Automatic tapping and collecting device for rubber garden

Abstract

The present application relates to rubber tapping technology field, specifically to a kind of rubber garden unmanned automatic tapping rubber collecting device, mobile robot;Tree ring frame is installed on the trunk of rubber tree, the tree ring frame includes upper shell, lower shell, gear box, screw rod, transmission shaft and support square tube rod, the screw rod, transmission shaft and support square tube rod are arranged between upper shell and lower shell, the transmission shaft can rotate axially around itself, the gear box moves up and down along screw rod, the inside of the upper shell and lower shell is provided with flexible gear ring;Quick-release cutting bag: including quick-release mechanism and rubber tapping assembly, the quick-release cutting bag is installed in the side wall of gear box by quick-release mechanism, the rubber tapping assembly is cooperated with tree ring frame to complete rubber tapping action, the beneficial effects of the present application: using rubber tapping motor can realize rubber tapping action, and rubber tapping assembly adopts quick-release structure design, not only simple assembly, and each structure can be arbitrarily replaced, easy to maintain and maintain.

Description

Technical Field

[0001] This invention relates to the field of rubber tapping technology, and more specifically, to an unmanned automatic rubber tapping and collection device for rubber plantations. Background Technology

[0002] For a long time, people have been researching how to replace manual labor in rubber tapping with machines. Currently available automatic rubber tapping machines mostly use dual-motor drives, which have complex drive mechanisms. In practical applications in rubber plantations, this increases the instability of the machines during use and affects the accuracy of tapping.

[0003] Chinese invention patent application CN111972251A discloses a rubber tapping machine and a rubber tapping method. The rubber tapping machine disclosed in this patent application uses two motors to complete the fully automatic rubber tapping process. One motor is used for bidirectional movement of the machine, and the other motor is used for the robotic arm to automatically cut the surface of the tree. In actual use, it consumes a lot of electricity, has high product cost, cumbersome process, and complex structure. Secondly, the machine moves by driving the upper guide rail through the lower guide rail, which may lead to instability and incoordination problems in actual operation. Thirdly, the push-type rubber tapping has high resistance and consumes a lot of electricity.

[0004] Therefore, it is essential to research a robot that is stable in operation, has high tapping accuracy, simple structure, and is truly suitable for automated rubber tapping operations in rubber plantations. Summary of the Invention

[0005] The purpose of this invention is to provide an unmanned automatic rubber tapping and collection device for rubber plantations to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, an unmanned automatic rubber tapping and harvesting device for rubber plantations is provided, comprising: Mobile robots automatically patrol within the rubber plantation; A tree-hugging ring frame is installed on the trunk of a rubber tree. The tree-hugging ring frame includes an upper shell, a lower shell, a gearbox, a lead screw, a drive shaft, and a supporting square tube rod. The lead screw, drive shaft, and supporting square tube rod are located between the upper shell and the lower shell. The drive shaft can rotate axially around itself. The gearbox moves up and down along the lead screw. Flexible gear rings are provided on the inner sides of the upper shell and the lower shell. Quick-release tapping bag: includes a quick-release mechanism and a tapping assembly. The quick-release tapping bag is installed on the side wall of the gearbox through the quick-release mechanism. The tapping assembly cooperates with the tree-hugging ring frame to complete the tapping action. The gearbox forms an inclined motion trajectory under the action of the lead screw and the drive shaft.

[0007] The rubber collection bucket is located on the side wall of the mobile robot for collecting rubber. Here, the rubber collection bucket is placed on the mobile robot and can be moved or fixed at the rubber tree tapping point.

[0008] Furthermore, the quick-release mechanism includes a motor, a connecting body, a threaded seat, and a locking tongue. The motor is threadedly connected to the threaded seat via a threaded rod. The threaded seat is fixed to the surface of the connecting body. The locking tongue is fixedly connected to the four corners of the connecting body. The connecting body moves left and right under the drive of the motor, causing the locking tongue to insert into the lock hole of the gearbox.

[0009] Furthermore, the quick-release cutting bag is equipped with a rubber-cutting motor, and the power output end of the rubber-cutting motor is equipped with a first docking shaft.

