Robot for rubber latex mining and method for rubber latex mining

Abstract

The invention relates to a robot for rubber latex mining. The robot comprises three main components, namely a rubber tapping arm (1), a movable frame (2) and a guide rail-based guide system (3), the robot can position the surface of the bark, the position of a previous secant line and the thickness of the bark so as to meet the requirements of the secant line; the robot is equipped with a navigation system that enables the robot to automatically move and locate the position of a tree and a previous cutting line on the trunk to automatically cut rubber in an area covering a plurality of trees.

Description

Technical Field

[0001] The present invention relates to a robot, which is suitable for use in agriculture and forestry, and is particularly suitable for rubber tapping, such as rubber tapping or other operations including measuring the trunk diameter, mowing grass, and collecting leaves. Background Art

[0002] Rubber trees have important economic significance because their latex is the main component for producing natural rubber. To harvest rubber latex, a thin layer of bark is scraped on the tree trunk so that the latex flows out and is collected into a latex bowl. The incisions must meet multiple criteria, which include the inclination (the lateral inclination angle of the cut line), forming a groove, stopping at the front and back water lines, staying on the line without any deflection or bending, the precise cutting depth (the distance from the outer surface of the tree trunk to the internal incision), and the bark consumption of the bark being tapped (the thickness of the bark vertically cut). Currently, most rubber tapping operations are carried out manually, so the results largely depend on the skills and experience of the rubber tappers.

[0003] Some automatic machines have been used for rubber latex tapping (e.g., rubber tapping). Each of these machines is fixed to the rubber tree trunk. The composition of such a machine includes these three main components: a cutter head that moves up and down along a vertical sliding rod, and this vertical sliding rod moves horizontally along an arc-shaped horizontal sliding rod fixed around the tree trunk perimeter. The combination of these two movements forms the cut line inclination. The cutter inside the cutter head moves centripetally inwards and outwards, which forms the cutting depth of the cut line.

[0004] Since the bark thickness varies continuously according to the actual situation and the tree's life cycle, and the inwards and outwards movement of the cutter is fixed, most existing automatic rubber tapping machines cannot guarantee the cutting depth of the cut line. In addition, no machine can automatically move, locate the tree, locate the previous cut line on the tree trunk in order to perform automatic rubber tapping on an area covering multiple trees (about 600 - 800 trees in a rubber latex tapping shift). Nor can any machine automatically collect the latex after rubber tapping, or work during the rubber cultivation process, such as checking the trunk diameter to determine the rubber tapping time, regular fertilization, mowing grass, collecting leaves to prevent fires, etc. Summary of the Invention

[0005] The present invention is made in view of the above situation of existing automatic rubber latex tapping machines, and the main object of the present invention is to provide a robot for rubber latex tapping, which can meet the requirements of the cut line, can automatically move to the rubber trees in the area and locate the area, such as the cut line on the tree trunk, in a predetermined order for automatic rubber tapping, and can automatically collect the latex after rubber tapping, etc. In addition, other objects and beneficial effects of the present invention can be further clarified in the following parts.

[0006] For the above and other purposes, the present invention relates to a robot for latex extraction. The robot includes three main components: namely, a working arm, a mobile frame, and a guiding system. The working arm includes four main components: a positioning frame, a lateral sliding rod, a vertical sliding rod, and a working unit. What differentiates the present invention from existing automatic rubber latex extraction machines is that the robot using the positioning frame can position its location relative to the tree for rubber tapping. The positioning frame is capable of forming a movement around the tree trunk for the working unit. According to a preferred embodiment, the working unit of the robot is a cutter head.

[0007] In addition, the cutter head is equipped with devices that can locate the bark surface, the position of the previous tapping line, and the bark thickness to meet the requirements of the tapping line.

[0008] What further differentiates the present invention from existing automatic latex extraction (e.g., rubber tapping) machines is that the robot is equipped with a guiding system that enables the robot to automatically move, locate the tree, and the position of the previous tapping line on the tree trunk to automatically perform rubber latex extraction (e.g., rubber tapping) on an area covering multiple trees. When the robot operates, the tapping path of the robot is defined by guiding rails connecting each tree in the tapping area. The guide at each tree is equipped with positioning devices, such as limit switches, sensors, etc., to enable the robot to stop at the correct position for rubber tapping. At this time, since the working arm has a new elevation, the elevation is higher than the last rubber tapping by a distance equal to the bark consumption, so in each rubber tapping operation, the robot locates the new tapping line by leaning the column of the working arm against a fixed support point relative to the tree. After determining the elevation of the tapping line, the robot uses a positioning frame around the tree trunk perimeter to locate the tree trunk axis. After locating the tree trunk axis, the robot can also determine the elevation of the tapping line by using the cutter head assembly to determine the difference between the uncut surface and the rubber tapping surface. After determining the position of the tapping line, the robot performs the rubber tapping operation by combining the following movements: the controlled inwards and outwards centripetal movement of the cutter in the cutter head based on the bark surface, the top-down movement of the cutter head along the vertical sliding rod, and the lateral alternating movement of the vertical sliding rod along an arc-shaped lateral sliding rod that surrounds the tree trunk perimeter according to a predetermined principle, thereby forming a tapping line that meets the established requirements.

