Glue forest rubber tapping equipment walking on basis of ground track and using method of glue forest rubber tapping equipment

Abstract

The embodiment of the invention provides a rubber forest rubber tapping device walking based on a ground rail and a using method thereof, and relates to the technical field of rubber tapping robots, the rubber forest rubber tapping device comprises a rail walking mechanism, a mounting seat is arranged on the rail walking mechanism, the rail walking mechanism comprises a support and a walking toothed rail, and the mounting seat moves along the walking toothed rail; a rubber tapping operation mechanism feeding device, a rubber tapping starting point height adjusting mechanism and a rubber tapping operation mechanism are mounted on the mounting seat, and the rubber tapping operation mechanism is used for executing rubber tapping operation; a feeding device of the rubber tapping operation mechanism is used for adjusting the horizontal distance from a rubber tree; the rubber tapping starting point height adjusting mechanism is used for driving the rubber tapping operation mechanism to ascend and descend. The rubber tapping operation mechanism comprises a circumferential walking device, an axial walking device and a rubber tapping tail end device, the circumferential walking device is used for driving the rubber tapping tail end device to move in the circumferential direction of the rubber tree, and the axial walking device is used for driving the rubber tapping tail end device to move in the axial direction of the rubber tree. The rubber tapping device has the effects of replacing worker operation and improving the rubber tapping efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rubber tapping robots, and in particular to a rubber tree tapping device based on ground track walking and a use method thereof. BACKGROUND

[0002] Natural rubber is an irreplaceable material and industrial raw material. Its unique high elasticity, high strength, wear resistance and excellent flexibility cannot be completely replaced by synthetic rubber. It has a core value for the development of key industries and the global economic pattern.

[0003] Traditional rubber tapping needs to be operated in the early morning every day, which is labor-intensive and requires high technology. Moreover, the working environment is high temperature and high humidity, and the incidence of occupational diseases is high, which leads to serious loss of young labor force, aging of rubber tapping team, and difficulty in finding people for the industry. At the same time, with the rise of labor costs, the cost of rubber tapping labor is increasing, which compresses the profit space of rubber farmers.

[0004] With the aging of rubber tapping workers, it is necessary to develop an automatic rubber tapping device to replace manual rubber tapping. The track design can realize stable movement and accurate positioning of the device in the rubber forest, without relying on manual operation or complex autonomous navigation, and can completely replace manual rubber tapping. This directly solves the core pain points of traditional rubber tapping, such as difficulty in recruiting and retaining workers, and breaks the dependence of the industry on an aging rubber tapping team, ensuring stable production capacity of natural rubber and alleviating the pressure of rising labor costs on rubber farmers' profits from the root. SUMMARY

[0005] To solve the above technical problems, the present application provides a rubber tree tapping device based on ground track walking.

[0006] The rubber tree tapping device based on ground track walking provided by the present application adopts the following technical scheme: A rubber tapping device based on a ground-mounted track includes a track-mounting mechanism installed in the rubber plantation. The track-mounting mechanism has a mounting base, and includes a support frame installed within the rubber plantation and a traveling gear rail mounted on the support frame. The mounting base moves along the traveling gear rail. The mounting base is equipped with a tapping operation mechanism feed device, a tapping start height adjustment mechanism, and a tapping operation mechanism. The tapping start height adjustment mechanism is mounted on the tapping operation mechanism feed device, and the tapping operation mechanism is mounted on the tapping start height adjustment mechanism and is used to perform tapping operations. The feeding device is used to drive the rubber tapping starting height adjustment mechanism and the rubber tapping operation mechanism to feed horizontally, so as to adjust the horizontal distance with the rubber tree; the rubber tapping starting height adjustment mechanism is used to drive the rubber tapping operation mechanism to move up and down, so as to align with the rubber tapping starting height; the rubber tapping operation mechanism includes a circumferential traveling device, an axial traveling device and a rubber tapping end device. The circumferential traveling device is used to drive the rubber tapping end device to move around the rubber tree circumferentially, and the axial traveling device is used to drive the rubber tapping end device to move along the rubber tree axially. The two work together to make the rubber tapping end device move along a spiral trajectory.

