A natural rubber collecting and scraping integrated natural rubber collecting robot and a natural rubber collecting method

Abstract

The application discloses a kind of collection and scraping integrated natural rubber collection robot and collection method, in which, a kind of collection and scraping integrated natural rubber collection robot includes walking mechanism, multiple degrees of freedom mechanical arm, collection and scraping integrated mechanical paw, collection tank and rubber bowl fixer.Collection and scraping integrated mechanical paw includes multiple bowl gripping paw fingers, bowl wall dry rubber scraping piece for the dry rubber scraping of the inner side wall of rubber bowl is equipped on the outer side of bowl gripping paw finger, and the bottom end of bowl gripping paw finger is equipped with multifunctional claw toe;The application integrates multiple structures such as bowl gripping paw finger, bowl wall dry rubber scraping piece and multifunctional claw toe into one, forms a kind of collection and scraping integrated mechanical paw, and is used in cooperation with multiple degrees of freedom mechanical arm, under the multiple action of rotation, lifting, opening and closing, can realize rubber bowl gripping and inverted, rubber bowl bottom surface scraping, rubber bowl inner side wall scraping, solidified rubber block clamping, solidified rubber block crushing multiple functions, solve the problem that dry rubber in bowl and rubber block cannot be collected in prior art, improve collection quality and collection efficiency.

Description

Technical Field

[0001] This invention relates to an integrated natural rubber collecting robot and a rubber collecting method. Background Technology

[0002] Natural rubber is an important industrial raw material and strategic resource, widely used in many fields such as industry, agriculture, national defense, transportation, machinery manufacturing, medicine and health, and daily life, with consumption demand maintaining a year-on-year growth trend. Natural rubber is mainly obtained by tapping rubber trees, which are perennial tall trees, reaching 20-30 meters in height and 25-40 centimeters in diameter at breast height, with smooth, grayish-white bark. Tapping involves making oblique cuts in the outer bark and phloem of the rubber tree, allowing the latex to flow naturally from the cuts and be collected. It is generally done at least once every two days. Due to the characteristic of latex relying on its own flow for collection, tapping and collecting latex mainly take place at night or in the early morning.

[0003] Currently, the natural rubber industry mainly relies on manual tapping and harvesting, which is inefficient, labor-intensive, and involves harsh working conditions and long hours. While rubber plantations across the country have begun adopting intelligent and automated tapping technologies, the harvesting process remains after tapping, and automation of harvesting is not yet fully realized in the rubber industry. Existing technology CN118177034B discloses a contour-following scraping automatic natural rubber harvesting machine, including a track trolley, a vision processing device, a six-axis robotic arm, a contour-following scraping mechanism, and a latex guiding mechanism. The contour-following scraping mechanism includes a scraping head with the scraping surface facing upwards and a blade power device that drives the scraping head to rotate automatically. A power triggering device that controls the automatic opening and closing of the blade power device is also provided between the scraping head and the blade power device. This invention solves the problem of manual harvesting after natural rubber tapping by proposing a method based on a contour-following scraping mechanism. Through the combination of visual recognition and a robotic arm, the collection bowl is stably and efficiently grasped above the contour-following scraping mechanism, allowing the scraping head to reliably complete the harvesting work. However, this automatic glue collecting machine has the following problems: First, the scraper blades on the scraper head in this design are rubber scrapers. These scraper blades are mainly used to scrape liquid latex, but cannot scrape the dry glue that has solidified and adhered to the glue bowl, thus causing the dry glue to accumulate on the surface of the glue bowl; Second, the scraper blades can only scrape the inner wall of the glue bowl, but cannot scrape the dry glue on the bottom of the glue bowl. If the dry glue on the bottom of the glue bowl is not cleaned, it will accumulate and thicken, affecting the use of the glue bowl; Third, for glue blocks that have solidified inside the glue bowl, when the glue bowl is inverted, the glue blocks are difficult to detach directly because they are attached to the inside of the glue bowl, and the scraper blades cannot scrape them off. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a natural rubber collecting robot and collecting method that integrates gripping, scraping and clamping. It can not only grip and invert the rubber bowl, but also scrape the dry rubber on the bottom surface and inner wall of the rubber bowl, clamp the rubber block solidified in the rubber bowl, and break the rubber block solidified in the rubber bowl. The collecting efficiency and collecting quality are both high.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is: an integrated natural rubber collecting robot, comprising:

[0006] The walking mechanism includes a chassis platform and a walking chassis, wherein the chassis platform is equipped with a controller, a vision recognition system, a power module and a center of gravity adjuster;

[0007] A multi-degree-of-freedom robotic arm is mounted on the chassis platform. The working end of the multi-degree-of-freedom robotic arm is provided with a rotating end seat and a rotational power device for driving the rotating end seat to rotate.

