A drone for drilling and inserting tubes into rubber trees

Abstract

This invention discloses a drone for drilling and inserting tubes into rubber trees, relating to the fields of agricultural machinery and drone technology. It includes a gripper mechanism, a tube insertion mechanism, a drilling mechanism, a secondary depth camera, a robotic arm, a primary depth camera, a drone, a 3D LiDAR, and a control mechanism. The device of this invention can achieve automatic positioning, stable gripping, precise drilling, and automatic tube insertion of rubber trees, effectively improving the automation level and efficiency of rubber tree harvesting auxiliary operations, and reducing manual labor intensity.

Description

Technical Field

[0001] This invention belongs to the field of agricultural robot technology, and specifically relates to a drone for drilling and inserting tubes into rubber trees. Background Technology

[0002] Currently, drilling and cannulation of rubber trees mainly rely on manual labor, requiring workers to carry drilling equipment, infusion tubing, and fixing devices to operate on each tree individually. This method has the following problems: Low efficiency. Rubber plantations are typically large, with numerous rubber trees, making manual drilling and cannulation of each tree time-consuming and labor-intensive, unable to meet the needs of large-scale, high-efficiency operations. High labor intensity. Rubber plantations are often located in mountainous areas or hot and humid environments, and workers endure long hours of drilling, cannulation, and pesticide application, resulting in a heavy workload and inconsistent work quality. The depth, angle, and cannulation position of manual drilling are easily affected by the operator's experience, leading to poor consistency between different trees, affecting the rubber-promoting effect, and potentially even damaging the trees. Insufficient safety. In complex terrain or rainy seasons, manually carrying equipment through forest areas poses safety hazards such as falls and mechanical injuries. Low automation. There is a lack of specialized equipment for integrated automated drilling and cannulation of rubber trees. Therefore, there is an urgent need for a drone system that can automatically complete rubber tree positioning, stable bonding, precise drilling, and automatic pipe insertion to reduce labor costs, improve operational efficiency and consistency, and meet the needs of large-scale intelligent operations in complex rubber forest environments. Summary of the Invention

[0003] To address the problems existing in the prior art, this invention provides a drone for drilling and inserting tubes into rubber trees. By monitoring and controlling the drilling depth in real time, it can adapt to different tree diameters and different drilling requirements. During the drilling and tube insertion process, a gripper mechanism is used to stably fix the tree trunk, avoiding positioning offset problems caused by drone hovering and shaking, thereby improving the accuracy and stability of drilling and tube insertion operations.

[0004] The UAV for drilling and inserting tubes into rubber trees of the present invention includes a gripper mechanism, a tube insertion mechanism, a drilling mechanism, a secondary depth camera, a robotic arm, a primary depth camera, a UAV, a 3D LiDAR, and a control mechanism. The gripper mechanism is mounted on the lower side of the drone via a robotic arm, while the insertion and drilling mechanisms are located at the bottom of the gripper mechanism. The control mechanism is located on the drone, and the 3D LiDAR is located on the control mechanism. The main depth camera is located on the front side of the drone. The gripper mechanism includes linear motor I, linear motor II, linear motor III, a bracket, linear motor IV, and two gripping plates. Linear motor III is fixed to the front end of the bracket, and the two gripping plates are respectively fixed to the two moving parts of linear motor III. Linear motor IV is fixed in the middle of the bracket, and linear motors I and II are respectively fixed to the two moving parts of linear motor IV and perpendicular to linear motor IV. The tube insertion mechanism and the drilling mechanism are respectively fixed to the moving parts of linear motors I and II. The secondary depth camera is set on top of linear motor III. The control mechanism includes a housing, a Jetson Orin NX Super board, an STM32 F403vet6 board, a wireless transmission module, an RFID long-range batch reader / writer mounted on the drone, and a GPS module. The Jetson Orin NX Super board connects to the server via the wireless transmission module. The Jetson Orin NX Super board is connected to the 3D LiDAR, secondary depth camera, primary depth camera, RFID long-range batch reader / writer, GPS module, STM32 F403vet6 board, robotic arm controller, and drone flight control board. The STM32 F403vet6 board is connected to linear motor I, linear motor II, linear motor III, linear motor IV, and electric actuator. The Jetson Orin NX Super board includes a drone control module, an RFID electronic identification module, a vision recognition module, a navigation and obstacle avoidance module, and a robotic arm motion control module. The drone control module sends flight commands to the drone flight control board, receives drone attitude information from the flight control board in real time, and controls the drone to fly stably. The RFID electronic identification module receives and identifies the RFID tags on the rubber trees after a long-range RFID batch reader reads them. Based on the tag information, it connects to the server to query the tree number, GPS location, tree age, and historical drilling records. The vision recognition module receives image information from a secondary depth camera. The Jetson Orin NX Super board runs a YOLOv8-trained model to identify the trunk center position, tree diameter, historical drilling areas, suitable drilling areas, and filters undrilled target drilling points suitable for rubber drainage. The navigation and obstacle avoidance module continuously outputs surrounding 3D point cloud data from a 3D LiDAR, while the main depth camera simultaneously acquires RGB and depth images. The Super board fuses 3D LiDAR point cloud data with visual depth data and uses FAST-LIO LiDAR SLAM algorithm, visual SLAM algorithm, A* path planning algorithm, and DWA dynamic window obstacle avoidance algorithm to construct a local map of the forest. Combined with GPS module information, it realizes navigation and obstacle avoidance. The robotic arm motion control module is used to control the movement of the robotic arm, calculates the movement trajectory of the robotic arm through the inverse kinematics algorithm, and receives the position information of the robotic arm.