[0007] Furthermore, the circumferential traveling device includes a parallel circumferential traveling device and a lower circumferential traveling device, as well as a connecting frame connecting the circumferential and lower circumferential traveling devices. The circumferential and lower circumferential traveling devices include coaxial and open arc-shaped gear rings. The axial traveling device includes a first motor, an axial lead screw driven by the first motor, and an axial motion frame driven by the axial lead screw to perform lifting and lowering movements. The two ends of the axial lead screw are respectively provided with a circumferential transmission gear and a lower circumferential transmission gear. The circumferential and lower circumferential transmission gears mesh with the arc-shaped gear rings of the circumferential and lower circumferential traveling devices, respectively. The rubber cutting end device is provided on the lower circumferential traveling device. The circumferential and lower circumferential traveling devices are provided with limiting mechanisms to ensure that the first motor drives the axial motion frame to lift and lower while simultaneously rotating circumferentially around the arc-shaped gear ring.

[0008] Furthermore, both the circumferential walking device and the circumferential walking device include coaxial arc-shaped rods, and arc-shaped grooves are formed on the opposite end faces of the arc-shaped rods. The arc-shaped gear ring is integrally formed on the inner wall of the arc-shaped groove.

[0009] Furthermore, the limiting mechanism includes a limiting groove formed on the bottom wall of the two arc-shaped grooves and coaxial with the arc-shaped grooves. A light rod connecting the two limiting grooves is slidably disposed in the limiting groove. The light rod passes through the axial motion frame and is slidably connected to the axial motion frame. A limiting plate is connected to the light rod near the upper position. The first motor is mounted on the limiting plate.

[0010] Furthermore, the rubber-cutting end device includes an electric push rod and an end-contouring fitting device installed at the front end of the electric push rod. The end-contouring fitting device includes an end mounting block fixedly installed at the front end of the electric push rod. An end mounting plate that rotates in the horizontal direction is connected to the end mounting block via a rotating shaft. A pre-tension spring is connected to one side of the rotating shaft of the end mounting plate, and a rubber-cutting blade is connected to the other side of the rotating shaft. The other end of the pre-tension spring is connected to the end mounting block and pushes the end mounting plate to rotate around the rotating shaft. A contouring roller is rotatably connected to the side of the end mounting plate away from the pre-tension spring.

[0011] Furthermore, the rubber tapping starting point height adjustment mechanism includes a height adjustment motor, a vertically arranged axial transmission screw, and a depth camera for identifying the rubber tree tapping position. The height adjustment motor drives the axial transmission screw to rotate, and the axial transmission screw passes through the connecting frame and is threadedly connected to the connecting frame to drive the rubber tapping operation mechanism to rise and fall.

[0012] Furthermore, the rubber tapping mechanism feeding device includes a horizontal feed motor and a horizontal transmission screw mounted on a mounting base. The horizontal feed motor drives the horizontal transmission screw to rotate. A base is slidably mounted on the mounting base. The rubber tapping starting height adjustment mechanism is mounted on the base. The horizontal transmission screw passes through the base and is threadedly connected to the base to drive the rubber tapping starting height adjustment mechanism to move horizontally.

[0013] Furthermore, the track walking mechanism includes a geared track walking motor fixed on the mounting base, and a geared track walking gear driven by the geared track walking motor, wherein the geared track walking gear meshes with the walking gear.

[0014] Furthermore, the track-walking mechanism also includes follower rollers for rolling on the track.

[0015] In summary, this application includes at least one of the following beneficial technical effects: By combining components such as the rubber tapping operation mechanism, the rubber tapping starting point height adjustment mechanism, the rubber tapping operation mechanism feeding device, and the track walking mechanism, the rubber tapping equipment can achieve automatic walking, rubber tapping point position and posture adjustment, and automatic rubber tapping operation in the rubber forest. This can greatly reduce the dependence on skilled rubber tappers and solve the difficulties of low rubber production and high costs caused by poor working environment, labor shortage and other factors, which can greatly promote the development of the rubber industry. By arranging a ground track mechanism in the rubber plantation and utilizing the cooperation between gears and rails, the rubber tapping equipment can move orderly along the tapping track mechanism. This allows the rubber tapping equipment to shuttle between natural rubber trees in the rubber plantation, driving the tapping operation structure to move to each natural rubber tree and carry out automatic tapping operations. This replaces the current labor method that requires manual or trolley transportation, greatly reducing labor costs. The tapping position is adjusted by using a tapping starting height adjustment mechanism and a tapping operation mechanism feed device, so that the tapping operation mechanism can be aligned with the appropriate tapping point on the natural rubber tree. The distance between the tapping operation mechanism and the natural rubber tree can be adjusted by horizontal extension and retraction, and the height between the tapping operation mechanism and the natural rubber tree can be adjusted by axial lifting and lowering. The combination of multiple adjustment methods ensures the accuracy of tapping. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this application.

