Rubber tapping machine based on hexapod robot

Abstract

The invention relates to the technical field of rubber tapping equipment for rubber trees, and discloses a rubber tapping machine based on a hexapod robot, the rubber tapping machine comprises the hexapod robot and a hinged mechanical arm, the other end of the mechanical arm is hinged to a rubber tapping device, the rubber tapping device comprises a support and a clamping assembly, one side of the support is hinged to the mechanical arm, and the other side of the support is provided with the clamping assembly; the clamping assembly comprises a supporting rod rotationally connected with the support, the upper end and the lower end of the supporting rod are fixedly connected with a pair of upper clamping rings and a pair of lower clamping rings respectively, a clamping driving mechanism is arranged on the support, a cutter lifting mechanism is arranged between the upper clamping rings and the lower clamping rings and comprises a sliding rail assembly, and the sliding rail assembly is slidably connected with a cutter assembly. A cutter assembly driving part is arranged on the sliding rail assembly, sliding way parts are arranged between the sliding rail assembly and the upper clamping ring and between the sliding rail assembly and the lower clamping ring on the same side, and a surrounding motor is arranged on the sliding rail assembly. The rubber tapping machine is high in maneuverability, capable of meeting rubber tapping requirements in multiple scenes, low in production cost, high in automation degree and high in rubber tapping efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of rubber tree tapping equipment, in particular to a rubber tapping machine based on a hexapod robot. Background Art

[0002] In the rubber production and processing industry, tapping is a critical process that directly impacts rubber quality and production efficiency. Tapping involves cutting through the outer bark and bast of rubber trees to release the latex. Manual tapping is inefficient, costly, and suffers from numerous limitations in accuracy and safety. Currently, fixed-arm tapping equipment is widely used. However, this equipment requires manual attachment to the rubber tree via ropes, resulting in low maneuverability, limited versatility, high production costs, and low tapping efficiency, making it unsuitable for tapping operations in diverse scenarios. Summary of the Invention

[0003] The present invention provides a rubber tapping machine based on a hexapod robot. The rubber tapping machine has strong maneuverability, can adapt to rubber tapping needs in multiple scenarios, has low production cost, high degree of automation, and high rubber tapping efficiency.

[0004] The above-mentioned purpose of the invention is achieved through the following technical solutions:

[0005] A rubber tapping machine based on a hexapod robot, comprising a hexapod robot, wherein the top of the hexapod robot is rotatably connected to a support platform, a rotary motor is provided at the bottom of the hexapod robot, a rotating shaft of the rotary motor is fixedly connected to the support platform, a vertical support rod is fixedly connected to the support platform, the top end of the support rod is hinged to a mechanical arm, the other end of the mechanical arm is hinged to a rubber tapping device, the rubber tapping device comprises a bracket and a clamping assembly, one side of the bracket is hinged to the mechanical arm, a clamping assembly is provided on the other side of the bracket opposite to the mechanical arm, the clamping assembly comprises two vertically arranged support rods rotatably connected to the bracket, the upper and lower ends of the two support rods are hinged to the mechanical arm, A pair of upper clamping rings and a pair of lower clamping rings are respectively fixedly connected, and the bracket is provided with a clamping drive mechanism for driving the pair of upper clamping rings and the pair of lower clamping rings to rotate synchronously to expand or close. A vertical tool lifting mechanism is provided between the upper clamping ring and the lower clamping ring on the same side. The tool lifting mechanism includes a slide rail assembly extending in the up and down directions, and the tool assembly is slidably connected to the slide rail assembly. The slide rail assembly is provided with a tool assembly driving part that drives the tool assembly to slide up and down. The upper and lower ends of the slide rail assembly are respectively provided with slide parts between the upper clamping ring and the lower clamping ring on the same side, and the slide rail assembly is provided with a surrounding motor that drives the slide rail assembly to slide along the slide part.