[0008] The integrated scraping and scooping mechanical claw includes a mounting base installed on the rotating end seat. The mounting base is circumferentially provided with at least three gripping claws and a claw driving device that drives the gripping claws to simultaneously retract inward or open outward. The inner side of the gripping claws is provided with a glue bowl gripping part, and the outer side of the gripping claws is provided with a bowl wall dry glue scraper for dry glue scraping of the inner wall of the glue bowl. The outer surface of the bowl wall dry glue scraper is provided with a bowl wall arc-shaped scraping surface that bends outward and upward from the bottom end of the gripping claws. The bottom end of the gripping claws is provided with a multi-functional claw toe. The multi-functional claw toe can perform dry glue scraping of the bottom of the glue bowl, clamp the glue block solidified in the glue bowl, and break the glue block solidified in the glue bowl.

[0009] The glue collection box includes a liquid glue collection box and a dry glue filter box. The dry glue filter box is detachably installed at the upper inlet of the liquid glue collection box, and the dry glue filter box divides the inside of the liquid glue collection box into a dry glue area and a liquid glue area.

[0010] The glue cup holder is located on the top of the glue collection box and near the dry glue filter box, and is used to clamp and fix the glue cup.

[0011] As a preferred technical solution, the glue bowl holder includes a fixing ring seat fixed at one corner of the glue collection tank. The inner wall of the fixing ring seat is provided with multiple radial grooves. A radial slider is slidably installed in the radial groove. The inner side of the radial slider is provided with an arc-shaped clamping part. The outer side of the radial slider is provided with a pressure spring. The multiple radial sliders cooperate to clamp and fix the glue bowl under the action of the pressure spring.

[0012] As a preferred technical solution, a connecting bracket is fixedly installed on the mounting base, and the gripper claws are connected to the connecting bracket via connecting rods.

[0013] As a preferred technical solution, the claw-finger driving device includes a claw-finger driving motor mounted on the mounting base. 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 base. The lower part of the transmission screw is threadedly installed with a lifting transmission block. A driving swing rod is connected between the lifting transmission block and the connecting rod.

[0014] As a preferred technical solution, the bowl wall dry adhesive scraper is a polyurethane scraper.

[0015] As a preferred technical solution, the multifunctional claw toe is a metal claw toe, which is a triangular hook with a pointed end, an inner surface that slopes inward and downward, and an outer surface that extends in an arc.

[0016] As a preferred technical solution, the rubber bowl gripping part is located at the top and bottom of the inner side of the gripping claw, and the rubber bowl gripping part is provided with anti-slip texture.

[0017] Another preferred technical solution is a method for collecting and scraping natural rubber in an integrated manner, which employs a robot for collecting and scraping natural rubber and includes the following steps:

[0018] S1. The rubber harvesting robot identifies the rubber tree and plans its walking route to move to the side of the rubber tree;

[0019] S2. Identify the position of the glue bowl and adjust the glue-collecting robot. The multi-degree-of-freedom robotic arm drives the integrated scraping and collecting robotic claw to move to the top of the bowl filled with glue. The claw finger drive device causes multiple gripping claws to open and close to grab the glue bowl.

[0020] S3. Move the glue bowl to the top of 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, the glue bowl is inverted, and the glue liquid enters the glue liquid collection box below through the dry glue filter box. After pouring, turn the glue bowl upright.

[0021] S4. Move the uprighted plastic bowl horizontally to the top of the plastic bowl holder, align the plastic bowl with the center of the plastic bowl holder, and then, with the cooperation of the multi-degree-of-freedom robotic arm and the scraping robotic claw, squeeze the plastic bowl vertically downward into the plastic bowl holder. The plastic bowl holder clamps and fixes the plastic bowl and then stops, and the scraping robotic claw releases the plastic bowl.

[0022] S5. The claw-driven device controls multiple gripping claws to retract to their smallest size. Under the action of the multi-degree-of-freedom robotic arm, the gripping claws extend into the inside of the plastic bowl. When the multi-functional claws touch the bottom of the plastic bowl, they stop. Then, the multi-degree-of-freedom robotic arm and the claw-driven device work simultaneously. The multi-degree-of-freedom robotic arm drives the integrated scraping robotic claw to rotate and slowly rise. The claw-driven device drives the gripping claws to gradually open. Under the synchronous compound action of rotation and opening, the multi-functional claws gradually rotate and scrape the glue from the center of the bottom of the plastic bowl towards the bottom edge. When the multi-functional claws move to the bottom edge of the bowl, the dry glue scraper on the bowl wall just fits against the inner wall of the plastic bowl. The gripping claws 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 plastic bowl and continues to scrape the inner wall until it moves out of the mouth of the plastic bowl from the top and stops.

[0023] S6. Adjust the height of the gripper claws and use the claw drive device to open and close multiple gripper claws to grab the glue bowl and remove it from the glue bowl holder. Move the glue bowl to the top of 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, the glue bowl is inverted and the dry glue in the glue bowl is poured into the dry glue filter box.

[0024] S7. After pouring, stand the rubber bowl upright and put it back at the rubber tree.

[0025] S8. Move to the next rubber tree and collect the latex from the next rubber bowl.

[0026] As a preferred technical solution, before step S5, if the visual recognition system detects that the height of the solidified glue block in the remaining glue bowl is greater than 1 / 3 of the depth inside the bowl, then step S4-1 is executed; otherwise, step S5 is executed directly.