[0017] Figure 2 This is a schematic diagram of the track-walking mechanism of this application.

[0018] Figure 3 This is a schematic diagram of the feeding device of the rubber tapping mechanism in this application.

[0019] Figure 4 This is a front view of a key component of the rubber tapping operation in an embodiment of the present invention.

[0020] Figure 5 This is a side view of a key component of the rubber tapping operation in an embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram of the structure of the rubber tapping starting point height adjustment mechanism of this application.

[0022] Figure 7 This is a schematic diagram of the arc-shaped rod in an embodiment of this application.

[0023] Figure 8 This is a schematic diagram of the rubber tapping mechanism of this application.

[0024] Figure 9 This is a schematic diagram of the rubber tapping end device of this application.

[0025] Explanation of reference numerals in the attached drawings: 100, Rubber tapping starting point height adjustment mechanism; 200, Rubber tapping operation mechanism; 300, Feeding device of rubber tapping operation mechanism; 400, Track walking mechanism; 500, Rubber tree; 101, Height adjustment motor; 102, Depth camera; 103, Axial transmission screw; 201, Circumferential walking device; 202, First motor; 203, Driving gear; 204, Driven gear; 205, Axial screw; 206, Smooth rod; 207, Axial motion frame; 208, Electric push rod; 209, End contouring and bonding device; 210, Lower circumferential walking device; 211, Circumferential transmission gear; 212, Lower circumferential transmission gear; 3 01. Horizontal feed motor; 302. Horizontal transmission screw; 303. Height adjustment mechanism mounting base; 401. Mounting base; 402. Follower roller; 403. Gear travel motor; 404. Gear travel gear; 405. Travel gear; 500. Natural rubber tree; 209a. End mounting block; 209b. Preload spring; 209c. End mounting plate; 209d. Contouring roller; 209e. Rubber tapping tool; 6. Connecting frame; 7. Arc-shaped gear ring; 8. Limiting groove; 10. Rubber tapping seat; 11. Cutting knife; 12. Sliding groove; 13. Sliding block; 14. Rotating block; 15. Slot; 16. Slot; 17. Arc-shaped rod; 18. Arc-shaped groove. Detailed Implementation

[0026] 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.

[0027] 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.

[0028] The following is in conjunction with the appendix Figures 1-9 This application will be described in further detail. Example 1

[0029] This application discloses a rubber tapping device based on ground track walking, referring to... Figure 1 and Figure 2 The system includes a track-walking mechanism 400 installed in the rubber plantation. A mounting base 401 is slidably disposed on the track-walking mechanism 400. The track-walking mechanism 400 includes a support installed in the rubber plantation and a traveling toothed rail 405 installed on the support. The mounting base 401 is slidably disposed on the traveling toothed rail 405 and moves along the traveling toothed rail 405.

[0030] Reference Figure 1 and Figure 2 The mounting base 401 is equipped with a rubber tapping mechanism feeding device 300, a rubber tapping starting height adjustment mechanism 100, and a rubber tapping mechanism 200. The rubber tapping starting height adjustment mechanism 100 is mounted on the rubber tapping mechanism feeding device 300, and the rubber tapping mechanism 200 is mounted on the rubber tapping starting height adjustment mechanism 100 and is used to perform rubber tapping operations. The rubber tapping mechanism feeding device 300 is used to drive the rubber tapping starting height adjustment mechanism 100 and the rubber tapping mechanism 200 to feed horizontally, so as to adjust the horizontal distance with the rubber tree 500. The rubber tapping starting height adjustment mechanism 100 is used to drive the rubber tapping mechanism 200 to move up and down, so as to align with the rubber tapping starting height.

[0031] This equipment is also equipped with a control system to control the automatic and orderly operation of each mechanism. The rubber tapping starting height adjustment mechanism 100, the rubber tapping operation mechanism 200, the rubber tapping operation mechanism feeding device 300, and the track walking mechanism 400 are all connected to the controller. The controller controls the entire rubber tapping equipment to run on the ground toothed rail, perform lateral feeding and horizontal feeding, and other tasks, so that the rubber tapping equipment can complete the rubber tapping operation completely.

