An automatic bowl-turning self-cleaning natural rubber latex solid-liquid integrated recovery device

Abstract

The application discloses a kind of automatic bowl turning self-cleaning natural rubber latex solid-liquid integrated recovery device, it is related to rubber latex collection technical field, including walking platform, mechanical arm is installed on walking platform, the working end of mechanical arm is rotationally installed glue scraping shaft, glue scraping shaft lower end is fixedly provided with glue suction head, a plurality of glue suction holes are arranged on glue suction head, glue suction channel is arranged in glue scraping shaft and connected with glue suction hole;Glue suction channel is connected with glue collection driving device and backwashing device;Glue scraping shaft outer surface is hingedly installed with a plurality of glue scraping arms, the free end of each glue scraping arm is respectively provided with glue scraping head, and glue scraping elastic support structure is arranged between glue scraping head and glue scraping arm;Covering cover is installed on the working end of mechanical arm, and elastic hanger is arranged between the covering cover and the working end of the mechanical arm.The application can be adapted to different models of glue bowl to collect glue and clean the residue in the bowl, and reduce the occurrence of blockage.

Description

Technical Field

[0001] This invention relates to the field of rubber latex collection technology, and in particular to an automatic self-cleaning, integrated solid-liquid recycling device for natural rubber latex. Background Technology

[0002] In the natural rubber production process, after tapping, the latex is first collected in latex bowls installed on the rubber trees, and then the latex in each latex bowl is collected uniformly. Due to factors such as the forest environment, tapping time, latex solidification rate, and the intervals between manual collection, semi-solid latex and solid lumps will remain in the latex liquid within the latex bowls. Traditional latex collection methods rely heavily on manual labor to empty each bowl, scrape the latex, collect, and clean it. This process is cumbersome, labor-intensive, and inconsistent in the strength and cleaning efforts of different workers, easily leading to latex residue, latex bowl contamination, and fluctuations in the quality of the collected latex. Therefore, mechanized latex collection is imperative.

[0003] Some existing mechanized glue collection equipment uses a suction collection method for liquid latex, which can reduce the manual labor of lifting buckets and emptying glue to some extent. However, when there are solidified glue lumps or high-viscosity residual latex on the inner wall of the glue bowl, simple negative pressure suction is difficult to achieve complete recovery, and dead corners of residue can easily form at the bottom or on the wall of the glue bowl. If the residual latex adheres to the inner wall of the glue bowl for a long time, it will not only affect the cleanliness of the next glue collection, but may also cause latex deterioration, impurity contamination, and increased difficulty in cleaning the glue bowl. In addition, after operation, latex is prone to adhere to the working end pipeline and glue inlet, and gradually solidifies, causing blockages, contamination, and increased maintenance frequency.

[0004] In response to the above situation, although some glue collection equipment is equipped with a scraping mechanism and a rinsing mechanism to clean the residue in the bowl, the scraping mechanism uses a fixed-shaped scraper blade. When scraping glue from bowls of different shapes, diameters, and depths, it has poor adaptability, resulting in problems such as being unable to enter the bowl or incomplete scraping. Furthermore, the scraping mechanism and rinsing mechanism do not improve the problem of clogging of the glue suction device.

[0005] In summary, it is necessary to provide a glue collection device that can be adapted to different models of glue bowls for glue collection and cleaning of residues inside the bowls, and reduce the occurrence of blockages, in order to improve the current situation. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an automatic self-cleaning natural rubber latex solid-liquid integrated recycling device that can be adapted to different models of rubber bowls for rubber liquid collection and bowl residue cleaning, and reduce clogging.

[0007] To solve the above-mentioned technical problems, the technical solution of the present invention is: an automatic self-cleaning natural rubber latex solid-liquid integrated recycling device, used to recycle latex from rubber tree bowls, including a walking platform, on which a robotic arm is installed, characterized in that: a scraper shaft is rotatably installed on the working end of the robotic arm, a suction head is fixedly provided on the lower end of the scraper shaft, the suction head is provided with a plurality of suction holes, and a suction channel communicating with the suction holes is provided inside the scraper shaft; the suction channel is connected to a latex collection drive device and a backwashing device; Several scraping arms are hinged to the outer circumferential surface of the scraping shaft, and the scraping arms are pitched and swung. Each scraping arm is provided with a scraping head at its free end, and a scraping elastic support structure is provided between the scraping head and the scraping arm. A scraping driver for driving the scraping shaft to rotate is installed on the working end of the robotic arm. A cover is installed on the working end of the robotic arm. The cover has a scraper shaft through hole corresponding to the scraper shaft. An elastic support is provided between the cover and the working end of the robotic arm. The cover is used to close the mouth of the glue bowl when negative pressure is generated in the glue bowl due to glue absorption, so as to prevent latex from splashing out. When positive pressure is generated in the glue bowl due to backwashing, the mouth of the bowl is opened, so as to form the glue bowl being washed inside and out at the same time.