[0005] The clamping piece is an arc-shaped piece, and an anti-slip pad and a pressure sensor are provided inside the arc-shaped piece. The STM32 F403vet6 board is connected to the pressure sensor.

[0006] The robotic arm includes a pitch joint, a rotation joint, an elbow joint, a shoulder joint, a base, an upper arm, a forearm, a wrist link, and an end effector. The base is fixed to the bottom of the drone. One end of the upper arm is connected to the base via the shoulder joint, and the other end of the upper arm is connected to the forearm via the elbow joint. The forearm is connected to the wrist link via the rotation joint, and the wrist link is connected to the end effector via the pitch joint. The end effector is fixed to the bracket of the gripper mechanism. Each of the above joints is equipped with a servo motor and an angle encoder. The angle encoder is used to provide real-time feedback of the robotic arm's pose information to improve the accuracy of the robotic arm's motion control. The base is equipped with a robotic arm controller, which is connected to the servo motors and angle encoders in the joints.

[0007] The drilling mechanism includes motor I and a drill bit connected to the output shaft of motor I.

[0008] The cannulation mechanism includes a housing I, a guide tube, springs, an electric actuator, and a baffle. The upper part of the housing is a guide tube storage chamber, and a movable baffle is installed at the bottom of the guide tube storage chamber. Two or more springs are fixed at the bottom of the baffle, and the lower ends of the springs are fixed to the bottom of the housing. The electric actuator includes a push rod and a motor II. One end of the push rod is installed in the guide tube storage chamber to push the guide tube out of the guide tube storage chamber, and the other end of the push rod is installed in the housing II. The motor II is fixed in the housing II, and a gear is installed on the output end of the motor II. The push rod has a toothed hole that mates with the gear. The motor drives the electric actuator to move back and forth.

[0009] Advantages and technical effects of the present invention: 1. This invention achieves accurate identification of the target location of rubber trees and automatic avoidance of surrounding obstacles by combining a main depth camera and a 3D LiDAR, thereby improving the safety of UAV operations. 2. The present invention uses a gripper device to stably hold the rubber tree, which can effectively reduce the impact of drone hovering and shaking on the drilling position accuracy and improve the stability of drilling and pipe insertion. 3. By setting a linear motor to drive the drilling device and the pipe insertion device to move, the present invention can realize automated drilling and pipe insertion operations, thereby improving work efficiency; 4. This invention, through the multi-degree-of-freedom structure of the robotic arm and the feedback of the angle encoder, can achieve precise operation on tree trunks at different positions and angles, adapting to the complex rubber forest environment; 5. This invention can replace traditional manual drilling and pipe insertion, reduce labor intensity, improve automation, and is suitable for intelligent management of large-scale rubber plantations. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the device structure of the present invention; Figure 2 This is a schematic diagram of the gripper mechanism of the present invention; Figure 3 This is a schematic diagram of the robotic arm structure of the present invention; Figure 4 This is a schematic diagram of the drilling mechanism. Figure 5 This is a schematic diagram of the intubation mechanism. Figure 6 This is a schematic diagram of the electric actuator structure; Figure 7 This is a schematic diagram of the connection of the control mechanism. Figure 8 This is a schematic diagram of the operation process of the device of the present invention; In the diagram: 1. Gripper mechanism; 2. Insertion mechanism; 3. Drilling mechanism; 4. Linear motor I; 5. Linear motor II; 6. Linear motor III; 7. Support; 8. Secondary depth camera; 9. Robotic arm; 10. Linear motor IV; 11. Primary depth camera; 12. UAV; 13. 3D LiDAR; 14. Control mechanism; 15. Gripping plate; 16. Propeller; 17. Pitch joint; 18. Rotation joint; 19. Elbow joint; 20. Shoulder joint; 21. Base; 22. Upper arm; 23. Forearm; 24. Wrist linkage; 25. End effector; 26. Drill bit; 27. Motor I; 28. Box I; 29. ​​Guide tube; 30. Spring; 31. Push rod; 32. Baffle; 33. Box II; 34. Motor II; 35. Toothed hole; 36. Gear; Detailed Implementation