[0032] Reference Figure 2 , Figure 3 and Figure 4The rubber tapping mechanism feeding device 300 includes a horizontal feed motor 301 and a horizontal transmission screw 302 mounted on a mounting base 401. The horizontal feed motor 301 drives the horizontal transmission screw 302 to rotate. A base is provided on the mounting base 401, and the base slides along the width direction of the traveling toothed rail 405. The rubber tapping starting height adjustment mechanism 100 is provided on the base. The horizontal transmission screw 302 passes through the base and is threadedly connected to the base. The horizontal transmission screw 302 drives the rubber tapping starting height adjustment mechanism 100 to move horizontally. The track traveling mechanism 400 includes a toothed rail traveling motor 403 fixed on the mounting base 401 and a toothed rail traveling gear 404 driven by the toothed rail traveling motor 403. The toothed rail traveling gear 404 meshes with the traveling toothed rail 405 below the traveling toothed rail. A follower roller 402 is rotatably connected to the mounting base 401. The follower roller 402 abuts against the upper end face of the traveling toothed rail 405 and moves along the length direction of the traveling toothed rail 405.

[0033] Reference Figure 3 and Figure 4 The rubber tapping mechanism 200 includes a circumferential traveling device, an axial traveling device, and a rubber tapping end device. The circumferential traveling device is used to drive the rubber tapping end device to move circumferentially around the rubber tree 500, and the axial traveling device is used to drive the rubber tapping end device to move axially along the rubber tree 500. The two work together to make the rubber tapping end device move along a spiral trajectory.

[0034] Reference Figures 4 to 7 The circumferential traveling device includes a circumferential traveling device 201 and a circumferential traveling device 210 that are parallel to each other, and a connecting frame 6 connecting the circumferential traveling device 201 and the circumferential traveling device 210. Both the circumferential traveling device 201 and the circumferential traveling device 210 include coaxial arc-shaped rods 17. Arc-shaped grooves 18 are formed on the opposite end faces of the arc-shaped rods 17. An arc-shaped toothed ring 7 with the same shape as the arc-shaped groove 18 is integrally formed on the inner wall of the arc-shaped groove 18. The axial traveling device includes a first motor 202, an axial lead screw 205 driven by the first motor 202, and an axial motion frame 207 driven by the axial lead screw 205 and capable of lifting and lowering. The axial lead screw 205... A vertically mounted, threaded drive rod 205 is threaded through and connected to the axial motion frame 207. Both ends of the axial screw 205 are coaxially fixed with a circumferential drive gear 211 and a lower circumferential drive gear 212. The circumferential drive gear 211 and the lower circumferential drive gear 212 mesh with the arc-shaped gear ring 7 of the circumferential traveling device 201 and the lower circumferential traveling device 210, respectively. A rubber-cutting end device is mounted on the lower circumferential traveling device 210. Limiting mechanisms are provided on the circumferential traveling device 201 and the lower circumferential traveling device 210. These limiting mechanisms ensure that the first motor 202 drives the axial motion frame 207 to move up and down while simultaneously rotating normally around the arc-shaped gear ring 7.

[0035] Reference Figure 5 ,Figure 6 and Figure 7 The limiting mechanism includes limiting grooves 8 formed on the bottom walls of two arc-shaped grooves 18. The limiting grooves 8 are coaxial with the arc-shaped grooves 18. A smooth rod 206 is slidably arranged in the limiting grooves 8. The smooth rod 206 connects the two limiting grooves 8 and prevents the smooth rod 206 from moving radially along the limiting grooves 8 while rotating circumferentially in the limiting grooves 8. The smooth rod 206 passes through the axial motion frame 207 and is slidably connected to the axial motion frame 207. A limiting plate is connected to the smooth rod 206 near the upper position. A first motor 202 is mounted on the limiting plate. A drive gear 203 is coaxially fixed on the output shaft of the first motor 202. The drive gear 203 is coaxially fixed on the axial lead screw 205. A driven gear 204 that meshes with the drive gear 203 is coaxially fixed on the axial lead screw 205.

[0036] The first motor 202 drives the drive gear 203 to rotate, which in turn drives the axial screw 205 to rotate via the driven gear 204. The axial screw 205 drives the circumferential transmission gear 211 and the lower circumferential transmission gear 212 to rotate. Under the limiting action of the smooth rod 206, the circumferential traveling device drives the rubber tapping end device to rotate smoothly around the arc groove. At the same time, the axial screw 205 is threadedly connected to the axial motion frame 207. Under the action of the smooth rod 206, the rubber tapping end device is ensured to move smoothly in the vertical direction and form a spiral groove on the rubber tree 500.