[0009] In addition, the present invention also relates to a method for extracting rubber latex using a robot according to the above aspects, which includes the following steps: positioning a tree using a guiding system and a positioning device; moving the robot to approach a reference marking position; determining the elevation of a new incision; positioning the working arm of the robot relative to the tree trunk using a center coincidence method; detecting the bark surface; positioning a previous cut line; determining a cutting depth based on a predetermined depth relative to the bark surface, or based on the depth of the previous cut line or a predetermined distance from the wood layer. According to other aspects, using the aforementioned methods of moving, positioning the tree, and the cut line, the robot performs a latex collection operation through a suction unit installed at the cutter head. In addition, further according to other aspects, the robot can perform operations during the rubber cultivation process through corresponding structures provided on the working arm that functions as a working unit: for example, using a structure for measuring the trunk diameter to check the trunk diameter at a specified elevation to determine the tapping time, or regularly applying fertilizers, mowing grass, collecting leaves, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 Schematic diagram for illustrating an example of a robot used for rubber latex extraction;

[0011] Figure 2 Schematic diagram for illustrating an example of an embodiment of a working arm;

[0012] Figure 2b Schematic diagram for illustrating an example of another embodiment of a working arm;

[0013] Figure 3 Schematic diagram for illustrating an example of an embodiment in which a robot designates a passage route to each rubber tree in a predetermined order on a guiding rail and a positioning device;

[0014] Figure 4 Schematic diagram for illustrating an example of an embodiment in which a robot positions the position and base height of a working arm;

[0015] Figure 5 Schematic diagram for illustrating an example of an embodiment in which a robot positions a tree trunk axis;

[0016] Figure 6 Schematic diagram for illustrating an example of another embodiment in which a robot positions a tree trunk axis;

[0017] Figure 7 Schematic diagram for illustrating an example of an embodiment in which a robot determines a force applied to an object surface;

[0018] Figure 8 Schematic diagram for illustrating an example of another embodiment in which a robot determines a force applied to an object surface;

[0019] Figure 9Schematic diagram for illustrating another embodiment in which a robot determines the force applied to the surface of an object;

[0020] Figure 10 Schematic diagram for illustrating an embodiment in which a robot performs rubber tapping;

[0021] Figure 11 Schematic diagram for illustrating an embodiment in which a robot locates a previous cut line;

[0022] Figure 12 Schematic diagram for illustrating an embodiment in which a robot determines the cutting depth based on a predetermined depth relative to the bark surface;

[0023] Figure 13 Schematic diagram for illustrating another embodiment in which a robot determines the cutting depth based on the surface of a previous cut line;

[0024] Figure 14 Schematic diagram for illustrating another embodiment in which a robot determines the cutting depth based on the bark thickness;

[0025] Figure 15 Schematic diagram for illustrating an embodiment of a cutter head;

[0026] Figure 16 and 16b Schematic diagram for illustrating an embodiment of a cutter head in a rubber tapping operation based on a predetermined depth relative to the bark surface, which is also an embodiment of the cutter head for locating a previous cut line;

[0027] Figure 17 and 17b Schematic diagram for illustrating an embodiment of a cutter head during the process of determining the cutting depth based on the surface of a previous cut line; and

[0028] Figure 18 and 18b Schematic diagram for illustrating an embodiment of a cutter head during the process of determining the cutting depth based on the bark thickness. Detailed Description of the Invention

[0029] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings are used to identify the same or similar components. The content described herein is for illustrative purposes only and is not intended to limit the scope of the present disclosure.

[0030] The robot according to the present invention is used for multiple purposes in the agricultural and forestry fields, such as latex tapping. The term "rubber latex tapping" may include various operations performed by corresponding structures, such as rubber tapping, checking the trunk diameter at a specified altitude using a structure for measuring the trunk diameter to determine the rubber tapping time, or regular fertilization, mowing, leaf collection, etc. In the present specification, according to the main embodiment, a cutter head is adopted as a working unit that works together with other components of the robot according to the present invention for rubber tapping. However, those skilled in the art can understand that other rubber tapping components can be used as substitutes for the cutter head or used in combination with the cutter head to perform other operations for latex tapping. For example, for latex suction, a suction head can be added to the cutter head and work together as a working unit.

[0031] As Figure 1 shown, the robot includes three main components: namely, a working arm 1, a mobile frame 2, and a guiding rail 3. The working arm is mounted on the mobile frame and can move relative to the frame. The robot moves using a battery or power source attached to the guiding rail and is guided by the guiding rail. When the robot operates, the rubber tapping path of the robot is defined by the guiding rails connected to each other based on the order of the trees in the rubber tapping area. The guiding rail system can be installed close to the ground or can be installed at an appropriate height along the trees. Devices for helping the robot locate the trees, such as limit switches, sensors, etc., are installed on the guiding rail (or on each tree). The robot moves along the guiding rail and stops when approaching these devices, while its working arm approaches the position marking device 4 at each tree. Using this device, the working arm of the robot determines the working position on the trunk. According to the preferred embodiment, the working arm is used for rubber tapping, and thus the working arm determines the altitude of the new tapping line by increasing a height equivalent to the bark consumption.

[0032] Hereinafter, the present invention will be described in detail with reference to specific embodiments in the drawings, where the working unit is a cutter head for rubber tapping.

[0033] As Figure 2 shown, the working arm includes four main components: a position frame 5, a lateral sliding rod 6, a vertical sliding rod 7, and a working unit 8.

[0034] By using a locking mechanism to place the center of the position frame on the trunk axis, the position frame of the robot can position its position relative to the trunk.