[0006] The above-mentioned rubber tapping machine based on a hexapod robot, wherein the bracket includes a support rod, a support block and a support plate, the two ends of the support rod are respectively vertically fixed to the support plate, the support block is fixed to the support rod, and the end of the robotic arm close to the bracket is provided with a drive motor, and one side of the support block is hinged to the robotic arm and fixed to the rotating shaft of the drive motor.

[0007] The above-mentioned rubber tapping machine based on a hexapod robot, wherein the clamping drive mechanism includes a machine base fixedly connected to the support plate, the two support rods respectively pass through the corresponding support plates and are fixedly connected to the corresponding upper clamping ring and lower clamping ring, the machine base and the corresponding support plate are arranged opposite to each other, the outer side of the machine base is fixedly connected to the clamping motor, the output shaft of the clamping motor is coaxially connected to a rod, and the two support rods are respectively fixedly connected to mutually meshing helical gears.

[0008] In the above-mentioned rubber tapping machine based on the hexapod robot, the mutually meshing bevel gears include two pairs, and the two pairs of bevel gears are respectively close to the upper and lower ends of the bracket.

[0009] The above-mentioned rubber tapping machine based on the hexapod robot, wherein the slide rail assembly includes a first slide bar, a baffle and a slider, the two ends of the first slide bar are respectively fixedly connected to the baffle vertically, the first slide bar includes two and are parallel to each other, the slider is slidably arranged on the two first slide bars, the inner side of the slider is connected to the tool assembly, the tool assembly driving part includes a first lead screw and a lifting motor, the first lead screw is rotatably connected between the two baffles and is parallel to the first slide bar, the first lead screw is screwed to the slider, the lifting motor is fixedly connected to a baffle, and the rotating shaft of the lifting motor is connected to the first lead screw.

[0010] The above-mentioned rubber tapping machine based on a hexapod robot, wherein the slide part includes an inner gear ring fixedly connected to the upper surface of the upper retaining ring and the lower surface of the lower retaining ring, and the two baffles are respectively rotatably connected to the gears meshing with the corresponding inner gear rings, the surrounding motor is fixed on the outside of a baffle, and the output shaft of the surrounding motor is connected to the rotating shaft of the corresponding gear, and the upper baffle and the lower baffle are respectively provided with a limit block that abuts against the outer edge of the corresponding inner gear ring.

[0011] The above-mentioned rubber tapping machine based on the hexapod robot, wherein the tool assembly includes a base, a connecting plate, a tool holder, a tool head and a radial driving mechanism for driving the tool holder to move in the radial direction of the upper retaining ring, the connecting plate is fixedly connected between the slider and the base, the tool head is fixedly connected to the front end of the tool holder, the radial driving mechanism includes a second sliding rod, a second lead screw and a lead screw motor, the base is provided with a sliding hole adapted to the second lead screw, the front end of the second sliding rod is fixedly connected to the tool holder, the other end of the second sliding rod is embedded in the sliding hole, the base is provided with a through hole for the second lead screw to pass through, one end of the base away from the tool holder is fixedly connected to the lead screw motor, one end of the second lead screw is rotatably connected to the tool holder, and the other end of the second lead screw passes through the through hole and is screwed to the lead screw motor.

[0012] The above-mentioned rubber tapping machine based on the hexapod robot, wherein the inner sides of the upper clasp and the lower clasp are respectively provided with a plurality of elastic extenders along the circumferential direction, and the plurality of extenders are distributed in an array along the center of the upper clasp and the lower clasp.

[0013] The above-mentioned rubber tapping machine based on a hexapod robot, wherein the elastic extender includes a mounting box, a spring is provided in the mounting box, an axial hole is provided on the mounting box, a push rod is provided in the axial hole, the push rod extends along the radial direction of the upper retaining ring, and the inner side of the push rod is fixedly connected to a baffle that abuts against the spring.

[0014] In the above-mentioned rubber tapping machine based on the hexapod robot, a blower is provided on the side of the robotic arm close to the bracket, and the air outlet of the blower is close to the rubber tapping device.