[0037] Reference Figure 6 , Figure 7 and Figure 8 The rubber tapping end device includes an electric push rod 208 and an end contouring and bonding device 209 installed at the front end of the electric push rod 208. The end contouring and bonding device 209 includes an end mounting block 209a fixedly installed at the front end of the electric push rod 208. An end mounting plate 209c that rotates in the horizontal direction is connected to the end mounting block 209a via a rotating shaft. A pre-tension spring 209b is connected to one side of the rotating shaft of the end mounting plate 209c, and a rubber tapping blade 209e is connected to the other side of the rotating shaft. One end of the pre-tension spring 209b is fixed to the end mounting plate 209c, and the other end of the pre-tension spring is connected to the end mounting block 209a and pushes the end mounting plate 209c to rotate around the rotating shaft. A contouring roller 209d is rotatably connected to the side of the end mounting plate 209c away from the pre-tension spring 209b.

[0038] During operation, the electric push rod 208 drives the end contouring and bonding device 209 to feed horizontally. When the contouring roller 209d contacts the surface of the rubber tree 500, the feed continues. The end mounting plate 209c rotates inward through the rotating shaft, while simultaneously compressing the pre-tension spring 209b, so that the rubber tapping tool 209e is aligned with the starting point of the tapping. After that, the electric push rod 208 stops working, and the pre-tension spring 209b provides pre-tension force, so that the rubber tapping tool 209e is in close contact with the starting point of the tapping, while the contouring roller 209d is in close contact with the natural rubber tree 500. Through the rotation of the first motor 202, the circumferential transmission gear 211 and the lower circumferential transmission gear 212 are driven to move circumferentially along the circumferential traveling device 201 and the lower circumferential traveling device 210, thereby driving the axial motion frame 207 to move circumferentially.

[0039] Reference Figure 4 and Figure 5 The rubber tapping starting point height adjustment mechanism 100 includes a height adjustment motor 101, a vertically arranged axial transmission screw 103, and a depth camera 102 for identifying the tapping position of the rubber tree 500. The height adjustment motor 101 drives the axial transmission screw 103 to rotate. The axial transmission screw 103 passes through the connecting frame 6 and is threadedly connected to the connecting frame 6 to drive the rubber tapping operation mechanism 200 to rise and fall. Example 2

[0040] Reference Figure 8 and Figure 9 The difference from Embodiment 1 is that the rubber tapping tool 209e includes a rubber tapping base 10 fixedly installed on the end mounting plate 209c and a cutter 11 rotatably connected to the rubber tapping base 10. The cutter 11 penetrates the mounting plate, and a rotation space is reserved between the upper and lower parts of the mounting plate for the cutter 11 to rotate at a certain angle. A sliding groove 12 is provided on the rubber tapping base 10, and a sliding block 13 is slidably arranged in the sliding groove 12. A rotating block 14 is rotatably connected to the sliding block 13, and a torsion spring is fixed on the sliding block 13 to connect the rotating block 14. The torsion spring causes the rotating block 14 to return to the initial state. A locking block 16 is fixed on the cutter 11, and a locking groove 15 is provided on the rotating block 14 to engage the locking block 16, thereby facilitating the installation and removal of the cutter 11. The locking block 16 is a magnetic block, and a magnet for attracting the locking block 16 is fixed in the locking groove 15.

[0041] The beneficial effects of the above structure include: 1. It ensures consistent tapping depth and adapts to the irregular contours of the tree trunk surface.

[0042] Principle Analysis: When a traditional rigidly mounted tapper 11 encounters a burl, protrusion, or depression, it either cuts too deeply, damaging the cambium layer (commonly known as "tree injury"), or cuts too shallowly, affecting gum production. This design, through "rotating the tapper 11 connected to the tapping base 10" and "providing the tapper 11 with a certain angle of rotation," makes the tapper 11 a "floating head." When the contour roller 209d rolls along the trunk outline, the tapper 11 can make slight up-and-down pitch movements, ensuring that the blade tip always contacts the bark surface at the optimal angle and pressure, thereby achieving a stable and uniform cutting depth.

[0043] 2. Effectively prevents damage to tools and equipment, improves system reliability, and can automatically resume operation after obstacles are overcome.

[0044] Principle Analysis: Its overload protection mechanism is achieved through the linkage structure of "sliding block 13, rotating block 14, and locking block 16": Normal state: Under the action of the torsion spring, the rotating block 14 is kept in a fixed "starting state", and the slot 15 on it is tightly locked with the locking block 16 on the cutter 11, so that the power can be effectively transmitted and the cutter 11 can cut normally.

