Intelligent harvesting rubber machine robot based on composite walking mechanism

Abstract

The intelligent tapping rubber collecting robot based on the composite walking mechanism comprises a main body, a foot wheel moving mechanism, a multi-degree-of-freedom mechanical arm and a rubber tapping cutter, the foot wheel moving mechanism comprises a mounting seat, a sleeve, a foot motor, a rotating shaft, a foot, a shaft rod, a walking wheel and a synchronous mechanism, the foot wheel moving mechanism can provide two walking modes for the main body, in the four-foot walking mode, the synchronous mechanism makes the sleeve and the rotating shaft move synchronously, the foot motor drives the rotating shaft to reciprocate, the swing of the foot on the outer wall of the sleeve is realized, four-foot walking can be realized, and the four-foot walking is suitable for rugged terrain, when it is needed to switch to four-wheel walking mode, the sleeve is rotated upward to make the foot be accommodated, the walking wheel is in contact with the ground, the synchronous mechanism cuts off the synchronization of the sleeve and the rotating shaft, the foot motor only drives the walking wheel to rotate through the rotating shaft, four-wheel walking is realized, and the four-wheel walking is suitable for the terrain with high soil viscosity, and the adaptability of the robot to the terrain can be improved through the provision of multiple walking modes.

Description

Technical Field

[0001] This invention relates to the field of smart agriculture technology, and in particular to an intelligent rubber harvesting robot based on a composite walking mechanism. Background Technology

[0002] Rubber tapping robots are rubber harvesting equipment that integrates mechanization, automation, and intelligence. They belong to the field of intelligent agricultural machinery. Currently, rubber tapping robots can be divided into three categories according to their structural form: wheeled, tracked, and ground-rail. Due to the rugged terrain of natural rubber planting areas in my country, which are mainly distributed in mountains, plateaus, and hills, conventional rubber tapping robots face certain obstacles in their operation and movement. At the same time, wheeled and tracked robots have low chassis, making it difficult for them to move flexibly in rubber forests with mountainous terrain, and their ability to overcome obstacles is limited. Ground-rail robots require the installation of track mechanisms in the rubber plantation, but fallen branches in the rubber plantation can easily damage the tracks or affect the robot's movement. In addition, the cost of laying tracks is high, and daily maintenance is required, which rubber farmers are unwilling to spend on the high costs of track laying and maintenance. Summary of the Invention

[0003] In view of this, the present invention proposes an intelligent rubber harvesting robot based on a composite walking mechanism, which can switch between two walking modes and select functions according to different terrains, thereby improving the adaptability of the rubber tapping robot to terrain.

[0004] The technical solution of this invention is implemented as follows: The intelligent rubber harvesting robot based on a composite walking mechanism includes a main body, a wheeled movement mechanism, a multi-degree-of-freedom robotic arm, and a rubber tapping cutter. The wheeled movement mechanism is located on the side wall of the main body, and the multi-degree-of-freedom robotic arm is located on the upper surface of the main body, with its end connected to the rubber tapping cutter. The wheeled movement mechanism includes a mounting base, a sleeve, a foot motor, a rotating shaft, feet, a shaft, walking wheels, and a synchronization mechanism. The mounting base is located on the side wall of the main body, and the sleeve is rotatably mounted on one side of the mounting base. The foot motor is embedded in the mounting base, and its output shaft extends into the sleeve and connects to the rotating shaft. The feet are located on the bottom surface of the outer wall of the sleeve. One end of the shaft extends into the sleeve and connects to the rotating shaft, and the other end connects to the walking wheel. The synchronization mechanism is located inside the sleeve to achieve synchronous movement between the sleeve and the rotating shaft.

[0005] Preferably, the caster wheel movement mechanism further includes an electric turntable, which is disposed on the side wall of the main body with its rotation surface facing away from the main body, and the mounting base is disposed on the rotation surface of the electric turntable.

[0006] Preferably, the foot includes a large foot frame, a small foot frame, a first spherical universal joint, and a foot pad. The top of the large foot frame is connected to the bottom surface of the outer wall of the sleeve, and its bottom is rotatably connected to the top of the small foot frame. The bottom of the small foot frame is connected to the first spherical universal joint, and the foot pad is disposed at the bottom of the first spherical universal joint.