[0027] Step S4-1 includes: the claw drive device controls multiple gripper fingers to close and correspond to the surface area of ​​the glue block inside the glue bowl. Under the action of the multi-degree-of-freedom robotic arm, the gripper fingers are inserted into the inside of the glue bowl, so that the multi-functional claws are fully inserted into the solidified glue block. The multi-functional claws continue to close, and the multiple multi-functional claws work together to grab the solidified glue block. Driven by the multi-degree-of-freedom robotic arm, the block is moved to the top of the dry glue filter box. Then, the multi-functional claws are released to release the solidified glue block, which falls into the dry glue filter box. After this step is completed, step S5 is executed.

[0028] As a preferred technical solution, if the solidified glue block cannot be removed from the glue bowl during step S4-1, proceed to step S4-2.

[0029] Step S4-2 includes: the multi-degree-of-freedom robotic arm drives the multi-functional claw to continue descending and rotating, breaking the solidified glue block. At the same time, the multi-functional claw to gradually retracts. Under the combined motion of descent, rotation, and retraction, the solidified glue block is broken until the multi-functional claw to touch the bottom of the glue bowl and stops. Then, the height of the gripping claw is adjusted, and the multiple gripping claws are opened and closed by the claw driving device to grab the glue bowl and remove it from the glue bowl holder. The glue bowl is moved to the top of 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, the glue bowl is inverted, and the broken glue blocks in the glue bowl are poured into the dry glue filter box. After this step is completed, step S5 is executed.

[0030] Due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0031] I. This invention integrates multiple structures such as a bowl-gripping claw, a bowl wall dry glue scraper, and a multi-functional claw into one unit to form a scraping mechanical claw. When used in conjunction with a multi-degree-of-freedom robotic arm, it can perform multiple functions such as gripping and inverting the glue bowl, scraping the bottom of the glue bowl, scraping the inner wall of the glue bowl, clamping solidified glue blocks, and breaking solidified glue blocks under the combined action of rotation, lifting, and opening and closing. This solves the problem of not being able to collect dry glue and glue blocks inside the bowl in the existing technology, and improves the glue collection quality and efficiency.

[0032] 2. This invention combines a dry glue filter box with a glue liquid collection box, which can directly and quickly separate dry glue and glue liquid, avoiding the mixing of dry glue and glue liquid and affecting the quality of glue liquid. At the same time, it can also eliminate the dry and wet separation process, making it easier for operators to collect the glue.

[0033] Third, this invention uses a scraping mechanical claw in conjunction with a glue cup holder to ensure the glue cup is fixed and to prevent the glue cup from rotating during dry glue scraping, which would affect the scraping effect. Attached Figure Description

[0034] The following figures are intended only to illustrate and explain the present invention and do not limit the scope of the invention. Wherein:

[0035] Figure 1 This is a structural schematic diagram of an embodiment of the present invention;

[0036] Figure 2 This is a side view of an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the chassis platform according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the structure of the multi-degree-of-freedom robotic arm according to an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of the adhesive collection box according to an embodiment of the present invention;

[0040] Figure 6 This is an exploded view of the glue collection box according to an embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of the integrated scraping mechanical claw according to an embodiment of the present invention;

[0042] Figure 8 This is a cross-sectional view of the integrated scraping mechanical claw according to an embodiment of the present invention;

[0043] Figure 9 This is a state diagram of the integrated mechanical claw gripping the rubber bowl according to an embodiment of the present invention;

[0044] Figure 10 This is a diagram showing the state of the bottom surface of the plastic bowl before it is cleaned after the integrated scraping mechanical claw of this invention has retracted.

[0045] Figure 11 This is the state in which the integrated scraping mechanical claw of this embodiment of the invention opens to scrape the inner wall of the rubber cup. Figure 1 ;

[0046] Figure 12 This is the state in which the integrated scraping mechanical claw of this embodiment of the invention opens to scrape the inner wall of the rubber cup. Figure 2 ;

[0047] Figure 13 This is the state in which the integrated scraping mechanical claw of this embodiment of the invention opens to scrape the inner wall of the rubber cup. Figure 3 ;

[0048] Figure 14 This is a diagram showing the state of the integrated scraping and grasping mechanical claw of the present invention opening to clamp the rubber block inside the rubber bowl;

[0049] In the diagram: 100-Walking mechanism; 101-Chassis platform; 102-Walking chassis; 103-Controller; 104-Power module; 105-Center of gravity adjuster; 200-Multi-degree-of-freedom robotic arm; 201-Rotating end seat; 202-Rotating power unit; 300-Integrated scraping and gathering robotic claw; 301-Mounting base; 302-Claw gripper finger; 303-Connecting bracket; 304-Linking rod; 305-Claw finger drive motor; 306-Transmission screw; 307-Support base; 308-Lifting transmission block; 309-Drive swing arm; 310-Glue bowl gripping part; 311-Dry glue scraper on bowl wall; 312-Multi-functional claw toe; 400-Glue collection box; 401-Glue collection box; 402-Dry glue filter box; 500-Glue bowl holder; 501-Fixing ring seat; 502-Radial slider; 503-Compression spring. Detailed Implementation

[0050] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the following detailed description, only certain exemplary embodiments of the invention are described by way of illustration. Undoubtedly, those skilled in the art will recognize that various modifications can be made to the described embodiments without departing from the spirit and scope of the invention. Therefore, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.