[0011] The present invention will be further described below with reference to the accompanying drawings and examples. However, the scope of protection of the present invention is not limited to the contents described. Unless otherwise specified, the methods in this embodiment shall be operated in accordance with conventional methods. Example 1: As Figure 1-6 As shown, the UAV for drilling and inserting tubes into rubber trees includes a gripper mechanism 1, a tube insertion mechanism 2, a drilling mechanism 3, a secondary depth camera 8, a robotic arm 9, a primary depth camera 11, a UAV 12, a 3D LiDAR 13, and a control mechanism 14. The gripper mechanism 1 is mounted on one side below the UAV 12 via the robotic arm 9. The tube insertion mechanism 2 and the drilling mechanism 3 are located at the bottom of the gripper mechanism 1. The control mechanism 14 is located on the UAV 12, which is equipped with multiple propellers 16 and a flight control board. The 3D LiDAR 13 is located on the control mechanism 14. The primary depth camera 11 is located on one side of the front end of the UAV 12. The gripper mechanism 1 includes linear motor I4, linear motor II5, linear motor III6, bracket 7, linear motor IV10, and two gripping plates 15. The gripping plates are arc-shaped. Linear motor III6 is fixed to the front end of bracket 7, and the two gripping plates 15 are respectively fixed to the two moving parts of linear motor III6. Linear motor IV10 is fixed in the middle of bracket 7. Linear motor I4 and linear motor II5 are respectively fixed to the two moving parts of linear motor IV10 and are perpendicular to linear motor IV. The tube insertion mechanism 2 and the drilling mechanism 3 are respectively fixed to the moving parts of linear motor I4 and linear motor II5. The auxiliary depth camera 8 is set on the top of linear motor III6. The robotic arm 9 includes a pitch joint 17 and a rotation joint 18. The system includes a rotating joint 18, an elbow joint 19, a shoulder joint 20, a base 21, an upper arm 22, a forearm 23, a wrist link 24, and an end effector 25. The base 24 is fixed to the bottom of the drone 12. One end of the upper arm 22 is connected to the base 21 via the shoulder joint 20, and the other end of the upper arm 22 is connected to the forearm 23 via the elbow joint 19. The forearm 23 is connected to the wrist link 24 via the rotating joint 18, and the wrist link 24 is connected to the end effector 25 via the pitch joint 17. The end effector 25 is fixed to the bracket 7 of the gripper mechanism 1. Each of the above joints is equipped with a servo motor and an angle encoder. The base 21 is equipped with a robotic arm controller, which is connected to the servo motor and angle encoder inside the joint. The insertion mechanism 2 includes a housing I 28, a guide tube 29, a spring 30, an electric push rod 31, and a baffle 32. The upper part of the housing 28 is a guide tube storage cavity, and a movable baffle 32 is provided at the bottom of the guide tube storage cavity. Two springs 30 are fixed at the bottom of the baffle 32, and the lower ends of the springs 30 are fixed to the bottom of the housing. The electric push rod includes a push rod 31 and a motor II 34. One end of the push rod 31 is set in the guide tube storage cavity to push the guide tube 29 out of the guide tube storage cavity, and the other end of the push rod 31 is set in the housing II 33. The motor II 34 is fixed in the housing II 33. A gear is provided on the output end of the motor II. The push rod has a toothed hole 35 that mates with the gear. The motor II drives the electric push rod to move back and forth. The push rod and the guide tube are both U-shaped tubes. The drilling mechanism 3 includes a motor I 27 and a drill bit 26 connected to the output shaft of the motor I 27.