[0007] Preferably, the multi-degree-of-freedom robotic arm includes a base, a support frame, an upper arm, an arm sleeve, a lower arm, and a second spherical universal joint. The base is disposed on the top surface of the main body, the support frame is disposed on the upper surface of the base, the bottom end of the upper arm is hinged to the support frame, and its top end is hinged to one end of the lower arm through the arm sleeve. The other end of the lower arm is connected to the second spherical universal joint, and the rubber cutter is disposed on the second spherical universal joint.

[0008] Preferably, the rubber cutting device includes a connecting rod, a fixed base, a cutting motor, a cutting blade holder, a scraper, and a cutting blade. One end of the connecting rod is connected to a second ball joint, and the other end is connected to the side wall of the fixed base. The cutting motor is located on the bottom surface of the fixed base, and its output shaft passes through the top surface of the fixed base and is connected to the cutting blade holder. The scraper and the cutting blade are arranged opposite each other on both sides of the cutting blade holder.

[0009] Preferably, the device also includes a ring body and a positioning identification plate. The ring body is disposed on the rubber tree, and the positioning identification plate is disposed on the outer wall of the ring body. The rubber tapping cutter also includes a sensor group disposed on the top surface of the connecting rod, which includes a visual image sensor and a laser position sensor. The sensor group is used to identify the positioning identification plate.

[0010] Preferably, the device further includes a bowl holder, a ring, a rubber bowl, a first magnet, and a second magnet. The bowl holder is mounted on the rubber tree, the ring is mounted on the outer wall of the bowl holder, and the rubber bowl is positioned inside the ring with its opening facing away from the rubber tree. Its outer wall is rotatably connected to the inner wall of the ring. The first magnet is mounted on the inner wall of the ring, and the second magnet is mounted on the outer wall of the rubber bowl. The first magnet is located on the rotation path of the second magnet. The rubber tapper also includes a magnetic sheet mounted on the bottom surface of the connecting rod. The top surface of the first magnet has the opposite polarity to the side of the second magnet facing the rubber tree, and the side of the second magnet away from the rubber tree has the same polarity as the side of the magnetic sheet facing the rubber tree.

[0011] Preferably, the rubber tapping cutter further includes a telescopic rod, a flexible positioning frame, and an adjusting spring. One end of the telescopic rod extends into the fixed seat, and the other end is connected to the side wall of the flexible positioning frame. The adjusting spring is sleeved on the telescopic rod, and its two ends abut against the side wall of the flexible positioning frame and the side wall of the fixed seat.

[0012] Preferably, the synchronization mechanism includes a synchronization disc, an electric actuator, an insertion rod, a transmitting tube, and a receiving tube. The synchronization disc is disposed inside the sleeve, the rotating shaft passes through the synchronization plate, the electric actuator is embedded in the outer circumferential surface of the synchronization disc, its output shaft is connected to one end of the insertion rod, the transmitting tube is disposed at the other end of the insertion rod, a positioning groove is provided on the inner wall of the sleeve, the receiving tube is disposed in the positioning groove, and the electric actuator drives the insertion rod to extend into the positioning groove.

