A rubber tapping device with functions of profiled tapping and guiding latex

Abstract

This application provides a rubber tapping device with contour tapping and latex-guiding functions, relating to the field of rubber tapping machinery technology. It includes a vertical lifting platform, on which a platform is slidably mounted. A contour tapping device and a robotic arm latex-guiding mechanism are mounted on the platform. An adaptive clamping device is provided on the vertical lifting platform. The contour tapping device includes a cutter base, a rotating mechanism rotatably mounted on the cutter base, and a contouring mechanism rotatably mounted on the rotating mechanism. A vision recognition device is provided on the cutter base. This application features automatic adjustment of the tapping angle based on the curvature of the rubber tree surface, effective guidance and collection of the flowing latex, reducing spillage and waste. It can adapt to rubber trees of different diameters and shapes, achieving a smooth and close-fitting movement.

Description

Technical Field

[0001] This invention relates to the field of rubber tapping machinery technology, and in particular to a rubber tapping device with contour tapping and rubber liquid drawing functions. Background Technology

[0002] Natural rubber is one of the world's four major basic industrial raw materials, and it is irreplaceable in fields such as defense, transportation, medical care, and aerospace. For a long time, natural rubber production has relied heavily on manual tapping. Although manual tapping is flexible, it requires extremely high skills from the tappers. Even slight deviations in the tapping angle and depth can cause damage to the cambium layer, excessive bark loss, or irregular tapping surfaces, thus affecting the rubber tree's lifespan and yield.

[0003] To address these issues, scholars and companies both domestically and internationally have attempted to develop mechanized and automated rubber tapping equipment. In existing technologies, stationary tappers are limited by their installation methods, resulting in poor adaptability and difficulty in meeting the requirements of different tree diameters and tapping trajectories. While mobile tappers possess some automation capabilities, most rely solely on unidirectional cutting, making it difficult to ensure the trajectories conform to spiral tapping standards. Furthermore, they lack systematic design for latex collection and spill prevention. Additionally, some existing machinery ignores the complexity of rubber tree surface morphology; trunks often exhibit tilting, bending, or varying thicknesses, and existing tapping blades mostly follow fixed trajectories, making it difficult to achieve adaptive tapping to bark curvature. Moreover, the lack of visual recognition and intelligent control systems limits the degree of automation, failing to meet the development needs of modern smart rubber plantations.

[0004] Therefore, developing an intelligent rubber tapping machine that can adapt to different tree diameters and bark curvatures, achieve spiral contour tapping trajectories, and has latex guiding and collection functions has become an urgent need for the mechanization and intelligent transformation of the natural rubber industry. Summary of the Invention

[0005] To address the challenge of adapting to different tree diameters and bark curvatures, this application provides a rubber tapping device with contour tapping and latex-drawing functions.

[0006] This application provides a rubber cutting device with contour-following rubber cutting and rubber-drawing liquid functions, which adopts the following technical solution:

[0007] A rubber tapping device with contour tapping and rubber-drawing functions includes a vertical lifting platform. A platform is slidably mounted on the vertical lifting platform. A contour tapping device and a robotic arm rubber-drawing mechanism are mounted on the platform. An adaptive clamping device is provided on the vertical lifting platform. The contour tapping device includes a blade base. A rotating mechanism is rotatably mounted on the blade base. A first motor driving the rotating mechanism is mounted on the blade base. A vision recognition device is provided on the blade base. The rotating mechanism controls its rotation angle based on bark surface feature information collected by the vision recognition device. A contouring mechanism is rotatably mounted on the rotating mechanism. The contouring mechanism includes a first crossbar mounted on the contouring mechanism. A second crossbar is rotatably mounted on the first crossbar, forming a Y-shaped structure. A spring is also provided on the first crossbar, with the other end of the spring connected to the second crossbar. A tapping blade is mounted on the second crossbar. A first driving component driving the vertical movement of the platform is also provided on the vertical lifting platform. A water-driven mechanism for the contour tapping device is provided on the platform. The second driving component for translational movement includes an electrically controlled slide rail, which is mounted on a platform. The tool base is mounted on the moving end of the electrically controlled slide rail. The adaptive clamping device includes two adaptive grippers, one of which is mounted on a vertical lifting platform and the other on the platform. Each adaptive gripper includes two symmetrically arranged telescopic slide rails. A clamping slide rail is mounted on the moving end of each telescopic slide rail, and the sliding direction of the moving end of the clamping slide rail is perpendicular to the sliding direction of the moving end of the telescopic slide rail. A gripper is mounted on the moving end of each clamping slide rail. The adaptive clamping device also includes flexible fitting rollers, each flexible fitting roller including a support frame. A spring fitting mechanism is slidably mounted on the support frame. The spring fitting mechanism includes an inverted V-shaped frame, which is slidably mounted on the support frame. Buffer springs are rotatably mounted at both ends of the inverted V-shaped frame, and the other end of the buffer spring is rotatably mounted on the support frame. A roller is rotatably mounted on the inverted V-shaped frame. Each adaptive gripper has two flexible fitting rollers.