[0012] The control mechanism includes a housing, a Jetson Orin NX Super board, an STM32F403vet6 board, a wireless transmission module, an RFID long-range batch reader / writer mounted on the drone, and a GPS module; the Jetson Orin NX Super board connects to the server via the wireless transmission module; such as Figure 7As shown, the Jetson Orin NX Super board is connected to the 3D LiDAR 13, the secondary depth camera 8, the primary depth camera 11, the RFID long-range batch reader / writer, the GPS module, the STM32 F403vet6 board, the robotic arm controller, and the UAV's flight control board, respectively; the STM32 F403vet6 board is connected to linear motor I 4, linear motor II 5, linear motor III 6, linear motor IV 10, motor I 27, and motor II 34, respectively. The Jetson Orin NX Super board includes an RFID electronic identification module, a drone control module, a vision recognition module, a navigation and obstacle avoidance module, and a robotic arm motion control module. The drone control module is used to send flight commands to the drone flight control board, receive drone attitude information from the flight control board in real time, and control the drone to fly stably. RFID Electronic Identification Module: After the RFID long-range batch reader reads the RFID tags set on the rubber tree, this module is used to receive the tag information read and identified by the RFID long-range batch reader and perform identification. Based on the tag information, it connects to the server to query the tree number, GPS location, tree age, and historical drilling records. Visual recognition module: Receives image information acquired by the sub-depth camera, and the Jetson Orin NX Super board runs a model trained based on YOLOv8 to identify the trunk center position, tree diameter, historical drilling area, suitable drilling area, and filter out undrilled target drilling points that are suitable for glue removal. Navigation and obstacle avoidance module: The 3D LiDAR continuously outputs 3D point cloud data of the surrounding environment, while the main depth camera simultaneously acquires RGB and depth images. The Jetson Orin NX Super board fuses the 3D LiDAR point cloud data and visual depth data, and uses the FAST-LIO LiDAR SLAM algorithm, visual SLAM algorithm, A* path planning algorithm, and DWA dynamic window obstacle avoidance algorithm to construct a local map of the forest. Combined with GPS module information, navigation and obstacle avoidance are achieved. Robotic arm motion control module: Used to control the movement of the robotic arm, calculate the movement trajectory of the robotic arm through the inverse kinematics algorithm of the robotic arm, and receive the position information of the robotic arm.

[0013] Example 2: The device structure in this example is the same as in Example 1, except that: an anti-slip pad and a pressure sensor are provided inside the clamping plate, and the STM32 F403vet6 board is connected to the pressure sensor.

[0014] The control mechanism in this device uses NVIDIA's Jetson Orin NX Super as the main control board to achieve autonomous positioning of the rubber tree, precise drilling, and automatic pipe insertion.

[0015] like Figure 8 As shown, after the drone is powered on, the Jetson Orin NX Super board starts the Ubuntu 22.04 system and the ROS2 robot control framework, and completes operations such as loading the YOLOv8-based model, initializing the 3D LiDAR 13, initializing the main depth camera 11 and the secondary depth camera 8, zero-point calibration of the robotic arm 9, and resetting the drilling mechanism 3 and the cannulation mechanism 2; the flight control board completes the IMU and outputs the drone's attitude information in real time; and completes the initialization of GPS and motor control. After the system detects that the battery, motors, communication links, and all sensors are normal, the control system enters the autonomous operation mode.

[0016] Each rubber tree is pre-installed with an RFID electronic tag. The RFID electronic identification module identifies the information and connects to the server to query the tree number, GPS location, age, and historical drilling records. After the drone flies to the target area, the Jetson OrinNX Super board retrieves the historical operation data and current operation parameters of the corresponding rubber tree from the database on the server.

[0017] During flight, the 3D LiDAR continuously outputs 3D point cloud data of the surrounding environment, while the main depth camera simultaneously acquires RGB and depth images. The Jetson Orin NX Super board fuses the 3D LiDAR point cloud data and visual depth data, and uses the FAST-LIO LiDAR SLAM algorithm, visual SLAM algorithm, A* path planning algorithm, and DWA dynamic window obstacle avoidance algorithm to construct a local map of the forest. Combined with GPS information, navigation and obstacle avoidance are achieved. When the system detects that the distance to tree branches, power lines, people, or other obstacles is below the safety threshold, the Jetson Orin NX Super board sends flight control commands to the flight control board to dynamically adjust the flight speed, heading angle, and flight altitude to ensure stable flight and safe hovering of the UAV.

