Flexible tree-surrounding unmanned aerial vehicle autonomous intelligent rubber tapping machine

Abstract

The invention relates to the field of rubber tapping of rubber trees, in particular to an unmanned aerial vehicle rubber tapping device which comprises an unmanned aerial vehicle, a clamping supporting device is arranged on the unmanned aerial vehicle and comprises a clamping device, a flexible clamping rubber tapping device is arranged below the clamping device, and the flexible clamping rubber tapping device comprises a multi-joint rail support formed by combining a plurality of joints. A flexible clamping rail is installed above the multi-joint rail support in parallel, the multi-joint rail support and the flexible clamping rail deform synchronously, a rubber tapping walking mechanism is connected to the flexible clamping rail in a sliding and clamping mode and comprises a tool base, a tool mechanism used for rubber tapping is arranged on the tool base, a rail clamping device is arranged in the tool base, and the rail clamping device is connected with the flexible clamping rail in a sliding and clamping mode. The rail clamping device is rotationally connected with the cutter base; and the flexible clamping rubber tapping device further comprises a first driving device. When the rubber tapping device is used, the problem of different rubber tapping depths caused by irregular tree trunks in the traditional rubber tapping operation can be solved.

Description

Technical Field

[0001] This invention relates to the field of rubber tree tapping, and in particular to a drone-based rubber tapping device. Background Technology

[0002] Natural rubber, as one of the important basic industrial raw materials, is mainly obtained by cutting the bark of rubber trees. At present, rubber tree tapping mainly relies on manual labor or traditional machinery. Manual tapping is labor-intensive, inefficient, and limited by terrain, making it difficult to achieve large-scale operations. Traditional mechanical tapping equipment is mostly rigid or passively flexible, which cannot adapt to the irregular trunk shape of rubber trees, easily leading to uneven tapping depth and affecting latex production.

[0003] In conclusion, the inventors believe that the rubber tapping device urgently needs to solve the problem of low output caused by inconsistent tapping depth. Summary of the Invention

[0004] To address the problem of inconsistent tapping depth caused by differences in tree trunks in existing rubber tapping operations, this application provides a drone-based flexible tree-circling autonomous intelligent rubber tapping machine. Through a flexible contour-following clamping design, it actively conforms to different tree trunks, achieving stable rubber tapping operations.

[0005] The flexible tree-ringing unmanned aerial vehicle (UAV) autonomous intelligent rubber tapping machine provided in this application adopts the following technical solution: A flexible tree-ringing unmanned aerial vehicle (UAV) autonomous intelligent rubber tapping machine includes a UAV. A clamping support device is located below the UAV, comprising a clamping device for holding the tree trunk. The clamping device is connected to the bottom of the UAV. Below the clamping device is a flexible clamping and tapping device for tapping the rubber against the tree trunk. The flexible clamping and tapping device includes a multi-joint track support composed of several joints, with each joint connected by a first elastic element. A flexible clamping track is installed parallel above the multi-joint track support. The multi-joint track support and the flexible clamping track deform synchronously. A rubber tapping walking mechanism is slidably engaged on the flexible clamping track. The rubber tapping walking mechanism includes a blade base with a blade mechanism for tapping rubber. A track holder is slidably engaged with the flexible clamping track within the blade base. The track holder is rotatably connected to the blade base, allowing the rubber tapping walking mechanism to slide along the flexible clamping track. The flexible clamping and tapping device also includes a first drive device for adjusting the tension of the multi-joint track support.

[0006] By adopting the above technical solution, the combination of multi-joint track support and flexible clamping track achieves contour-following fit to the tree surface, solving the problem of tapping depth fluctuation caused by differences in tree diameter and irregularity of the tree body in traditional devices. At the same time, the clamping support device forms a double-layer stable structure of fixation and contouring, which adaptively fits different tree trunks to ensure the stability of the tapping operation. The rotational movement of the track locator allows the track locator to better match the flexible clamping track under different curvatures, preventing the tapping walking mechanism from being unable to make circumferential movement along the flexible clamping track during the tapping operation.

[0007] Optionally, the first driving device includes a wire servo, a wire guide, and a tendon rope. Each joint of the multi-joint track support has a through hole. The end of the multi-joint track support is provided with a clamping device. The clamping device is provided with a second elastic element for resetting. One end of the tendon rope is fixed to the clamping device, and the other end passes through the hole and is pulled to the wire servo by the wire guide. The wire servo drives the tendon rope to contract, which in turn drives the clamping device and the multi-joint track support to contract.