[0010] Furthermore, the gearbox is equipped with a bevel gear inside, and a bevel gear input shaft is fixedly installed at the bottom of the bevel gear. The bevel gear input shaft has mounting grooves at both ends, and the left and right mounting grooves are connected to each other but have different inner diameters. The mounting groove at the end away from the bevel gear is elastically connected to a second docking shaft by a spring. The shaft surface of the second docking shaft is threadedly connected to a limiting screw. The shaft surface of the bevel gear input shaft has a limiting groove corresponding to the limiting screw. The mounting groove at the end near the bevel gear is equipped with a locking screw, which passes through the spring and is threadedly connected to the tail of the second docking shaft.

[0011] Furthermore, the gearbox also contains a lead screw bevel gear that meshes with a bevel gear. The bottom of the lead screw bevel gear is fixedly connected to a lead screw bushing via a spur gear. The lead screw bushing is threadedly connected to a lead screw. The spur gear meshes with a transmission gear via a transition gear. The transmission gear has a square hole at its shaft center that matches the transmission shaft. The transmission shaft has a square structure. Here, the lead screw bushing rotates around the lead screw under the drive of the lead screw bevel gear. Since the lead screw is fixed, the lead screw bushing moves up or down while rotating, thereby driving the gearbox to move up or down.

[0012] Furthermore, the output shaft of the rubber tapping motor is provided with a feed gear, which meshes with a rack. The quick-release tapping bag is also provided with a slide rail, which is connected to the cutter head through a crank and a transition shaft. The feed gear, rack, slide rail, crank, transition shaft and cutter head together constitute a rubber tapping assembly.

[0013] Furthermore, the upper shell, lower shell, and flexible gear ring have a "C" shaped structure. The inner side of the flexible gear ring is provided with protrusions, and its outer side wall is engaged with the end of the drive shaft. Here, the flexible gear ring is sleeved on the trunk of the rubber tree and fixed by the protrusions on the inner side. When the drive shaft rotates, since the flexible gear ring cannot rotate, the upper shell and lower shell rotate synchronously around the flexible gear ring, that is, a horizontal axial rotation occurs.

[0014] Furthermore, a six-axis robotic arm is mounted on the top of the mobile robot, and the glue collection buckets are positioned on both sides of the mobile robot.

[0015] Furthermore, the gearbox has an opening through which the drive shaft and the supporting square tube rod pass.

[0016] Furthermore, the first docking shaft is engaged with the second docking shaft.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This application adopts a quick-release structure design. During the docking process, the rubber tapping motor drives the first docking shaft to rotate within a small range. When the protruding teeth at the head of the first docking shaft align with the protruding teeth at the head of the second docking shaft, the second docking shaft will slide backward along the mounting groove and compress the spring, preventing continuous hard contact between the first and second docking shafts and thus avoiding damage to the protruding teeth. Subsequently, the rubber tapping motor rotates slowly. When the protruding teeth of the first docking shaft just mesh with the teeth at the head of the second docking shaft, the spring pushes the second docking shaft out again, and the first docking shaft completes the meshing with the second docking shaft, realizing the power transmission from the rubber tapping motor to the gearbox. In its transmission structure, the gearbox can move simultaneously in both the horizontal and vertical directions by utilizing the cooperation of the drive shaft and the lead screw. At the same time, the rubber tapping motor distributes power to the cutter head using the feed gear, and the cutter head cuts open the rubber collection port on the rubber tree. Since the gearbox moves horizontally and vertically synchronously, the path of the cutter head is a spiral structure. This shape of the rubber collection port is conducive to the outflow and collection of rubber liquid. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the quick-release adhesive cutting assembly in this invention; Figure 3 This is a schematic diagram of the quick-release mechanism in this invention; Figure 4 This is a schematic diagram showing the connection between the quick-release cutting bag and the internal power transmission of the gearbox in this invention; Figure 5 This is a cross-sectional view of the flexible coupling in this invention; Figure 6 This is a schematic diagram of the internal structure of the gearbox in this invention; Figure 7 This is a schematic diagram of the rubber cutting assembly in this invention.