[0045] Obstacle Encounter: When the cutter 11 suddenly encounters a large, hard lump, or foreign object that it cannot cut through, the resistance increases sharply. The excessive resistance forces the locking block 16 to overcome the torque of the torsion spring, causing the rotating block 14 to rotate. Once rotated, the locking relationship between the locking groove 15 and the locking block 16 is released, and the cutter 11 will immediately "disengage" from the drive mechanism (similar to clutch slippage), thus preventing the cutter 11 from chipping or breaking.

[0046] Automatic Reset: After the cutter 11 passes over the obstacle, the abnormal resistance acting on the cutter head disappears. At this time, the tightened torsion spring releases energy, automatically pushing the rotating block 14 back to its initial position, causing the slot 15 to re-engage the locking block 16, and the cutter 11 to reset. Normal rubber cutting can continue without manual intervention. This greatly improves the unmanned operation capability of the equipment.

[0047] 3. Improve tapping quality: The "floating" design ensures consistent and smooth tapping depth, which is beneficial for latex secretion and collection, thereby increasing latex yield and quality.

[0048] Enhanced equipment durability: Overload protection mechanisms isolate sudden high loads from the precision transmission system (such as motors, lead screws, etc.), significantly reducing equipment failure rates and maintenance costs.

[0049] Enhancing automation: Automatic reset is key to achieving fully automated cyclic operation. If manual intervention is required every time the tool jams, the equipment cannot operate continuously.

[0050] This application also discloses a rubber tapping method using the above-mentioned rubber tapping equipment, comprising the following steps: S1. Equipment movement and global positioning steps: In this initial step, the operator issues work commands through the control system. The track-walking mechanism 400 begins operation, with the rack-and-gear motor 403 driving the rack-and-gear 404, which meshes with the ground-based rack-and-gear 405 laid in the forest, moving the entire equipment platform and all components mounted on it along the predetermined track. The equipment continues to move until the rubber tapping system, supported by the mounting base 401, reaches the preset working position beside the target rubber tree 500, preparing for subsequent precision operations.

[0051] S2. Steps for pre-tapping preparation and precise starting point calibration: After the equipment has docked stably, it enters the fine positioning stage. This stage includes two coordinated sub-processes: First, the horizontal distance is adjusted. The rubber tapping mechanism feed device 300 is started, and the horizontal feed motor 301 drives the horizontal transmission screw 302 to rotate, pushing the base and the entire rubber tapping mechanism 200 to move forward or backward horizontally. Based on the feedback from the vision sensor, the distance between the mechanism and the trunk of the rubber tree 500 is adjusted to the optimal working range.

[0052] Simultaneously, the starting height of the tapping process is determined. The tapping starting height adjustment mechanism 100 begins operation, and the height adjustment motor 101 drives the vertically arranged axial transmission screw 103 to rotate, causing the connecting frame 6 threaded to it and the tapping operation mechanism 200 fixed to it to move up and down. Through the integrated depth camera 102 scanning and identifying the tree trunk surface, the system accurately aligns the tapping blade 209e in the tapping end device with the historical tapping surface or the preset tapping starting point.

[0053] S3. Perform the bidirectional spiral rubber tapping operation: This is the core step in performing the cutting. After the starting point is positioned, the rubber tapping mechanism 200 starts according to the predetermined program and performs cutting in two directions sequentially: First, a first-direction cut is performed. The system controls the circumferential and axial travel devices to work together, driving the tapping end device to adhere closely to the tree trunk surface and move diagonally downwards along a predetermined spiral direction. During this process, the electric push rod 208 extends, and the end contouring fitting device 209, under the action of the pre-tension spring 209b, adapts to the irregular contour of the tree trunk through the contouring roller 209d, ensuring that the tapping blade 209e can cut into the bark at a constant depth and angle, forming a smooth, continuous diagonally downward cut line.

[0054] The second-direction cut is then executed. After the first-direction cut reaches its predetermined endpoint, the tapper 11 detaches from the bark and moves downwards a short distance before re-engaging with the bark, at which point the equipment reverses direction. The circumferential and axial travel devices change direction, driving the tapping end device along a spiral path completely opposite to the first direction, moving obliquely upwards. During this process, the tapping blade 209e continues to work, cutting a second obliquely upward-sloping line adjacent to the first cut line, together forming a complete tapping area.

[0055] And repeat the first direction cutting and the second direction cutting as described above.