[0035] According to as Figure 2In the embodiment shown, the locking mechanism includes a locking arm 9, a locking cylinder 10, a locking base 11, a column 12, a column base 13, a column arm 14, and a column cylinder 15. The arcuate lateral sliding rod 6 can slide within the position frame 5 (which is also arcuate). This movement forms an arc that shares the same center with the position frame 5. The vertical sliding rod 7 is fixed to the lateral sliding rod 6. The cutter head 8 moves up or down along the vertical sliding rod 7. According to the embodiment, there are three sets of vertical sliding rods 7 mounted on the lateral sliding rod at different positions. By changing the position of the cutter head on different sets of vertical sliding rods corresponding to different arcs, the robot can cut rubber around the tree trunk perimeter at different arcs. The arcuate locking rod 9 can slide within the channel of the arcuate locking base 11. The locking base 11 is fixed to the position frame 5. When sliding outward relative to the position frame, the locking rod 9 and the position frame 5 together form an arc with an angle of more than 180° around the tree trunk perimeter. The position frame 5 is connected to the column base 13 via the column arm 14. As the column cylinder 15 is actuated, the position frame 5 can move away from or closer to the column 12 when mounted via the column arm 14. The column base 13 can move up and down relative to the column 12, whereby the entire working arm can move in the same manner.

[0036] As Figure 2b shown, according to another embodiment, the position frame 5 is connected to a moving frame, where two column bases 13 are rigidly connected to two position frames 5, and all position frames 5 are connected to the column arms 14 by suspending the columns 12 evenly on the column arms 14 and are guided by column cylinders 15 that drive the column arms 14 to move the position frames 5 together with the two column bases 13 away from or closer to the moving frame, where when the column cylinder 15 pulls the column arm 14, the entire assembly of the position frame, column base, and column simultaneously rises and moves towards the moving frame, and vice versa, when the column cylinder 15 releases the column arm 14, the entire assembly of the position frame, column base, and column simultaneously lowers and moves towards the tree trunk axis.

[0037] As Figure 3 shown, the moving frame 2 of the robot determines its movement path through the guiding rails 3 and the positioning devices 17 to reach each tree 16 in a predetermined order. Based on the order on the guiding rails, the robot stops at these positioning positions 17 and performs the rubber cutting operation, and then repeats at the next positioning position.

[0038] As Figure 4As shown, the robot moves along the guiding rail 3 and stops when it approaches the positioning device 17. At the same time, the bottom of the column 12 of the working arm of the robot leans against the position marking device 4 at each tree. At this time, due to the connection between the working arm of the robot and the column base 13, when the robot increases the altitude of the column base 13 relative to the column 12 by a height equivalent to the bark consumption amount compared to the previous rubber tapping, the working arm of the robot also changes its altitude by a corresponding height compared to the previous rubber tapping (rising in the case of upward rubber tapping and descending in the case of downward rubber tapping). This altitude change is achieved by rotating the threaded nut 18, which connects the column base 13 and the thread of the column 12.

[0039] According to the embodiment of connecting the position frame 5 and the moving frame as shown in Figure 2b , the robot moves along the guiding rail and stops when approaching the positioning device. The column cylinder 15 releases the column arm 14, and the entire assembly of the position frame, column base, and column simultaneously descends and moves towards the tree axis until the bottom of the column 12 of the working arm of the robot leans against the position marking device 4 at each tree and stops.

[0040] As shown in Figure 5 , after establishing the altitude of the new incision as described above, the robot determines the tree axis and fixes the position frame relative to the tree trunk using the locking mechanism of this embodiment through the following steps:

[0041] Step 1: By actuating the cylinder 15, the position frame 5 is moved towards the tree axis by a distance equivalent to the distance between the initial position 4 and the tree axis. At this time, the center of the position frame arc coincides with the tree axis;

[0042] Step 2: The locking arm 9 is slid outwards relative to the position frame 5 within the locking base 11 to form an arc with an angle of more than 180° around the tree trunk perimeter together with the position frame 5;

[0043] Step 3: At the same time, the arms of the locking cylinder 10 are moved towards the tree axis by an equal distance until these arms form a predetermined leaning force on the tree trunk. Since the locking cylinder 10 forms different angles around the tree trunk perimeter, the force formed by the arms of the locking cylinder positions the center of the position frame 5, which coincides with the tree axis.

[0044] According to another embodiment, as shown in Figure 6As shown, the locking mechanism includes at least one arcuate locking arm 9 mounted on the position frame 5 by a shaft 19 such that the locking arm is rotatable to form an arc with the position frame around the periphery of the tree trunk having an angle of more than 180°, and the center of the arc coincides with the center of the tree trunk axis; and the locking cylinder 10 is disposed around the tree trunk at different positions on the position frame or the locking arm, and forms a predetermined leaning force on the tree trunk to position the center of the position frame 5, which coincides with the center of the tree trunk. According to this embodiment, after the robot moves the position frame 5 to coincide with the tree trunk axis 16, the tree trunk axis is determined by the following steps (in this embodiment, the locking arm 9 does not slide in the channel of the locking base, but rotates around the shaft 19 on the position frame):

[0045] Step 1: Rotate the two locking arms 9 by corresponding angles to form an arc with the position frame;

[0046] Step 2: Simultaneously move the arms of the locking cylinder 10 an equal distance towards the tree trunk axis until these arms form a leaning force on the tree trunk. Since the locking cylinder 10 forms different angles around the periphery of the tree trunk, the force formed by the arms of the locking cylinder positions the center of the position frame 5, which coincides with the tree trunk axis.

[0047] In the operation of determining the tree trunk axis as described in the above embodiment, and in the rubber tapping operation to be described next, the robot uses the said arms to grope and detect the tree trunk surface and the incision, or moves the cutter according to a predetermined principle. Hereinafter, embodiments of the robot performing these operations will be described.