[0015] In summary, the beneficial technical effects of the present invention are:

[0016] The hexapod robot of the present invention enables the mobile positioning of the rubber tapping machine, improving its maneuverability. The hexapod robot can flexibly move on complex terrain, including rough ground or muddy environments, making it suitable for operations in complex areas such as natural rubber plantations. The hexapod robot has good stability and a low center of gravity, and can maintain good balance on slopes and uneven ground, ensuring the safety and effectiveness of rubber tapping operations. The hexapod robot can be adjusted according to environmental changes, and the overall structure can adapt to various climate and soil conditions, improving the adaptability of the rubber tapping machine.

[0017] The present invention uses a clamping drive mechanism to drive a pair of upper and lower clamping rings to synchronously expand or close, achieving a gripping and positioning of the rubber tree. Compared with traditional banana tree clamping devices, this device is more flexible, more stable and convenient, and has a high degree of automation. A tool lifting mechanism controls the up and down movement of the tool assembly, and a circular motor drives the tool lifting mechanism on the slideway, ultimately achieving arc motion of the tool assembly and simplifying the movement of the cutter head. A radial drive mechanism controls the radial movement of the tool holder on the base, achieving automatic adjustment of the depth of the cutter head's penetration into the rubber tree wall, allowing for adjustment of the cutting depth for rubber trees of different diameters.

[0018] The present invention has strong maneuverability and can adapt to the rubber tapping needs in multiple scenarios. It can realize automated rubber tapping of multiple trees with one machine. The motion trajectory of rubber tapping is more precise, allowing the cutter head to perform rubber tapping operations at a faster speed and higher frequency. It has high rubber tapping efficiency, low production cost, high degree of automation, and strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the rubber tapping device of the present invention;

[0021] Figure 3 yes Figure 2 Magnified view of part A.

[0022] Figure 1: Hexapod robot; 11: Support platform; 12: Support rod; 13: Robotic arm; 131: Drive motor; 132: Blower; 2: Rubber tapping device; 3: Bracket; 31: Support rod; 32: Support block; 33: Support plate; 4: Clamping assembly; 41: Support rod; 42: Upper retaining ring; 43: Lower retaining ring; 5: Clamping drive mechanism; 51: Machine base; 52: Clamping motor; 53: Bevel gear; 6: Tool lifting mechanism; 61: Slide rail assembly; 611: First slide bar; 612: Stop Plate; 613, slider; 62, tool assembly; 621, base; 622, connecting plate; 623, tool holder; 624, tool head; 625, radial drive mechanism; 6251, second slide bar; 6252, second lead screw; 6253, lead screw motor; 63, tool assembly drive unit; 631, first lead screw; 632, lifting motor; 7, slideway unit; 71, inner gear ring; 72, gear; 73, limit block; 8, surround motor; 9, elastic extender; 91, mounting box; 92, ejector. DETAILED DESCRIPTION

[0023] The following is combined with Figure 1-3 The present invention is described in further detail.

[0024] like Figure 1 As shown, a rubber tapping machine based on a hexapod robot includes a hexapod robot 1. Compared with wheeled or tracked robots, the hexapod robot 1 can walk stably in environmental conditions such as complex terrain and slippery ground, and has stronger adaptability.

[0025] The top of the hexapod robot 1 is rotatably connected to the support platform 11. A rotating motor is provided under the chassis of the hexapod robot 1. The rotating shaft of the rotating motor is fixedly connected to the support platform 11. The rotating motor can drive the support platform 11 to rotate 360°. A vertical support rod 12 is fixedly connected to the support platform 11. The top of the support rod 12 is hinged to a robotic arm 13. The other end of the robotic arm 13 is hinged to a rubber tapping device 2. The height of the rubber tapping device 2 can be adjusted by rotating the robotic arm 13.

[0026] The rotation of the support platform 11 can drive the support rod 12 to rotate, thereby driving the rubber tapping device 2 to rotate through the mechanical arm 13, giving the entire machine a 360-degree rotation function, while ensuring the stability of the entire machine and improving the operating efficiency and quality during rubber tapping.