[0013] Preferably, the synchronization mechanism further includes a metal T-shaped rod and an electromagnet. The side wall of the mounting base is provided with a T-shaped annular groove. The metal T-shaped rod is disposed on the end face of the sleeve and extends into the T-shaped annular groove. The electromagnet is disposed inside the mounting base and located on one side of the T-shaped annular groove.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This invention relates to an intelligent rubber harvesting robot based on a composite walking mechanism. A foot-wheel movement mechanism is installed on the side wall of the main body. Foot motors drive the axle and walking wheels to rotate via a rotating shaft. Feet are located on the outer wall of a sleeve, rotating with the sleeve. A synchronization mechanism allows the sleeve and rotating shaft to move synchronously. Therefore, the forward and reverse rotation of the foot motors controls the forward and backward rotation of the feet, enabling the main body to walk on its own in the rubber forest, suitable for rugged terrain. Furthermore, after continuous unidirectional rotation of the foot motors, the feet can be rotated and retracted upwards, at which point the walking wheels contact the bottom surface. Simultaneously, the synchronization mechanism removes the synchronization between the sleeve and rotating shaft. When the foot motors are operating, they only drive the rotating shaft, which in turn drives the walking wheels via the axle, allowing the main body to walk on wheels in the rubber forest, suitable for roads with high soil viscosity. The foot-wheel movement mechanism improves the robot's adaptability to terrain, facilitating the use of a multi-degree-of-freedom robotic arm to drive a rubber tapper to tap rubber trees. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only preferred embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a structural schematic diagram of the intelligent rubber harvesting robot based on a composite walking mechanism according to the present invention. Figure 2 This is a schematic diagram of the connection structure between the foot wheel movement mechanism and the main body of the intelligent rubber harvesting robot based on the composite walking mechanism of the present invention. Figure 3 This is a schematic diagram of the quadrupedal walking mode of the intelligent rubber harvesting robot based on a composite walking mechanism according to the present invention. Figure 4 This is a schematic diagram of the four-wheel walking mode of the intelligent rubber harvesting robot based on a composite walking mechanism according to the present invention; Figure 5 This is a schematic diagram of the connection structure between the multi-degree-of-freedom robotic arm and the rubber tapping cutter of the intelligent rubber harvesting robot based on the composite walking mechanism of the present invention. Figure 6 This is a schematic diagram of the rubber tapping cutter of the intelligent rubber harvesting robot based on a composite walking mechanism according to the present invention. Figure 7 This is a schematic diagram of the intelligent rubber harvesting robot based on a composite walking mechanism for positioning rubber trees according to the present invention. Figure 8 This is a schematic diagram of the intelligent rubber harvesting robot based on a composite walking mechanism of the present invention, showing the process of lowering the rubber bowl. Figure 9 This is a schematic diagram of the connection structure between the synchronization mechanism and the sleeve of the intelligent rubber harvesting robot based on the composite walking mechanism of the present invention. In the diagram: 1. Main body; 2. Caster wheel movement mechanism; 3. Multi-degree-of-freedom robotic arm; 4. Rubber cutting tool; 5. Mounting base; 6. Sleeve; 7. Foot motor; 8. Rotary shaft; 9. Foot; 10. Axle; 11. Walking wheel; 12. Electric turntable; 13. Large foot frame; 14. Small foot frame; 15. First spherical universal joint; 16. Foot pad; 17. Base; 18. Support frame; 19. Upper arm; 20. Arm sleeve; 21. Forearm; 22. Second spherical universal joint; 23. Connecting rod; 24. Fixed base; 25. Cutting motor. 26. Cutting blade holder; 27. Scraper; 28. Cutting blade; 29. ​​Ring; 30. Positioning identification piece; 31. Sensor group; 32. Bowl holder; 33. Ring; 34. Glue bowl; 35. First magnet; 36. Second magnet; 37. Magnetic sheet; 38. Telescopic rod; 39. Flexible positioning frame; 40. Adjusting spring; 41. Synchronous disc; 42. Electric push rod; 43. Insertion rod; 44. Transmitting tube; 45. Receiving tube; 46. Positioning groove; 47. Metal T-shaped rod; 48. Electromagnet; 49. T-shaped ring groove. Detailed Implementation

[0017] To better understand the technical content of this invention, a specific embodiment is provided below, and the invention will be further described in conjunction with the accompanying drawings.