[0048] As Figure 7 shown, the robot applies a force to the surface 22 using the operating arm 20 guided by the motor 21. In state 1, the operating arm has not applied a force to the surface 22. In state 2, the motor 21 is actuated, driving the operating arm 20 towards the surface 22 and reaching the surface. The reaction force of the motor is proportional to the current intensity supplied to the motor, and this current intensity will increase when the pushing arm 21 contacts the surface 22. When the power supplied to the motor reaches the set value, the controller stops or reverses the motor according to the operation.

[0049] According to another embodiment, as Figure 8As shown, the arm head 23 is added to the operating arm and connected to the operating arm by a spring 24. A switch sensor 25 is mounted on the arm head 23 and is activated when approaching a specific position on the operating arm 20. In state 1, the operating arm has not applied a force to the surface 22. In state 2, the motor 21 drives the operating arm 20 towards the surface 22 and reaches the surface through the arm head 23. When the operating arm 20 continuously approaches the arm head 23, the spring 24 is compressed until the switch sensor 25 is activated. The controller uses the signal provided by the switch sensor 25 to stop the motor. At this time, if the motor stops, due to the compression of the spring, the compression force will still be maintained. If the motor reverses, the compression force decreases.

[0050] According to another embodiment, as Figure 9 shown, the embodiment is similar to Figure 8 the embodiment shown, but two switch sensors 25 and 26 are attached to the arm head 23 to correspond to two compression states of the spring 24. In this embodiment, when the arm head 23 leans against the surface 22 and the spring 24 is compressed until the switch sensor 25 is activated, the motor stops (state 2). At this time, the compression force is still maintained by the compression of the spring. When the surface 22 changes its position, the processing of the controller is as follows:

[0051] Case 1 - The surface 22 moves away from the arm head 23: The switch sensor 25 is turned off. The controller drives the motor 21 to push the operating arm 20 closer to the surface 22 until the switch sensor 25 is activated. The controller stops the motor to maintain the force on the surface 22;

[0052] Case 2 - The surface 22 moves closer to the arm head 23: The switch sensor 26 is activated (state 3). The controller drives the motor 21 to push the operating arm 20 to move away from the surface 22 until the switch sensor 26 is turned off. The controller stops the motor to maintain the force on the surface 22.

[0053] In this way, in this embodiment, if the surface 22 changes its position relative to the operating arm, the leaning force will still be maintained.

[0054] Using the force control methods in the above and other embodiments to grope and detect the trunk surface and the incision, the robot performs the rubber tapping operation after determining the trunk axis and establishing the elevation of the new incision, as described in the following sections.

[0055] As Figure 10As shown, the arc-shaped horizontal sliding rod 6 can slide in the position frame 5 (also arc-shaped) using the drive motor 27. This movement forms an arc that shares the same center with the position frame 5, and this center is also the center of the tree trunk axis. The vertical sliding rod 7 is fixed to the horizontal sliding rod 6. The cutter head 8 is moved up or down along the vertical sliding rod 7 using the drive motor 28. In this embodiment, there are three groups of vertical sliding rods 7 mounted on the horizontal sliding rod at different positions to expand the operating range of the cutter head 8 when the cutter head 8 is mounted on different groups of vertical sliding rods 7. By combining the movement of the horizontal sliding rod 6 with the up and down movement of the cutter head 8 along the vertical sliding rod 7, the robot can perform rubber tapping around the tree trunk perimeter at different arcs. Switch sensors are used that are installed on the paths of the horizontal sliding rod 6 and / or the vertical sliding rod 7; by the above methods of groping, detecting the tree trunk surface and the incision, the robot determines the positions for performing the rubber tapping operation, such as detecting the position on the tree trunk surface, detecting the position of the previous cut line, measuring the bark thickness to determine the cutting depth, moving the cutter inwards and outwards according to a predetermined cutting depth, reversing the incision, moving the cutter head to a standard position to end the rubber tapping operation...

[0056] During the rubber tapping operation, the robot uses a pair of operating arms to determine the surface and the cutting depth, as described in the following sections.

[0057] As Figure 11 shown, the robot uses two operating arms 20 and 30 to detect the position of the previous cut line. Since the known incision is usually 4 - 7 mm from the bark surface, the robot locates the previous cut line by detecting positions on the tree trunk that have a sudden difference compared to the above distance. When performing this operation, as the two motors 21 and 29 are actuated, the two operating arms 20 and 30 press the two arm heads 23 and 31 against the bark surface 22 and apply a predetermined force. The position sensor kit 32 is installed on these two operating arms. During the sliding movement along the bark surface from top to bottom (or vice versa), when reaching the previous cut line, one of the operating arms suddenly moves inwards by a depth of 4 - 7 mm due to the change in the support point. Then, a signal is sent from the position sensor kit 32 to the controller to locate the previous cut line.

[0058] Another embodiment for locating the previous cut line is based on the principle that during the sliding movement of the operating arm along the bark surface from top to bottom (or vice versa), the position where the operating arm presses the bark will change suddenly (mutation speed) within a time unit.

[0059] In Figure 4 an embodiment for establishing the elevation of a new incision is also shown.

[0060] After establishing the elevation of the new incision, the robot determines the cutting depth by the following methods: based on a predetermined depth relative to the bark surface, based on the depth of the previous cut line, or a predetermined distance from the wood layer.

[0061] In the following, embodiments of the present invention are described by the upward tapping operation: the incision removes the lower part of the bark, and the upper part is retained for the next cut. The new incision is 1.5 - 2 mm higher than the previous cut line, and this height is equal to the bark consumption. Similarly, embodiments of the downward tapping are deduced.

