A floating advanced end-tapping and rubber collecting device and control method

Abstract

The application discloses a floating advanced end rubber tapping device and a control method, comprising an end mounting seat, a floating advanced mechanism, a depth feeding mechanism, a limiting mechanism, a cutting execution mechanism, a transverse stabilizing and buffering mechanism and an identification control module. The identification control module comprises a depth camera and an electric control unit. The electric control unit generates a floating advanced rubber tapping path according to three-dimensional information of a tree bark surface, and divides the path into a plurality of continuous advanced cutting units. In each advanced cutting unit, the floating advanced mechanism and the depth feeding mechanism are controlled to move synchronously according to corresponding advanced displacement and target cutting amount, and segmented advanced cutting is performed. After each unit is executed, the actual cutting depth is calculated according to a formed cutting mark contour obtained by the depth camera, and the target cutting amount of the next unit is adjusted according to the actual cutting depth, so that closed-loop depth control based on cutting mark feedback is realized. The application can improve the continuity of a rubber tapping track and the consistency of cutting depth, and is suitable for automatic rubber tapping operation of natural rubber trees.

Description

Technical Field

[0001] This invention relates to the field of automatic rubber tapping equipment for natural rubber trees, and in particular to a floating advanced end-tapping device and control method suitable for robot end effectors. Background Technology

[0002] Natural rubber is an important industrial raw material and plays a crucial role in industrial production, medical and health care, and daily life. Traditional rubber tapping is mainly done manually. Rubber tappers need to control the depth and trajectory of the tapping knife based on the thickness of the rubber tree bark, the curvature of the trunk, the direction of the tapping line, and their tapping experience. This is a high-intensity and technically demanding job. Because tapping too shallow a depth will affect the latex extraction efficiency, while tapping too deep will easily damage the cambium layer, affecting the growth of the rubber tree and its subsequent latex production capacity, rubber tapping requires a high degree of control over the tapping trajectory and depth.

[0003] With the development of agricultural robotic harvesting equipment, automated rubber tapping devices for natural rubber trees have gradually attracted attention. Existing automated rubber tapping devices can be broadly classified into the following categories: The first type is the passive compliant contour-following rubber tapping device. For example, Chinese patent CN111567359B discloses a passive compliant contour-following and cutting mechanism for an automatic rubber tapping robot. This mechanism mainly consists of a fixed tree stump mechanism, a passive compliant contour-following mechanism, and a chain-type blade assembly mechanism. The chain-type blade assembly mechanism is mounted on a synchronous belt between two crab claws and includes multiple sets of equally spaced blades. Each blade includes an arc-shaped guide plate, a blade back plate, and a floating blade. This solution achieves contour-following by the arc-shaped guide plate fitting against the tree stump. It is a purely passive mechanical contact contour-following method; the movement of the cutter relies entirely on the transmission of mechanical contact force and cannot actively sense or adapt to subtle morphological changes on the bark surface.

[0004] The second type is the intelligent contour-following progressive rubber tapping device. For example, Chinese patent CN114303874A discloses an intelligent contour-following progressive rubber tapping machine, which includes an adjustable binding device, a tapping execution device, a tapping transmission device, and a control module. A geared motor drives the tapping execution device to perform a spiral upward motion along the rubber tree's incision, coordinating with the cutting motion to complete the tapping action. A stepper motor drives the tapping execution device to move downward a certain distance to complete the reset motion. Although this solution is named "progressive," its "progression" is essentially a periodic motion of "spiral upward—reset—spiral downward," with the cutting blade continuously moving along the cutting line in one pass to complete the cut.

[0005] The third category is contour tapping devices based on three-axis slides. For example, an automatic rubber tree tapping machine employs a contouring and cutting mechanism composed of a CNC three-axis slide. This mechanism achieves three-dimensional contouring by controlling the rotation of a stepper motor. While this type of solution can achieve trajectory movement in three-dimensional space, it primarily relies on continuous movement along a preset trajectory and lacks the ability to provide online feedback and adjustment based on the formation of the tap marks during the tapping process.

[0006] The aforementioned existing technologies have the following main shortcomings: First, they lack proactive sensing and adaptive capabilities. Existing contour tapping devices mostly use passive mechanical contact methods (such as curved guide plates, contour wheels, spring clamping, etc.) to adhere to the bark surface. The movement trajectory of the tapper depends on the passive transmission of mechanical contact force, and it cannot proactively plan the path according to the three-dimensional shape of the bark surface, let alone provide online feedback and adjustment based on the state of the tap marks during the tapping process.

[0007] Secondly, depth control mainly relies on mechanical limits or open-loop feed, lacking online adjustment capabilities. Existing devices mostly use fixed bolt limits or simple DC push rods for tool advance and retraction control, all of which preset fixed depths or simple open-loop feeds, making it impossible to dynamically adjust the cutting depth according to actual conditions such as changes in bark thickness and local unevenness.

[0008] Third, the trajectory control is continuous motion, lacking segmented progression and step-by-step optimization mechanisms. Existing rubber tapping devices mostly use continuous spiral motion or uniform linear motion to complete rubber tapping. The tapper moves continuously along the cutting line in one go. When encountering sudden changes in the curvature of the bark surface or local unevenness, it cannot make targeted adjustments, which easily leads to over-cutting, missed cutting, or discontinuous cutting marks.

[0009] Fourth, there is a lack of a dedicated mechanism to suppress lateral disturbances of the cutter. Although some devices are equipped with spring damping devices, these are mainly for overall machine vibration or for achieving passive conformal fitting, and lack an independent buffer module specifically designed to suppress lateral disturbances of the cutter, located between the depth feed mechanism and the cutting execution mechanism.

[0010] Fifth, the abnormal handling mechanism is lacking or simplistic. When existing rubber tapping equipment encounters abnormalities such as excessive cutting depth, path deviation, or loss of vision, manual intervention or a complete machine shutdown and restart is usually required, lacking a systematic abnormality detection and autonomous recovery capability.

[0011] To address the aforementioned issues, there is an urgent need for an end-tapping device and control method that can adapt to changes in the surface morphology of rubber tree bark, enable floating and fitting of the tapping blade, perform segmented progressive cutting, and adjust the cutting depth online, thereby improving the stability, continuity, and safety of automated rubber tapping operations. Summary of the Invention

[0012] To address the shortcomings of existing technologies, this invention proposes a floating advanced end-tapping device and control method to solve the problems of unstable blade adhesion, tapering trajectory deviation, inaccurate cutting depth control, and easy damage to the cambium layer of natural rubber trees when faced with changes in the curvature and unevenness of the bark of existing automatic tapping devices.

[0013] This invention enables the tapper to perform segmented progressive cutting based on the three-dimensional morphology of the bark surface by setting up a floating progressive mechanism, a depth feeding mechanism, a limiting mechanism, a lateral stabilizing buffer mechanism, and an identification control module. During the tapping process, the tapper can be adjusted online according to the cut contour and the position of the tapper, thereby improving the continuity of the tapping trajectory and the consistency of the cutting depth.