[0027] The rubber tapping device 2 includes a bracket 3 and a clamping assembly 4. One side of the bracket 3 is hinged to the mechanical arm 13. The other side of the bracket 3 opposite to the mechanical arm 13 is provided with a clamping assembly 4. The clamping assembly 4 includes two vertically arranged support rods 41 that are rotatably connected to the bracket 3. The upper and lower ends of the two support rods 41 are respectively fixed with a pair of upper snap rings 42 and a pair of lower snap rings 43. The upper snap ring 42 and the lower snap ring 43 on the same side are coaxial semicircular rings. The bracket 3 is provided with a clamping drive that drives a pair of upper snap rings 42 and a pair of lower snap rings 43 to rotate synchronously to expand or close. Mechanism 5, a vertical tool lifting mechanism 6 is provided between the upper retaining ring 42 and the lower retaining ring 43 on the same side, the tool lifting mechanism 6 includes a slide rail assembly 61 extending in the up and down directions, the slide rail assembly 61 is slidably connected to the tool assembly 62, the slide rail assembly 61 is provided with a tool assembly driving part 63 for driving the tool assembly 62 to slide up and down, the upper and lower ends of the slide rail assembly 61 are respectively provided with a slide part 7 between the upper retaining ring 42 and the lower retaining ring 43 on the same side, and the slide rail assembly 61 is provided with a surrounding motor 8 for driving the slide rail assembly 61 to slide along the slide part 7.

[0028] The pair of upper snap rings 42 and the pair of lower snap rings 43 of the clamping assembly 4 can be synchronously rotated to expand or close through the clamping drive mechanism 5. Adding this device can further improve the stability of the tapping device. Compared with the traditional one-machine-one-tree tapping device, the clamping assembly 4 can automatically adjust its position with the rubber tree and automatically clamp it.

[0029] like Figure 1 As shown, the bracket 3 includes a support rod 31, a support block 32 and a support plate 33. The two ends of the support rod 31 are respectively vertically fixed to the support plate 33. The support block 32 is fixed to the middle of the support rod 31. A drive motor 131 is provided at one end of the robotic arm 13 close to the bracket 3. One side of the support block 32 is hinged to the robotic arm 13 and fixedly connected to the rotating shaft of the drive motor 131.

[0030] When the driving motor 131 is working, it can drive the bracket 3 to rotate with the rotating shaft of the driving motor 131, ensuring that the pair of upper snap rings 42 and the pair of lower snap rings 43 on the clamping assembly 4 maintain a coaxial position with the rubber tree stem, making it convenient for the pair of upper snap rings 42 and the pair of lower snap rings 43 to clamp the rubber tree.

[0031] like Figure 1 、 2 As shown, the clamping drive mechanism 5 includes a machine base 51 fixedly connected to the support plate 33, two support rods 41 respectively pass through the corresponding support plates 33 and are fixedly connected to the corresponding upper retaining rings 42 and lower retaining rings 43, the machine base 51 is arranged opposite to the corresponding support plate 33, the outer side of the machine base 51 is fixedly connected to the clamping motor 52, the output shaft of the clamping motor 52 is coaxially connected to the support rod 41, and the two support rods 41 are respectively fixedly connected to the helical gears 53 that mesh with each other.

[0032] The mutually meshing helical gears 53 include two pairs, and the two pairs of helical gears 53 are respectively close to the upper and lower ends of the bracket 3.

[0033] When the clamping motor 52 is working, it can drive the support rod 41 connected to it to rotate, thereby driving the upper snap ring 42 and the lower snap ring 43 on the same side to rotate with the support rod 41 as the axis. Since the two support rods 41 are provided with mutually meshing bevel gears 53, a pair of upper snap rings 42 and a pair of lower snap rings 43 can be synchronously expanded or closed.