[0018] See Figures 1 to 9The present invention provides an intelligent rubber harvesting robot based on a composite walking mechanism, comprising a main body 1, a foot-wheel movement mechanism 2, a multi-degree-of-freedom robotic arm 3, and a rubber tapping cutter 4. The foot-wheel movement mechanism 2 is disposed on the side wall of the main body 1, and the multi-degree-of-freedom robotic arm 3 is disposed on the upper surface of the main body 1, with its end connected to the rubber tapping cutter 4. The foot-wheel movement mechanism 2 includes a mounting base 5, a sleeve 6, a foot motor 7, a rotating shaft 8, a foot 9, a shaft 10, a walking wheel 11, and a synchronization mechanism. The mounting base 5 is disposed on the side wall of the main body 1, the sleeve 6 is rotatably disposed on one side of the mounting base 5, the foot motor 7 is embedded in the mounting base 5, and its output shaft extends into the sleeve 6 and is connected to the rotating shaft 8. The foot 9 is disposed on the bottom surface of the outer wall of the sleeve 6, one end of the shaft 10 extends into the sleeve 6 and is connected to the rotating shaft 8, and the other end is connected to the walking wheel 11. The synchronization mechanism is disposed inside the sleeve 6 to realize the synchronous movement of the sleeve 6 and the rotating shaft 8.

[0019] The intelligent rubber harvesting robot based on the composite walking mechanism of the present invention enables the main body 1 to walk through the foot wheel moving mechanism 2. A multi-degree-of-freedom robotic arm 3 is set on the top of the main body 1. The multi-degree-of-freedom robotic arm 3 can drive the rubber tapping cutter 4 to perform multi-angle posture adjustment. After moving to one side of the rubber tree, the rubber tapping cutter 4 can cut the surface of the rubber tree. The latex at the cut can flow into the rubber bowl 34, realizing the rubber harvesting process.

[0020] The foot-wheel movement mechanism 2 provides two movement modes for the main body 1: quadrupedal walking mode and four-wheel walking mode. A mounting base 5 is provided on the side wall of the main body 1. One side of the mounting base 5 is a rotatable sleeve 6. The feet 9 are mounted on the outer wall of the sleeve 6 and can rotate with the sleeve 6. A foot motor 7 is embedded in the mounting base 5. Its output shaft extends into the sleeve 6 and connects to the rotating shaft 8. The axle 10 on one side of the walking wheel 11 also extends into the sleeve 6 and connects to the rotating shaft 8. That is, when the foot motor 7 drives the rotating shaft 8 to rotate, it will always drive the walking wheel 11 to rotate synchronously through the axle 10. A synchronization mechanism is also provided inside the sleeve 6. The function of the synchronization mechanism is to synchronize the sleeve 6 with the rotating shaft 8, so that the rotation of the rotating shaft 8 can drive the sleeve 6 to rotate, and thus drive the feet 9 to rotate. In the initial state, the feet 9 are located below, and the walking wheel 11... The height of the main body 1 is greater than the height of the feet 9, so the robot is in quadrupedal walking mode. The foot motor 7 drives the rotating shaft 8 and the sleeve 6 to rotate back and forth, so that the feet 9 swing back and forth and drive the main body 1 to walk on four legs, which is suitable for rugged roads. When it is necessary to change the walking mode, the foot motor 7 first drives the rotating shaft 8 and the sleeve 6 to rotate, so that the feet 9 can rotate to the top and be stored. At this time, the height of the bottom surface of the walking wheel 11 is lower than the height of the feet 9, so it can contact the ground and walk on four wheels. After the synchronization mechanism removes the synchronization between the sleeve 6 and the rotating shaft 8, the foot motor 7 can drive the walking wheel 11 to rotate independently through the rotating shaft 8, which can adapt to roads with high soil viscosity and improve the robot's adaptability to terrain. Several hard rubber strips are also provided on the walking wheel 11, which can increase the friction when walking on the ground and raise the gap between the main body 1 and the ground, improving the ability to pass through obstacles.

[0021] Preferably, the caster wheel movement mechanism 2 further includes an electric turntable 12, which is disposed on the side wall of the main body 1 with its rotation surface facing away from the main body 1, and the mounting base 5 is disposed on the rotation surface of the electric turntable 12.

[0022] The electric turntable 12 can drive the mounting base 5 to rotate at a certain angle, thereby adjusting the angle of contact between the feet 9 or the wheels 11 and the ground, so as to adapt to complex terrain.