[0008] By adopting the above technical solution, the conductor servo drives the tendon rope to contract and release, realizing the tension adjustment of the multi-joint track support, adaptively conforming to the tree trunk surface, and solving the problem that traditional tracks cannot adapt to the shape of tree trunks.

[0009] Furthermore, the tool mechanism includes a tool holder base, a tool holder arm on the tool holder base, a tool rotating column on the tool base, a tool holder arm rotatably connected to the tool rotating column, a vertical slot on the tool holder arm, a lifting slider in the slot, a blade holder rotatably connected to one end of the lifting slider, a force-bearing arm on the other end, a blade on the blade holder, and a third elastic element for buffering the blade holder between the lifting slider and the blade holder. The tool mechanism also includes a second driving device for driving the tool mechanism to rotate and lift.

[0010] By adopting the above technical solution, during rubber tapping, the cutting blade will be subject to resistance in the working direction, causing the blade to drive the blade holder to have a tendency to rotate backward. At this time, the third elastic element is stretched to offset the external force and cause the blade holder to have a tendency to return to its original position, thus preventing the blade holder from being hindered by external force and affecting the rubber tapping operation, while reducing the damage to the blade caused by resistance.

[0011] Optionally, the second driving device includes a lifting force applicator, the force arm is an arc shape with the cutting tool rotating column as the center, the lifting force applicator is slidably connected to the lifting force arm and drives the lifting force arm to rise and fall, the cutting tool base is also provided with a lifting screw and a third driving device for driving the lifting screw, the lifting force applicator is threaded to the lifting screw, and the rotation of the lifting screw drives the cutting tool to rise and fall.

[0012] By adopting the above technical solution, the longitudinal movement of the lifting slider, combined with the circumferential movement of the cutter base on the track, makes the cut rubber line a standard spiral upward curve.

[0013] Furthermore, the blade holder is provided with a blade support platform, a blade holder is slidably disposed on the blade support platform, a blade is fixed on the blade holder, and a fourth elastic element for supporting and buffering the blade holder is provided between the blade holder and the blade holder.

[0014] Furthermore, the fourth elastic element includes a long spring, a short spring, and a screw. The bottom of the blade support is provided with a round hole protrusion, and the bottom of the blade support is provided with a screw hole protrusion. After the screw passes through the hollow of the short spring and the long spring in sequence, it passes through one end of the round hole protrusion and is threadedly connected to the screw hole protrusion. The two ends of the long spring abut against the screw hole protrusion and the end face of the round hole protrusion, and the two ends of the short spring abut against the head of the screw and the end face of the round hole protrusion.

[0015] By adopting the above technical solution, when the blade is dragged towards the object by an external force, the short spring is compressed. At this time, the blade has a slow restoring force and moves slowly in the direction away from the external force, preventing the blade from being damaged by excessive stress during the retraction process when encountering a jam. When the blade is squeezed away from the object by an external force, the long spring is compressed. At this time, the blade has a slow restoring force and moves slowly in the direction towards the external force, preventing the blade from being damaged by excessive instantaneous squeezing force when encountering a protrusion.

[0016] Optionally, the clamping device and the flexible clamping rubber cutting device are connected by a connecting hydraulic rod, which adjusts the distance between the clamping device and the flexible clamping rubber cutting device. The clamping support device is also provided with a fourth driving device for driving the connecting hydraulic rod.

[0017] By adopting the above technical solution, the automatic extension function of the connecting hydraulic rod enables multiple rounds of rubber tapping on the same tree trunk to be completed continuously without manual adjustment.

[0018] Optionally, it also includes a tree-hanging top device fixed to the rubber tree, the tree-hanging top device having a protrusion at its front end, and the clamping device having a hole, the protrusion being able to be inserted into the hole.

[0019] By adopting the above technical solution, the drone can accurately locate the working area on the tree trunk.

[0020] In summary, this application includes at least one of the following beneficial technical effects: 1. The flexible clamping tapping device in this invention drives a flexible clamping track to conform to the tree trunk, so that the tapping walking mechanism can follow the contour of the tree trunk to maintain the stability of the blade depth and meet the high-yield process requirements of latex.