[0014] To achieve the above objectives, the present invention provides the following technical solution: A floating progressive end-cutting device includes an end mounting base, a floating progressive mechanism, a depth feeding mechanism, a limiting mechanism, a cutting execution mechanism, a lateral stabilizing buffer mechanism, and an identification and control module.

[0015] The end mount is used to connect to the end of a robot arm or a mobile work platform.

[0016] The floating progressive mechanism is mounted on the end mount and is used to drive the cutting actuator to perform trajectory compensation displacement and progressive displacement adjustment relative to the tapping area of ​​the target natural rubber tree.

[0017] The depth feed mechanism is mounted on the floating advance mechanism and is used to adjust the cutting depth of the cutting execution mechanism relative to the target natural rubber tree bark.

[0018] The limiting mechanism is disposed on the floating progressive mechanism or the depth feed mechanism, and is used to adjust the cutting depth of the cutting execution mechanism.

[0019] The cutting actuator is located at the front end of the depth feed mechanism and is used to perform rubber tapping on the target natural rubber tree.

[0020] The lateral stabilizing buffer mechanism is disposed between the depth feeding mechanism and the cutting execution mechanism, and is used to buffer the lateral disturbance of the cutting execution mechanism during the rubber tapping process.

[0021] The identification and control module includes a depth camera and an electronic control unit. The depth camera is used to acquire three-dimensional information of the bark surface of the target natural rubber tree, the position information of the cutting knife, and the outline information of the formed cut marks.

[0022] The electronic control unit is configured as follows: A floating progressive tapping path is generated based on the three-dimensional information of the bark surface, and the floating progressive tapping path is divided into multiple continuous progressive cutting units. Each progressive cutting unit corresponds to an independent progressive displacement and an independent target cutting amount. During the execution of each advanced cutting unit, the floating advanced mechanism and the depth feed mechanism are controlled to move synchronously according to the advanced displacement and target cutting amount corresponding to the current advanced cutting unit, so that the cutting execution mechanism performs segmented advanced cutting along the floating advanced rubber cutting path. After each advanced cutting unit is completed, the actual cutting depth is calculated based on the formed cutting contour obtained by the depth camera, and the target cutting depth of the next advanced cutting unit is adjusted according to the deviation between the actual cutting depth and the target cutting depth.

[0023] Furthermore, the electronic control unit is also configured to adaptively adjust the division granularity of the advanced cutting unit according to the curvature change of the target natural rubber tree bark surface. When the curvature change of the bark surface is less than a preset curvature threshold, the advanced displacement of a single advanced cutting unit is increased; when the curvature change of the bark surface is greater than or equal to the preset curvature threshold, the advanced displacement of a single advanced cutting unit is decreased.

[0024] Furthermore, the electronic control unit is also configured to perform abnormal state detection and autonomous recovery. When the operating state of the cutting actuator meets the preset abnormal triggering conditions, the electronic control unit controls the depth feed mechanism to drive the cutting actuator away from the bark, controls the floating advanced mechanism to retreat to a safe position, and controls the depth camera to re-acquire bark surface information. Based on the re-acquired information, the subsequent advanced cutting unit is regenerated and the rubber tapping cutting continues.

[0025] Furthermore, the lateral stabilizing buffer mechanism includes a lateral stabilizing rod, a damping spring, and a buffer cover plate. The buffer cover plate is fixed relative to the depth feeding mechanism. One end of the lateral stabilizing rod is slidably engaged with the buffer cover plate, and the other end is fixed to the cutting execution mechanism. The damping spring is sleeved on the outside of the lateral stabilizing rod. The lateral stabilizing rod and the damping spring are used to absorb the lateral disturbances experienced by the cutting execution mechanism during the rubber cutting process.

[0026] Furthermore, the electronic control unit is also configured to control the floating advanced mechanism to generate a corrective displacement opposite to the lateral offset direction when the depth camera detects that the cutting execution mechanism has a lateral offset relative to the target rubber tapping work zone. The lateral stabilization buffer mechanism passively absorbs high-frequency lateral disturbances during the lateral correction process performed by the electronic control unit, forming a primary-passive cooperative lateral stabilization control with the active correction displacement of the electronic control unit.

[0027] Furthermore, the limiting mechanism includes a limiting electric actuator and a limiting slider. The limiting electric actuator is disposed on the floating progressive mechanism, and the limiting slider is disposed at the output end of the limiting electric actuator. The limiting electric actuator is used to adjust the position of the limiting slider relative to the cutting execution mechanism. The limiting slider is used to contact the surface of the target natural rubber tree bark during the rubber tapping process to limit the maximum cutting depth of the cutting execution mechanism.

[0028] A control method for the above-mentioned floating advanced end-cutting rubber device includes the following steps: Step 1: The depth camera acquires three-dimensional point cloud information of the tapping area of ​​the target natural rubber tree. The electronic control unit extracts the bark surface contour based on the three-dimensional point cloud information and determines the tapping operation zone, the normal direction of the bark surface, and the extension direction of the tapping line. Step 2: The electronic control unit generates a floating progressive tapping path based on the tapping operation zone, and divides the floating progressive tapping path into multiple continuous progressive cutting units. Each progressive cutting unit corresponds to an independent progressive displacement and an independent target cutting depth. Step 3: The electronic control unit controls the floating progressive mechanism and the depth feed mechanism to move the cutting execution mechanism to the starting area of ​​the floating progressive rubber tapping path and make the cutter fit against the bark surface; Step 4: After the cutter is in contact with the bark surface, the electronic control unit controls the cutter to rotate and controls the floating advanced mechanism and the depth feed mechanism to move synchronously according to the advanced displacement and target cutting depth corresponding to the current advanced cutting unit, so that the cutter performs segmented advanced rubber cutting. Step 5: After each advanced cutting unit is completed, the depth camera acquires the formed cut contour, the electronic control unit calculates the actual cut depth based on the formed cut contour, and adjusts the target cutting depth of the next advanced cutting unit based on the deviation between the actual cut depth and the target cut depth. Step 6: Repeat steps 4 and 5 until all advanced cutting units in the floating advanced cutting path have been completed.

[0029] Furthermore, in step two, the electronic control unit adaptively adjusts the granularity of the advanced cutting unit based on the curvature change of the target natural rubber tree bark surface. When the curvature change of the bark surface is less than a preset curvature threshold, the advanced displacement of a single advanced cutting unit is increased; when the curvature change of the bark surface is greater than or equal to the preset curvature threshold, the advanced displacement of a single advanced cutting unit is decreased. In step five, when the actual cut depth is less than the target cut depth, the electronic control unit controls the depth feed mechanism to increase the cutting displacement in the next advanced cutting unit; when the actual cut depth is greater than the target cut depth, the electronic control unit controls the depth feed mechanism to decrease the cutting displacement or perform a retraction in the next advanced cutting unit.