[0023] Preferably, the foot 9 includes a large foot frame 13, a small foot frame 14, a first spherical universal joint 15, and a foot pad 16. The top end of the large foot frame 13 is connected to the bottom surface of the outer wall of the sleeve 6, and its bottom end is rotatably connected to the top end of the small foot frame 14. The bottom end of the small foot frame 14 is connected to the first spherical universal joint 15, and the foot pad 16 is disposed at the bottom of the first spherical universal joint 15.

[0024] The main body of the foot 9 includes a large foot frame 13 and a small foot frame 14. The rotation of the sleeve 6 can drive the large foot frame 13 to rotate synchronously. The large foot frame 13 and the small foot frame 14 are hinged to achieve one degree of freedom of rotation. The bottom end of the small foot frame 14 is connected to the foot pad 16 through the first ball joint 15. The foot pad 16 can achieve multi-degree-of-freedom rotation. In addition, the foot pad 16 is made of wear-resistant rubber and has raised patterns on its bottom to increase the friction between the foot 9 and the ground and enhance the walking stability of the robot.

[0025] Preferably, the multi-degree-of-freedom robotic arm 3 includes a base 17, a support frame 18, a large arm 19, an arm sleeve 20, a small arm 21, and a second spherical universal joint 22. The base 17 is disposed on the top surface of the main body 1, the support frame 18 is disposed on the upper surface of the base 17, the bottom end of the large arm 19 is hinged to the support frame 18, and its top end is hinged to one end of the small arm 21 through the arm sleeve 20. The other end of the small arm 21 is connected to the second spherical universal joint 22, and the rubber cutting tool 4 is disposed on the second spherical universal joint 22.

[0026] The multiple components of the multi-degree-of-freedom robotic arm 3 are all rotatably connected. The joint motors installed at the joints can realize the rotation of the support frame 18, the swing of the upper arm 19, and the lifting of the lower arm 21, thereby adjusting the position of the rubber tapper 4. The rubber tapper 4 is connected to the lower arm 21 through the second ball joint 22, which can provide higher degrees of freedom to adapt to different terrains and rubber tree shapes.

[0027] Preferably, the rubber tapping cutter 4 includes a connecting rod 23, a fixed base 24, a cutting motor 25, a cutting blade holder 26, a scraper blade 27, and a cutting blade 28. One end of the connecting rod 23 is connected to the second ball joint 22, and the other end is connected to the side wall of the fixed base 24. The cutting motor 25 is disposed on the bottom surface of the fixed base 24, and its output shaft passes through the top surface of the fixed base 24 and is connected to the cutting blade holder 26. The scraper blade 27 and the cutting blade 28 are disposed opposite each other on both sides of the cutting blade holder 26.

[0028] The cutting blade 28 is a single blade, which is symmetrically mounted on the cutting blade holder 26 at 180° with the scraper blade 27. When tapping rubber, the scraper blade 27 first faces the cutting line of the rubber tree. After the cutting motor 25 is started, it can drive the cutting blade holder 26 to rotate. The scraper blade 27 will first rotate to the cutting line to remove the old rubber line, and then the cutting blade 28 will rotate to effectively cut the rubber tree bark.

[0029] Preferably, the device also includes a ring body 29 and a positioning identification piece 30. The ring body 29 is disposed on the rubber tree, and the positioning identification piece 30 is disposed on the outer wall of the ring body 29. The rubber tapping cutter 4 also includes a sensor group 31, which is disposed on the top surface of the connecting rod 23. The sensor group 31 includes a visual image sensor and a laser position sensor. The sensor group 31 is used to identify the positioning identification piece 30.

[0030] The ring 29 is used to install the positioning identification piece 30. When the rubber harvesting robot moves to one side of the rubber tree, it collects image data of the positioning identification piece 30 through the sensor group 31 and positions itself accordingly so that the rubber tapping cutter 4 can accurately tap the rubber at the cutting line.

[0031] Additionally, the sensor group 31 is divided into a visual image sensor and a laser position sensor. The visual image sensor is used to capture information such as the position of the cut surface on the rubber tree, the length of the cut line, and the distance between the rubber tapper 4 and the tree trunk, and transmits it to the robot's processing center to adjust the relative position of the multi-degree-of-freedom robotic arm 3, the caster wheel movement mechanism 2, and the rubber tapping posture. The laser position sensor is used to measure the contour change information of the rubber tapping line and feed it back to the control system.