[0008] As a preferred technical solution, the glue collection drive device includes a glue collection container disposed on the walking platform, a bidirectional pump is installed on the walking platform, and one pump port of the bidirectional pump is connected to the glue suction channel via a pipeline; the backwashing device includes a cleaning fluid container disposed on the walking platform, the glue collection container and the cleaning fluid container are respectively provided with a glue collection docking structure and a cleaning fluid supply structure, and the other pump port of the bidirectional pump is connected to a wash-collection selection mechanism, which is used to switch the corresponding pump port of the bidirectional pump to be connected to the glue collection docking structure or the cleaning fluid supply structure.

[0009] As a preferred technical solution, the washing and collecting selection mechanism includes a washing and collecting selection arm that is laterally oscillating and mounted on the walking platform. A washing and collecting selection connector is installed on the free end of the washing and collecting selection arm. The washing and collecting selection connector is connected to the corresponding pump port pipeline of the bidirectional pump. The washing and collecting selection connector is connected to an oscillating driver, which is used to drive the washing and collecting selection connector to dock with the glue collection docking structure or the cleaning liquid supply structure.

[0010] As a preferred technical solution, the scraping elastic support structure includes a scraping support rod axially slidably mounted on the scraping support arm, and the scraping head is provided on the rod end of the scraping support rod away from the scraping support arm; a scraping support spring and an extension limiting structure are provided between the scraping support rod and the scraping support arm.

[0011] As a preferred technical solution, the rubber tree is provided with a tree-side fixing frame, a flipping bracket is installed on the tree-side fixing frame, the rubber cup is fixedly installed on the flipping bracket, and the tree-side fixing frame is provided with a cup-holding mechanism for keeping the rubber cup in a milk-receiving posture.

[0012] As a preferred technical solution, the working end of the robotic arm is fixedly provided with a flipping bowl structure. The flipping bowl structure is used to reach the lower side of the glue bowl when suctioning glue, and to drive the glue bowl to flip when the suction head exits the glue bowl.

[0013] As a preferred technical solution, the walking platform is equipped with a separation and recycling device, which is used to separate and recycle the waste liquid poured out after the rubber bowl is overturned.

[0014] As a preferred technical solution, the separation and recycling device includes a wastewater collection container installed on the walking platform, a solid-liquid screen in the wastewater collection container, a glue block collection container installed on the side of the solid-liquid screen on the walking platform, and a screen surface cleaning mechanism installed on the walking platform. The screen surface cleaning mechanism is used to clean the glue blocks retained on the solid-liquid screen into the glue block collection container.

[0015] As a preferred technical solution, a visual recognition component is installed on the working end of the robotic arm.

[0016] As a preferred technical solution, during glue collection, the robotic arm drives the glue suction head and the glue scraping head into the glue bowl until the glue suction head is at the bottom of the glue bowl; the glue collection drive device starts collecting glue, and the glue scraping driver synchronously drives the glue scraping shaft to rotate. The glue scraping head scrapes away the latex on the inner wall of the glue bowl, and the latex in the glue bowl gathers at the bottom of the bowl and is sucked up by the glue suction head; the suction of the glue suction head creates a negative pressure inside the glue bowl, and the cover seals the mouth of the glue bowl to prevent latex from splashing out; After the glue collection is completed, the glue collection drive device stops collecting the glue, the backwashing device starts backwashing, and the glue suction head sprays cleaning liquid into the glue bowl; the glue scraper drive keeps driving the glue scraper shaft to rotate, and under the action of spraying cleaning liquid and scraping glue, the glue bowl is cleaned; at the same time, the spraying of the glue suction head creates positive pressure inside the glue bowl, the cover opens the bowl opening, and the cleaning liquid overflowing from the glue bowl cleans the outside of the bowl; The backwashing device stops backwashing, the glue scraper driver stops driving the glue scraper shaft, and the robotic arm drives the glue scraper head and the glue suction head to exit the glue bowl.

[0017] By adopting the above technical solution, the present invention achieves at least the following beneficial effects: (1) When collecting latex, the liquid latex in the bowl can be fully collected by combining negative pressure suction and scraping, thereby improving the latex recovery rate, reducing resource waste, and ensuring the purity and quality of latex collection. (2) The glue is scraped off using a scraper head. The scraper head and the scraper arm are provided with the scraper elastic support structure. Based on the pitch swing installation of the scraper arm, the scraper arm and the scraper head on it form a drooping posture when not subjected to external force. After drooping, the distance between the scraper head and the center of the scraper shaft decreases, so it can be adapted to different types of glue bowls to achieve the purpose of entering the bowl. During the process of entering the glue bowl, each scraper head swings to a certain extent due to contact with the bowl wall, accompanied by the compression of the scraper elastic support structure. After the scraper driver drives the scraper shaft to rotate, under the action of centrifugal force, the scraper arm may continue to swing upward. Finally, under the action of centrifugal force, the elastic force of the scraper elastic support structure and the self-weight of the scraper head, the scraper head is at a fixed height to scrape the glue. Based on the reverse compression of the scraper elastic support structure, the elastic force of the scraper head can make the scraper head keep in contact with the inner wall of the glue bowl during the scraping process, and is not affected by the unevenness of the inner wall of the glue bowl, thus ensuring the latex scraping effect. (3) Both glue collection and cleaning are carried out at the glue suction head and glue suction channel. Therefore, after glue collection, by reverse supplying cleaning liquid, the glue attached to the glue suction channel and glue suction hole can be cleaned to a certain extent, reducing the occurrence of blockage. The glue cleaned in reverse returns to the glue bowl with the cleaning liquid. With the scraping and stirring action of the scraping head, the residue in the glue bowl can be cleaned by scraping and water rinsing, achieving the purpose of cleaning the residue in the bowl. (4) The cover is added to the working end of the robotic arm. Under the negative pressure generated during the glue suction process, the mouth of the glue bowl is sealed to prevent the latex from splashing out and further promote the full collection of latex. When backflushing, the cover opens the mouth of the bowl based on the positive pressure inside the glue bowl. The overflowing cleaning liquid of the glue bowl can clean the outside of the glue bowl, achieving the purpose of washing both the inside and outside of the bowl. Attached Figure Description