[0021] 2. The graded buffer design of the long spring and short spring in this invention reduces the stress on the blade and extends the blade's service life.

[0022] 3. The clamping device in this invention, in conjunction with the tree hanging top device, can automatically position itself, and the connecting hydraulic rod and linkage mechanism work together to achieve multi-round rubber tapping, significantly improving work efficiency. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 2 This is a schematic diagram of a portion of the flexible clamping rubber cutting device of the present invention. Figure 3 This is a first-view schematic diagram of the rubber tapping walking mechanism of the present invention. Figure 4 This is a second-view schematic diagram of the rubber-tapping walking mechanism of the present invention. Figure 5 This is a schematic diagram of the tool mechanism of the present invention. Figure 6 This is a schematic diagram of the core component structure of the present invention. Explanation of reference numerals in the attached diagrams: 1. Monocular vision camera; 2. Battery power supply; 3. Propeller cover; 4. Bottom trailer; 5. Miniature hydraulic system; 5-a. Hydraulic oil tank; 5-b. Hydraulic pump; 5-c. Diverter; 5-d. Bottom bracket; 5-e. Steering valve; 6. Binocular camera; 7. Tree gripper; 8. Top clamping support; 9. Connecting hydraulic rod; 10. Linkage mechanism; 11. Rubber tapping travel mechanism; 11-1. Cutter rotating column; 11-3. Cutter advance / retreat push rod; 11-4. Lifting auxiliary column; 11-5. Lifting screw; 11-6. Drive motor; 11-7. Track positioning device; 11-8. Cutter advance / retreat push rod rotating column; 11-9. Stepper reducer; 11-10. Force. Arm; 11-20, Traveling gear; 11-22, Lifting force applicator; 11-a, Tool holder arm; 11-b, Lifting slider; 11-c, Blade holder; 11-d, Blade; 11-e, Blade support; 11-f, Tool holder base support; 11-g, First buffer spring; 11-k, Long spring; 11-h, Short spring; 11-j, Screw; 11-m, Round hole protrusion; 11-n, Screw hole protrusion; 12, Flexible clamping rail; 14, Rail fixer; 15-a, Wire guide servo; 15-b, Wire guide; 16, Multi-joint rail support; 16-1, Elastic connecting block; 16-4, Hole; 16-5, Clamping and positioning device; 18, Hydraulic push rod; C, Tree hanging top device; C-1, Protrusion. Detailed Implementation

[0024] The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to also include expressions such as “one or more,” unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of this application, “at least one” and “one or more” refer to one, two, or more than two. The term “and / or” is used to describe the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can indicate: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character “ / ” generally indicates that the preceding and following related objects are in an “or” relationship.

[0025] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0026] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0027] Reference Figure 1A flexible tree-ringing unmanned aerial vehicle (UAV) autonomous intelligent rubber tapping machine includes a UAV and a control system for operation control. The UAV's blades are equipped with propeller guards 3. A monocular vision camera 1 is located in the forward direction of the UAV to identify and acquire information about the UAV's front. The UAV is powered by an onboard battery power supply 2. A tow mount 4 is located at the bottom of the UAV fuselage, connected to a clamping support device. The clamping support device includes a clamping device, a flexible clamping rubber tapping device, a connecting hydraulic rod 9, and a linkage mechanism 10. The clamping device is connected to the bottom tow mount 4, and the connecting hydraulic rod 9 and linkage mechanism are also connected. 10 is movably connected to a clamping device at one end and a flexible clamping rubber tapping device at the other end. The clamping device includes a top clamping support 8. One end of the top clamping support 8 is connected to a tow hanger 4, and the other end is provided with a tree-hugging claw 7. The tree-hugging claw 7 includes a claw, which is movably connected to the top clamping support 8. The claw is also provided with a hydraulic push rod 18. The two ends of the hydraulic push rod 18 are movably connected to the top clamping support 8 and the claw. The hydraulic push rod 18 pushes the claw to open and close. The UAV is also provided with a fourth driving device that drives the hydraulic push rod 18 and connects to the hydraulic rod 9. The fourth driving device includes a micro hydraulic system 5.