[0032] Preferably, the device further includes a bowl holder 32, a ring 33, a rubber bowl 34, a first magnet 35, and a second magnet 36. The bowl holder 32 is mounted on the rubber tree, the ring 33 is mounted on the outer wall of the bowl holder 32, the rubber bowl 34 is mounted inside the ring 33 with its opening facing away from the rubber tree, and its outer wall is rotatably connected to the inner wall of the ring 33. The first magnet 35 is mounted on the inner wall of the ring 33, and the second magnet 36 is mounted on the outer wall of the rubber bowl 34. The first magnet 35 is located on the rotation path of the second magnet 36. The rubber tapping cutter 4 also includes a magnetic sheet 37, which is mounted on the bottom surface of the connecting rod 23. The top surface of the first magnet 35 has the opposite polarity to the side of the second magnet 36 facing the rubber tree, and the side of the second magnet 36 away from the rubber tree has the same polarity as the side of the magnetic sheet 37 facing the rubber tree.

[0033] After collecting a certain amount of latex, the latex bowl 34 is collected by workers or corresponding latex-collecting equipment. After latex collection, the latex bowl 34 is kept in a vertical position with the bowl opening facing outwards. When collecting latex, the latex-collecting robot of this invention moves to one side of the rubber tree. After determining the specific position of the latex bowl 34 and the cutting line by the positioning identification piece 30, the position of the rubber tapping cutter 4 is adjusted. The magnetic piece 37 is adjusted to one side of the second magnet 36 and moves in the direction of the second magnet 36. During the translation process, the second magnet 36 and the magnetic piece 37 repel each other due to their like poles, thereby pushing the latex bowl 34 to rotate so that its bowl opening faces upwards. During the rotation of the latex bowl 34, the second magnet 36 rotates to the top of the first magnet 35 and magnetically attracts it, thus fixing the latex bowl 34. At this time, the rubber tapping cutter 4 can perform latex tapping operations on the rubber tree.

[0034] Preferably, the rubber tapping cutter 4 further includes a telescopic rod 38, a flexible positioning frame 39, and an adjusting spring 40. One end of the telescopic rod 38 extends into the fixed seat 24, and the other end is connected to the side wall of the flexible positioning frame 39. The adjusting spring 40 is sleeved on the telescopic rod 38, and its two ends abut against the side wall of the flexible positioning frame 39 and the side wall of the fixed seat 24.

[0035] During rubber tapping, the flexible positioning frame 39 contacts the tree trunk to position the rubber tapper 4 on the trunk. The position of the flexible positioning frame 39 can be finely adjusted. When it contacts the tree trunk, it is squeezed by the tree trunk and moves backward, so that the telescopic rod 38 extends into the fixed seat 24 and squeezes the adjusting spring 40. By adjusting the elasticity of the spring 40, the flexible positioning frame 39 can be stably attached to the outer surface of the tree trunk.

[0036] Preferably, the synchronization mechanism includes a synchronization disk 41, an electric actuator 42, an insertion rod 43, a transmitting tube 44, and a receiving tube 45. The synchronization disk 41 is disposed inside the sleeve 6. The rotating shaft 8 passes through the synchronization plate. The electric actuator 42 is embedded in the outer circumferential surface of the synchronization disk 41, and its output shaft is connected to one end of the insertion rod 43. The transmitting tube 44 is disposed at the other end of the insertion rod 43. The inner wall of the sleeve 6 is provided with a positioning groove 46. The receiving tube 45 is disposed in the positioning groove 46. The electric actuator 42 drives the insertion rod 43 to extend into the positioning groove 46.

[0037] When the four-legged walking mode is adopted, the electric push rod 42 drives the insertion rod 43 to extend into the positioning groove 46. When the foot motor 7 drives the rotating shaft 8 to rotate, the rotating shaft 8 can drive the synchronous disc 41 to rotate. The synchronous disc 41 then drives the sleeve 6 to rotate synchronously through the electric push rod 42 and the insertion rod 43. Finally, the sleeve 6 can drive the foot 9 to rotate, and the main body 1 walks by swinging back and forth.