[0034] Before the rubber tapping machine works, the clamping motor 52 drives the support rod 41 connected to it to rotate, and drives a pair of upper snap rings 42 and a pair of lower snap rings 43 to unfold, and then the hexapod robot 1 is moved and aligned, and the driving motor 131 drives the bracket 3 to rotate with the rotating shaft of the driving motor 131 to ensure that the pair of upper snap rings 42 and the pair of lower snap rings 43 on the clamping assembly 4 maintain a coaxial position with the rubber tree stem. The clamping motor 52 is reversed, driving the pair of upper snap rings 42 and the pair of lower snap rings 43 to embrace the rubber tree. This method of clamping and alignment is simple, precise, and highly automated.

[0035] like Figure 1 、 2 As shown, the slide rail assembly 61 includes a first slide bar 611, a baffle 612 and a slider 613. The two ends of the first slide bar 611 are respectively fixedly connected to the baffle 612 vertically. The first slide bar 611 includes two and parallel to each other. The slider 613 is slidably arranged on the two first slide bars 611. The inner side of the slider 613 is connected to the tool assembly 62. The tool assembly driving part 63 includes a first lead screw 631 and a lifting motor 632. The first lead screw 631 is rotatably connected between the two baffles 612 and is parallel to the first slide bar 611. The first lead screw 631 is screwed to the slider 613. The lifting motor 632 is fixed to a baffle 612, and the rotating shaft of the lifting motor 632 is connected to the first lead screw 631.

[0036] The lifting motor 632 can drive the first lead screw 631 to rotate, thereby driving the slider 613 screwed thereto to slide on the first slide rod 611, thereby driving the tool assembly 62 on the slider 613 to slide up and down on the slide rail assembly 61.

[0037] like Figure 2 As shown, the slide portion 7 includes an inner gear ring 71 fixedly connected to the upper surface of the upper retaining ring 42 and the lower surface of the lower retaining ring 43, and two baffles 612 are respectively rotatably connected to gears 72 that mesh with the corresponding inner gear ring 71. The surround motor 8 is fixed to the outside of a baffle 612, and the output shaft of the surround motor 8 is connected to the rotating shaft of the corresponding gear 72. The lower surface of the upper baffle 612 and the upper surface of the lower baffle 612 are respectively provided with limit blocks 73 that abut against the outer edge of the corresponding inner gear ring 71.

[0038] When the motor 8 is working, it can drive the gear 72 connected to it to rotate. Since the gear 72 is engaged with the corresponding inner gear ring 71, the entire slide rail assembly 61 is driven to rotate along the inner gear ring 71, so that the tool assembly 62 can rotate around the rubber tree to tap the rubber.

[0039] The orbiting motor 8 drives the tool assembly 62 on the slide rail assembly 61 to perform circular motion along the inner gear ring 71, and the lifting motor 632 drives the tool assembly 62 on the slider 613 to move up and down along the first slide rod 611, thereby ensuring that the tool assembly 62 can achieve curved cutting of the rubber tree wall during operation, that is, forming an oblique cutting groove, which is convenient for the diversion and collection of the rubber liquid.

[0040] like Figure 2 、 3 As shown, the tool assembly 62 includes a base 621, a connecting plate 622, a tool holder 623, a cutter head 624 and a radial drive mechanism 625 for driving the tool holder 623 to move in the radial direction of the upper retaining ring 42. The connecting plate 622 is fixedly connected between the slider 613 and the base 621. In this embodiment, two parallel connecting plates 622 are provided. The cutter head 624 is fixedly connected to the front end of the tool holder 623. The radial drive mechanism 625 includes a second slide bar 6251, a second lead screw 6252 and a lead screw motor 6253. The base 621 is provided with a second slide bar 6251 and a second lead screw 6252 and a lead screw motor 6253. The sliding hole adapted for the lead screw 6252, this embodiment is provided with four mutually parallel second sliding rods 6251, the front end of the second sliding rod 6251 is fixedly connected to the tool holder 623, the other end of the second sliding rod 6251 is embedded in the sliding hole, the base 621 is provided with a through hole for the second lead screw 6252 to pass through, the end of the base 621 away from the tool holder 623 is fixedly connected to the lead screw motor 6253, one end of the second lead screw 6252 is rotatably connected to the tool holder 623, and the other end of the second lead screw 6252 passes through the through hole and is screwed to the lead screw motor 6253.