[0018] The following figures are intended only to illustrate and explain the present invention and do not limit the scope of the invention. Wherein: Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the present invention; Figure 2 yes Figure 1 Enlarged schematic diagram of structure I in the diagram; Figure 3 This is a three-dimensional structural diagram of the adhesive suction head in an embodiment of the present invention; Figure 4 This is a schematic diagram of the state before the adhesive suction head is inserted into the adhesive bowl according to an embodiment of the present invention; Figure 5 yes Figure 4A diagram showing the state of the adhesive suction head when it reaches the bottom of the adhesive bowl; Figure 6 yes Figure 5 A diagram showing the state of the device after adhesive absorption begins; Figure 7 yes Figure 6 Enlarged schematic diagram of the AA structure in the image; Figure 8 This is a side view of the tree-side fixing frame according to an embodiment of the present invention; Figure 9 yes Figure 8 Enlarged schematic diagram of the BB structure in the image; Figure 10 yes Figure 9 A diagram showing the state of the plastic bowl when it is overturned and tipped over. Figure 11 This is a schematic diagram illustrating the structural principle of the bowl-flipping structure when the suction head extends into the bowl and passes over the flipping bracket in an embodiment of the present invention. Figure 12 yes Figure 11 A diagram showing the state of the adhesive suction head when it reaches the bottom of the adhesive bowl; Figure 13 yes Figure 12 A schematic diagram illustrating the principle of the flipping mechanism that flips the glue bowl when the suction head exits the glue bowl; Figure 14 This is a three-dimensional structural diagram of the separation and recycling device according to an embodiment of the present invention.

[0019] In the diagram: 1-Rubber tree; 11-Tree side fixing frame; 12-Flipping bracket; 13-Rubber cup; 14-Cup body holding mechanism; 15-Torsion spring; 16-Return limiting structure; 2-Walking platform; 21-Radar navigation device; 3-Robotic arm; 31-Vision recognition component; 32-Bowl-flipping structure; 33-Bowl side support; 34-Bowl-flipping claw; 35-Horizontal holding structure; 4-Glue scraper shaft; 41-Glue suction head; 42-Glue suction hole; 43-Glue suction channel; 44-Liquid passage sleeve; 45-Liquid passage ring groove; 46-Liquid passage hole; 47-Liquid passage interface; 5-Bidirectional pump; 51-Wash and collect selection mechanism; 52-Wash and collect selection arm; 53-Wash and collect selection connector; 54-Oscillating actuator; 55-Dating limit structure; 56-Collecting container; 57-Collecting docking structure; 58-Cleaning fluid container; 59-Cleaning fluid supply structure; 6-Glue scraping arm; 61-Glue scraping head; 62-Danger limiting structure; 63-Upward limiting structure; 64-Glue scraping elastic support structure; 65-Glue scraping support rod; 66-Glue scraping support spring; 67-Outward limiting structure; 7-Cover cover; 71-Scraper shaft through hole; 72-Elastic lifting component; 8-Separation and recovery device; 81-Wastewater collection container; 82-Solid-liquid screen; 83-Glue block collection container; 84-Screen surface cleaning mechanism. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the following detailed description, only certain exemplary embodiments of the invention are described by way of illustration. Undoubtedly, those skilled in the art will recognize that various modifications can be made to the described embodiments without departing from the spirit and scope of the invention. Therefore, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.

[0021] like Figure 1 As shown, an automatic self-cleaning, bowl-turning, integrated solid-liquid recycling device for natural rubber latex is used to recover latex from the latex bowls 13 on rubber trees 1. It includes a walking platform 2, which is used to move within the forest area to facilitate the sequential collection of latex from the latex bowls 13 on different rubber trees 1 in this embodiment. It can be wheeled or tracked, and this is not limited to either type. Preferably, a radar navigation device 21 is installed on the walking platform 2 for scanning, mapping, and path planning, enabling the device to automatically locate, navigate, and avoid obstacles within the rubber forest. The structural principle of the radar navigation device 21 is well-known technology and will not be described in detail here.