[0028] Reference Figure 1 The flexible clamping rubber tapping device includes a track mechanism lifting arm 13 and a multi-joint track support 16. The track mechanism lifting arm 13 is movably connected to a hydraulic rod 9 and a linkage mechanism 10. The track mechanism lifting arm 13 is equipped with a track fixer 14, which is rotatably connected to the multi-joint track support 16. The multi-joint track support 16 is divided into left and right parts, each part being formed by multiple joints softly connected by a first elastic element. The first elastic element includes an I-shaped elastic connecting block 16-1. A flexible clamping track 12 is inserted parallel above the multi-joint track support 16. A rubber tapping walking mechanism 11 is slidably connected to the flexible clamping track 12. The flexible clamping rubber tapping device also includes a first drive device for adjusting the tightness of the multi-joint track support 16.

[0029] Reference Figure 2The first drive device includes a wire guide mechanism, which is installed inside the track fixer 14. The wire guide mechanism includes a wire guide servo 15-a, a wire guide 15-b, and a tendon rope. The flexible clamping track 12 is a deformable plastic body with circumferential teeth on the outside and grooves on the inside. Each joint of the multi-joint track support 16 has a hole 16-4. The front end of the multi-joint track support 16 is rotatably connected to a clamping device 16-5. The clamping device has a second elastic element for resetting. The second elastic element includes a torsion spring, which connects the clamping device 16-5 and the multi-joint track support 16. One end of the tendon rope is fixed to the wire guide servo 15-a, and the other end is fixed to the clamping device. The tendon rope passes through the wire guide 15-b and each joint hole 16-4 in the middle. During operation, the conductor servo motor 15-a rotates, causing the tendon rope to contract along the aforementioned threading path. The multi-joint track support 16 and the elastic connecting block 16-1 are pulled and contracted by the tendon rope, causing the multi-joint track support 16 to clamp the working tree diameter. At the same time, the clamping device locks the tree diameter. The flexible clamping track 12 is deformed into a tree diameter-like posture under the action of the multi-joint track support 16. After the operation is completed, the conductor servo motor 15-a rotates in the opposite direction to release the tendon rope. The multi-joint track support 16 returns to its open shape under the reset force of the joint soft connection 16-1, and the clamping device resets under the action of the internal torsion spring.

[0030] Reference Figure 3 The rubber tapping travel mechanism 11 includes a tool base, which consists of an upper structure and a lower structure with a cavity between them. Two track holders 11-7 are installed within the cavity. Each track holder 11-7 has a groove that matches the flexible clamping track 12. The track holders 11-7 are rotatably connected to the upper and lower structures of the tool base and movably connected to the flexible clamping track 12. The track holders 11-7 can rotate within the cavity, allowing them to better match the flexible clamping track 12 with different curvatures. The cavity also includes a mechanism for the tool base to... The flexible clamping track 12 has a moving travel gear 11-20. The tool base is also equipped with a third drive device for driving the lifting screw. The third drive device includes a stepper reducer 11-9 and a drive motor 11-6. The stepper reducer 11-9 includes an input position and an output position. The input position is connected to the drive motor 11-6, and the output position is connected to the travel gear 11-20. The travel gear 11-20 meshes with the external teeth of the flexible ring tree pre-clamping track 12. The drive motor 11-6 drives the travel gear 11-20 to rotate, realizing the circumferential movement of the rubber cutting travel mechanism 11. The tool base is also equipped with a tool mechanism for lifting and lowering the rubber cutting tool.

[0031] Reference Figure 4The tool mechanism includes a tool holder base 11-f, a tool holder arm 11-a on the tool holder base 11-f, and a tool rotating column 11-1 on the tool base. The tool holder arm 11-a is rotatably connected to the tool rotating column 11-1. The tool holder arm 11-a has a vertical slot, and a lifting slider 11-b is installed in the slot. The lifting slider 11-b can slide vertically in the slot. The other two sides of the slot are open. One end of the lifting slider 11-b is rotatably connected to a blade holder 11-c, and the other end is equipped with a force-bearing arm 11-10. The blade holder 11-c... The tool mechanism is equipped with a blade support, on which a blade holder 11-e is slidably connected. A blade 11-d is mounted on the blade holder 11-e. The blade support is at an 18° angle to the horizontal plane to ensure that the cut rubber line is a smooth spiral upward curve. A third elastic element for buffering the blade holder 11-c is provided between the lifting slider 11-b and the blade holder 11-c. A fourth elastic element for buffering the blade 11-d is provided between the blade support and the blade holder 11-e. The tool mechanism also includes a second drive device for driving the tool mechanism to rotate and lift.