[0030] Furthermore, it also includes anomaly detection and autonomous recovery steps. When the electronic control unit detects that the operating status of the cutting actuator meets the preset anomaly triggering conditions, the electronic control unit controls the depth feed mechanism to drive the cutting actuator away from the bark, controls the floating advanced mechanism to retreat to a safe position, controls the depth camera to re-collect bark surface information, and regenerates the subsequent advanced cutting unit based on the re-collected information before continuing to perform rubber tapping.

[0031] Furthermore, during the rubber tapping process, when the depth camera detects a lateral shift of the cutter relative to the tapping work zone, the electronic control unit controls the floating advanced mechanism to generate a corrective displacement opposite to the lateral shift direction. When the lateral shift is less than or equal to a preset lateral shift threshold, the current advanced cutting unit continues to be executed. When the lateral shift is greater than the preset lateral shift threshold, the current advanced cutting unit is paused and the cutting posture of the cutter is redefined.

[0032] The present invention, by adopting the above-described technical solution, has the following beneficial effects: 1. Achieving Active Perception and Segmented Progressive Cutting. This invention actively acquires three-dimensional information of the bark surface using a depth camera. Based on this, the electronic control unit generates a floating progressive tapping path and divides it into multiple progressive cutting units. Compared with the passive mechanical contact contouring and continuous trajectory motion in existing technologies, this invention achieves an active control paradigm of "active perception - segmented planning - segmented execution," which can adaptively adjust the cutting step length according to the curvature changes of the bark surface, effectively improving the continuity of the tapping trajectory.

[0033] 2. Achieving online depth feedback adjustment based on cut contour. After each advanced cutting unit is completed, this invention acquires the formed cut contour using a depth camera, calculates the actual cut depth, and compares it with the target cut depth. Based on this, the target cutting depth of the next advanced cutting unit is adjusted. Compared with the prior art of preset fixed depth or simple open-loop feed, this invention achieves true closed-loop depth control, which can effectively improve the consistency of cutting depth and reduce the risk of overcutting and undercutting.

[0034] 3. Achieving coordinated active and passive lateral stability control. This invention incorporates a lateral stabilization buffer mechanism between the depth feed mechanism and the cutting execution mechanism. High-frequency lateral disturbances are passively absorbed by a lateral stabilizing rod and damping springs, while the electronic control unit actively generates corrective displacement based on the lateral offset detected by the depth camera. This coordinated active and passive lateral stability control significantly improves the attitude stability of the cutter during rubber cutting.

[0035] 4. Achieve systematic anomaly detection and autonomous recovery. This invention establishes a detection mechanism covering multiple abnormal states and executes a complete autonomous recovery process of "retracting the blade—returning—re-harvesting—re-planning—continuing tapping" when an anomaly occurs. Compared with existing technologies that require manual intervention or complete machine shutdown, this significantly improves the reliability and continuity of automated rubber tapping operations.

[0036] 5. Achieving coordinated protection of adjustable mechanical limit and active feed. This invention uses a limit electric actuator to drive a limit slider, which can dynamically adjust the mechanical limit position according to the bark thickness and tapping requirements. Based on active depth control, it provides reliable safety redundancy protection, further reducing the risk of damage to the bark cambium. Attached Figure Description

[0037] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts. Wherein: Figure 1 This is a schematic diagram of the overall structure of the floating advanced end-cutting rubber device provided in an embodiment of the present invention.

[0038] Figure 2 This is a schematic diagram of the depth feeding mechanism of the floating advanced end-cutting rubber device provided in an embodiment of the present invention.

[0039] Figure 3 This is a schematic diagram of the lateral stabilization buffer mechanism of the floating advanced end-cutting rubber device provided in an embodiment of the present invention.

[0040] Figure 4 This is a schematic diagram of the limiting mechanism structure of the floating advanced end-cutting rubber device provided in an embodiment of the present invention.

[0041] Figure 5 This is a schematic diagram of the identification and control module structure of the floating advanced end-cutting rubber device according to an embodiment of the present invention.

[0042] Figure 6 This is a flowchart illustrating the control method for the floating advanced end-cutting rubber device provided in an embodiment of the present invention.

[0043] Explanation of reference numerals in the attached figures: In the picture: 100. End mount; 200. Floating progressive mechanism; 201. Floating electric lead screw slide; 202. Floating slide fixing frame; 203. Mounting seat pulley; 204. Moving motor; 300. Depth feed mechanism; 301. Depth guide rail; 302. Depth rack; 303. Depth motor; 304. Depth motor cover plate; 400. Limiting mechanism; 401. Limiting electric actuator; 402. Limiting slider; 500. Cutting actuator; 501. Cutting blade assembly housing; 502. Cutting blade; 503. Cutting blade motor; 504. Drive belt; 505. Cutting blade impeller; 600. Lateral stabilizing buffer mechanism; 601. Lateral stabilizing bar; 602. Damping spring; 603. Buffer cover plate; 700. Identification and control module; 701. Electrical control unit; 702. Depth camera; 703. Communication unit; 704. Floating progressive drive module; 705. Depth motor drive module; 706. Limiting electric actuator drive module; 707. Cutter motor drive module. Detailed Implementation

[0044] For ease of understanding, based on the technical solutions of the present invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solutions of the present invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solutions of the present invention. Example

[0045] Overall structure of the floating advanced end-of-line rubber tapping device: like Figure 1 As shown, the floating progressive end-cutting device provided by the present invention includes an end mounting base 100, a floating progressive mechanism 200, a depth feeding mechanism 300, a limiting mechanism 400, a cutting execution mechanism 500, a lateral stabilizing buffer mechanism 600, and an identification and control module 700.

[0046] The end effector 100 is used to connect to the end effector of a robot arm or a mobile work platform. The end effector 100 can adopt a flange structure or a quick-connect coupling structure to facilitate quick connection and replacement with different models of industrial robots or mobile work platforms.

[0047] The floating progressive mechanism 200 is mounted on the end mounting base 100 and is used to drive the cutting execution mechanism 500 to perform floating compensation displacement and progressive displacement adjustment relative to the tapping area of ​​the target natural rubber tree. The floating progressive mechanism 200 is a key execution component for realizing the core function of "segmented progressive cutting" of the present invention. Under the control of the electronic control unit 701, it can drive the cutting execution mechanism 500 to generate discrete, segmented progressive displacements along the tapping path.

[0048] The depth feed mechanism 300 is mounted on the floating progressive mechanism 200 and is used to adjust the cutting depth of the cutting execution mechanism 500 relative to the target natural rubber tree bark. The depth feed mechanism 300 operates synchronously with the floating progressive mechanism 200 within each progressive cutting unit, jointly completing a composite motion of "progressive displacement + cutting displacement".