[0062] As Figure 12 shown, the robot determines the cutting depth according to a predetermined depth relative to the bark surface. This depth is determined by the operator by measuring the bark depth using a special tool (bark meter) based on the different hardnesses between the bark and the wood surface. Depending on the actual situation and the tree's life cycle, this depth is usually between 4 mm and 7 mm. The cutting depth is usually 1 - 1.3 mm shallower than the bark depth. When tapping according to the predetermined depth, the robot employs a pair of operating arms as shown in Figure 11 However, there are the following differences in the pair of operating arms: the arm head 31 is equipped with a cutter 33 and a position sensor kit 32. The functional feature of the position sensor kit 32 is that when it is activated, the drive motor 29 pushes the cutter 33 towards the tree trunk axis until the cutter 33 is deeper than the arm head 23 by a distance equal to the cutting depth. In this way, during the tapping operation, the arm head 23 leans against the bark surface, and the cutter 33 is always pushed deeper than the arm head 23 by a distance equal to the cutting depth, thereby forming an incision with a predetermined depth.

[0063] As Figure 13 shown, the robot determines the cutting depth based on the surface of the previous cut line. When performing this operation, the robot employs a pair of operating arms as shown in Figure 11 However, there are the following differences in the pair of operating arms: the arm head 23 is equipped with a cutter 33 and a position sensor kit 32. The functional feature of the position sensor kit 32 is that when it is activated, the drive motor 29 pushes the cutter 33 towards the tree trunk axis by a distance equal to the depth of the arm head 31. In this way, during the tapping operation, the arm head 31 leans against the surface of the previous cut line, and the cutter 33 always remains at a depth equal to that of this arm head, thereby forming an incision with a depth consistent with the surface of the previous cut line.

[0064] As Figure 14 shown, the robot determines the cutting depth based on the bark thickness. The bark thickness of the rubber tree is 4 - 7 mm according to the actual situation and the tree's life cycle. The specified cut line depth is 1 - 1.3 mm from the wood surface. Therefore, in this case, the cutting depth of each tree is different. To meet this requirement, the robot employs the same as Figure 11A pair of robotic arms similar to the robotic arms shown in [reference], but there are the following differences between this pair of robotic arms: the arm tip 23 is equipped with a cutter 33, and the arm tip 31 is equipped with a surface detector head 34 and a position sensor kit 32. The functional feature of the position sensor kit 32 is that when it is activated, the motor 21 drives the cutter 33 towards the tree trunk axis a distance L deeper than the position of the detector head 34. The operation of determining the cutting depth based on the bark thickness is as follows:

[0065] Step 1: At a predetermined position on the cut line, the motor 29 drives the surface detector head 34 towards the tree trunk axis with a predetermined force. This force is sufficient to push the detector head through the bark thickness and stops when the detector head reaches the wood surface (harder than the bark);

[0066] Step 2: The motor 29 drives the detector head 34 away from the tree trunk a distance equal to L + 1 - 1.3 mm. The position sensor 32 is activated. The motor 21 drives the cutter 33 towards the tree trunk axis a certain distance L based on the signal from the position sensor 32, and this distance L is deeper than the position of the surface detector head 34;

[0067] Therefore, during this operation, the cutter head is about 1 - 1.3 mm away from the wood surface.

[0068] From the above description, a simple method for a robot to collect latex through a suction unit installed in the cutter head can be inferred. The suction unit has a suction head, and when the cutter head moves to a position corresponding to the latex bowl on the cut line, the suction head coincides with the bottom of the latex bowl.

[0069] As Figure 15 shown, the embodiments of the cutter head include the following main components: a vertical sliding base 35, a bark detector head 36, a cutter 33, a wood surface detector head 34, and a cut line surface detector head 39. The bark detector head 36 is installed on the vertical sliding base 35 and moves up and down together with it. The cutter 33, the wood surface detector head 34, and the cut line surface detector head 39 are installed on the bark detector head 36 and move centripetally inwards and outwards together with it. The cutter 33, the wood surface detector head 34, and the cut line surface detector head 39 can move independently relative to the bark detector head 36.

[0070] As Figure 16 and 16bAs shown in [relevant reference], in the method of positioning the previous cut line described above, the robot moves the bark detector head 36 and the cutter 33 simultaneously towards the tree trunk axis and stops when reaching the bark surface, maintaining the compressive force of the bark detector head 36 and the cutter 33 on the bark surface. When reaching the previous cut line during the downward movement along the bark surface, the cutter 33 suddenly moves inwards by a depth of 4 - 7 mm due to the change of the support point, while the bark detector head 36 still remains in its position. Then, a signal is sent from the position sensor kit between the bark detector head 36 and the cutter 33 to the controller to locate the previous cut line.

[0071] As Figure 16 and 16b As shown in [relevant reference], in the rubber tapping method based on a predetermined depth relative to the bark surface, at the starting point, the robot drives the bark detector head 36 towards the tree trunk axis and stops when it reaches the bark surface, and maintains the compressive force to keep the detector head 36 in contact with the bark surface. The cutter 33 moves further relative to the detector head 36 by a distance equal to the cutting depth, and the cutter head moves according to a predetermined incision to form a cut line with a predetermined depth.