[0032] Reference Figure 4 The force-bearing arm 11-10 has an arc-shaped fork arm structure with the tool rotating column 11-1 as the center. The second driving device includes a lifting force applicator 11-22, which is an upper and lower combined structure. Both the upper and lower parts have grooves in the middle that match the structure of the force-bearing arm 11-10. The lifting force applicator 11-22 is fastened to the force-bearing arm 11-10 and can slide along the arc direction of the force-bearing arm 11-10. The tool base is also equipped with a lifting screw 11-5, a lifting auxiliary column 11-4, and a tool advance / retract push rod rotating column 11-8. The stepper reducer 11-9 also includes an output position for driving the lifting screw 11-5. The lifting force applicator 11-22 has two... Each round hole is respectively connected to the lifting screw 11-5 and the lifting auxiliary column 11-4. The round hole connected to the lifting screw 11-5 is provided with a thread. The lifting force applicator 11-22 realizes the longitudinal lifting and lowering movement under the action of the lifting screw 11-5 and the lifting auxiliary column 11-4. The lifting force applicator 11-22 drives the force arm 11-10 to realize the longitudinal lifting and lowering movement of the lifting slider 11-b. The tool holder arm 11-a is also movably connected to the tool advance and retract push rod 11-3. The tool advance and retract push rod 11-3 is movably connected to the tool advance and retract push rod rotating column 11-8. The tool advance and retract push rod 11-3 is controlled by the control system. The tool advance and retract push rod 11-3 extends and retracts to realize the tool advance and push of the rotating tool mechanism.

[0033] Referring to 4, the third elastic element includes a first buffer spring 11-g. One end of the first buffer spring 11-g is connected to the blade support 11-c, and the other end is connected to the blade lifting slider 11-b. During rubber tapping, the cutter will be subjected to resistance in the working direction, causing the blade to drive the blade support to have a tendency to rotate backward. At this time, the blade support buffer return spring 11-g is stretched to offset the external force and cause the blade support 11-c to have a return tendency, thus preventing the blade support from being hindered by external force and affecting the rubber tapping operation, while reducing the damage to the blade caused by resistance.

[0034] Reference Figure 5 The fourth elastic element includes a second buffer spring and a screw 11-j. The second buffer spring is divided into a long spring 11-k and a short spring 11-h. The bottom of the blade support is provided with a round hole protrusion 11-m, and the bottom of the blade support 11-e is provided with a screw hole protrusion 11-n. The screw 11-j passes through the hollow of the short spring 11-h and the long spring 11-k in sequence, and then passes through one end of the round hole protrusion 11-m and is threadedly connected to the screw hole protrusion 11-n. The two ends of the long spring 11-k abut against the end faces of the screw hole protrusion 11-n and the round hole protrusion 11-m, and the two ends of the short spring 11-h abut against the head of the screw 11-j and the end face of the round hole protrusion 11-m. When subjected to external force, the long spring 11-k or the short spring 11-h drives the screw 11-j to float axially along the round hole protrusion 11-m, thereby causing the blade support 11-e to float elastically on the blade support. When the blade 11-d is dragged towards the object by an external force, the short spring 11-h is compressed. At this time, the blade 11-d has a slow restoring force and moves slowly away from the external force to prevent the blade from being damaged by excessive stress during the retraction process if it encounters a jam. When the blade 11-d is squeezed away from the object by an external force, the long spring 11-k is compressed. At this time, the blade 11-d has a slow restoring force and moves slowly towards the external force to prevent the blade 11-d from being damaged by excessive instantaneous squeezing force when it encounters a protrusion.

[0035] Reference Figure 6 A miniature hydraulic system 5 is mounted on the top clamping support 8. The miniature hydraulic system 5 includes a bottom bracket 5-d, on which a hydraulic oil tank 5-a, a hydraulic pump 5-b, a flow divider 5-c, and a steering valve 5-e are fixed. The miniature hydraulic system 5 provides hydraulic power through the hydraulic pump 5-b, which is transmitted to the hydraulic push rod 18 and the connecting hydraulic rod 9 via the steering valve 5-e and the flow divider 5-c. The hydraulic push rod 18 drives the tree-holding gripper 7 to move, and the connecting hydraulic rod 9 cooperates with the linkage mechanism 10 to realize the lifting and lowering of the track mechanism lifting arm 13.