[0008] Optionally, the first driving component includes two sprockets, which are respectively located at the upper and lower ends of the vertical lifting platform. The vertical lifting platform is also equipped with a second motor, which drives one of the sprockets to rotate. The two sprockets are connected by a chain, and a fixing pin is provided on the platform to connect the chain.

[0009] Optionally, the robotic arm adhesive applicator includes a robotic arm mounted on a platform, with an adhesive applicator pipe at the actuator end of the robotic arm connected to a container.

[0010] In summary, this application includes at least one of the following beneficial technical effects:

[0011] By incorporating a contour-following tapping device and an electrically controlled slide rail, the tapping angle can be automatically adjusted according to the curvature of the rubber tree surface. Combined with a vertical lifting platform, it achieves a combined lateral and longitudinal movement, resulting in a spiral tapping trajectory. This improves tapping accuracy and extends the rubber tree's latex production life. The robotic arm's latex-guiding mechanism effectively guides and collects the flowing latex, reducing spillage and waste and increasing latex utilization. The clamping device and its adaptive spring-loaded roller structure can adapt to rubber trees of different diameters and shapes, achieving smooth, close movement and enhancing equipment adaptability and reliability. A vision recognition system identifies and optimizes the tapping path, automating and intelligentizing the tapping operation, reducing reliance on manual skills, alleviating labor intensity, and simultaneously improving tapping efficiency. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0013] Figure 2 This is a front view structural diagram of the present invention;

[0014] Figure 3 This is a schematic diagram of the left-side structure of the present invention;

[0015] Figure 4 This is a schematic diagram of the platform fixing pin connecting the chain of the present invention;

[0016] Figure 5 A schematic diagram of the structure of the contour-following rubber cutting device of the present invention;

[0017] Figure 6 This is a top view of the contour cutting device of the present invention;

[0018] Figure 7 This is a schematic diagram of the flexible bonding roller of the present invention.

[0019] Explanation of reference numerals in the attached drawings: 10. Contour-following rubber cutting device; 11. Contour-following mechanism; 12. Rubber cutting knife; 13. Rotating mechanism; 14. First gear; 15. First motor; 16. Electrically controlled slide rail; 20. Robotic arm adhesive-feeding mechanism; 21. Robotic arm; 22. Adhesive-feeding tube; 30. Flexible bonding roller; 31. Spring bonding mechanism; 32. Support frame; 33. Roller; 40. Adaptive clamping device; 41. Gripper; 42. Telescopic slide rail; 50. Vertical lifting platform; 51. Sprocket; 52. Telescopic rod; 53. Platform; 54. Second motor; 55. Fixing pin; 60. Visual recognition device. Detailed Implementation

[0020] 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.

[0021] 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.

[0022] The following is in conjunction with the appendix Figure 1-7 The present invention will be described in further detail below.

[0023] This application discloses a rubber cutting device with contour-following rubber cutting and rubber liquid drawing functions, referring to... Figure 1 and Figure 2 The system includes a vertical lifting platform 50, on which a platform 53 is slidably mounted. The platform 53 is equipped with a contour tapping device 10 and a robotic arm adhesive dispensing mechanism 20. The vertical lifting platform 50 is equipped with two telescopic rods 52, the movable ends of which are connected to the platform 53. The vertical lifting platform 50 is also equipped with a first driving component that drives the platform 50 to move vertically. The platform 53 is equipped with a second driving component that drives the contour tapping device 10 to move horizontally. The vertical lifting platform is equipped with an adaptive clamping device 40 for fixing the device to the tree trunk.