[0038] When using the four-wheel walking mode, after the foot 9 is rotated to the upward position, the electric push rod 42 drives the insertion rod 43 to leave the positioning groove 46. At this time, the rotating shaft 8 will only drive the synchronous disc 41 and the walking wheel 11 to rotate. The foot 9 always remains in the upward position so that the walking wheel 11 can rotate for four-wheel walking. When it is necessary to adjust back to four-legged walking, the foot motor 7 needs to drive the rotating shaft 8 to rotate, so that the synchronous disc 41 drives the insertion rod 43 to rotate. A transmitter 44 is set at the end of the insertion rod 43, and a receiver 45 is set in the positioning groove 46. When the insertion rod 43 is aligned with the positioning groove 46, the infrared light emitted by the transmitter 44 can be received by the receiver 45. The control system can then confirm that the insertion rod 43 is aligned with the positioning groove 46. At this time, the operation of the foot motor 7 can be stopped, and then the electric push rod 42 is controlled to drive the insertion rod 43 to accurately extend into the positioning groove 46. At this time, the foot motor 7 can drive the sleeve 6 to rotate through the rotating shaft 8, so that the foot 9 rotates downward and contacts the ground, switching to four-legged walking mode.

[0039] Preferably, the synchronization mechanism further includes a metal T-shaped rod 47 and an electromagnet 48. The side wall of the mounting base 5 is provided with a T-shaped annular groove 49. The metal T-shaped rod 47 is disposed on the end face of the sleeve 6 and extends into the T-shaped annular groove 49. The electromagnet 48 is disposed inside the mounting base 5 and located on one side of the T-shaped annular groove 49.

[0040] During the rotation of the sleeve 6, the metal T-shaped rod 47 can rotate along the T-shaped annular groove 49. The T-shaped structure limits the rotation of the sleeve 6. When the four-legged walking mode is adopted, the electromagnet 48 is de-energized. When the four-wheel walking mode is adopted, the electromagnet 48 is energized and can magnetically attract the metal T-shaped rod 47, keeping the sleeve 6 stationary and preventing the sleeve 6 from rotating naturally during walking, which would cause the foot 9 to fall.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent rubber harvesting robot based on a composite walking mechanism, characterized in that, The system includes a main body, a caster wheel movement mechanism, a multi-degree-of-freedom robotic arm, and a rubber tapping cutter. The caster wheel movement mechanism is located on the side wall of the main body, and the multi-degree-of-freedom robotic arm is located on the upper surface of the main body, with its end connected to the rubber tapping cutter. The caster wheel movement mechanism includes a mounting base, a sleeve, a foot motor, a rotating shaft, a foot, a shaft rod, a traveling wheel, and a synchronization mechanism. The mounting base is located on the side wall of the main body, and the sleeve is rotatably mounted on one side of the mounting base. The foot motor is embedded in the mounting base, and its output shaft extends into the sleeve and connects to the rotating shaft. The foot is located on the bottom surface of the outer wall of the sleeve. One end of the shaft rod extends into the sleeve and connects to the rotating shaft, and the other end connects to the traveling wheel. The synchronization mechanism is located inside the sleeve and is used to realize the synchronous movement of the sleeve and the rotating shaft.

2. The intelligent rubber harvesting robot based on a composite walking mechanism according to claim 1, characterized in that, The caster wheel movement mechanism also includes an electric turntable, which is disposed on the side wall of the main body with its rotation surface facing away from the main body, and the mounting base is disposed on the rotation surface of the electric turntable.

3. The intelligent rubber harvesting robot based on a composite walking mechanism according to claim 1, characterized in that, The foot includes a large foot frame, a small foot frame, a first spherical universal joint, and a foot pad. The top of the large foot frame is connected to the bottom surface of the outer wall of the sleeve, and its bottom is rotatably connected to the top of the small foot frame. The bottom of the small foot frame is connected to the first spherical universal joint, and the foot pad is located at the bottom of the first spherical universal joint.