[0018] After the drone reaches the vicinity of the target rubber tree, the secondary depth camera 8 acquires close-up RGB images and depth maps of the tree trunk. The visual recognition module detects the center position of the trunk, the tree diameter, historical drilling areas, and suitable drilling areas. The control system automatically selects undrilled areas suitable for latex drainage as target drilling points. Subsequently, a three-dimensional coordinate model of the tree trunk is established by combining the depth map, and the robotic arm's motion trajectory and drilling depth are calculated using the inverse kinematics algorithm. After the robotic arm moves to the target position, the gripper mechanism clamps the rubber tree trunk under the drive of a linear motor, which can reduce the impact of wind disturbance and hovering vibration on drilling accuracy. The inner side of the gripper is equipped with an anti-slip texture and a flexible buffer layer to improve friction and reduce bark damage. At the same time, the pressure sensor detects the clamping force in real time, and the Jetson Orin NX Super board uses a PID closed-loop control algorithm to dynamically adjust the clamping pressure to prevent slippage due to excessively loose clamping or damage to the tree due to excessively tight clamping. During the drilling stage, motor I27 drives drill bit 26 to rotate at high speed, linear motor I4 pushes drill bit forward along a preset trajectory, and depth encoder provides real-time feedback on drilling depth. When drill bit jamming or abnormal resistance is detected, control mechanism 14 automatically reduces the feed speed or performs a retraction and re-drilling operation. When the drilling reaches the set depth, it automatically stops the feed and controls the drill bit to exit, and the insertion mechanism 2 returns to the initial position on the left.

[0019] After drilling is completed, the insertion mechanism 2 moves to the drilling position, the push rod moves backward, the internal spring of the insertion mechanism pushes the guide tube to the top, the electric push rod 31 pushes the guide tube to the appropriate position, and the linear motor II 5 drives the guide tube forward, pushing the guide tube into the drill hole. The outer wall of the guide tube is provided with a small barb structure. When the guide tube is fully inserted into the drill hole, the barb gets stuck in the hole wall to prevent the guide tube from falling off. During the insertion process, the depth encoder detects the insertion depth in real time. When the target depth is reached, the system automatically stops advancing and performs a micro-pull-back action, and the insertion is completed.

[0020] After the operation is completed, the control mechanism automatically records the tree number, drilling coordinates, drilling depth, pipe insertion status, operation time and image data, and uploads them to the server via the wireless communication module. Then the drone automatically plans the operation path for the next rubber tree. When the operation is completed or the battery is low, the drone automatically returns to base and lands.