[0041] When the screw motor 6253 is working, it can drive the second screw 6252 screwed to it to move back and forth, thereby driving the second slide rod 6251 in and out of the slide hole, realizing the radial movement of the cutter head 624 in the upper retaining ring 42, that is, realizing the adjustment of the cutter head 624 deep into the rubber tree wall.

[0042] The radial drive mechanism 625 drives the cutter head 624 to move in the radial direction of the upper clamping ring 42, thereby adjusting the cutting depth of the cutter head 624 into the rubber tree wall, improving the tapping efficiency, and increasing the comprehensive output value of rubber.

[0043] like Figure 2 As shown, a plurality of elastic extenders 9 are provided on the inner sides of the upper snap ring 42 and the lower snap ring 43 along the circumferential direction, and the plurality of elastic extenders 9 are distributed in an array along the center of the upper snap ring 42 and the lower snap ring 43 .

[0044] Specifically, the elastic extender 9 includes a mounting box 91, a spring is provided in the mounting box 91, an axial hole is provided on the mounting box 91, a push rod 92 is provided in the axial hole, the push rod 92 extends along the radial direction of the upper retaining ring 42, and the inner side of the push rod 92 is fixedly connected to a baffle that abuts against the spring.

[0045] When the pair of upper snap rings 42 and the pair of lower snap rings 43 are embracing the rubber tree, the push rod 92 can abut against the wall of the rubber tree to support and position the pair of upper snap rings 42 and the pair of lower snap rings 43.

[0046] In one embodiment, a blower 132 is provided on one side of the robotic arm 13 close to the bracket 3 . The blower 132 is connected to a pipeline, and an air outlet of the pipeline is close to the rubber tapping device 2 .

[0047] During the rubber tapping operation, the blower 132 is started, and the wind blown out through the pipe connected to the blower 132 can blow away the rubber bark cut by the cutter head 624, thereby improving the quality of the rubber.

[0048] The embodiments of this specific implementation method are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A rubber tapping machine based on a hexapod robot, comprising a hexapod robot, wherein the top of the hexapod robot is rotatably connected to a support platform, the bottom of the hexapod robot is provided with a rotary motor, the rotating shaft of the rotary motor is fixedly connected to the support platform, the support platform is fixedly connected to a vertical support rod, the top end of the support rod is articulated to a mechanical arm, characterized in that: The other end of the mechanical arm is hinged to the rubber tapping device, and the rubber tapping device includes a bracket and a clamping assembly, one side of the bracket is hinged to the mechanical arm, and the other side of the bracket opposite to the mechanical arm is provided with a clamping assembly, and the clamping assembly includes two vertically arranged support rods and rotatably connected to the bracket, the upper and lower ends of the two support rods are respectively fixed with a pair of upper clamping rings and a pair of lower clamping rings, the upper and lower clamping rings on the same side are coaxial semicircular rings, and the bracket is provided with a clamping drive mechanism for driving the pair of upper clamping rings and the pair of lower clamping rings to rotate synchronously to expand or close, a vertical tool lifting mechanism is provided between the upper clamping ring and the lower clamping ring on the same side, and the tool lifting mechanism includes a slide rail assembly extending in the upper and lower directions, the slide rail assembly is slidably connected to the tool assembly, and the slide rail assembly is provided with a tool assembly driving part that drives the tool assembly to slide up and down, and the upper and lower ends of the slide rail assembly are respectively provided with slide parts between the upper clamping ring and the lower clamping ring on the same side, and the slide rail assembly is provided with a surrounding motor that drives the slide rail assembly to slide along the slide part.