[0036] Reference Figure 6The flexible tree-ringing drone autonomous intelligent rubber tapping machine also includes a tree-hanging top device C fixed on the tree and a binocular camera 6 set on the top clamping support 8. The binocular camera 6 performs feature recognition on the tree-hanging top device C. The top clamping support 8 has a hole 8-a at the front end, and the tree-hanging top device has a protrusion C-1 that can be inserted into the hole 8-a for positioning.

[0037] The working principle of this invention is as follows: First, assemble the UAV according to the above scheme and start the UAV. The UAV will make its first flight, which will only collect information on the work area and path planning.

[0038] Secondly, the drone takes a second flight using the established map and path. The binocular camera 6 identifies the features of the tree-mounted clamp C on the rubber tree, and the control system determines the position coordinates. The drone approaches the rubber tree and aligns the clamping support hole 8-a with the tree-mounted clamp protrusion C-1. At the same time, the multi-joint track support 16 is inserted into the trunk in an open posture. After the alignment is completed, the hydraulic push rod 18 pushes the tree-hugging claw 7 to clamp the tree diameter, and the drone hovers. Simultaneously, the multi-joint track support 16 clamps the tree diameter under the drive of the guide mechanism 15, and the flexible clamping track 12 surrounds the tree diameter in the same posture. After clamping, the guide mechanism 15 stops working. At this point, the invention is stably fixed to the rubber tree being tapped, ensuring the stability of the rubber tapping process.

[0039] Finally, the control system controls the drive motor 11-6 and drives the rubber tapping walking mechanism 11 to complete the circumferential walking operation and rubber tapping operation. After the rubber tapping operation is completed, the guide wire mechanism 15 runs in reverse to release the tendon rope, the flexible clamping track 12 is reset under the action of the multi-joint track support 16, and the tree-holding gripper 7 is retracted under the reset drive of the hydraulic push rod 18. The drone moves away and flies forward along the planned path. When the binocular camera 6 re-identifies the rubber tree with the tree hanging top device C, the above instructions are repeated. After the drone completes the planned path, it returns to base.

[0040] Specifically, before or after rubber tapping, the rubber tapping travel mechanism 11 defaults to returning to the middle of the flexible clamping track 12. At this time, the blade lifting slider 11-b is located in the middle of the track. When the operation begins, the rubber tapping travel mechanism 11 first travels to the starting end of the flexible clamping track 12, at which point the blade lifting slider 11-b descends to the bottom of the track. At this point, the operation begins, and the control system controls the forward and backward push rod 11-3 to execute the forward command. After the forward command is completed, the control system controls the drive motor 11-6 to operate again, and the rubber tapping travel mechanism 11 moves from the starting section of the flexible clamping track 12 to the end to perform rubber tapping operations. It stops when it reaches the end of the flexible clamping track 12. The operation stops, at which point the blade lifting slider 11-b reaches the top of the slide rail. Then, the blade retraction operation is performed. The control system controls the forward and backward push rod 11-3 to execute the blade retraction command. After the blade retraction is completed, the control system controls the drive motor 11-6 to operate, driving the rubber tapping walking mechanism 11 to reset to the middle of the flexible clamping track 12. At this time, the blade lifting slider 11-b descends to the middle of the slide rail, and the guide wire mechanism releases the tendon rope. Under the action of the reset force of the elastic connecting block 16-1, the flexible clamping track 12 and the multi-joint track support 16 return to the open state. At the same time, the tree gripper 7 retracts under the action of the hydraulic push rod 18, and the drone moves away from the tree and continues to fly.

[0041] When the next round of rubber tapping is about to begin, the hydraulic rod 9 will automatically extend downwards by one rubber tapping layer to enable the next round of rubber tapping.

[0042] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. Any equivalent modifications or variations made by those skilled in the art based on the content disclosed in the present invention should be included within the scope of protection set forth in the claims.