[0022] A robotic arm 3 is mounted on the walking platform 2, with its working end used to install the glue-collecting structure. The multi-degree-of-freedom movement of the robotic arm 3 can avoid the influence of errors in the relative position between the stopping position of the walking platform 2 and the glue bowl 13, ensuring that the glue-collecting structure can collect the glue smoothly. Preferably, a vision recognition component 31 is installed on the working end of the robotic arm 3 to identify the position, spatial posture, and installation angle of the glue bowl 13, so as to guide the robotic arm 3 to drive the glue-collecting structure to accurately position itself towards the glue bowl 13.

[0023] like Figure 1 as well as Figures 3 to 6 As shown, a scraper shaft 4 is rotatably mounted on the working end of the robotic arm 3. A suction head 41 is fixedly mounted on the lower end of the scraper shaft 4. The suction head 41 has several suction holes 42, and the scraper shaft 4 has a suction channel 43 communicating with the suction holes 42. In this embodiment, the suction holes 42 are arranged in layers, as shown... Figure 7As shown, the adhesive suction holes 42 of each layer are arranged in a star shape along the adhesive scraper shaft 4, and the adhesive suction channel 43 connects the inner ends of the adhesive suction holes 42 of each layer. Based on the rotatable installation of the adhesive scraper shaft 4, a liquid-passing sleeve 44 is fixedly installed on the working end of the robotic arm 3. The inner wall of the liquid-passing sleeve 44 is provided with a liquid-passing annular groove 45, and liquid-passing sealing rings are installed on both sides of the liquid-passing annular groove 45 on the liquid-passing sleeve 44. The liquid-passing sealing rings are used to seal the gap between the liquid-passing sleeve 44 and the adhesive scraper shaft 4. The adhesive scraper shaft 4 is provided with a liquid-passing through hole 46 connecting the liquid-passing annular groove 45 and the adhesive suction channel 43, and the liquid-passing sleeve 44 is provided with a liquid-passing interface 47 connecting the liquid-passing annular groove 45. This forms a dynamic and static connection of the liquid-passing channel.

[0024] The adhesive suction channel 43 is connected to an adhesive collection drive device and a backwashing device. In this embodiment, the liquid inlet 47 connects the adhesive collection drive device and the backwashing device. The adhesive collection drive device drives the adhesive suction head 41 to generate negative pressure for latex collection. The backwashing device supplies cleaning fluid in the reverse direction, creating a backwash through the adhesive suction head 41 into the adhesive bowl 13. Combined with the scraping and stirring action of the scraping head 61, residue in the adhesive bowl 13 can be cleaned by scraping and rinsing, achieving the purpose of cleaning residue inside the bowl. Since the adhesive suction hole 42 on the adhesive suction head 41 and the adhesive suction channel 43 are common channels, the backwashing process can at least provide a certain degree of reverse cleaning of the adhesive adhering to these locations, reducing the occurrence of blockages.

[0025] like Figure 1 and Figure 2 As shown, the glue collection drive device includes a glue collection container 56 mounted on the walking platform 2, and a bidirectional pump 5 installed on the walking platform 2. One pump port of the bidirectional pump 5 is connected to the glue suction channel 43 via a pipeline. The backwashing device includes a cleaning fluid container 58 mounted on the walking platform 2. The glue collection container 56 and the cleaning fluid container 58 are respectively provided with a glue collection docking structure 57 and a cleaning fluid supply structure 59. The other pump port of the bidirectional pump 5 is connected to a wash-collection selection mechanism 51. The wash-collection selection mechanism 51 is used to switch the corresponding pump port of the bidirectional pump 5 to be connected to the glue collection docking structure 57 or the cleaning fluid supply structure 59.

[0026] Thus, a longer shared channel for glue collection and backwashing is formed between the washing and collecting selection mechanism 51 and the glue suction head 41. This simplifies the structure and further promotes the cleaning of glue in this longer pipeline channel, further reducing the occurrence of blockages. Furthermore, by selecting the connection between the washing and collecting selection mechanism 51 and changing the pumping direction of the bidirectional pump 5, a single pipeline can achieve forward glue suction and reverse cleaning. The working principle and effect of this will be described in detail later and will not be repeated here. The cleaning fluid can be clean water or a common latex preservative solution, such as dilute ammonia, etc., without limitation.

[0027] like Figure 2 As shown, the washing and collecting selection mechanism 51 in this embodiment includes a washing and collecting selection arm 52 that is laterally swinging on the walking platform 2. A washing and collecting selection connector 53 is installed on the free end of the washing and collecting selection arm 52. The washing and collecting selection connector 53 is connected to the corresponding pump port pipeline of the bidirectional pump 5. The washing and collecting selection connector 53 is connected to a swing driver 54. The swing driver 54 is used to drive the washing and collecting selection connector 53 to dock with the glue collection docking structure 57 or the cleaning liquid supply structure 59.