[0051] like Figure 1 and Figure 2 As shown, an integrated natural rubber collecting robot includes a walking mechanism 100, a multi-degree-of-freedom robotic arm 200, an integrated collecting robotic claw 300, a rubber collection box 400, and a rubber cup holder 500.

[0052] See Figures 1 to 3 The walking mechanism 100 includes a chassis platform 101 and a walking chassis 102. The chassis platform 101 is equipped with a controller 103, a vision recognition system, a power module 104, and a center of gravity adjuster 105. The controller 103 is a computer host with vision processing and intelligent algorithms, including a control box containing a CPU, memory modules, a motherboard, hard drive, and other hardware. It includes an intelligent algorithm module, a vision processing module, a side intelligent display screen, control buttons, and a one-button start / stop button. It can issue action commands to the chassis to control the movement of the walking chassis 102, and can also perform obstacle avoidance and autonomous navigation in forests. This is existing technology and will not be described in detail here. The vision recognition system is a vision camera used for identifying field road conditions, rubber cups hanging on rubber trees, and the state of the latex inside the cups. The power module 104 is located below the chassis platform 101, and the walking chassis 102 support base includes a battery pack and fast / slow charging ports to provide power to the entire vehicle. The walking chassis 102 is a tracked chassis, which is existing technology and will not be described in detail here. The center of gravity adjuster 105 is installed on both sides of the integrated scraping mechanical claw 300. It has a built-in center of gravity sensor and a vision camera arranged on the front to identify the steepness and flatness of the road surface in front of the trolley. It also has a built-in weight that can move back and forth. The center of gravity adjuster 105 is used to balance the trolley and ensure that the trolley can run smoothly on mountain roads, so that the trolley is not affected by the swaying of glue in the box full of glue. This is prior art and will not be described in detail here.

[0053] See Figure 4The multi-degree-of-freedom robotic arm 200 is mounted on the chassis platform 101. The working end of the multi-degree-of-freedom robotic arm 200 is equipped with a rotating end seat 201 and a rotary power device 202 that drives the rotating end seat 201 to rotate. The rotary power device 202 is a rotary motor. The multi-degree-of-freedom robotic arm 200 can be a six-degree-of-freedom robotic arm, capable of performing various spatial movements in six degrees of freedom. This is existing technology and will not be elaborated further. The rotating end seat 201 serves as the mounting base for the integrated scraping and scraping robotic claw 300, and can drive the integrated scraping and scraping robotic claw 300 to rotate.

[0054] See Figure 5 and Figure 6 The glue collection box 400 includes a liquid glue collection box 401 and a dry glue filter box 402. The dry glue filter box 402 is detachably installed at the upper inlet of the liquid glue collection box 401, dividing the interior of the liquid glue collection box 401 into a dry glue area and a liquid glue area. The liquid glue collection box 401 is used to collect liquid glue, and the dry glue filter box 402 has a filter screen for collecting dry glue and glue blocks. In this embodiment, the liquid glue collection box 401 is a rectangular box. One part of the rectangular box is slidably closed with a detachable dust cover, and the other part of the rectangular box serves as the liquid glue inlet. The outer edge of the dry glue filter box 402 is detachably mounted on the edge of the other part of the rectangular box. A glue outlet and a sealing cap are also provided at the bottom of the liquid glue collection box 401.

[0055] See Figure 7 and Figure 8The integrated scraping mechanical claw 300 includes a mounting base 301 mounted on the rotating end seat 201. The mounting base 301 is circumferentially provided with at least three gripping claw fingers 302 and a claw driving device that drives the multiple gripping claw fingers 302 to simultaneously retract inward or open outward. A connecting bracket 303 is fixedly mounted on the mounting base 301. The gripping claw fingers 302 are connected to the connecting bracket 303 through a connecting rod 304. In this embodiment, the connecting rod 304 includes two connecting rods, which are rotatably connected to the gripping claw fingers 302 and the connecting bracket 303 respectively, forming a four-bar structure with the gripping 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 gripping claw fingers 302 to open and close. The claw-finger driving device includes a claw-finger driving motor 305 mounted on the mounting base 301. The output end of the claw-finger driving motor 305 is provided with a transmission screw 306. The top end of the transmission screw 306 is fixedly connected to the output end of the claw-finger driving motor 305. The upper part of the transmission screw 306 is rotatably supported on the support base 307. The lower part of the transmission screw 306 is threadedly installed with a lifting transmission block 308. A driving swing rod 309 is connected between the lifting transmission block 308 and the connecting rod 304. The two ends of the driving swing rod 309 are rotatably connected to the lifting transmission block 308 and the connecting rod 304.