[0024] Reference Figure 2 and Figure 3The adaptive clamping device 40 includes two adaptive grippers. One adaptive gripper is set on the vertical lifting platform 50 to fix the device at the corresponding position on the tree trunk, and the other is set on the platform 53 to constrain the platform to move vertically along the tree trunk. Each adaptive gripper includes two symmetrically arranged telescopic slide rails 42. Each telescopic slide rail 42 has a clamping slide rail on its moving end. The sliding direction of the moving end of the clamping slide rail is perpendicular to the sliding direction of the moving end of the telescopic slide rail 42. Each clamping slide rail has a gripper 41 on its moving end. The telescopic slide rails 42 and the clamping slide rails cooperate to realize the extension and retraction of the adaptive clamping device 40 to adapt to rubber trees of different diameters.

[0025] Reference Figure 2 and Figure 3 The robotic arm adhesive guiding mechanism 20 includes a robotic arm 21, which is mounted on a platform. The robotic arm 21 is equipped with an adhesive guiding pipe 22 at its execution end. The adhesive guiding pipe 22 is connected to a container and can guide the adhesive to flow to the collection container during the tapping process to prevent the adhesive from overflowing.

[0026] Reference Figure 2 and Figure 4 The first driving component includes two sprockets, which are respectively set at the upper and lower ends of the vertical lifting platform 50. The vertical lifting platform is also equipped with a second motor 54, which drives one of the sprockets to rotate. The two sprockets are connected by a chain 51. The platform is equipped with a fixing pin 55, which is connected to the chain 51. When the second motor 54 drives the sprocket to rotate back and forth, the chain 51 also drives the platform 53 to move back and forth in the vertical direction.

[0027] Reference Figure 5 and Figure 6The second driving component includes an electrically controlled slide rail 16, which is mounted on the platform 53. A contour-following rubber-cutting device 10 is mounted on the moving end of the electrically controlled slide rail 16. The electrically controlled slide rail 16 drives the contour-following rubber-cutting device 10 to reciprocate laterally. The contour-following rubber-cutting device 10 includes a blade base, which is mounted on the moving end of the electrically controlled slide rail 16. A rotating mechanism 13 is rotatably mounted on the blade base, and a first gear 14 is rotatably mounted on the blade base. A second gear is mounted on the rotating mechanism, and the first gear 14 meshes with the second gear. A first motor 15 is also mounted on the blade base, driving the first gear 14 to rotate. The first gear 14 drives the second gear to rotate, thereby rotating the rotating mechanism 13. A contour-following mechanism 11 is rotatably mounted on the rotating mechanism 13. The contour-following mechanism 11 includes a first crossbar, which is mounted on the contour-following mechanism 11. A second gear 14 is rotatably mounted on the first crossbar. The two crossbars form a Y-shaped structure. A spring is also provided on the first crossbar, and the other end of the spring is connected to the second crossbar. A rubber tapping knife 12 is provided on the second crossbar. When the rubber tapping knife 12 is in the tapping state, the second crossbar is subjected to a force in the opposite direction, causing it to approach the first crossbar. At this time, the spring is compressed and generates a restoring force to counteract this force in the opposite direction, ensuring stable tapping. A visual recognition device 60 is provided on the knife base. The visual recognition device 60 includes a camera. The visual recognition device 60 is used to detect the surface features of the rubber tree, the tapping position, and the tapping depth. The second motor controls the rotating mechanism to rotate according to the information collected by the visual recognition device 60, thereby changing the cutting angle of the rubber tapping knife. This realizes automatic adjustment of the tapping angle according to the curvature of the rubber tree surface, and real-time monitoring and optimization of the tapping trajectory. The vertical movement of the platform 53 and the lateral reciprocating motion of the electrically controlled slide rail 16 can realize the contour tapping device 10 along the spiral tapping trajectory of the rubber tree.