[0028] Specifically, the adhesive collection docking structure 57 and the cleaning liquid supply structure 59 each include a riser extending into the corresponding container. When the wash-collection selection connector 53 swings to the point where its lower port is coaxial with the upper port of the target riser, the two ports fit together and seal, forming the aforementioned docking. Of course, a sealing ring is installed on the lower port of the wash-collection selection connector 53 or the upper port of the target riser. Preferably, a docking limiting structure 55 is provided at the upper end of the riser so that after the wash-collection selection connector 53 swings to the target riser, precise docking is achieved by the limiting effect of the docking limiting structure 55.

[0029] like Figures 3 to 6 As shown, several scraping arms 6 are hinged to the outer circumferential surface of the scraping shaft 4, and the scraping arms 6 are pitched and swung. Each scraping arm 6 has a scraping head 61 on its free end, and a scraping elastic support structure 64 is provided between the scraping head 61 and the scraping arm 6. A scraping driver for driving the scraping shaft 4 to rotate is installed on the working end of the robotic arm 3.

[0030] This embodiment uses a scraper head 61 to scrape the bowl wall, which can promote a higher latex recovery rate and facilitate cleaning inside the bowl. Specifically, based on the pitching and swinging installation of the scraper arm 6, as... Figure 4As shown, when the scraper arm 6 and its scraper head 61 are not subjected to external force, they form a drooping posture, and the scraper head 61 is fully extended from the scraper arm 6. In this drooping posture, the distance between the scraper head 61 and the center of the scraper shaft 4 is reduced. During the process of the suction head 41 entering the glue bowl 13, it is less affected by the size and shape of the bowl 13, allowing the scraper head 61 to smoothly enter the bowl. This allows it to be adapted to different models of glue bowls 13 for glue collection. However, before the suction head 41 reaches the bottom of the bowl, the scraper head 61 may make premature contact with the bowl wall. Upon this contact, the scraper head 61 causes the scraper arm 6 to swing downwards to a certain extent. Based on the drooping state of the scraper head 61, this downward swinging process is often accompanied by the compression of the scraper elastic support structure 64, until the suction head 41 reaches the bottom of the bowl. Figure 5 As shown. Then, after the scraper driver drives the scraper shaft 4 to rotate, based on the outward elastic force of the scraper head 61 after it retracts and the centrifugal force generated by the rotation, the scraper arm 6 may continue to swing upwards, possibly accompanied by a slight extension of the scraper head 61, such as... Figure 6 As shown, under the combined effects of centrifugal force, the elastic force of the scraping elastic support structure 64, and the self-weight of the scraping head 61, the scraping head 61 remains at a fixed height for scraping. Furthermore, due to the reverse compression of the scraping elastic support structure 64, its elastic force during the scraping process ensures that the scraping head 61 remains in contact with the inner wall of the glue bowl 13, unaffected by the unevenness of the inner wall, thus ensuring effective latex scraping.

[0031] Preferably, the scraping arms 6 are arranged sequentially along the axial direction of the scraping shaft 4 to facilitate the scraping of adhesive by each scraping head 61 across the entire range of the bowl wall. Preferably, the scraping shaft 4 is provided with a drooping limiting structure 62 and an upward extending limiting structure 63 corresponding to each scraping arm 6. The drooping limiting structure 62 limits the drooping angle of the scraping arm 6 in its free state, preventing excessive drooping angle from affecting its extension. The upward extending limiting structure 63 prevents the scraping arm 6 from extending excessively upward during scraping, ensuring the scraping head 61 achieves the aforementioned full-range scraping effect. Preferably, the scraping head 61 is made of a soft material, such as silicone, to improve contact with the bowl wall and ensure effective scraping.

[0032] like Figure 4 , Figure 5 and Figure 6As shown, the scraping elastic support structure 64 in this embodiment includes a scraping support rod 65 axially slidably mounted on the scraping arm 6. The scraping head 61 is provided on the rod end of the scraping support rod 65 away from the scraping arm 6. A scraping support spring 66 and an extension limiting structure 67 are provided between the scraping support rod 65 and the scraping arm 6. The scraping support spring 66 provides elastic force for the extension of the scraping head 61. When in contact with the bowl wall, the scraping support rod 65 passively contracts, compressing the scraping support spring 66. The extension limiting structure 67 is used to limit the extreme position of the extension of the scraping head 61; it can be implemented using a baffle or the like, which is not limited here. Of course, the scraper support rod 65 and the scraper arm 6 should be circumferentially restricted to avoid the scraper support rod 65 rotating relative to the scraper arm 6 and affecting the scraping effect of the scraper head 61. This circumferential restriction can be achieved by setting the rod body and slide rail as polygons, or by setting a key or other structure between the rod body and the arm. No restrictions are imposed here.

[0033] Preferably, such as Figures 3 to 6 As shown, a cover 7 is installed on the working end of the robotic arm 3. The cover 7 has a scraper shaft through hole 71 corresponding to the scraper shaft 4. An elastic support 72 is provided between the cover 7 and the working end of the robotic arm 3. The cover 7 is used to close the mouth of the glue bowl 13 when a negative pressure is generated in the glue bowl 13 due to glue absorption, to prevent latex from splashing out, and to open the mouth of the bowl 13 when a positive pressure is generated in the glue bowl 13 due to backwashing, so as to form the glue bowl 13 being washed inside and out at the same time. This function and effect will also be described in detail below, and will not be repeated here.

