening. When the multi-functional claw toe moves to the edge of the bottom of the bowl, the bowl wall dry glue scraper just fits the inner wall of the rubber bowl. The bowl-grabbing fingers continue to open, rotate, and rise. Under the compound of multiple movements, the bowl wall arc scraping surface of the bowl wall dry glue scraper is always in contact with the inner wall of the rubber bowl, and the inner wall is continuously scraped until it moves out of the mouth of the rubber bowl from the top and stops. S6, adjusting the height of the bowl gripper fingers, and opening and tightening the multiple bowl gripper fingers through the gripper finger driving device, grabbing the rubber bowl and taking it out from the rubber bowl holder, moving the rubber bowl to the top of the dry glue filter box under the control of the multi-degree-of-freedom robotic arm, inverting the rubber bowl under the action of the multi-degree-of-freedom robotic arm, and dumping the dry glue in the rubber bowl into the dry glue filter box; S7. After pouring, stand the rubber bowl upright and put it back to the rubber tree; S8, move to the next rubber tree and collect the rubber liquid in the next rubber bowl.

9. The method for collecting natural rubber by scraping and collecting as claimed in claim 8, characterized in that: Before step S5, if the visual recognition system recognizes that the height of the solidified rubber block remaining in the rubber bowl is greater than 1 / 3 of the depth of the bowl, the following step S4-1 is executed, otherwise step S5 is directly executed; Step S4-1 includes: the claw finger driving device controls the multiple gripping bowl claw fingers to retract corresponding to the surface area of ​​the rubber block in the rubber bowl, and under the action of the multi-degree-of-freedom robotic arm, the gripping bowl claw fingers are extended into the rubber bowl, so that the multi-functional claws are completely inserted into the solidified rubber block, and the multi-functional claws continue to be retracted, and multiple multi-functional claws cooperate to clamp the solidified rubber block, which is moved to the top of the dry rubber filter box under the drive of the multi-degree-of-freedom robotic arm, and then the multi-functional claws are released to release the solidified rubber block and fall into the dry rubber filter box; after this step is completed, step S5 is continued.

10. The method for collecting natural rubber by scraping and collecting as claimed in claim 9, characterized in that: If the solidified rubber block cannot be taken out from the rubber bowl during step S4-1, step S4-2 is executed. Step S4-2 includes: the multi-degree-of-freedom robotic arm drives the multi-functional claws to continue to descend and rotate at the same time to destroy the solidified rubber block, and the multi-functional claws to gradually retract, and the solidified rubber block is broken under the combined multi-motion of descending, rotating and retracting, until the multi-functional claws to touch the bottom of the rubber bowl and stop; then adjust the height of the grab bowl claw fingers, and use the claw finger driving device to open and tighten the multiple grab bowl claw fingers, grab the rubber bowl and take it out of the rubber bowl holder, move the rubber bowl to the top of the dry rubber filter box under the control of the multi-degree-of-freedom robotic arm, and invert the rubber bowl under the action of the multi-degree-of-freedom robotic arm, and dump the broken rubber in the rubber bowl into the dry rubber filter box; after this step is completed, continue to step S5.

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