[0056] S4. Operation completion, tool retraction, and mechanism reset steps: After all the tapping work on the current rubber tree 500 is completed, the system performs a finishing operation. The electric push rod 208 of the tapping end device retracts, causing the tapping blade 209e to detach from the tree trunk surface, avoiding damage. Subsequently, the tapping start height adjustment mechanism 100 and the tapping operation mechanism feed device 300 act in sequence, driving the tapping operation mechanism 200 to descend and retreat, returning to the safe storage position in the middle of the equipment, clearing obstacles for equipment transfer.

[0057] S5. Equipment Transfer and Cyclic Operation Procedures: After the reset is completed, the control system restarts the track walking mechanism 400, driving the entire equipment to move along the track to the next target rubber tree 500 in the work sequence. Once the new work station is reached, the system automatically repeats the entire process from step S2 to step S4, namely "precise calibration, bidirectional tapping, and resetting the cutter", thereby realizing continuous, automated, and batch tapping operations on the entire rubber plantation's rubber trees 500.

[0058] S6. Steps for completing all tasks and automatically resetting: Once all 500 planned rubber trees have been tapped, the equipment will automatically stop its operation cycle. The control system can instruct the equipment to return along the track to the starting point, charging station, or designated maintenance area, enter standby mode, report the task completion status, and await the next operation instruction.

[0059] 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 based on ground track, characterized in that: The system includes a track-walking mechanism (400) installed in a rubber plantation. The track-walking mechanism (400) has a mounting base (401) on it. The track-walking mechanism (400) includes a support frame installed within the rubber plantation and a traveling gear (405) mounted on the support frame. The mounting base (401) moves along the traveling gear (405). The mounting base (401) is equipped with a rubber tapping operation feeding device (300), a rubber tapping starting height adjustment mechanism (100), and a rubber tapping operation mechanism (200). The rubber tapping starting height adjustment mechanism (100) is mounted on the rubber tapping operation feeding device (300), and the rubber tapping operation mechanism (200) is mounted on the rubber tapping starting height adjustment mechanism (100) and used to perform rubber tapping operations. The rubber tapping mechanism feeding device (300) is used to drive the rubber tapping starting height adjustment mechanism (100) and the rubber tapping mechanism (200) to feed horizontally, so as to adjust the horizontal distance with the rubber tree (500); the rubber tapping starting height adjustment mechanism (100) is used to drive the rubber tapping mechanism (200) to move up and down, so as to align with the rubber tapping starting height; the rubber tapping mechanism (200) includes a circumferential walking device, an axial walking device and a rubber tapping end device. The circumferential walking device is used to drive the rubber tapping end device to move circumferentially around the rubber tree (500), and the axial walking device is used to drive the rubber tapping end device to move axially along the rubber tree (500). The two work together to make the rubber tapping end device move along a spiral trajectory.

2. The rubber tapping equipment based on ground track as described in claim 1, characterized in that: The circumferential traveling device includes a parallel circumferential traveling device (201) and a lower circumferential traveling device (210), and a connecting frame (6) connecting the circumferential traveling device (201) and the lower circumferential traveling device (210). The circumferential traveling device (201) and the lower circumferential traveling device (210) include coaxial and open arc-shaped gear rings (7). The axial traveling device includes a first motor (202), an axial lead screw (205) driven by the first motor (202), and an axial motion frame (207) driven by the axial lead screw (205) and performing lifting and lowering movements. The two ends of 205 are respectively provided with a circumferential transmission gear (211) and a lower circumferential transmission gear (212). The circumferential transmission gear (211) and the lower circumferential transmission gear (212) respectively mesh with the arc-shaped gear ring (7) of the circumferential walking device (201) and the lower circumferential walking device (210). The rubber cutting end device is provided on the lower circumferential walking device (210). The circumferential walking device (201) and the lower circumferential walking device (210) are provided with a limiting mechanism to ensure that the first motor (202) drives the axial motion frame (207) to move up and down while rotating around the arc-shaped gear ring (7).

3. The rubber tapping equipment based on ground track as described in claim 2, characterized in that: Both the circumferential walking device (201) and the circumferential walking device (210) include coaxial arc rods (17), and arc grooves (18) are opened on the opposite end faces of the arc rods (17). The arc toothed ring (7) is integrally formed on the inner wall of the arc groove (18).

4. The rubber tapping equipment based on ground track as described in claim 3, characterized in that: The limiting mechanism includes a limiting groove (8) formed on the bottom wall of the two arc-shaped grooves (18) and coaxial with the arc-shaped grooves (18). A light rod (206) connecting the two limiting grooves (8) is slidably arranged in the limiting groove (8). The light rod (206) passes through the axial motion frame (207) and is slidably connected to the axial motion frame (207). A limiting plate is connected to the light rod (206) near the upper position. The first motor (202) is mounted on the limiting plate.