[0034] Preferably, such as Figure 8 As shown, the rubber tree 1 is provided with a tree-side fixing frame 11, a flipping bracket 12 is installed on the tree-side fixing frame 11, the rubber cup 13 is fixedly mounted on the flipping bracket 12, and the tree-side fixing frame 11 is provided with a cup-body holding mechanism 14 for keeping the rubber cup 13 in a milk-receiving posture. Preferably, as shown... Figure 3 As shown, a flipping bowl structure 32 is fixedly provided on the working end of the robotic arm 3. The flipping bowl structure 32 is used to reach the lower side of the glue bowl 13 when suctioning glue, and to drive the glue bowl 13 to flip when the suction head 41 exits the glue bowl 13.

[0035] like Figure 8 , Figure 9 , Figure 11 and Figure 12 As shown, in its free state, the bowl-holding mechanism 14 keeps the glue bowl 13 essentially in an upward-facing position to receive the latex flowing down after tapping. During glue collection, the flipping structure 32 reaches one side below the glue bowl 13, and when the glue suction head 41 exits the glue bowl 13 after collection, it causes the glue bowl 13 to flip over. Figure 10 and Figure 13 As shown, this is for dumping internal waste liquid.

[0036] Among them, such as Figure 8 and Figure 9 As shown, the bowl-holding mechanism 14 includes a torsion spring 15 disposed between the flipping bracket 12 and the tree-side fixing bracket 11. The spring force of the torsion spring 15 is used to flip the plastic bowl 13 back to the position with the rim facing upwards. A return-limiting structure 16 is provided between the flipping bracket 12 and the tree-side fixing bracket 11 to rigidly limit the plastic bowl 13 when it returns to the position with the rim facing upwards, thereby achieving the aforementioned bowl-holding purpose. The principle of this structure is easily obtained by combining conventional technical means and will not be elaborated further here.

[0037] like Figure 3 as well as Figures 11 to 13 As shown, the bowl-flipping structure 32 includes a bowl-side bracket 33 fixedly mounted on the working end of the robotic arm 3. A bowl-flipping claw 34, lower than the glue-suction head 41, is mounted on the bowl-side bracket 33 and pivots. A horizontal retaining structure 35 is provided between the bowl-side bracket 33 and the bowl-side bracket 33, and the bowl-flipping claw 34 can swing upwards. When the glue-suction head 41 enters the glue bowl 13, the bowl-flipping claw 34 first moves downwards in the direction of the glue bowl 13, and during its downward movement, it avoids the flipping bracket 12 by swinging upwards. Figure 11 As shown; when the adhesive suction head 41 reaches the bottom of the bowl, as Figure 12 As shown, the flipper claw 34 reaches below the flipping bracket 12 and is in a horizontal position; when the glue suction head 41 exits the glue bowl 13, the flipper claw 34 moves upward simultaneously, causing the flipping bracket 12 to flip, as shown. Figure 13 As shown, the waste liquid inside the plastic bowl 13 is poured out. Only after the flipping claw 34 passes the flipping bracket 12 do the flipping bracket 12 and the plastic bowl 13 return to their upward-facing position under the bowl-holding mechanism 14. The horizontal holding structure 35 can also be achieved through a combination of a torsion spring 15 and a horizontal posture limiting structure.

[0038] Preferably, such as Figure 1 and Figure 14 As shown, the walking platform 2 is equipped with a separation and recycling device 8, which is used to separate and recycle the waste liquid poured out after the glue bowl 13 is overturned. In this embodiment, the separation and recycling device 8 includes a wastewater collection container 81 installed on the walking platform 2, a solid-liquid screen 82 in the wastewater collection container 81, a glue block collection container 83 installed on the side of the solid-liquid screen 82 on the walking platform 2, and a screen surface cleaning mechanism 84 installed on the walking platform 2. The screen surface cleaning mechanism 84 is used to clean the glue blocks retained on the solid-liquid screen 82 into the glue block collection container 83.

[0039] The waste liquid poured from the glue bowl 13 falls onto the solid-liquid screen 82, which separates the waste liquid into solid and liquid components. The glue blocks remain on the upper surface of the screen, while the waste liquid enters the wastewater collection container 81. Then, the screen cleaning mechanism 84 cleans the remaining glue blocks into the glue block collection container 83, thus achieving glue block recycling. The separated waste liquid can be released directly onto the land, or stored and then transferred to another location for treatment, depending on the circumstances; no restrictions are imposed.

[0040] The screen cleaning mechanism 84 is implemented by a scraper or brush along the path close to or away from the glue block collection container 83. Its reciprocating drive can be implemented by an electric cylinder or motor in combination with transmission, etc., which is not limited here. This embodiment is only illustrated by a scraper and a motor in combination with a gear and rack transmission.

[0041] The working principle of this embodiment is as follows.