[0049] The limiting mechanism 400 is disposed on the floating progressive mechanism 200 or the depth feed mechanism 300, and is used to adjust the cutting depth of the cutting execution mechanism 500. The limiting mechanism 400 provides mechanical safety redundancy based on the active control of the depth feed mechanism 300, and prevents overcutting caused by control abnormalities or sensing errors.

[0050] The cutting actuator 500 is located at the front end of the depth feed mechanism 300 and is used to perform rubber tapping on the target natural rubber tree.

[0051] The lateral stabilizing buffer mechanism 600 is disposed between the depth feeding mechanism 300 and the cutting execution mechanism 500, and is used to buffer the lateral disturbance of the cutting execution mechanism 500 during the rubber tapping process. The lateral stabilizing buffer mechanism 600 can passively absorb the high-frequency lateral impact caused by the unevenness of the bark surface during the rubber tapping process, and can also work in coordination with the active lateral correction of the electronic control unit 701.

[0052] The identification and control module 700 is used to acquire tree information, tapping area information and cutter position information of the target natural rubber tree, and control the floating advancement mechanism 200, depth feeding mechanism 300, limiting mechanism 400 and cutting execution mechanism 500 according to the tree information, tapping area information and cutter position information.

[0053] The specific structure of the floating advanced mechanism: like Figure 1 As shown, the floating progressive mechanism 200 includes a floating electric lead screw slide 201, a floating slide fixing frame 202, a mounting base pulley 203, and a moving motor 204.

[0054] The floating electric lead screw slide 201 is disposed on the front side of the end mounting base 100. The floating electric lead screw slide 201 adopts a linear module structure, consisting of a lead screw, a guide rail, and a slider, and can achieve high-precision linear displacement output under the control of the electronic control unit 701.

[0055] The mounting pulley 203 is rotatably mounted on the apex of the rear side of the end mounting base 100. The mounting pulley 203 is used to contact the surface of the bark as the device approaches the bark, serving to assist in positioning and reduce friction.

[0056] The mobile motor 204 is disposed on the lower side of the end mounting base 100 and is used to provide power to the floating electric lead screw slide 201.

[0057] The floating slide table fixing frame 202 is disposed at the sliding output end of the floating electric lead screw slide table 201 and is used to install the depth feed mechanism 300, the limiting mechanism 400, the cutting execution mechanism 500 and the lateral stabilizing buffer mechanism 600.

[0058] The floating electric lead screw slide 201 is used to drive the floating slide fixed frame 202 to move along a preset compensation direction, so that the cutting execution mechanism 500 can perform position compensation relative to the target cutting trajectory. The preset compensation direction includes a tangential compensation direction along the outer periphery of the target natural rubber tree, a lateral compensation direction along the width of the target cutting line, or both the tangential compensation direction and the lateral compensation direction.

[0059] The floating electric lead screw slide 201 is configured to control the cutting actuator 500 to perform progressive compensation displacement based on the deviation of the cutting trajectory. Unlike the continuous feeding or one-time adjustment in the prior art, the floating progressive mechanism 200 of the present invention adopts a "progressive" method—that is, the electronic control unit 701 divides the entire rubber cutting path into multiple progressive cutting units, and the floating electric lead screw slide 201 performs a discrete progressive displacement within each progressive cutting unit. The displacement between adjacent progressive cutting units is performed in segments, rather than continuous uniform motion. This segmented progressive motion method allows the electronic control unit 701 to adjust the control parameters of the next segment according to the actual cutting mark state after each segment is completed, realizing closed-loop control of "cutting and measuring simultaneously, optimizing segment by segment".

[0060] The specific structure of the depth feed mechanism: like Figure 1 and Figure 2 As shown, the depth feed mechanism 300 includes a depth guide rail 301, a depth rack 302, a depth motor 303, and a depth motor cover plate 304.

[0061] The depth guide rail 301 is disposed on the floating progressive mechanism 200. Specifically, the depth guide rail 301 is fixedly installed on the floating slide table bracket 202 and moves together with the floating slide table bracket 202.

[0062] The depth rack 302 is slidably disposed within the depth guide rail 301. The depth rack 302 can slide back and forth within the depth guide rail 301 in a direction close to or away from the bark.

[0063] The depth motor cover plate 304 is disposed on the depth guide rail 301.

[0064] The depth motor 303 is mounted on the depth motor cover plate 304, and the output end of the depth motor 303 meshes with the depth rack 302 via a gear.

[0065] The depth motor 303 drives the depth rack 302 to move relative to the depth guide rail 301, thereby causing the cutting actuator 500 to move in a direction closer to or further away from the target natural rubber tree bark. The depth motor 303 is a stepper motor or a servo motor, which can achieve precise displacement output under the control of the electronic control unit 701.

[0066] The depth feed mechanism 300 adopts a gear and rack transmission method, which has the advantages of high transmission accuracy, fast response speed, and compact structure, making it suitable for installation in the limited space of the robot's end effector. In each advanced cutting unit, the depth feed mechanism 300 and the floating advanced mechanism 200 operate synchronously—the floating advanced mechanism 200 drives the cutter 502 to generate an advanced displacement along the cutting direction, and the depth feed mechanism 300 drives the cutter 502 to generate a cutting displacement along the bark normal direction. The two work together to complete all the cutting actions of one advanced cutting unit.

[0067] The specific structure of the limit mechanism: like Figure 1 and Figure 4 As shown, the limiting mechanism 400 includes a limiting electric actuator 401 and a limiting slider 402.

[0068] The limiting electric actuator 401 is disposed on the floating progressive mechanism 200. Specifically, the limiting electric actuator 401 is fixedly installed on the floating slide table fixing frame 202.

[0069] The limiting slider 402 is disposed at the output end of the limiting electric actuator 401.

[0070] The limiting electric actuator 401 is used to adjust the position of the limiting slider 402 relative to the cutting actuator 500. The limiting electric actuator 401 can be a miniature electric actuator, which extends or retracts under the control of the electronic control unit 701, thereby changing the axial position of the limiting slider 402 relative to the cutter 502.

[0071] The limiting slider 402 is used to contact the surface of the target natural rubber tree bark or a position adjacent to the tapping area during the tapping process, so as to limit the maximum cutting depth of the cutting actuator 500.

[0072] The working principle of the limiting mechanism 400 is as follows: Before tapping begins, the electronic control unit 701 controls the limiting electric push rod 401 to extend a certain length according to the target tapping depth, so that the limiting slider 402 is in a certain position relative to the cutting edge of the cutter 502. When the depth feed mechanism 300 drives the cutter 502 to feed towards the bark, the limiting slider 402 moves towards the bark along with it. When the limiting slider 402 contacts the bark surface, the depth feed mechanism 300 cannot continue to feed, thereby limiting the maximum cutting depth of the cutter 502 within a preset range. By adjusting the extension amount of the limiting electric push rod 401, mechanical limiting of different target tapping depths can be achieved.