[0072] As Figure 17 and 17b As shown in [relevant reference], in the rubber tapping method based on the surface of the previous cut line, the cutter 33 and the cut line surface detector head 39 are equipped with a position sensor kit to maintain the same moving gap during the rubber tapping operation. At the starting point, the robot drives the bark detector head 36 towards the tree trunk axis and stops when it reaches the bark surface, and maintains the compressive force to keep in contact. The cut line surface detector head 39 moves further relative to the detector head 36 and stops when reaching the surface of the previous cut line, and maintains the compressive force to keep in contact. The position sensor kit between the cutter 33 and the cut line surface detector head 39 is activated to make the cutter 33 move to the position of the cut line surface detector head 39, so that the cutter 33 cuts the bark at a certain depth, and the depth is similar to that of the previous cut line.

[0073] As Figure 18 and 18bAs shown, in the rubber tapping method based on bark thickness, the wood surface detector head 34 and the cutter 33 are equipped with a position sensor kit to fix their relative positions during the rubber tapping operation (the cutter 33 is deeper than the wood surface detector head 34 by a distance L towards the tree trunk axis). At the starting point, the robot drives the bark detector head 36 towards the tree trunk axis and stops when it reaches the bark surface, and maintains a compressive force to keep contact. The wood surface detector head 34 moves further relative to the detector head 36 and stops when it reaches the tree trunk surface, then retreats a distance equal to L plus 1 - 1.3 mm. The position sensor kit between the wood surface detector head 34 and the cutter 33 is activated so that the cutter 33 moves a distance L further towards the tree trunk axis than the wood surface detector head 34 and then stops. Thus, when the cutter head moves, the cutter forms a cut line, and the depth of the cut line is 1 - 1.3 mm from the wood surface. Using the switch sensors installed at the corresponding positions, the robot measures the bark thickness at these positions and taps rubber at a depth of 1 - 1.3 mm from the wood surface as described above.

[0074] According to Figures 15 - 18b the embodiment shown in Figures 7 - 9 , Figures 11 - 14 any one of the bark detector head 36, the cutter 37, the wood surface detector head 34, and the cut line surface detector head 39 can be configured according to the principles described in

[0075] According to one embodiment, the bark detector head 36 or the cut line surface detector head 39 is configured as illustrated in Figure 7 i.e., including the operating arm 20 guided by the motor 21 to move towards the surface 22 and contact the surface.

[0076] According to one embodiment, the bark detector head 36 and / or the cut line surface detector head 39 is configured as illustrated in Figure 8 i.e., including the operating arm 20 connected to the arm head 23 by the spring 24, the switch sensor 25 is connected to the arm head 23, and the sensor is activated when approaching a predetermined position on the operating arm 20. The operating arm 20 is guided by the motor 21 to move towards the surface 22 and contact the surface.

[0077] According to one embodiment, the bark detector head 36 and / or the cut line surface detector head 39 is configured as illustrated in Figure 9 i.e., including the operating arm 20 connected to the arm head 23 by the spring 24, two switch sensors 25, 26 are connected to the arm head 23, and the sensors are activated when approaching a predetermined position on the operating arm 20. The operating arm 20 is guided by the motor 21 to move towards the surface 22 and contact the surface.

[0078] According to one embodiment, the bark detector head 36 and / or the cutter 37 and / or the secant surface detector head 39 are configured as illustrated in Figure 11 i.e., including two operating arms 20 and 30 guided by two motors 21 and 29, and two arm heads 23 and 31. The two operating arms are equipped with a position sensor kit 32, and the two operating arms are guided to determine the positions on the tree trunk where there are changes in its surface.

[0079] According to one embodiment, the bark detector head 36 and / or the cutter 37 are configured as illustrated in Figure 12 i.e., including two operating arms 20 and 30, and two arm heads 31 and 23, wherein the arm head 31 is equipped with a cutter 33 and a position sensor kit 32, and the drive motor 29 pushes the cutter 33 towards the tree trunk axis until the cutter extends deeper than the arm head 23 by a distance equal to the cutting depth.

[0080] According to one embodiment, the cutter 37 and / or the secant surface detector head 39 are configured as illustrated in Figure 13 i.e., including two operating arms 20 and 30, and two arm heads 31 and 23, wherein the arm head 23 is equipped with a cutter 33 and a position sensor kit 32, and the drive motor 29 pushes the cutter 33 towards the tree trunk axis until the cutter extends deeper than the arm head 23 by a distance equal to the cutting depth.

[0081] According to one embodiment, the cutter 37 and / or the wood surface detector head 34 are configured as illustrated in Figure 14 i.e., including two operating arms (20 and 30), and two arm heads (31 and 23), wherein the arm head (23) is equipped with a cutter (33), the arm head (31) is equipped with a wood surface detector head (34) and a position sensor kit (32), and the drive motor (21) drives the cutter (33) towards the tree trunk axis until the cutter extends deeper than the position of the detector head (34) by a certain distance.

[0082] The method of positioning the surface can also be performed using other types of sensors, such as ultrasonic sensors, infrared sensors, etc.

[0083] The method of determining the relative movement clearances between other components of the robot can also be performed by using motor encoders and / or servo systems. By receiving echo pulses, these motors can move the detector head, the working unit, and the cutter along a predetermined path and / or relative to each other.

[0084] Using the above methods of moving, positioning the tree, and the secant line, the robot performs latex collection operations through a suction unit installed at the cutter head, or performs work during rubber cultivation through corresponding structures: for example, using a structure for measuring the trunk diameter to check the trunk diameter at a specified altitude to determine the tapping time, or regularly applying fertilizers, mowing grass, collecting leaves, etc.