[0042] During glue collection, the walking platform 2 reaches a designated position next to the target glue bowl 13 via the radar navigation device 21. For example... Figure 4 As shown, the robotic arm 3 drives the glue suction head 41 and the glue scraping head 61 to move towards the glue bowl 13. During this process, the visual recognition component 31 identifies the position, spatial posture and angle of the glue bowl 13, so that the glue suction head 41 enters the glue bowl 13 in a direction facing the bottom of the glue bowl 13.

[0043] The robotic arm 3 drives the glue suction head 41 and the glue scraping head 61 into the glue bowl 13 until the glue suction head 41 is at the bottom of the glue bowl 13. Figure 5 and Figure 12 As shown, during the entry process, the flipping bowl structure 32 passes over the flipping bracket 12 and reaches below the flipping bracket 12. The glue collection drive device starts glue collection. Specifically, the washing and collection selection mechanism 51 connects to the glue collection docking structure 57 before glue collection starts. Then, the bidirectional pump 5 starts pumping from the glue suction head 41 to the glue collection docking structure 57, starting the glue collection action. The glue scraper driver synchronously drives the glue scraper shaft 4 to rotate. The glue scraper head 61 scrapes the latex off the inner wall of the glue bowl 13. The latex in the glue bowl 13 gathers at the bottom of the bowl and is sucked up by the glue suction head 41. The sucked latex is finally pumped into the glue collection container 56. In this way, the liquid latex in the bowl can be fully collected, improving the latex recovery rate, reducing resource waste, and helping to ensure the purity and quality of the collected latex.

[0044] During this process, the suction head 41 draws in adhesive, creating a negative pressure inside the adhesive bowl 13, such as... Figure 6As shown, the cover seals the opening of the glue bowl 13 to prevent latex from splashing out and further promotes the full collection of latex. Furthermore, during the glue suction process, the bidirectional pump 5 preferably maintains suction for a certain period of time to maximize the amount of latex entering the glue collection container 56 within the pipeline.

[0045] After the glue collection is completed, the glue collection drive device stops collecting glue; specifically, the bidirectional pump 5 pauses pumping. The backwashing device starts backwashing; specifically, the wash-collection selection mechanism 51 connects to the cleaning liquid supply structure 59, and the bidirectional pump 5 restarts pumping from the cleaning liquid supply structure 59 towards the glue suction head 41. The glue suction head 41 sprays cleaning liquid into the glue bowl 13. As the cleaning liquid flows along the pipeline, it cleans the latex inside the pipe, thereby reducing glue adhesion and clogging. The glue scraper driver continues to drive the scraper shaft 4 to rotate. Under the action of spraying cleaning liquid and scraping glue, the glue bowl 13 is cleaned, achieving the purpose of cleaning residue inside the bowl.

[0046] During this process, the spraying from the suction head 41 creates positive pressure inside the glue bowl 13. The cover 7 opens the bowl and floats in a suspended state. The cleaning liquid overflows from the bowl 13 due to the stirring action and increased volume. The overflowing cleaning liquid flows down the outer wall of the bowl 13 under the protection of the cover 7, cleaning the outside of the bowl and achieving simultaneous cleaning of the inside and outside. Preferably, the separation and recovery device 8 is located below the glue bowl 13, allowing the waste liquid flowing down to directly enter the separation and recovery device 8 for separation and recovery.

[0047] After cleaning, the backwashing device stops backwashing; specifically, the bidirectional pump 5 stops pumping; the scraper driver stops driving the scraper shaft 4; and the robotic arm 3 drives the scraper head 61 and the suction head 41 to exit the glue bowl 13. Figure 13 As shown, the tilting bowl structure 32 causes the tilting bracket 12 and the glue bowl 13 to tilt, and the waste liquid in the bowl is poured into the separation and recovery device 8 to recover the glue block and separate the waste liquid. After the glue suction head 41 leaves the glue bowl 13, preferably the bidirectional pump 5 starts pumping from the glue suction head 41 to the cleaning liquid supply structure 59 for a certain period of time, so that the cleaning liquid in the pipeline returns to the cleaning liquid container 58, reducing cleaning liquid waste and minimizing the impact on the next glue suction.

[0048] After the flipping bowl structure 32 leaves the flipping bracket 12, the flipping bracket 12 and the glue bowl 13 return to their original positions. After the bidirectional pump 5 stops again, the washing and collecting selection mechanism 51 connects to the glue collecting docking structure 57, and the walking platform 2 moves to the next glue bowl 13 to collect the glue.

[0049] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An automatic self-cleaning, bowl-turning, integrated solid-liquid recycling device for natural rubber latex, used to recycle latex from rubber tree bowls, comprising a walking platform on which a robotic arm is mounted, characterized in that: A scraper shaft is rotatably mounted on the working end of the robotic arm. A suction head is fixedly mounted on the lower end of the scraper shaft. The suction head has several suction holes. A suction channel communicating with the suction holes is provided inside the scraper shaft. The suction channel is connected to a glue collection drive device and a backwashing device. Several scraping arms are hinged to the outer circumferential surface of the scraping shaft, and the scraping arms are pitched and swung. Each scraping arm is provided with a scraping head at its free end, and a scraping elastic support structure is provided between the scraping head and the scraping arm. A scraping driver for driving the scraping shaft to rotate is installed on the working end of the robotic arm. A cover is installed on the working end of the robotic arm. The cover has a scraper shaft through hole corresponding to the scraper shaft. An elastic support is provided between the cover and the working end of the robotic arm. The cover is used to close the mouth of the glue bowl when negative pressure is generated in the glue bowl due to glue absorption, so as to prevent latex from splashing out. When positive pressure is generated in the glue bowl due to backwashing, the mouth of the bowl is opened, so as to form the glue bowl being washed inside and out at the same time.