2. The rubber tapping machine based on the hexapod robot according to claim 1, characterized in that, The bracket includes a support rod, a support block and a support plate. The two ends of the support rod are respectively vertically fixed to the support plate. The support block is fixed to the support rod. A drive motor is provided at one end of the robotic arm close to the bracket. One side of the support block is hinged to the robotic arm and fixed to the rotating shaft of the drive motor.

3. The rubber tapping machine based on the hexapod robot according to claim 2, characterized in that, The clamping drive mechanism includes a machine base fixedly connected to the support plate, the two support rods respectively pass through the corresponding support plates and are fixedly connected to the corresponding upper and lower clamping rings, the machine base and the corresponding support plates are arranged opposite to each other, the outer side of the machine base is fixedly connected to the clamping motor, the output shaft of the clamping motor is coaxially connected to a support rod, and the two support rods are respectively fixedly connected to mutually meshing helical gears.

4. The rubber tapping machine based on the hexapod robot according to claim 3, characterized in that, The mutually meshing helical gears include two pairs, and the two pairs of helical gears are respectively close to the upper and lower ends of the bracket.

5. The rubber tapping machine based on the hexapod robot according to claim 1, characterized in that, The slide rail assembly includes a first slide bar, a baffle and a slider, the two ends of the first slide bar are respectively fixedly connected to the baffle vertically, the first slide bar includes two and parallel to each other, the slider is slidably arranged on the two first slide bars, the inner side of the slider is connected to the tool assembly, the tool assembly driving part includes a first lead screw and a lifting motor, the first lead screw is rotatably connected between the two baffles and parallel to the first slide bar, the first lead screw is screwed to the slider, the lifting motor is fixedly connected to a baffle, and the rotating shaft of the lifting motor is connected to the first lead screw.

6. The rubber tapping machine based on the hexapod robot according to claim 5, characterized in that, The slide portion includes an inner gear ring fixedly connected to the upper surface of the upper retaining ring and the lower surface of the lower retaining ring, and the two baffles are respectively rotatably connected to the gears meshing with the corresponding inner gear rings. The surround motor is fixed on the outside of a baffle, and the output shaft of the surround motor is connected to the rotating shaft of the corresponding gear. The upper baffle and the lower baffle are respectively provided with limit blocks that abut against the outer edge of the corresponding inner gear ring.

7. The rubber tapping machine based on the hexapod robot according to claim 1, characterized in that, The tool assembly includes a base, a connecting plate, a tool holder, a tool head and a radial driving mechanism that drives the tool holder to move in the radial direction of the upper retaining ring. The connecting plate is fixedly connected between the slider and the base, and the tool head is fixedly connected to the front end of the tool holder. The radial driving mechanism includes a second slide rod, a second lead screw and a lead screw motor. The base is provided with a sliding hole adapted for the second lead screw, the front end of the second slide rod is fixedly connected to the tool holder, and the other end of the second slide rod is embedded in the sliding hole. The base is provided with a through hole for the second lead screw to pass through, and one end of the base away from the tool holder is fixedly connected to the lead screw motor, one end of the second lead screw is rotatably connected to the tool holder, and the other end of the second lead screw passes through the through hole and is screwed to the lead screw motor.

8. The rubber tapping machine based on the hexapod robot according to claim 1, characterized in that, A plurality of elastic extenders are respectively provided on the inner sides of the upper clamping ring and the lower clamping ring along the circumferential direction, and the plurality of elastic extenders are distributed in an array along the center of the upper clamping ring and the lower clamping ring.

9. The rubber tapping machine based on the hexapod robot according to claim 8, characterized in that, The elastic extender includes a mounting box, a spring is arranged in the mounting box, an axial hole is provided on the mounting box, a push rod is provided in the axial hole, the push rod extends along the radial direction of the upper clamping ring, and the inner side of the push rod is fixedly connected to a baffle that abuts against the spring.

10. The rubber tapping machine based on the hexapod robot according to claim 1, characterized in that, A blower is provided on one side of the mechanical arm close to the bracket, and an air outlet of the blower is close to the rubber tapping device.

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