[0073] Unlike the fixed bolt limiting mechanism in the prior art, the limiting mechanism 400 of the present invention is driven by an electric actuator, which can dynamically adjust the limiting position according to different rubber tapping conditions and bark thickness under the control of the electronic control unit 701, thereby achieving an actively adjustable mechanical depth limit.

[0074] The specific structure of the cutting actuator: like Figure 1 and Figure 2 As shown, the cutting actuator 500 includes a cutter assembly housing 501, a cutter 502, a cutter motor 503, a transmission belt 504, and a cutter wheel 505.

[0075] The cutter assembly housing 501 is disposed at the front end of the depth feed mechanism 300. Specifically, the cutter assembly housing 501 is fixedly connected to the lateral stabilizing rod 601 of the lateral stabilizing buffer mechanism 600.

[0076] The cutting blade 502 is disposed on the side of the cutting blade wheel 505. The cutting blade 502 is an arc-shaped cutting blade or a straight-edged cutting blade, with its cutting edge facing the bark, and is used to cut the bark during rotation.

[0077] The cutter wheel 505 is rotatably disposed within the cutter assembly housing 501. The cutter wheel 505 is mounted within the cutter assembly housing 501 via bearings and can rotate at high speed under the drive of the cutter motor 503.

[0078] The cutter motor 503 is mounted on the cutter assembly housing 501.

[0079] One end of the transmission belt 504 is fitted onto the output end of the cutter motor 503, and the other end is fitted onto the cutter wheel 505, so that the cutter motor 503 drives the cutter 502 to rotate through the transmission belt 504.

[0080] The cutter motor 503 is a brushless DC motor or a servo motor, which transmits power to the cutter wheel 505 via a transmission belt 504, driving the cutter 502 to rotate at high speed and cut the bark. The transmission belt 504 can be a synchronous belt to ensure a precise transmission ratio between the cutter 502 and the cutter motor 503.

[0081] The specific structure of the lateral stabilizing buffer mechanism: like Figure 1 and Figure 3 As shown, the lateral stabilizing buffer mechanism 600 includes a lateral stabilizing bar 601, a damping spring 602, and a buffer cover plate 603.

[0082] One side of the buffer cover 603 is fixed to one end face of the depth rack 302. The buffer cover 603 serves as the mounting base for the lateral stabilizing buffer mechanism 600 and moves together with the depth rack 302.

[0083] One end of the lateral stabilizer 601 is slidably engaged with the buffer cover plate 603, and the other end of the lateral stabilizer 601 is fixed to the cutting actuator 500. The lateral stabilizer 601 can slide axially within the guide hole of the buffer cover plate 603, thereby allowing the cutting actuator 500 to generate a certain relative displacement with respect to the depth feed mechanism 300.

[0084] The damping spring 602 is sleeved on the outside of the lateral stabilizer bar 601. One end of the damping spring 602 abuts against the buffer cover plate 603, and the other end abuts against the cutter assembly housing 501 of the cutting actuator 500.

[0085] The lateral stabilizer bar 601 and damping spring 602 are used to absorb the lateral disturbances experienced by the cutting actuator 500 during the rubber cutting process, and to keep the cutter 502 in a stable cutting posture that fits the target rubber cutting area.

[0086] The lateral stabilizing buffer mechanism 600 works as follows: During rubber tapping, when the tapper 502 encounters a local protrusion or depression on the bark surface, a lateral impact force (i.e., perpendicular to the feed direction and parallel to the bark surface) is generated. This impact force is transmitted to the lateral stabilizing bar 601 through the tapper assembly housing 501. The lateral stabilizing bar 601 slides relative to the buffer cover 603, and the damping spring 602 is compressed or stretched, thereby absorbing and buffering the lateral impact energy. At the same time, the restoring force of the damping spring 602 keeps the tapper 502 in contact with the bark surface at all times.

[0087] Unlike the shock absorption devices in the prior art that are set on the whole machine, the lateral stabilization buffer mechanism 600 of the present invention is specially set between the depth feed mechanism 300 and the cutting execution mechanism 500. It can directly act on the cutter 502 and accurately suppress the lateral disturbances of the cutter. It has the advantages of fast response speed and good buffering effect.

[0088] The specific structure of the identification control module: like Figure 1 and Figure 5 As shown, the identification control module 700 includes an electronic control unit 701, a depth camera 702, a communication unit 703, a floating progressive drive module 704, a depth motor drive module 705, a limit electric actuator drive module 706, and a cutter motor drive module 707.

[0089] The depth camera 702 is used to acquire the tree diameter, three-dimensional information of the tapping area, tapping trajectory information, and spatial position information of the tapper of the target natural rubber tree. The depth camera 702 can be a structured light depth camera or a binocular vision camera, mounted on the end mount 100 or the floating slide bracket 202, and its field of view covers the tapping area.

[0090] The electronic control unit 701 is electrically or communicatively connected to the depth camera 702, communication unit 703, floating progressive drive module 704, depth motor drive module 705, limit electric actuator drive module 706, and cutter motor drive module 707, respectively. The electronic control unit 701 can be an embedded controller, industrial computer, or PLC controller, responsible for the logic control and algorithm calculation of the entire device.

[0091] The floating progressive drive module 704 is used to drive the floating progressive mechanism 200, specifically by driving the moving motor 204 to operate.

[0092] The depth motor drive module 705 is used to drive the depth feed mechanism 300, specifically to drive the depth motor 303 to operate.

[0093] The limit electric actuator drive module 706 is used to drive the limit mechanism 400, specifically to drive the limit electric actuator 401 to extend and retract.

[0094] The cutter motor drive module 707 is used to drive the cutting actuator 500, specifically to drive the cutter motor 503 to operate.

[0095] The communication unit 703 is used to exchange data with a host computer or other external devices, and supports wired and wireless communication methods.

[0096] The electronic control unit 701 is configured to control the floating progressive mechanism 200 to perform trajectory compensation displacement, control the depth feed mechanism 300 to perform depth compensation feed, and control the limiting mechanism 400 to adjust the mechanical limiting position based on the secant trajectory deviation and secant depth deviation obtained by the depth camera 702.

[0097] The specific process of the control method: like Figure 6 As shown, the control method for the floating advanced end-cutting rubber device provided by the present invention includes the following steps: Step 1: Device initialization and coordinate transformation.

[0098] Before the rubber tapping operation begins, the electronic control unit 701 controls the floating advancement mechanism 200, the depth feed mechanism 300, the limit mechanism 400, and the cutting execution mechanism 500 to reset to their initial positions. At the same time, the coordinate transformation relationship between the cutting edge coordinate system of the cutter 502, the camera coordinate system of the depth camera 702, and the robot end effector coordinate system is established.