Claims

1. A robot for rubber latex extraction, comprising: Rail-based guiding system; A moving frame (2) guided by the guiding system to move to a working position; A working arm (1) connected to the moving frame (2), the working arm being configured to fix a position relative to the rubber tree trunk and form a movement around the tree for the working unit; The working unit is arranged on the working arm.

2. The robot according to claim 1, wherein, The guiding system of the robot includes guiding rails that continuously connect trees in an area, and position marking devices (4) and positioning devices (17) such as limit switches and sensors are arranged on the guiding system or each tree to stop the robot at an expected position.

3. The robot according to claim 1 or 2, wherein, The working arm (1) is connected to the moving frame (2), wherein the working arm (1) includes: Two grooved arc-shaped position frames (5) arranged in parallel based on the height of the tree; Two arc-shaped lateral sliding rods (6), each of the lateral sliding rods being able to slide in the groove of each position frame (5); Vertical sliding rods (7) arranged parallel to each other, the head of each vertical sliding rod being fixed to the lateral sliding rod so that when the lateral sliding rod moves in the groove of the position frame (5), the vertical sliding rod will move accordingly; Wherein, the position frame is configured to be fixed relative to the tree trunk using a locking mechanism.

4. The robot according to claim 3, wherein, The locking mechanism includes: a grooved arc-shaped locking base (11) connected to the position frame (5); an arc-shaped locking arm (9) that can slide in the groove of the locking base (11) to form an arc with an angle exceeding 180° around the periphery of the tree trunk together with the position frame, and the center of the arc-shaped locking arm coincides with the center of the tree trunk; and a locking cylinder (10) arranged around the tree trunk at different positions on the position frame or the locking arm, and forming a predetermined leaning force on the tree trunk to position the center of the position frame (5), the center of the position frame coinciding with the center of the tree trunk axis.

5. The robot according to claim 3, wherein, The locking mechanism includes at least one arc-shaped locking arm (9) mounted on the position frame (5) through a shaft (19) so that the arc-shaped locking arm can rotate to form an arc with an angle exceeding 180° around the periphery of the tree trunk together with the position frame, and the center of the arc-shaped locking arm coincides with the center of the tree trunk; And the locking cylinder (10) is arranged around the tree trunk at different positions on the position frame or the locking arm, and forms a predetermined leaning force on the tree trunk to position the center of the position frame (5), the center of the position frame coinciding with the center of the tree trunk axis.

6. The robot according to any one of claims 1 to 5, wherein, The robot further includes: A column (12); Two column bases (13) connected to two position frames (5) through two column arms (14) arranged parallel to each other and two column cylinders (15) arranged parallel to each other, and these column cylinders (15) drive the column arms (14) to move the position frame (5) away from or close to the column (12) when installed through the column arms (14); The column (12) is connected to two column bases (13) in such a way that the two column bases (13) can move up and down relative to the column (12), whereby the working arm can move in the same way.

7. The robot according to any one of claims 1 to 5, wherein, The robot further includes: a column (12), Two column bases (13) are connected to two position frames (5). The two column bases (13) are connected to the column arm (14) by suspending the column (12) on the column arm (14) in a balanced manner and are guided by the column cylinders (15). These column cylinders (15) drive the column arm (14) to move the position frame (5) together with the two column bases (13) away from or closer to the moving frame. Wherein, when the column cylinders (15) pull the column arm (14), the entire assembly including the position frame, the column base and the column rises simultaneously and moves towards the moving frame, and vice versa. When the column cylinders (15) release the column arm (14), the entire assembly including the position frame, the column base and the column descends simultaneously and moves towards the trunk axis.

8. The robot according to any one of the preceding claims, wherein, The working unit is a cutter head.

9. The robot according to claim 8, wherein, The cutter head (8) is configured to move up and down along the vertical sliding rod (7) and includes: a vertical sliding base (35), wherein the vertical sliding rod is disposed through the vertical sliding base such that the vertical sliding base can move up and down along the vertical sliding rod (7); a bark detector head (36); a cutter (37); a wood surface detector head (38); a secant surface detector head (39); Wherein, the bark detector head (36) is disposed on the vertical sliding base (35) and moves up and down together with the vertical sliding base (35); the cutter (37), the wood surface detector head (38) and the secant surface detector head (39) are disposed on the bark detector head (36) and move centripetally inwards and outwards together with the bark detector head (36) and can move independently relative to the bark detector head (36).

10. The robot according to claim 9, wherein, The bark detector head (36) or the secant surface detector head (39) is configured to include an operating arm (20) that is guided by a motor (21) to move towards and contact a surface (22).

11. The robot according to claim 9, wherein, The bark detector head (36) and / or the secant surface detector head (39) is configured to include an operating arm (20) connected to an arm head (23) by a spring (24). A switch sensor (25) is connected to the arm head (23), and the switch sensor is activated when approaching a predetermined position on the operating arm (20). The operating arm (20) is guided by the motor (21) to move towards and contact the surface (22).

12. The robot according to claim 9, wherein, The bark detector head (36) and / or the secant surface detector head (39) are configured to include an operating arm (20) connected to an arm head (23) by a spring (24), and two switch sensors (25, 26) are connected to the arm head (23), which are activated when approaching a predetermined position on the operating arm (20). The operating arm (20) is guided by the motor (21) to move towards and contact the surface (22).

13. The robot according to claim 9, wherein, The bark detector head (36) and / or the cutter (37) and / or the secant surface detector head (39) are configured to include two arm heads (23 and 31) and two operating arms (20 and 30) guided by two motors (21 and 29). The two operating arms are equipped with a position sensor kit (32), and the two operating arms are guided to determine the positions on the tree trunk where there are changes in its surface.