[0056] In this embodiment, there are four gripping claws 302. The four gripping claws 302 can be retracted and opened in coordination to perform actions such as gripping, scraping, and clamping.

[0057] The inner side of the gripper claw 302 is provided with a plastic bowl gripping part 310, which is located at the top and bottom of the inner side of the gripper claw 302. The plastic bowl gripping part 310 is provided with anti-slip texture. The outer side of the gripper claw 302 is provided with a bowl wall dry adhesive scraper 311 for dry adhesive cleaning of the inner wall of the plastic bowl. The bowl wall dry adhesive scraper 311 is a polyurethane scraper and adopts Shore A... The medium-hardness polyurethane of 60A-90A combines elasticity, wear resistance, and hardness. The outer surface of the bowl wall dry adhesive scraper 311 is provided with an arc-shaped scraping surface extending outward and upward from the bottom end of the bowl gripper claw 302. The arc-shaped scraping surface is coupled according to the arc surface of the inner wall of various adhesive bowls, and its surface has a certain curvature. During the opening process of the bowl gripper claw 302, the curved surface will always have a part that is in contact with the inner wall of the adhesive bowl. The bottom end of the bowl gripper claw 302 is provided with a multi-functional claw toe 312. The multi-functional claw toe 312 can perform dry adhesive scraping on the bottom surface of the adhesive bowl, grasp the adhesive block solidified in the adhesive bowl, and break the adhesive block solidified in the adhesive bowl. In this embodiment, the multi-functional claw toe 312 is a metal claw toe, which is a triangular hook with a pointed bottom end, an inner surface inclined inward and downward, and an outer surface extending in an arc shape.

[0058] The working principle of the integrated scraping mechanical claw 300 is as follows:

[0059] When a plastic bowl needs to be grasped, the claw drive motor 305 actuates, causing the transmission screw 306 to rotate, which in turn moves the lifting transmission block 308 upward. The lifting transmission block 308, through the drive swing rod 309, drives the connecting rod 304 to retract, causing each of the gripping claws 302 to retract inward, and each of the plastic bowl gripping parts 310 to clamp tightly against the outer edge of the plastic bowl. When a plastic bowl needs to be placed, the claw drive motor 305 actuates, causing the transmission screw 306 to rotate in the opposite direction, which in turn moves the lifting transmission block 308 downward. The lifting transmission block 308, through the drive swing rod 309, drives the connecting rod 304 to open, causing each of the gripping claws 302 to open, thus releasing the plastic bowl.

[0060] See Figure 5 and Figure 6 The glue bowl holder 500 is located on the top of the glue collection box 400 and near the dry glue filter box 402, and is used to clamp and fix the glue bowl. The glue bowl holder 500 includes a fixing ring seat 501 fixed at one corner of the glue collection box 401. The inner wall of the fixing ring seat 501 is provided with multiple radial grooves. A radial slider 502 is slidably installed in the radial grooves. The inner side of the radial slider 502 is provided with an arc-shaped clamping part. The inner surface of the arc-shaped clamping part is provided with anti-slip texture. A pressure spring 503 is installed on the outer side of the radial slider 502. The multiple radial sliders 502 cooperate to clamp and fix the glue bowl under the action of the pressure spring 503.

[0061] A method for collecting natural rubber using an integrated scraping and gathering robot includes the following steps:

[0062] S1. Using a charging gun conforming to national standard GB / T 20234.3-2015, fast or slow charging is performed through the battery charging port to fully charge the rubber harvesting robot. After the robot is fully charged, it waits for the latex from the rubber forest to flow into the rubber bowls. Once the latex in the bowls is collected, the operator presses the one-button start button next to the robot's intelligent display screen. Then, the operator sets the number of rubber trees (a) and the number of rubber bowls (b) via the touchscreen display, ensuring a = b and guaranteeing a sufficient amount of collected rubber—neither too little nor too much. After setting, the operator clicks "Run," and the robot begins moving through the forest. The rubber harvesting robot identifies rubber trees using a visual recognition system. Upon identification, it uses real-time path planning and intelligent obstacle avoidance to automatically drive to the rubber tree.

[0063] S2. Identify the position of the glue bowl and adjust the glue-collecting robot. The multi-degree-of-freedom robotic arm 200 drives the integrated scraping and collecting robotic claw 300 to move directly above the rim of the glue bowl filled with latex. Control the gripping claw 302 to open to its maximum extent and move vertically downwards above the rim until the gripping claw 302 is 3-5 cm above the rim of the glue bowl. Then, control the gripping claw 302 to retract, smoothly grasping the glue bowl filled with latex. (See attached status). Figure 9 .

[0064] S3. The glue bowl, which has been steadily gripped, is moved to a position 5-10cm above the dry glue filter box 402 under the control of the multi-degree-of-freedom robotic arm 200. The glue bowl is then inverted under the action of the multi-degree-of-freedom robotic arm 200, and the glue liquid enters the glue collection box 401 below through the dry glue filter box 402. After pouring, the glue bowl is turned upright. At this time, there is still dry glue in the glue bowl, and the dry glue is further scraped off.