[0019] The meanings of the labels in the diagram are as follows: 1. Mobile robot; 2. Quick-release cutting bag; 3. Tree-holding ring frame; 4. Upper shell; 5. Lower shell; 6. Gearbox; 7. Lead screw; 8. Drive shaft; 9. Supporting square tube rod; 10. Flexible gear ring; 11. Glue collection bucket; 12. Quick-release mechanism; 1201. Motor; 1202. Connector; 1203. Threaded seat; 1204. Locking tongue; 13. Glue-cutting motor; 14. First docking shaft; 15. Feed gear; 16. Cone 17. Gear; 18. Bevel gear input shaft; 19. Spring; 20. Second docking shaft; 21. Limit screw; 22. Limit groove; 23. Locking screw; 24. Lead screw bevel gear; 25. Lead screw bushing; 26. Transition gear; 27. Transmission gear; 28. Slide rail; 29. ​​Crank; 30. Transition shaft; 31. Cutting head; 32. Six-axis robotic arm; 33. Limit bushing; 34. Tapered sleeve; 35. Spur gear. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” and “described” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the described features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. Example 1:

[0022] Please see Figures 1-7 As shown, an unmanned automatic rubber tapping and collecting device for rubber plantations is provided, comprising: Mobile robot 1 automatically patrols within the rubber plantation; mobile robot 1 is also connected to a cloud platform, which sends work to mobile robot 1 at set times and guides it to complete the corresponding rubber tapping work. The quick-release tapping bag 2 can be used with any tree-hugging ring 3, and the quick-release tapping bag 2 uses a set six-axis robotic arm 32 to quickly disassemble and install with the gearbox 6 and provide power to the tree-hugging ring 3. The tree-hugging ring 3 is manually installed on the trunk of the rubber tree. The tree-hugging ring 3 includes an upper shell 4, a lower shell 5, a gearbox 6, a lead screw 7, a drive shaft 8, and a supporting square tube rod 9. The lead screw 7, drive shaft 8, and supporting square tube rod 9 are located between the upper shell 4 and the lower shell 5. The drive shaft 8 can rotate axially around itself. The gearbox 6 moves up and down along the lead screw 7. Flexible gear rings 10 are provided on the inner sides of the upper shell 4 and the lower shell 5. The bag-cutting assembly includes a quick-release mechanism 12 and a rubber-cutting assembly. The quick-release bag-cutting assembly is installed on the side wall of the gearbox 6 through the quick-release mechanism 12. The rubber-cutting assembly cooperates with the tree-hugging ring 3 to complete the rubber-cutting action. The gearbox 6 forms an inclined motion trajectory under the action of the lead screw 7 and the drive shaft 8. like Figure 2 As shown, protrusions are provided on the inner wall of the flexible gear ring 10. After the tree-hugging ring 3 is installed, the protrusions are stuck on the surface of the rubber tree trunk and are fixed. When the drive shaft 8 rotates, since the flexible gear ring 10 cannot rotate, the upper housing 4 and the lower housing 5 revolve around the flexible gear ring 10 synchronously, that is, horizontal axial rotation occurs. The gearbox 6 can move up and down along the lead screw 7. Therefore, when the two are combined, the cutter head 31 on the gearbox 6 will cut an arc with a slope on the surface of the rubber tree, which is convenient for collecting the rubber. The collected rubber liquid flows into the rubber collection bucket 11. Please refer to Figure 3 As shown, the quick-release mechanism 12 includes a motor 1201, a connecting body 1202, a threaded seat 1203, and a locking tongue 1204. The motor 1201 is threadedly connected to the threaded seat 1203 via a threaded rod. The threaded seat 1203 is fixed to the surface of the connecting body 1202. The locking tongue 1204 is fixedly connected to the four corners of the connecting body 1202. The connecting body 1202 moves left and right under the drive of the motor 1201, causing the locking tongue 1204 to insert into the lock hole of the gearbox 6. By controlling the forward and reverse rotation of the motor 1201, the connecting body 1202 is driven to move left and right. When the locking tongue 1204 enters the lock hole on the outer shell of the gearbox 6, the quick-release cutter 2 is locked to the gearbox 6. When the locking tongue 1204 disengages from the lock hole on the outer shell of the gearbox 6, the