14. The robot according to claim 9, wherein, The bark detector head (36) and / or the cutter (37) are configured to include two operating arms (20 and 30), and two arm heads (31 and 23), wherein the arm head (31) is equipped with a cutter (33) and a position sensor kit (32), and the drive motor (29) pushes the cutter (33) towards the tree trunk axis until the cutter protrudes deeper than the arm head (23) by a distance equal to the cutting depth.

15. The robot according to claim 9, wherein, The cutter (37) and / or the secant surface detector head (39) are configured to include two operating arms (20 and 30), and two arm heads (31 and 23), wherein the arm head (23) is equipped with a cutter (33) and a position sensor kit (32), and the drive motor (29) pushes the cutter (33) towards the tree trunk axis by a distance equal to the depth of the arm head (23).

16. The robot according to claim 9, wherein, The cutter (37) and / or the wood surface detector head (38) are configured to include two operating arms (20 and 30), and two arm heads (31 and 23), wherein the arm head (23) is equipped with a cutter (33), the arm head (31) is equipped with a wood surface detector head (34) and a position sensor kit (32), and the drive motor (21) drives the cutter (33) towards the tree trunk axis until the cutter protrudes deeper than the position of the detector head (34) by a certain distance.

17. The robot according to any one of claims 9 to 16, wherein, The bark detector head (36) and the wood surface detector head (38) can be mechanical structures and / or sensors, such as non-contact sensors, ultrasonic sensors, and infrared sensors.

18. The robot according to any one of claims 9 to 16, wherein, The robot uses a motor encoder and / or a servo system to determine and move the detector head, the working unit, and the cutter along a predetermined path and / or relative to each other.

19. The robot according to any one of claims 1 to 7, wherein, The working unit is a structure that performs work during rubber cultivation, and the work includes, for example, checking the tree trunk diameter to determine the tapping time, regular fertilization, mowing, and collecting leaves.

20. A method for rubber latex extraction, comprising the following steps: Use a guiding system and a positioning device to position the tree; Move the robot to approach the reference mark position; Determine the elevation of the new secant line; Use the center coincidence method to position the working arm of the robot relative to the tree trunk; Detect the bark surface; Locate the previous secant line; The cutting depth is determined based on a predetermined depth relative to the bark surface, based on the depth of the previous secant line, or a predetermined distance from the wood layer.

21. The method according to claim 20, wherein, When the robot moves along the guiding rail and stops when approaching the positioning device at each tree, the robot determines the elevation of the new secant line through the following steps: Lift the column of the working arm to the position marking device at each tree; Via the connection between the column base and the column, change the elevation of the column base relative to the column compared to the previous rubber tapping, where the change amount increases by a height equal to the bark consumption amount. At this time, the working arm of the robot also changes its elevation by a corresponding height compared to the previous rubber tapping.

22. The method according to claim 20, wherein, After determining the position of the tree and the elevation of the secant line, the robot performs the process of positioning the working arm through the following steps: Use the column cylinder to move the position frame (configured to be connected to the column base via the column arm) towards the tree trunk axis by a distance equivalent to the distance between the initial position and the tree trunk axis. At this time, the center of the position frame coincides with the tree trunk axis; Slide the locking arm outwards relative to the position frame within the locking base to form an arc with an angle exceeding 180° around the tree trunk perimeter together with the position frame, and rotate the locking arm around the column on the position frame to form an arc with an angle exceeding 180° around the tree trunk perimeter together with the position frame; Simultaneously move the arms of the locking cylinder towards the tree trunk axis by an equal distance until these arms exert a predetermined leaning force on the tree trunk. At this time, due to the locking cylinder forming different angles around the tree trunk perimeter, the leaning force formed by the arms of the locking cylinder positions the center of the position frame, and the center of the position frame coincides with the tree trunk axis.

23. The method according to claim 20, wherein, The robot can use a structure with one or two detector heads to locate the previous secant line. The detector heads lean on the bark surface to detect positions on the tree trunk with a sudden depth difference between the ungummed surface and the gummed surface when moving up or down along the bark surface.

24. The method according to any one of claims 20 to 23, wherein, During the rubber tapping process, the robot makes the bark detector head lean on the bark, while the cutter is pushed deeper than the bark detector head by a distance equal to the cutting depth, thereby forming a secant line with a predetermined depth.

25. The method according to any one of claims 20 to 23, wherein, During the rubber tapping process, the robot makes the secant line surface detector head lean on the surface of the previous secant line, and the cutter always remains at the same depth as the arm head, thereby forming a secant line with a depth consistent with the surface of the previous secant line.

26. The method according to any one of claims 20 to 23, wherein, The robot performs rubber tapping at a distance D from the wood surface through the following steps: At a predetermined position on the rubber tapping path, the robot moves the wood surface detector head towards the tree trunk axis, pushes the detector head through the bark thickness and stops when the detector head reaches the wood surface; Move the wood surface detector head away from the tree trunk by a distance equal to L + D, and then move the cutter towards the tree trunk axis until the cutter is deeper than the position of the detector head by a distance L, thereby forming a secant line with a depth of distance D from the wood surface.

27. The method according to claims 20 - 26, wherein, The robot performs the rubber tapping operation by combining the following movements: the controlled centripetal inwards and outwards movement of the cutter in the cutter head based on the bark surface; the top-down movement of the cutter head along the vertical sliding rod; and the lateral alternating movement of the vertical sliding rod along the arc-shaped lateral sliding rod that surrounds the trunk periphery according to a predetermined principle, thereby forming a cut line that meets the predetermined requirements.

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