[0065] S4. After the glue bowl with residual dry glue is upright, it is moved horizontally above the glue bowl holder 500. After the glue bowl is aligned with the center of the glue bowl holder 500, the glue bowl is vertically pressed downward into the glue bowl holder 500 with the cooperation of the multi-degree-of-freedom robotic arm 200 and the scraping robotic claw 300. When the bowl opening is 1-2cm higher than the glue bowl holder 500, the downward movement is stopped. At this time, the upper side of the outer wall of the glue bowl will press the pressure spring 503 of the glue bowl holder 500. This will cause the pressure spring 503 to give the glue bowl a reaction clamping force. The spring clamping force clamps the glue bowl under the action of the radial slider 502. At this time, the scraping robotic claw 300 releases the glue bowl and moves horizontally to directly above the glue bowl.

[0066] S5. After the glue bowl is fixed in the glue bowl holder 500, the glue scraping action begins. First, the claw finger drive device controls multiple gripping claws 302 to retract to their minimum size. The outer diameter of the retracted mechanical claw is smaller than the minimum inner diameter of the glue bowl. Under the action of the multi-degree-of-freedom robotic arm 200, the gripping claws 302 extend into the glue bowl. The action stops when the multi-functional claw toe 312 touches the bottom surface of the glue bowl. See the status section. Figure 10When the multi-functional claw toe 312 touches the bottom of the plastic bowl, it generates a reaction force, sending a signal to the multi-degree-of-freedom robotic arm 200 to stop the scraping robotic claw 300 from descending. Here, the multi-functional claw toe 312 also serves as a limit stop trigger structure. Subsequently, the multi-degree-of-freedom robotic arm 200 and the claw finger drive device work simultaneously. The multi-degree-of-freedom robotic arm 200 drives the scraping robotic claw 300 to rotate. At this time, the scraping robotic claw 300 rotates slowly at a speed of 2 revolutions per second, causing the bowl-gripping claw finger 302 to rotate slowly (2 revolutions per second) parallel to the bottom of the bowl inside. Simultaneously, the claw finger drive device causes the bowl-gripping claw finger 302 to gradually open. During the rotation and opening of the bowl-gripping claw finger 302, the multi-degree-of-freedom robotic arm 200 controls the height of the scraping robotic claw 300, ensuring that the multi-functional claw toe 312 remains in contact with the bottom of the plastic bowl, thus scraping the bottom of the bowl. The multi-functional claw toe 312 rotates and opens simultaneously, scraping the adhesive from the center of the bottom surface of the adhesive bowl towards its edge. When the multi-functional claw toe 312 reaches the edge of the bottom surface, the dry adhesive scraper blade 311 is precisely against the inner wall of the adhesive bowl. The gripping fingers continue to open, rotate, and rise, while the integrated scraping mechanical claw 300 opens and slowly moves vertically upwards (vertical upward movement speed 0.01 m / s). Under this multi-motion composite motion, the curved scraping surface of the dry adhesive scraper blade 311 always presses against and adheres to the inner wall of the adhesive bowl (the adhesion can reach 100% throughout the process, suitable for various adhesive bowls that are wider at the top and narrower at the bottom; when the mechanical claw scrapes the inner wall, the adhesive bowl will not rotate or slide due to the anti-slip effect of the curved clamping part of the adhesive bowl holder 500). It continuously scrapes the inner wall along the curved interior of the adhesive bowl until it moves out of the bowl's opening from the top and stops. See [link to documentation]. Figure 11 , Figure 12 and Figure 13 This is a schematic diagram of two states during the process of scraping the inner wall of the glue bowl. At this time, the dry glue adhering to the inner wall of the glue bowl is completely scraped off to the bottom of the bowl by the dry glue scraper 311 with a certain hardness of the bowl wall, and the scraping action ends.

[0067] S6. Adjust the height of the gripper claws 302, and use the claw drive device to open and close the multiple gripper claws 302 to grab the glue bowl and remove it from the glue bowl holder 500. Move the glue bowl above the dry glue filter box 402 under the control of the multi-degree-of-freedom robotic arm 200. Under the action of the multi-degree-of-freedom robotic arm 200, the glue bowl is inverted, and the dry glue in the glue bowl is poured into the dry glue filter box 402. The glue pouring action is completed.

[0068] S7. After pouring, stand the rubber bowl upright and put it back at the rubber tree.

[0069] S8. After the rubber collection action of a single tree is completed, return to steps S2 to S7 to carry out the rubber collection action of the next tree and the next rubber bowl. Continue to cycle through steps S2 to S7 until the number of rubber trees and the number of rubber bowls that have been collected reach the set values ​​a and b. Then, the rubber collection vehicle goes to the destination set by the system according to the navigation. The operator opens the sealing cover, opens the rubber outlet, and removes the dry rubber filter box 402 to unload the rubber.