[0099] Specifically, the coordinate transformation relationships include the pose relationship between the center point of the cutting edge of the cutter 502 and the cutting actuator 500, the pose relationship between the cutting actuator 500 and the depth feed mechanism 300, the pose relationship between the depth camera 702 and the robot end effector coordinate system, and the pose relationship between the robot end effector coordinate system and the tapping area of ​​the target natural rubber tree. Based on the above coordinate transformation relationships, the electronic control unit 701 converts the three-dimensional point cloud information of the tapping area acquired by the depth camera 702 into motion control parameters executable by the cutter 502.

[0100] Step 2: Collect three-dimensional information of the bark surface.

[0101] The depth camera 702 acquires three-dimensional point cloud information of the tapping area of ​​the target natural rubber tree. The electronic control unit 701 extracts the bark surface contour based on the three-dimensional point cloud information and determines the tapping operation zone, the normal direction of the bark surface, and the extension direction of the tapping line.

[0102] The extraction of the bark surface contour can be achieved using algorithms such as point cloud filtering and surface fitting. The tapping strip refers to the strip-shaped area on the bark surface suitable for tapping; its width and location are determined based on the rubber tree variety, age, and tapping regime. The bark surface normal direction guides the feed direction of the depth feed mechanism 300, while the cutting line extension direction guides the advancement direction of the floating advancement mechanism 200.

[0103] Step 3: Generate floating advanced rubber cutting paths and divide them into advanced cutting units.

[0104] The electronic control unit 701 generates a floating progressive tapping path based on the tapping operation zone, and divides the floating progressive tapping path into multiple continuous progressive cutting units. Each progressive cutting unit corresponds to an independent progressive displacement and an independent target cutting amount.

[0105] The generation of the floating advanced tapping path is based on the curvature variation of the target natural rubber tree bark surface, the width of the tapping strip, and the preset tapping angle. When the curvature variation of the bark surface is small, the electronic control unit 701 increases the advanced displacement of a single advanced cutting unit; when the curvature variation of the bark surface is large, the electronic control unit 701 decreases the advanced displacement of a single advanced cutting unit, so that the cutter 502 maintains a cutting posture that matches the curvature of the bark surface during the tapping process.

[0106] The division of advanced cutting units is one of the core innovations of this invention. Unlike existing technologies that treat the entire cutting line as a continuous trajectory, this invention divides the cutting line into several discrete, independently controllable cutting units. Each advanced cutting unit is a complete "feed-cut-detection" cycle—the floating advanced mechanism 200 drives the cutter to advance one step along the cutting line direction, while the depth feed mechanism 300 drives the cutter to cut into the normal direction to a certain depth. After the cutting of this unit is completed, the depth camera 702 detects the cutting mark status, and the electronic control unit 701 determines the control parameters of the next unit based on the detection results.

[0107] The preset curvature threshold is a boundary parameter used by the electronic control unit 701 to determine the degree of curvature change on the bark surface. Based on the three-dimensional point cloud information acquired by the depth camera 702, the electronic control unit 701 performs sliding window local surface fitting on the bark surface within the tapping strip along the tapping line extension direction, calculates the principal curvature value of each window's fitted surface, and uses the difference in principal curvature values ​​between adjacent windows as the curvature change. The preset curvature threshold is pre-set based on the variety, age, diameter, and bark surface condition of the target natural rubber tree, or determined through calibration experiments on the tapping area of ​​the target rubber tree; in one embodiment, the preset curvature threshold is 0.01 mm. -1 up to 0.05mm -1 The values ​​are within the specified range. When the curvature change of adjacent fitting windows along the cutting line extension direction is less than the preset curvature threshold, it indicates that the surface of the bark segment is relatively smooth. The electronic control unit 701 increases the progressive displacement of a single progressive cutting unit, for example, setting the progressive displacement to 5mm to 12mm. When the curvature change is greater than or equal to the preset curvature threshold, it indicates that there is abrupt curvature change or local unevenness on the surface of the bark segment. The electronic control unit 701 decreases the progressive displacement of a single progressive cutting unit, for example, setting the progressive displacement to 2mm to 5mm, to improve the following accuracy of the cutter 502 in response to changes in the bark surface morphology. The above values ​​are only examples and can be adjusted according to the specific rubber tree variety and tapping process requirements in actual applications.

[0108] Step 4: Move to the starting area and adjust the limits.

[0109] The electronic control unit 701 controls the floating progressive mechanism 200 to drive the cutting execution mechanism 500 to move to the starting area of ​​the floating progressive rubber cutting path, and controls the limiting mechanism 400 to adjust the position of the limiting slider 402 to form a mechanical depth limit reference for the cutter 502.

[0110] Specifically, the electronic control unit 701 calculates the extension amount of the limiting electric push rod 401 based on the target cutting depth, and controls the limiting electric push rod 401 to adjust the limiting slider 402 to a predetermined position. The position of the limiting slider 402 determines the maximum allowable cutting depth of the cutter 502, providing mechanical safety redundancy for active depth control.

[0111] The target tapping depth (i.e., the preset fixed depth) is the desired tap depth pre-set before the tapping operation begins, based on the variety, age, bark thickness, and tapping regime of the target natural rubber tree. In one embodiment, for mature rubber trees (over 8 years old), the target tapping depth is 1.2 mm to 2.0 mm; for young rubber trees (5 to 8 years old), the target tapping depth is 0.8 mm to 1.5 mm. The principle for setting the target tapping depth is to ensure effective cutting of the bark phloem to promote latex expulsion while avoiding damage to the cambium layer, thereby protecting the long-term latex production capacity of the rubber tree. It should be noted that although the target tapping depth in this invention is preset before tapping begins, it is fundamentally different from the preset fixed depth in the prior art. The preset fixed depth in the prior art means that the cutter maintains the same fixed depth throughout the tapping process, lacking the ability to adjust online based on the actual cut condition. In this invention, however, the target tapping depth serves only as the initial target cutting depth reference for each advanced cutting unit. After each advanced cutting unit is completed, the electronic control unit 701 corrects the target cutting depth of the next advanced cutting unit online based on the deviation between the actual cut depth and the target tapping depth. This achieves closed-loop depth control combining preset reference and step-by-step feedback adjustment, rather than a fixed, unchanging cutting depth. The electronic control unit 701 calculates the extension amount of the limiting electric actuator 401 based on the target tapping depth, ensuring that the position of the limiting slider 402 relative to the cutting edge of the cutter 502 corresponds to the target tapping depth plus a preset safety margin (e.g., 0.5 mm to 1.0 mm), thus forming mechanical depth limiting protection based on active depth control.

[0112] Step 5: Apply the cutting tool to the surface of the bark.