Claims

1. A drone for drilling and inserting tubes into rubber trees, characterized in that: It includes a gripper mechanism (1), a cannulation mechanism (2), a drilling mechanism (3), a secondary depth camera (8), a robotic arm (9), a primary depth camera (11), a drone (12), a 3D lidar (13), and a control mechanism (14). The gripper mechanism (1) is installed on one side below the drone (12) via the robotic arm (9), the tube insertion mechanism (2) and the drilling mechanism (3) are located at the bottom of the gripper mechanism (1); the control mechanism (14) is located on the drone (12), the 3D laser radar (13) is located on the control mechanism (14); the main depth camera (11) is located on one side of the front end of the drone (12); The gripper mechanism (1) includes linear motor I (4), linear motor II (5), linear motor III (6), bracket (7), linear motor IV (10), and two gripping plates (15). Linear motor III (6) is fixed at the front end of bracket (7), and the two gripping plates (15) are respectively fixed on the two moving parts of linear motor III (6). Linear motor IV (10) is fixed in the middle of bracket (7), and linear motor I (4) and linear motor II (5) are respectively fixed on the two moving parts of linear motor IV (10) and perpendicular to linear motor IV (10). The tube insertion mechanism (2) and the drilling mechanism (3) are respectively fixed on the moving parts of linear motor I (4) and linear motor II (5). The secondary depth camera (8) is set on the top of linear motor III (6). The control mechanism (14) includes a housing, a Jetson Orin NX Super board, an STM32F403vet6 board, a wireless transmission module, an RFID long-range batch reader / writer, and a GPS module installed in the housing; the Jetson Orin NX Super board is connected to the server through the wireless transmission module; the Jetson Orin NX Super board is connected to the 3D LiDAR, the secondary depth camera, the primary depth camera, the RFID long-range batch reader / writer, the GPS module, the STM32 F403vet6 board, the robotic arm controller, and the flight control board of the UAV. The STM32 F403vet6 board is connected to linear motor I, linear motor II, linear motor III, linear motor IV, and electric actuator respectively; The Jetson Orin NX Super board includes an RFID electronic identification module, a drone control module, a vision recognition module, a navigation and obstacle avoidance module, and a robotic arm motion control module. The drone control module is used to send flight commands to the drone flight control board, receive drone attitude information from the flight control board in real time, and control the drone to fly stably. RFID Electronic Identification Module: After the RFID long-range batch reader reads the RFID electronic tags set on the rubber tree, this module is used to receive the tag information read and identified by the RFID long-range batch reader, and connect to the server to query the tree number, GPS location, tree age, and historical drilling records based on the tag information. Visual recognition module: Receives image information acquired by the sub-depth camera, and the Jetson Orin NX Super board runs a model trained based on YOLOv8 to identify the trunk center position, tree diameter, historical drilling area, suitable drilling area, and filter out undrilled target drilling points that are suitable for glue removal. Navigation and obstacle avoidance module: The 3D LiDAR continuously outputs 3D point cloud data of the surrounding environment, while the main depth camera simultaneously acquires RGB images and depth images. The Jetson Orin NX Super board fuses the 3D LiDAR point cloud data and visual depth data, and uses the FAST-LIO LiDAR SLAM algorithm, visual SLAM algorithm, A* path planning algorithm, and DWA dynamic window obstacle avoidance algorithm to construct a local map of the forest. Combined with GPS module information, navigation and obstacle avoidance are achieved. Robotic arm motion control module: Used to control the movement of the robotic arm, calculate the movement trajectory of the robotic arm through the inverse kinematics algorithm of the robotic arm, and receive the position information of the robotic arm.

2. The UAV for drilling and inserting tubes into rubber trees according to claim 1, characterized in that: The clamping piece is an arc-shaped piece, and an anti-slip pad and a pressure sensor are set inside the arc-shaped piece. The STM32 F403vet6 board is connected to the pressure sensor.

3. The UAV for drilling and inserting tubes into rubber trees according to claim 1, characterized in that: The robotic arm (9) includes a pitch joint (17), a rotation joint (18), an elbow joint (19), a shoulder joint (20), a base (21), an upper arm (22), a forearm (23), a wrist link (24), and an end effector (25). The base (24) is fixed to the bottom of the drone (12). One end of the upper arm (22) is connected to the base (21) through the shoulder joint (20), and the other end of the upper arm (22) is connected to the forearm (23) through the elbow joint (19). The forearm (23) is connected to the wrist link (24) through the rotation joint (18), and the wrist link (24) is connected to the end effector (25) through the pitch joint (17). The end effector (25) is fixed on the bracket (7) of the gripper mechanism (1). Each of the above joints is equipped with a servo motor and an angle encoder. The base (21) is equipped with a robotic arm controller, which is connected to the servo motor and angle encoder in the joint.

4. The UAV for drilling and inserting tubes into rubber trees according to claim 1, characterized in that: The drilling mechanism (3) includes a motor I (27) and a drill bit (26) connected to the output shaft of the motor I (27).

5. The UAV for drilling and inserting tubes into rubber trees according to claim 1, characterized in that: The insertion mechanism (2) includes a box body I (28), a guide tube (29), a spring (30), an electric push rod (31), and a baffle (32). The upper part of the box body (28) is a guide tube storage cavity. A movable baffle (32) is provided at the bottom of the guide tube storage cavity. Two or more springs (30) are fixed at the bottom of the baffle (32). The lower end of the springs (30) is fixed at the bottom of the box body. The electric push rod includes a push rod (31) and a motor II. One end of the push rod (31) is set in the guide tube storage cavity to push the guide tube (29) out of the guide tube storage cavity. The other end of the push rod (31) is set in the box body II (33). A motor II (34) is fixed in the box body II (33). A gear is provided on the output end of the motor II. A toothed hole (35) that matches the gear is opened on the push rod. The motor drives the electric push rod to move back and forth.

6. The UAV for drilling and inserting tubes into rubber trees according to claim 1, characterized in that: The drone (12) is equipped with a propeller (16).

7. The UAV for drilling and inserting tubes into rubber trees according to claim 1, characterized in that: Both the push rod and the guide tube are U-shaped tubes.

Images