quick-release cutter 2 is unlocked from the gearbox 6. Please refer to Figure 4 As shown, a rubber-cutting motor 13 is installed inside the quick-release cutting bag 2, and a first docking shaft 14 is provided at the end of the power output end of the rubber-cutting motor 13. The gearbox 6 is equipped with a bevel gear 16 inside. A bevel gear input shaft 17 is fixedly installed at the bottom of the bevel gear 16. The two ends of the bevel gear input shaft 17 are provided with mounting grooves. The mounting grooves at the left and right ends are connected to each other but have different inner diameters. The mounting groove at the end away from the bevel gear 16 is elastically connected to the second docking shaft 19 by a spring 18. The shaft surface of the second docking shaft 19 is threadedly connected to a limiting screw 20. The shaft surface of the bevel gear input shaft 17 is provided with a limiting groove 21 corresponding to the limiting screw 20. A locking screw 22 is provided in the mounting groove at the end near the bevel gear 16. The locking screw 22 passes through the spring 18 and is threadedly connected to the tail of the second docking shaft 19. It is particularly important to note that the first docking shaft 14 and the second docking shaft 19 can be meshed together; moreover, the first docking shaft 14, the bevel gear input shaft 17, the spring 18 and the second docking shaft 19 together form an elastic coupling, which allows the quick-release cutter 2 to quickly disconnect or connect the power transmission during rapid disassembly or installation. The specific connection process is as follows: During the docking process, the rubber tapping motor 13 drives the first docking shaft 14 to rotate within a small range. When the protruding teeth at the head of the first docking shaft 14 align with the protruding teeth at the head of the second docking shaft 19, the second docking shaft 19 will slide backward along the mounting groove and compress the spring 18 to prevent continuous hard contact between the first docking shaft 14 and the second docking shaft 19 from damaging the protruding teeth. Subsequently, the rubber tapping motor 13 rotates slowly. When the protruding teeth of the first docking shaft 14 just mesh with the teeth at the head of the second docking shaft 19, the spring 18 pushes the second docking shaft 19 out again, and the first docking shaft 14 completes the meshing with the second docking shaft 19, realizing the power transmission of the rubber tapping motor 13 to the gearbox 6. Please refer to Figures 4-6 As shown, In this embodiment, the gearbox 6 is further provided with a lead screw bevel gear 23 that meshes with the bevel gear 16. The lead screw bevel gear 23 is fixedly connected to the end of the bevel gear input shaft 17. The bottom of the lead screw bevel gear 23 is fixedly connected to the lead screw bushing 24 through the spur gear 35. The lead screw bushing 24 is threadedly connected to the lead screw 7. The spur gear 35 meshes with the transmission gear 26 through the transition gear 25. The transmission gear 26 has a square hole at its shaft center that matches the transmission shaft 8. The transmission shaft 8 is specifically square in structure. It is particularly important to note that the transmission shaft 8 is inserted into the square hole at the shaft center of the transmission gear 26. In this way, the transmission shaft 8 can not only rotate with the transmission gear 26, but the transmission gear 26 can also move up and down along the transmission shaft 8. Here, the lead screw bushing 24 rotates around the lead screw 7 under the drive of the lead screw bevel gear 23. Since the lead screw 7 is fixed, the lead screw bushing 24 moves up or down while rotating, thereby driving the gearbox 6 to move up or down. Here, the gearbox 6 is equivalent to a moving slider, which is pushed up or down by the lead screw bushing 24. like Figure 1 and Figure 7 As shown, the output shaft of the rubber tapping motor 13 is provided with a feed gear 15, which meshes with a rack 27. The quick-release cutting bag 2 is also provided with a slide rail 28, which is connected to the cutter head 31 through a crank 29 and a transition shaft 30. The feed gear 15, rack 27, slide rail 28, crank 29, transition shaft 30 and cutter head 31 together constitute a rubber tapping assembly. Example 2:

[0023] Based on the above embodiments, such as Figure 2 and Figure 5 As shown, a limiting sleeve 33 is fitted on the end of the bevel gear input shaft 17, and the end of the limiting sleeve 33 has a tapered structure. A tapered sleeve 34 is provided on the surface of the quick-release cutter 2 and the gearbox 6. The first docking shaft 14 is located at the axial center of the tapered sleeve 34, and the second docking shaft 19 is located at the axial center of the limiting sleeve 33. The connecting surfaces of the limiting sleeve 33 and the tapered sleeve 34 are smooth and flat, which facilitates docking and positioning. After the two are docked, the first docking shaft 14 can be easily aligned with the second docking shaft 19. In this embodiment, the upper housing 4, the lower housing 5 and the flexible gear ring 10 are in the shape of a "C". The upper housing 4 and the lower housing 5 can slide along the surface of the flexible gear ring 10. At the same time, protruding teeth that mesh with the transmission shaft 8 are provided on the outer side wall of the flexible gear ring 10. In this embodiment, the gearbox 6 has an opening for the transmission shaft 8 and the supporting square tube rod 9 to pass through; the chassis of the mobile robot 1 adopts a six-wheel drive, which gives it excellent off-road capability and can adapt to the complex terrain environment of the rubber plantation; the mobile robot 1 adopts a laser radar navigation system, which can realize intelligent navigation in the rubber plantation; in addition, a depth camera and a binocular camera are also installed at the end of the six-axis robotic arm 32 to provide visual guidance for the installation of the quick-release tapping bag 2.

[0024] Working principle: The cloud platform records the specific tapping situation of each rubber tree in the rubber plantation, plans the tapping schedule for each rubber tree, sends work instructions to the mobile robot 1 at a set time, and guides it through the process of quick loading of the quick-release tapping bag 2, tapping, collecting the rubber, and disassembling the quick-release tapping bag 2. It is important to note that the tree-hugging ring 3 is installed on the rubber tree manually. The quick-release tapping bag 2 can be adapted to any tree-hugging ring 3. That is, when the quick-release tapping bag 2 is connected to the gearbox 6 on the tree-hugging ring 3, the tree-hugging ring 3 can be used for tapping on the rubber tree. After the tapping is completed, the quick-release tapping bag 2 is removed and installed on the next tree-hugging ring 3 for tapping. Installation of quick-release cutting bag 2: Under the visual guidance of the mobile robot 1, the six-axis robotic arm 32 picks up the quick-release cutting bag 2 from the truck bed of the mobile robot 1 and aligns it with the gearbox 6. Driven by the motor 1201, the locking tongue is inserted into the locking hole on the surface of the gearbox 6, thus completing the installation of the quick-release cutting bag 2. It is important to note that during installation, it cannot be guaranteed that the teeth of the first mating shaft 14 will perfectly align with the teeth of the second mating shaft 19 every time. Therefore, the rotation of the rubber-tapping motor 13 adjusts the angle of the first mating shaft 14. When the first mating shaft 14 and the second mating shaft 19 are aligned, the second mating shaft 19 will slide along the mounting groove and compress the spring 18 to prevent damage to the teeth caused by prolonged alignment. Subsequently, the rubber-tapping motor 13 continues to drive the first mating shaft 14 to rotate. When the teeth of the first mating shaft 14 are precisely engaged with the teeth of the second mating shaft 19, the first mating shaft 14 can complete the alignment with the second mating shaft 19 under the action of the spring 18, thereby realizing the transmission of power. Rubber tapping process: The tree-holding ring 3 is fixed to the trunk of the rubber tree by the protrusions on the inner side of the flexible gear ring 10. When the drive shaft 8 rotates, the flexible gear ring 10 cannot rotate, so the upper shell 4 and the lower shell 5 revolve around the flexible gear ring 10 synchronously, that is, horizontal axial rotation occurs; while the gearbox 6 can move up and down along the lead screw 7. Therefore, the two combine, and the cutter head 31 on the gearbox 6 will cut a sloped arc on the surface of the rubber tree, which is convenient for collecting the rubber. The collected rubber liquid flows into the rubber collection bucket 11. A collection bowl can be set below the rubber tree tapping opening as needed. When the collection bowl is full of latex, the six-axis robotic arm 32 is operated to pour the latex into the collection bucket 11. Once the collection is complete, the collection bucket 11 can be removed.