[0113] The electronic control unit 701 controls the depth feed mechanism 300 to drive the cutting execution mechanism 500 to gradually approach the target natural rubber tree bark along the normal direction of the bark surface until the preset bonding conditions are met.

[0114] The preset bonding conditions include at least two of the following conditions being met simultaneously: the depth camera 702 detects that the distance between the cutter 502 and the target bark surface is less than or equal to a preset bonding distance threshold; the limiting slider 402 is in contact with the target bark surface or the distance between them is less than a preset contact distance threshold; the feed displacement of the depth feed mechanism 300 reaches a preset pre-pressure displacement; and the change in the drive current or torque of the depth motor 303 reaches a preset contact judgment threshold. When the preset bonding conditions are met, the electronic control unit 701 determines that the cutter 502 has reached a cuttable initial position.

[0115] By adopting a multi-condition fusion bonding determination method, the problem of inadequate bonding or excessive compression caused by misjudgment by a single sensor can be effectively avoided, thus improving the reliability of the system.

[0116] Step 6: Perform segmented progressive rubber cutting.

[0117] After the preset bonding conditions are met, the electronic control unit 701 controls the cutter motor 503 to drive the cutter 502 to rotate, and controls the floating progressive mechanism 200 and the depth feed mechanism 300 to move synchronously according to the progressive displacement and target cutting amount corresponding to the current progressive cutting unit, so that the cutter 502 performs segmented progressive cutting along the floating progressive cutting path.

[0118] The electronic control unit 701 controls the floating progressive mechanism 200 and the depth feed mechanism 300 sequentially according to the progressive cutting units. Within each progressive cutting unit, the floating progressive mechanism 200 drives the cutter 502 to generate progressive displacement along the extension direction or width direction of the cutting line, and the depth feed mechanism 300 drives the cutter 502 to generate cutting displacement along the normal direction of the bark surface. The progressive displacement and the cutting displacement are executed synchronously, so that the cutter 502 forms continuous cuts in a step-by-step manner.

[0119] "Synchronous motion" means that the progressive motion of the floating progressive mechanism 200 and the feeding motion of the depth feed mechanism 300 are performed simultaneously within the same time period, rather than sequentially. This synchronous motion method allows the cutter 502 to gradually cut into the bark while advancing along the cutting line, forming a smooth and continuous cut, avoiding the problem of cut steps or discontinuities that may be caused by sequential motion.

[0120] Step 7: Online feedback adjustment based on the cut contour.

[0121] After each advanced cutting unit is completed (or during the execution), the depth camera 702 acquires the formed cut contour, the electronic control unit 701 calculates the actual cut depth based on the formed cut contour, and adjusts the target cutting depth of the next advanced cutting unit based on the deviation between the actual cut depth and the target cut depth.

[0122] Specifically, when the actual cut depth is less than the target cut depth, the electronic control unit 701 controls the depth feed mechanism 300 to increase the cutting displacement in the next advanced cutting unit; when the actual cut depth is greater than the target cut depth, the electronic control unit 701 controls the depth feed mechanism 300 to decrease the cutting displacement or perform tool retraction in the next advanced cutting unit; when the actual cut depth is within the allowable error range of the target cut depth, the electronic control unit 701 maintains the current cutting displacement control parameters.

[0123] This closed-loop control strategy of "cutting and measuring simultaneously, adjusting segment by segment" is the second core innovation of this invention. Unlike existing technologies that preset a fixed depth or rely on force feedback for fine-tuning, this invention uses the cut contour itself as a direct feedback quantity for segment-by-segment compensation, which can more accurately reflect the actual cutting effect and has higher control precision and stronger adaptability.

[0124] In addition, the electronic control unit 701 adaptively adjusts the cutting tool operating parameters (such as cutting tool rotation speed and feed speed) based on changes in the bark surface contour, the state of the cut formation, and the operating state of the cutting actuator 500. When the cut continuity is lower than the preset requirement, the electronic control unit 701 reduces the feed speed or increases the inter-unit dwell time; when the cut continuity meets the preset requirement and the cutting tool operates stably, the electronic control unit 701 maintains or increases the feed speed.

[0125] Step 8: Complete the rubber cutting and reset the rubber plant.

[0126] When all the advanced cutting units in the floating advanced tapping path have been executed and the tapping contour meets the preset tapping requirements, the electronic control unit 701 controls the depth feed mechanism 300 to drive the cutting execution mechanism 500 away from the bark, and controls the floating advanced mechanism 200 to return to a safe position, waiting for the next tapping instruction.

[0127] Lateral offset detection and correction: During rubber tapping, the lateral stabilization and buffering mechanism 600 passively buffers the lateral disturbances experienced by the cutting actuator 500. Simultaneously, the electronic control unit 701 monitors the lateral position of the cutter 502 relative to the rubber tapping area in real time via the depth camera 702.

[0128] When the depth camera 702 detects a lateral shift of the cutter 502 relative to the rubber tapping area, the electronic control unit 701 controls the floating advancement mechanism 200 to generate a corrective displacement opposite to the lateral shift direction.

[0129] When the lateral offset is less than or equal to the preset lateral offset threshold, the electronic control unit 701 continues to execute the current advanced cutting unit, and the cutting posture is maintained only by the active correction of the floating advanced mechanism 200 and the passive buffer of the lateral stabilization buffer mechanism 600.

[0130] When the lateral offset is greater than the preset lateral offset threshold, the electronic control unit 701 pauses the current advanced cutting unit and re-determines the cutting posture of the cutter 502. Specifically, this includes re-acquiring the relative positional relationship between the cutter 502 and the rubber tapping strip through the depth camera 702, recalculating the correction amount, and continuing to perform cutting after confirming that the posture is stable.

[0131] This "passive buffering + active correction" combined active and passive lateral stability control strategy can not only quickly respond to high-frequency small-amplitude disturbances (completed by damping spring 602), but also effectively correct large cumulative offsets (completed by electronic control unit 701 and floating advanced mechanism 200), significantly improving the lateral stability of the cutter during rubber tapping.

[0132] Anomaly detection and autonomous recovery: This invention establishes a systematic, multi-dimensional anomaly detection and autonomous recovery mechanism.