2. The automatic self-cleaning natural rubber latex solid-liquid integrated recycling device as described in claim 1, characterized in that: The glue collection drive device includes a glue collection container mounted on the walking platform, and a bidirectional pump installed on the walking platform. One of the pump ports of the bidirectional pump is connected to the glue suction channel via a pipeline. The backwashing device includes a cleaning fluid container mounted on the walking platform. The glue collection container and the cleaning fluid container are respectively provided with a glue collection docking structure and a cleaning fluid supply structure. The other pump port of the bidirectional pump is connected to a wash-collection selection mechanism, which is used to switch the corresponding pump port of the bidirectional pump to be connected to the glue collection docking structure or the cleaning fluid supply structure.

3. The automatic self-cleaning natural rubber latex solid-liquid integrated recycling device as described in claim 2, characterized in that: The washing and collecting selection mechanism includes a washing and collecting selection arm that is laterally oscillating on the walking platform. A washing and collecting selection connector is installed on the free end of the washing and collecting selection arm. The washing and collecting selection connector is connected to the corresponding pump port pipeline of the bidirectional pump. The washing and collecting selection connector is connected to an oscillating driver, which is used to drive the washing and collecting selection connector to dock with the glue collection docking structure or the cleaning liquid supply structure.

4. The automatic self-cleaning natural rubber latex solid-liquid integrated recycling device as described in claim 1, characterized in that: The scraping elastic support structure includes a scraping support rod axially slidably mounted on the scraping support arm, and the scraping head is provided on the rod end of the scraping support rod away from the scraping support arm; a scraping support spring and an extension limiting structure are provided between the scraping support rod and the scraping support arm.

5. The automatic self-cleaning natural rubber latex solid-liquid integrated recycling device as described in claim 1, characterized in that: The rubber tree is provided with a tree-side fixing frame, and a flipping bracket is installed on the tree-side fixing frame. The rubber cup is fixedly installed on the flipping bracket, and the tree-side fixing frame is provided with a cup-holding mechanism for keeping the rubber cup in a milk-receiving posture.

6. The automatic self-cleaning natural rubber latex solid-liquid integrated recycling device as described in claim 5, characterized in that: The robotic arm is equipped with a flipping bowl structure at its working end. The flipping bowl structure is used to reach the lower side of the glue bowl when suctioning glue, and to flip the glue bowl when the suction head exits the glue bowl.

7. The automatic self-cleaning natural rubber latex solid-liquid integrated recycling device as described in claim 6, characterized in that: The walking platform is equipped with a separation and recycling device, which is used to separate and recycle the waste liquid poured out after the rubber bowl is overturned.

8. The automatic self-cleaning natural rubber latex solid-liquid integrated recycling device as described in claim 7, characterized in that: The separation and recycling device includes a wastewater collection container installed on the walking platform. The wastewater collection container is equipped with a solid-liquid screen. A glue block collection container is installed on the side of the solid-liquid screen on the walking platform. A screen cleaning mechanism is installed on the walking platform to clean the glue blocks left on the solid-liquid screen into the glue block collection container.

9. The automatic self-cleaning natural rubber latex solid-liquid integrated recycling device as described in claim 1, characterized in that: The robotic arm is equipped with a vision recognition component at its working end.

10. An automatic self-cleaning natural rubber latex solid-liquid integrated recycling device as described in any one of claims 1 to 9, characterized in that: During glue collection, the robotic arm drives the glue suction head and the glue scraping head into the glue bowl until the glue suction head is at the bottom of the glue bowl; the glue collection drive device starts collecting glue, and the glue scraping driver synchronously drives the glue scraping shaft to rotate. The glue scraping head scrapes away the latex on the inner wall of the glue bowl, and the latex in the glue bowl gathers at the bottom of the bowl and is sucked up by the glue suction head; the suction of the glue suction head creates a negative pressure inside the glue bowl, and the cover seals the mouth of the glue bowl to prevent latex from splashing out; After the glue collection is completed, the glue collection drive device stops collecting the glue, the backwashing device starts backwashing, and the glue suction head sprays cleaning liquid into the glue bowl; The scraper driver keeps driving the scraper shaft to rotate. Under the action of spraying cleaning liquid and scraping glue, the inside of the glue bowl is cleaned. At the same time, the spraying of the glue suction head creates positive pressure inside the glue bowl. The cover opens the bowl, and the cleaning liquid overflowing from the glue bowl cleans the outside of the bowl. The backwashing device stops backwashing, the glue scraper driver stops driving the glue scraper shaft, and the robotic arm drives the glue scraper head and the glue suction head to exit the glue bowl.

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