[0025] 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 preferred examples and are not intended to limit 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 the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned automatic rubber tapping and collecting device for rubber plantations, characterized in that, include: Mobile robot (1) automatically patrols within the rubber plantation; A tree-hugging ring (3) is installed on the trunk of a rubber tree. The tree-hugging ring (3) includes an upper shell (4), a lower shell (5), a gearbox (6), a lead screw (7), a drive shaft (8), and a supporting square tube rod (9). The lead screw (7), the drive shaft (8), and the supporting square tube rod (9) are located between the upper shell (4) and the lower shell (5). The drive shaft (8) can rotate axially around itself. The gearbox (6) moves up and down along the lead screw (7). Flexible gear rings (10) are provided on the inner sides of the upper shell (4) and the lower shell (5). The quick-release tapping bag (2) includes a quick-release mechanism (12) and a tapping assembly. The quick-release tapping bag (2) is installed on the side wall of the gearbox (6) through the quick-release mechanism (12). The tapping assembly cooperates with the tree-hugging ring frame (3) to complete the tapping action. A glue collection bucket (11) is installed on the side wall of the mobile robot (1) for collecting glue; The quick-release mechanism (12) includes a motor (1201), a connecting body (1202), a threaded seat (1203), and a locking tongue (1204). The motor (1201) is threadedly connected to the threaded seat (1203) via a threaded rod. The threaded seat (1203) is fixed on the surface of the connecting body (1202). The locking tongue (1204) is fixedly connected to the four corners of the connecting body (1202). The connecting body (1202) moves left and right under the drive of the motor (1201), so that the locking tongue (1204) is inserted into the lock hole of the gearbox (6). The quick-release cutting kit (2) is equipped with a rubber cutting motor (13). The end of the power output end of the rubber cutting motor (13) is equipped with a first docking shaft (14). The gearbox (6) is equipped with a bevel gear (16). The bottom of the bevel gear (16) is fixedly installed with a bevel gear input shaft (17). The two ends of the bevel gear input shaft (17) are provided with mounting grooves. The mounting grooves at the left and right ends are connected to each other but have different inner diameters. The mounting groove at the end away from the bevel gear (16) is elastically connected to the second docking shaft (19) by a spring (18). The shaft surface of the second docking shaft (19) is threadedly connected with a limiting screw (20). The shaft surface of the bevel gear input shaft (17) is provided with a limiting groove (21) corresponding to the limiting screw (20). The mounting groove at the end near the bevel gear (16) is provided with a locking screw (22). The locking screw (22) passes through the spring (18) and is threadedly connected to the tail of the second docking shaft (19).

2. The unmanned automatic rubber tapping and collecting device for rubber plantations according to claim 1, characterized in that: The gearbox (6) is also equipped with a lead screw bevel gear (23) that meshes with the bevel gear (16). The bottom of the lead screw bevel gear (23) is fixedly connected to the lead screw bushing (24) through a spur gear (35). The lead screw bushing (24) is threadedly connected to the lead screw (7). The spur gear (35) meshes with the transmission gear (26) through a transition gear (25). The shaft of the transmission gear (26) is provided with a square hole that matches the transmission shaft (8). The transmission shaft (8) is specifically a square structure.

3. The unmanned automatic rubber tapping and collecting device for rubber plantations according to claim 2, characterized in that: The output shaft of the rubber tapping motor (13) is provided with a feed gear (15), which meshes with a rack (27). The quick-release tapping bag (2) is also provided with a slide rail (28), which is connected to the cutter head (31) through a crank (29) and a transition shaft (30). The feed gear (15), rack (27), slide rail (28), crank (29), transition shaft (30) and cutter head (31) together constitute a rubber tapping assembly.

4. The unmanned automatic rubber tapping and collecting device for rubber plantations according to claim 3, characterized in that: The upper housing (4), lower housing (5) and flexible gear ring (10) are in the shape of a "C". The inner side of the flexible gear ring (10) is provided with protrusions, and its outer side wall is engaged with the end of the transmission shaft (8).

5. The unmanned automatic rubber tapping and collecting device for rubber plantations according to claim 4, characterized in that: The mobile robot (1) is equipped with a six-axis robotic arm (32) on its top, and the glue collection bucket (11) is located on both sides of the mobile robot (1).

6. The unmanned automatic rubber tapping and collecting device for rubber plantations according to claim 5, characterized in that: The gearbox (6) has an opening through which the drive shaft (8) and the supporting square tube rod (9) pass.

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