Claims

1. A flexible tree-ringing unmanned aerial vehicle (UAV) autonomous intelligent rubber tapping machine, comprising a UAV, characterized in that: The drone is equipped with a clamping support device, which includes a clamping device for clamping the tree trunk. The clamping device is connected to the bottom of the drone. Below the clamping device is a flexible clamping and tapping device for tapping the tree trunk. The flexible clamping and tapping device includes a multi-joint track support (16) composed of several joints. Each joint is connected by a first elastic element. A flexible clamping track (12) is installed parallel above the multi-joint track support (16). The multi-joint track support (16) and the flexible clamping track (12) deform synchronously. A rubber-cutting walking mechanism (11) is slidably engaged on the flexible clamping track (12). The rubber-cutting walking mechanism (11) includes a tool base, on which a tool mechanism for rubber cutting is provided. A track holder (11-7) is slidably engaged with the flexible clamping track inside the tool base. The track holder (11-7) is rotatably connected to the tool base, so that the rubber-cutting walking mechanism (11) slides along the flexible clamping track (12). The flexible clamping rubber-cutting device also includes a first driving device for adjusting the tightness of the multi-joint track support (16).

2. The rubber tapping machine according to claim 1, characterized in that: The first driving device includes a wire servo (15-a), a wire guide (15-b), and a tendon rope. Each joint of the multi-joint track support (16) has a through hole (16-4). The end of the multi-joint track support (16) is provided with a clamping device (16-5). The clamping device (16-5) is provided with a second elastic element for resetting. One end of the tendon rope is fixed on the clamping device (16-5), and the other end passes through the hole and is pulled to the wire servo (15-a) by the wire guide (15-b). The wire servo (15-a) drives the tendon rope to contract, and simultaneously drives the clamping device (16-5) and the multi-joint track support (16) to contract.

3. The rubber tapping machine according to claim 1, characterized in that: The tool mechanism includes a tool holder base (11-f), a tool holder arm (11-a) on the tool holder base (11-f), a tool rotating column (11-1) on the tool base, the tool holder arm (11-a) being rotatably connected to the tool rotating column (11-1), a vertical slot on the tool holder arm (11-a), a lifting slider (11-b) in the slot, a blade holder (11-c) rotatably connected to one end of the lifting slider (11-b), and a force-bearing arm (11-10) on the other end, a blade (11-d) on the blade holder (11-c), and a third elastic element for buffering the blade holder (11-c) between the lifting slider (11-b) and the blade holder (11-c). The tool mechanism also includes a second driving device for driving the tool mechanism to rotate and lift.

4. The rubber tapping machine according to claim 3, characterized in that: The second driving device includes a lifting force applicator (11-22), and the force arm (11-10) is an arc shape with the tool rotating column (11-1) as the center. The lifting force applicator (11-22) is slidably connected to the force arm (11-10) and drives the force arm (11-10) to rise and fall. The tool base is also provided with a lifting screw (11-5) and a third driving device for driving the lifting screw (11-5). The lifting force applicator (11-22) is threadedly connected to the lifting screw (11-5). The rotation of the lifting screw (11-5) drives the blade (11-d) to rise and fall.

5. The rubber tapping machine according to claim 3, characterized in that: The blade holder (11-c) is provided with a blade support platform, and a blade holder (11-e) is slidably disposed on the blade support platform. A blade (11-d) is fixed on the blade holder (11-e). A fourth elastic element for supporting and buffering the blade holder is also provided between the blade holder (11-e) and the blade support platform.

6. The rubber tapping machine according to claim 5, characterized in that: The fourth elastic element includes a long spring (11-k), a short spring (11-h), and a screw (11-j). The bottom of the blade support is provided with a round hole protrusion (11-m), and the bottom of the blade support (11-e) is provided with a screw hole protrusion (11-n). The screw (11-j) passes through the hollow of the short spring (11-h) and the long spring (11-k) in sequence, and then passes through one end of the round hole protrusion (11-m) and is threadedly connected to the screw hole protrusion (11-n). The two ends of the long spring (11-k) abut against the end faces of the screw hole protrusion (11-n) and the round hole protrusion (11-m), and the two ends of the short spring (11-h) abut against the head of the screw (11-j) and the end face of the round hole protrusion (11-m).

7. The rubber tapping machine according to claim 1, characterized in that: The clamping device and the flexible clamping rubber cutting device are connected by a connecting hydraulic rod (9). The connecting hydraulic rod (9) adjusts the distance between the clamping device and the flexible clamping rubber cutting device. The clamping support device is also provided with a fourth driving device to drive the connecting hydraulic rod (9).

8. The rubber tapping machine according to claim 1, characterized in that: It also includes a tree hanger (C) fixed to a rubber tree, the tree hanger (C) having a protrusion (C-1) at its front end, and the clamping device having a hole (8-a), the protrusion (C-1) being able to be inserted into the hole (8-a).

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