[0070] The above-described glue collection steps are applicable when the glue bowl mainly contains liquid glue. However, for glue blocks that have solidified inside the glue bowl, when the glue bowl is inverted, the glue blocks are difficult to remove directly because they are attached to the inside of the bowl. Furthermore, the dry glue scraper 311 on the bowl wall cannot effectively scrape them off. Therefore, step S4-1 is added before the scraping step S5. Specifically, before step S5, if the visual recognition system detects that the height of the solidified glue block in the remaining glue bowl is greater than 1 / 3 of the bowl's depth, step S4-1 is executed; otherwise, step S5 is executed directly. Step S4-1 includes: the claw-driven device controls multiple gripping claws 302 to retract and align with the surface area of ​​the glue block inside the glue bowl. Under the action of the multi-degree-of-freedom robotic arm 200, the gripping claws 302 extend into the glue bowl, allowing the multi-functional claws 312 to fully insert into the solidified glue block. The multi-functional claws 312 continue to retract, and the multiple multi-functional claws 312 work together to grip the solidified glue block. See the attached diagram for the state. Figure 14 Driven by the multi-degree-of-freedom robotic arm 200, the block moves above the dry glue filter box 402, then releases the multi-functional claw toe 312 to release the solidified glue block, which falls into the dry glue filter box 402. After this step is completed, step S5 continues. This step can directly grip the solidified glue block with a certain thickness, which can solve the problem of the glue block being unable to be removed smoothly. After the glue block is gripped and removed, the dry glue scraper 311 on the bowl wall is used for further scraping, which can improve the scraping quality.

[0071] If the solidified glue block is crushed and cannot be easily removed during 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 descending and rotating, breaking the solidified glue block. At the same time, the multi-functional claw toe 312 gradually retracts. Under the combined motion of descent, rotation, and retraction, the solidified glue block is broken until the multi-functional claw toe 312 contacts the bottom surface of the glue bowl and stops. Then, the height of the gripping claw finger 302 is adjusted, and the multiple gripping claw fingers 302 are opened and closed by the claw finger drive device to grab the glue bowl and remove it from the glue bowl holder 500. The glue bowl is moved to the top of the dry glue filter box 402 under the control of the multi-degree-of-freedom robotic arm 200. Under the action of the multi-degree-of-freedom robotic arm 200, the glue bowl is inverted, and the broken glue blocks in the glue bowl are poured into the dry glue filter box 402. After this step is completed, step S5 is executed. This step is a further optimization of step S4-1. Because the glue block may not be completely solidified, or there may be too few glue blocks to be easily picked up, step S4-2 is added. The multi-functional claw toe 312 is used to stir and break up the glue block, and then it is poured out and further scraped with the dry glue scraper 311 on the bowl wall, which can improve the quality of scraping.

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

Claims

1. A robot for collecting and scraping natural rubber, characterized in that, include: The walking mechanism includes a chassis platform and a walking chassis, wherein the chassis platform is equipped with a controller, a vision recognition system, a power module and a center of gravity adjuster; A multi-degree-of-freedom robotic arm is mounted on the chassis platform. The working end of the multi-degree-of-freedom robotic arm is provided with a rotating end seat and a rotational power device for driving the rotating end seat to rotate. The integrated scraping and scooping mechanical claw includes a mounting base installed on the rotating end seat. The mounting base is circumferentially provided with at least three gripping claws and a claw driving device that drives the gripping claws to simultaneously retract inward or open outward. The inner side of the gripping claws is provided with a glue bowl gripping part, and the outer side of the gripping claws is provided with a bowl wall dry glue scraper for dry glue scraping of the inner wall of the glue bowl. The outer surface of the bowl wall dry glue scraper is provided with a bowl wall arc-shaped scraping surface that bends outward and upward from the bottom end of the gripping claws. The bottom end of the gripping claws is provided with a multi-functional claw toe. The multi-functional claw toe can perform dry glue scraping of the bottom of the glue bowl, clamp the glue block solidified in the glue bowl, and break the glue block solidified in the glue bowl. The glue collection box includes a liquid glue collection box and a dry glue filter box. The dry glue filter box is detachably installed at the upper inlet of the liquid glue collection box, and the dry glue filter box divides the inside of the liquid glue collection box into a dry glue area and a liquid glue area. The glue cup holder is located on the top of the glue collection box and near the dry glue filter box, and is used to clamp and fix the glue cup.

2. The integrated natural rubber collecting robot as described in claim 1, characterized in that: The glue bowl holder includes a fixing ring seat fixed at one corner of the glue collection tank. The inner wall of the fixing ring seat is provided with multiple radial grooves. A radial slider is slidably installed in the radial groove. The inner side of the radial slider is provided with an arc-shaped clamping part. The outer side of the radial slider is provided with a pressure spring. The multiple radial sliders cooperate to clamp and fix the glue bowl under the action of the pressure spring.

3. The integrated natural rubber collecting robot as described in claim 1, characterized in that: A connecting bracket is fixedly installed on the mounting base, and the gripper claws are connected to the connecting bracket via connecting rods.

4. The integrated natural rubber collecting robot as described in claim 3, characterized in that: The claw-finger drive device includes a claw-finger drive motor mounted on the mounting base. The output end of the claw-finger drive 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 drive motor. The upper part of the transmission screw is rotatably supported on the support base. The lower part of the transmission screw is threaded with a lifting transmission block. A drive swing rod is connected between the lifting transmission block and the connecting rod.