4. The intelligent rubber harvesting robot based on a composite walking mechanism according to claim 1, characterized in that, The multi-degree-of-freedom robotic arm includes a base, a support frame, an upper arm, an arm sleeve, a lower arm, and a second spherical universal joint. The base is located on the top surface of the main body, the support frame is located on the upper surface of the base, the bottom end of the upper arm is hinged to the support frame, and its top end is hinged to one end of the lower arm through the arm sleeve. The other end of the lower arm is connected to the second spherical universal joint, and the rubber cutter is located on the second spherical universal joint.

5. The intelligent rubber harvesting robot based on a composite walking mechanism according to claim 4, characterized in that, The rubber tapping cutter includes a connecting rod, a fixed base, a cutting motor, a cutting blade holder, a scraper, and a cutting blade. One end of the connecting rod is connected to a second ball joint, and the other end is connected to the side wall of the fixed base. The cutting motor is located on the bottom surface of the fixed base, and its output shaft passes through the top surface of the fixed base and is connected to the cutting blade holder. The scraper and the cutting blade are arranged opposite each other on both sides of the cutting blade holder.

6. The intelligent rubber harvesting robot based on a composite walking mechanism according to claim 5, characterized in that, It also includes a ring body and a positioning identification plate. The ring body is set on the rubber tree, and the positioning identification plate is set on the outer wall of the ring body. The rubber tapping cutter also includes a sensor group, which is set on the top surface of the connecting rod. The sensor group includes a visual image sensor and a laser position sensor. The sensor group is used to identify the positioning identification plate.

7. The intelligent rubber harvesting robot based on a composite walking mechanism according to claim 5, characterized in that, It also includes a bowl frame, a ring, a rubber bowl, a first magnet, and a second magnet. The bowl frame is mounted on the rubber tree, the ring is mounted on the outer wall of the bowl frame, and the rubber bowl, with its opening facing away from the rubber tree, is mounted inside the ring. Its outer wall is rotatably connected to the inner wall of the ring. The first magnet is mounted on the inner wall of the ring, and the second magnet is mounted on the outer wall of the rubber bowl. The first magnet is located on the rotation path of the second magnet. The rubber tapping cutter also includes a magnetic plate, which is mounted on the bottom surface of the connecting rod. The top surface of the first magnet has the opposite polarity to the side of the second magnet facing the rubber tree, and the side of the second magnet away from the rubber tree has the same polarity as the side of the magnetic plate facing the rubber tree.

8. The intelligent rubber harvesting robot based on a composite walking mechanism according to claim 5, characterized in that, The rubber tapping cutter also includes a telescopic rod, a flexible positioning frame, and an adjusting spring. One end of the telescopic rod extends into the fixed base, and the other end is connected to the side wall of the flexible positioning frame. The adjusting spring is sleeved on the telescopic rod, and its two ends abut against the side wall of the flexible positioning frame and the side wall of the fixed base.

9. The intelligent rubber harvesting robot based on a composite walking mechanism according to claim 1, characterized in that, The synchronization mechanism includes a synchronization disc, an electric actuator, an insertion rod, a transmitting tube, and a receiving tube. The synchronization disc is disposed inside the sleeve. The rotating shaft passes through the synchronization plate. The electric actuator is embedded in the outer circumferential surface of the synchronization disc, and its output shaft is connected to one end of the insertion rod. The transmitting tube is disposed at the other end of the insertion rod. A positioning groove is provided on the inner wall of the sleeve, and the receiving tube is disposed in the positioning groove. The electric actuator drives the insertion rod to extend into the positioning groove.

10. The intelligent rubber harvesting robot based on a composite walking mechanism according to claim 1, characterized in that, The synchronization mechanism also includes a metal T-shaped rod and an electromagnet. The side wall of the mounting base is provided with a T-shaped annular groove. The metal T-shaped rod is located on the end face of the sleeve and extends into the T-shaped annular groove. The electromagnet is located inside the mounting base and is situated on one side of the T-shaped annular groove.

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