[0028] Reference Figure 7 The adaptive clamping device 40 is also equipped with a flexible fitting roller 30. The flexible fitting roller 30 includes a support frame 32. A spring fitting mechanism 31 is slidably arranged on the support frame 32. The spring fitting mechanism 31 includes an inverted V-shaped frame. The inverted V-shaped frame is slidably arranged on the support frame. Buffer springs are rotatably arranged at both ends of the inverted V-shaped frame. The other end of the buffer spring is rotatably arranged on the support frame 32. A roller 33 is rotatably arranged on the inverted V-shaped frame. The buffer springs counteract the reaction force generated along the trunk radially when rolling on the bark. Each adaptive gripper is equipped with two flexible fitting rollers 30, which are used to closely fit the bark surface when the contour cutting device moves up and down, so as to achieve smooth rolling.

[0029] 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 rubber-tapping device with contour-following rubber-tapping and rubber-lubricating liquid functions, characterized in that: The system includes a vertical lifting platform (50), on which a platform (53) is slidably mounted. The platform (53) is equipped with a contour-following rubber cutting device (10) and a robotic arm adhesive-drawing mechanism (20). The vertical lifting platform (50) is equipped with an adaptive clamping device (40). The contour-following rubber cutting device (10) includes a cutter base, on which a rotating mechanism (13) is rotatably mounted. The cutter base is equipped with a first motor (15) that drives the rotating mechanism (13) to rotate. The cutter base is equipped with a visual recognition device (60). The rotating mechanism (13) is controlled by the visual recognition device (60). 60) The collected bark surface feature information controls the rotation angle. A contouring mechanism (11) is rotatably mounted on the rotating mechanism (13). The contouring mechanism (11) includes a first crossbar, which is mounted on the contouring mechanism (11). A second crossbar is rotatably mounted on the first crossbar to form a Y-shaped structure. A spring is also mounted on the first crossbar, and the other end of the spring is connected to the second crossbar. A rubber tapping knife (12) is mounted on the second crossbar. A first driving component for vertically moving the driving platform (53) is also mounted on the vertical lifting platform (50). A component for horizontally moving the contouring rubber tapping device (10) is mounted on the platform (53). The second driving component includes an electrically controlled slide rail (16), which is mounted on the platform (53). The tool base is mounted on the moving end of the electrically controlled slide rail (16). The adaptive clamping device (40) includes two adaptive grippers, one of which is mounted on the vertical lifting platform (50) and the other on the platform (53). Each adaptive gripper includes two symmetrically arranged telescopic slide rails (42). A clamping slide rail is mounted on the moving end of each telescopic slide rail (42). The sliding direction of the moving end of the clamping slide rail is perpendicular to the sliding direction of the moving end of the telescopic slide rail (42). The moving end of the rail is provided with a gripper, and the adaptive clamping device (40) is also provided with a flexible fitting roller (30). The flexible fitting roller (30) includes a support frame (32). A spring fitting mechanism (31) is slidably provided on the support frame (32). The spring fitting mechanism (31) includes an inverted V-shaped frame. The inverted V-shaped frame is slidably provided on the support frame (32). Buffer springs are rotatably provided at both ends of the inverted V-shaped frame. The other end of the buffer spring is rotatably provided on the support frame (32). A roller (33) is rotatably provided on the inverted V-shaped frame. Each adaptive gripper is provided with two flexible fitting rollers (30).

2. The rubber-cutting device with contour-following rubber-cutting and rubber-drawing functions according to claim 1, characterized in that: The first driving component includes two sprockets (51), which are respectively located at the upper and lower ends of the vertical lifting platform (50). The vertical lifting platform (50) is also equipped with a second motor (54), which drives one of the sprockets (51) to rotate. The two sprockets (51) are connected by a chain. The platform (53) is equipped with a fixing pin (55), which is connected to the chain.

3. The rubber-cutting device with contour-following rubber-cutting and rubber-drawing functions according to claim 1, characterized in that: The robotic arm adhesive applicator (20) includes a robotic arm (21), which is mounted on a platform (53). The robotic arm (21) is equipped with an adhesive applicator pipe (22) at its execution end, and the adhesive applicator pipe (22) is connected to a container.

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