5. A rubber tapping device based on ground track as described in claim 4, characterized in that: The rubber-cutting end device includes an electric push rod (208) and an end-contouring fitting device (209) installed at the front end of the electric push rod (208). The end-contouring fitting device (209) includes an end mounting block (209a) fixedly installed at the front end of the electric push rod (208). An end mounting plate (209c) that rotates in the horizontal direction is connected to the end mounting block (209a) via a rotating shaft. A pre-tension spring (209b) is connected to one side of the rotating shaft of the end mounting plate (209c), and a rubber-cutting blade (209e) is connected to the other side of the rotating shaft. The other end of the pre-tension spring (209b) is connected to the end mounting block (209a) and pushes the end mounting plate (209c) to rotate around the rotating shaft. A contouring roller (209d) is rotatably connected to the side of the end mounting plate (209c) away from the pre-tension spring (209b).

6. A rubber tapping device based on a ground track as described in claim 5, characterized in that: The rubber tapping starting point height adjustment mechanism (100) includes a height adjustment motor (101), a vertically arranged axial transmission screw (103), and a depth camera (102) for identifying the tapping position of the rubber tree (500). The height adjustment motor (101) drives the axial transmission screw (103) to rotate. The axial transmission screw (103) passes through the connecting frame (6) and is threadedly connected to the connecting frame (6) to drive the rubber tapping operation mechanism (200) to rise and fall.

7. A rubber tapping device based on a ground track as described in claim 6, characterized in that: The rubber tapping mechanism feeding device (300) includes a horizontal feed motor (301) and a horizontal transmission screw (302) mounted on a mounting base (401). The horizontal feed motor (301) drives the horizontal transmission screw (302) to rotate. A base is slidably mounted on the mounting base (401). The rubber tapping starting height adjustment mechanism (100) is mounted on the base. The horizontal transmission screw (302) passes through the base and is threadedly connected to the base to drive the rubber tapping starting height adjustment mechanism (100) to move horizontally.

8. A rubber tapping device based on a ground track as described in claim 1, characterized in that: The track walking mechanism (400) includes a geared track walking motor (403) fixed on the mounting base (401) and a geared track walking gear (404) driven by the geared track walking motor (403), the geared track walking gear (404) meshing with the walking gear (405); the track walking mechanism (400) also includes a follower roller (402) for rolling on the walking gear (405).

9. A rubber tapping device based on a ground track as described in claim 5, characterized in that: The rubber tapping tool (209e) includes a rubber tapping base (10) fixedly mounted on an end mounting plate (209c) and a cutter (11) rotatably connected to the rubber tapping base (10). The cutter (11) passes through the end mounting plate (209c) and a rotation space is reserved between the cutter (11) and the end mounting plate (209c) for the cutter (11) to rotate up and down at a certain angle. A sliding groove (12) is provided on the rubber tapping base (10). A sliding block (13) is slidably arranged in the sliding groove (12). A rotating block (14) is rotatably connected to the sliding block (13). A torsion spring is fixed on the sliding block (13) to connect the rotating block (14) and return the rotating block (14) to the initial state. A locking block (16) is fixed on the cutter (11). A locking groove (15) is provided on the rotating block (14) to engage the locking block (16).

10. A rubber tapping method using any one of the rubber tapping devices described in 1-9 above, characterized in that, Includes the following steps; S1, Track walking positioning: Control the track walking mechanism (400) to move along the walking toothed track (405) so that the mounting seat (401) moves to the side of the rubber tree (500) to be tapped; S2, Initial position adjustment: Control the rubber tapping operation mechanism feed device (300) to drive the rubber tapping operation mechanism (200) to move horizontally, so as to adjust its horizontal distance from the trunk of the rubber tree (500); at the same time, control the rubber tapping starting point height adjustment mechanism (100) to drive the rubber tapping operation mechanism (200) to move up and down, so that it is aligned with the rubber tapping starting point height; S3, First direction cutting: Control the circumferential walking device and the axial walking device of the rubber tapping operation mechanism (200) to work together to drive the rubber tapping end device to make a downward spiral cutting motion along the trunk of the rubber tree (500) to complete the first direction of the rubber tapping path. S4. Second direction cutting: Control the circumferential walking device and the axial walking device of the rubber tapping operation mechanism (200) to work together to drive the rubber tapping end device to perform an upward spiral cutting motion in the opposite direction to the first direction, thus completing the rubber tapping path in the second direction.

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