5. The integrated natural rubber collecting robot as described in claim 1, characterized in that: The dry adhesive scraper for the bowl wall is a polyurethane scraper.

6. The integrated natural rubber collecting robot as described in claim 1, characterized in that: The multi-functional claw toe is a metal claw toe, which is a triangular hook with a pointed bottom, an inner surface that slopes inward and downward, and an outer surface that extends in an arc.

7. The integrated natural rubber collecting robot as described in claim 1, characterized in that: The plastic bowl gripping part is located at the top and bottom of the inner side of the gripping claw, and the plastic bowl gripping part is provided with anti-slip texture.

8. A method for collecting and scraping natural rubber in an integrated manner, employing a natural rubber collecting and scraping robot as described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1. The rubber harvesting robot identifies the rubber tree and plans its walking route to move to the side of the rubber tree; S2. Identify the position of the glue bowl and adjust the glue-collecting robot. The multi-degree-of-freedom robotic arm drives the integrated scraping and collecting robotic claw to move to the top of the bowl filled with glue. The claw finger drive device causes multiple gripping claws to open and close to grab the glue bowl. S3. Move the glue bowl to the top of 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, the glue bowl is inverted, and the glue liquid enters the glue liquid collection box below through the dry glue filter box. After pouring, turn the glue bowl upright. S4. Move the uprighted plastic bowl horizontally to the top of the plastic bowl holder, align the plastic bowl with the center of the plastic bowl holder, and then, with the cooperation of the multi-degree-of-freedom robotic arm and the scraping robotic claw, squeeze the plastic bowl vertically downward into the plastic bowl holder. The plastic bowl holder clamps and fixes the plastic bowl and then stops, and the scraping robotic claw releases the plastic bowl. S5. The claw-driven device controls multiple gripping claws to retract to their smallest size. Under the action of the multi-degree-of-freedom robotic arm, the gripping claws extend into the inside of the plastic bowl. When the multi-functional claw touches the bottom of the plastic bowl, it stops. Then, the multi-degree-of-freedom robotic arm and the claw-driven device work simultaneously. The multi-degree-of-freedom robotic arm drives the integrated scraping robotic claw to rotate and slowly rise. The claw-driven device drives the gripping claws to gradually open. Under the synchronous compound action of rotation and opening, the multi-functional claws gradually rotate and scrape the glue from the center of the bottom of the plastic bowl towards the bottom edge. When the multi-functional claws move to the bottom edge of the bowl, the dry glue scraper on the bowl wall just fits against the inner wall of the plastic bowl. The gripping claws 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 plastic bowl and continues to scrape the inner wall until it moves out of the mouth of the plastic bowl from the top and stops. S6. Adjust the height of the gripper claws and use the claw drive device to open and close multiple gripper claws to grab the glue bowl and remove it from the glue bowl holder. Move the glue bowl to the top of 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, the glue bowl is inverted and the dry glue in the glue bowl is poured into the dry glue filter box. S7. After pouring, stand the rubber bowl upright and put it back at the rubber tree. S8. Move to the next rubber tree and collect the latex from the next rubber bowl.

9. The integrated scraping and gathering method for natural rubber as described in claim 8, characterized in that: Before step S5, if the visual recognition system detects that the height of the solidified glue block in the remaining glue bowl is greater than 1 / 3 of the depth inside the bowl, then step S4-1 is executed; otherwise, step S5 is executed directly. Step S4-1 includes: the claw drive device controls multiple gripper fingers to close and correspond to the surface area of ​​the glue block inside the glue bowl. Under the action of the multi-degree-of-freedom robotic arm, the gripper fingers are inserted into the inside of the glue bowl, so that the multi-functional claws are fully inserted into the solidified glue block. The multi-functional claws continue to close, and the multiple multi-functional claws work together to grip the solidified glue block. Driven by the multi-degree-of-freedom robotic arm, the solidified glue block is moved to the top of the dry glue filter box. Then, the multi-functional claws are released to release the solidified glue block, which falls into the dry glue filter box. After this step is completed, step S5 is executed.

10. The method for collecting and scraping natural rubber as described in claim 9, characterized in that: If the solidified glue block cannot be removed from the glue bowl during step S4-1, proceed to step S4-2. Step S4-2 includes: the multi-degree-of-freedom robotic arm drives the multi-functional claw to continue descending and rotating, breaking the solidified glue block. At the same time, the multi-functional claw to gradually retracts. Under the combined motion of descent, rotation, and retraction, the solidified glue block is broken until the multi-functional claw to touch the bottom of the glue bowl and stops. Then, the height of the gripping claw is adjusted, and the multiple gripping claws are opened and closed by the claw driving device to grab the glue bowl and remove it from the glue bowl holder. The glue bowl is moved to the top of 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, the glue bowl is inverted, and the broken glue blocks in the glue bowl are poured into the dry glue filter box. After this step is completed, step S5 is executed.

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