[0133] The preset abnormality triggering condition is a judgment condition pre-set by the electronic control unit 701 to determine whether the operating state of the cutting execution mechanism 500 is abnormal, including at least one of the following conditions: (1) Cutting depth exceeding the limit condition: The electronic control unit 701 calculates the actual cutting depth based on the formed cutting contour obtained by the depth camera 702. When the actual cutting depth exceeds the preset safe depth threshold, an abnormality is triggered; the preset safe depth threshold is set according to the bark thickness and cambium position of the target rubber tree, and in one embodiment, it is taken as 2.5 mm to 3.5 mm; (2) Path deviation condition: The electronic control unit 701 compares the position of the cutter 502 obtained in real time by the depth camera 702 with the floating advanced rubber cutting path. When the cutting center point of the cutter 502 deviates from the planned path by a distance exceeding the preset path deviation threshold, an abnormality is triggered; the preset path deviation threshold is taken as 3 mm to 8 mm in one embodiment. mm; (3) Abnormal operating resistance condition: The electronic control unit 701 collects the driving current or output torque of the cutter motor 503 in real time. When the driving current exceeds the preset multiple of the rated current (e.g., 1.5 to 2.0 times) or the output torque exceeds the preset torque threshold, an abnormality is triggered; (4) Visual recognition loss condition: When the depth camera 702 fails to recognize the contour of the rubber cutting area or the position of the cutter 502 for multiple consecutive frames (e.g., 3 to 5 consecutive frames), an abnormality is triggered; (5) Abnormal limit position condition: The electronic control unit 701 collects the position feedback signal of the limit electric push rod 401. When the deviation between the actual position and the command position of the limit slider 402 exceeds the preset deviation threshold (e.g., 1 mm to 2 mm), an abnormality is triggered. The above preset abnormal trigger conditions can be enabled individually or in combination according to the actual rubber cutting needs; when any of the above conditions are met, the electronic control unit 701 determines that the operating status of the cutting actuator 500 meets the preset abnormal trigger conditions and executes the following autonomous recovery process.

[0134] When the electronic control unit 701 detects any of the following abnormal states—the cutting depth of the cutter 502 exceeds the preset safe depth, the cutter 502 deviates from the floating advanced rubber cutting path, the operating resistance of the cutting actuator 500 is abnormal (such as the drive current or torque of the cutter motor 503 exceeding the preset threshold), the depth camera 702 loses rubber cutting area identification information, or the limiting mechanism 400 is not in the preset depth limit position—the electronic control unit 701 executes the following autonomous recovery process: First, control the cutter motor 503 to reduce its speed or stop rotating to prevent damage from continued cutting under abnormal conditions; Second, the depth feed mechanism 300 drives the cutting execution mechanism 500 away from the bark, releasing the cutter 502 from contact with the bark; Third, control the floating advancement mechanism 200 to retract to the previous safe advancement position; Fourth, control the depth camera 702 to re-acquire the three-dimensional point cloud information of the rubber tapping area; Fifth, the electronic control unit 701 regenerates subsequent advanced cutting units based on the re-collected bark surface contour and cut contour; Sixth, the electronic control unit 701 controls the floating progressive mechanism 200, the depth feed mechanism 300, and the cutting execution mechanism 500 to continue the rubber cutting action from the continuous cutting start position.

[0135] This complete autonomous recovery process of "detection - stop tapping - retract tapping - return - re-harvest - replanning - continue tapping" enables the invention to automatically resume tapping operations without human intervention when encountering various abnormal situations, greatly improving the reliability and continuity of automatic tapping operations.

[0136] Compared with existing technologies that require manual intervention or complete machine shutdown and restart after an anomaly occurs, the autonomous recovery mechanism of this invention has significant progressive value.

[0137] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A floating advanced end-cutting rubber device, characterized in that, It includes an end mount (100), a floating progressive mechanism (200), a depth feed mechanism (300), a limit mechanism (400), a cutting actuator (500), a lateral stabilizing buffer mechanism (600), and an identification control module (700). The end mount (100) is used to connect to the end of a robot arm or a mobile work platform; The floating progressive mechanism (200) is disposed on the end mounting base (100) and is used to drive the cutting execution mechanism (500) to perform trajectory compensation displacement and progressive displacement adjustment relative to the rubber tapping area of ​​the target natural rubber tree; The depth feed mechanism (300) is disposed on the floating advance mechanism (200) and is used to adjust the cutting depth of the cutting execution mechanism (500) relative to the target natural rubber tree bark; The limiting mechanism (400) is disposed on the floating progressive mechanism (200) or the depth feed mechanism (300) and is used to adjust the cutting depth of the cutting execution mechanism (500). The cutting actuator (500) is located at the front end of the depth feed mechanism (300) and is used to perform rubber tapping on the target natural rubber tree; The lateral stabilizing buffer mechanism (600) is disposed between the depth feeding mechanism (300) and the cutting execution mechanism (500) and is used to buffer the lateral disturbance of the cutting execution mechanism (500) during the rubber tapping process. The identification control module (700) includes a depth camera (702) and an electronic control unit (701). The depth camera (702) is used to acquire three-dimensional information of the bark surface of the target natural rubber tree, the position information of the cutting knife, and the outline information of the formed cut marks. The electronic control unit (701) is configured as follows: A floating progressive tapping path is generated based on the three-dimensional information of the bark surface, and the floating progressive tapping path is divided into multiple continuous progressive cutting units. Each progressive cutting unit corresponds to an independent progressive displacement and an independent target cutting amount. During the execution of each advanced cutting unit, the floating advanced mechanism (200) and the depth feed mechanism (300) are controlled to move synchronously according to the advanced displacement and target cutting amount corresponding to the current advanced cutting unit, so that the cutting execution mechanism (500) performs segmented advanced cutting along the floating advanced rubber cutting path; After each advanced cutting unit is completed, the actual cutting depth is calculated based on the formed cutting contour obtained by the depth camera (702), and the target cutting depth of the next advanced cutting unit is adjusted based on the deviation between the actual cutting depth and the target cutting depth.

2. The floating advanced end-cutting rubber device according to claim 1, characterized in that: The electronic control unit (701) is also configured to adaptively adjust the division granularity of the advanced cutting unit according to the curvature change of the target natural rubber tree bark surface, increasing the advanced displacement of a single advanced cutting unit when the curvature change of the bark surface is less than a preset curvature threshold, and decreasing the advanced displacement of a single advanced cutting unit when the curvature change of the bark surface is greater than or equal to the preset curvature threshold.

3. The floating advanced end-cutting rubber device according to claim 1, characterized in that: The electronic control unit (701) is also configured to perform abnormal state detection and autonomous recovery. When the operating state of the cutting execution mechanism (500) is detected to meet the preset abnormal triggering conditions, the electronic control unit (701) controls the depth feed mechanism (300) to drive the cutting execution mechanism (500) away from the bark, controls the floating advanced mechanism (200) to retreat to a safe position, and controls the depth camera (702) to re-collect bark surface information. Based on the re-collected information, the subsequent advanced cutting unit is regenerated and the rubber tapping cutting is continued.

4. The floating advanced end-cutting rubber device according to claim 1, characterized in that: The lateral stabilizing buffer mechanism (600) includes a lateral stabilizing bar (601), a damping spring (602), and a buffer cover plate (603). The buffer cover plate (603) is fixed relative to the depth feed mechanism (300). One end of the lateral stabilizing bar (601) is slidably engaged with the buffer cover plate (603), and the other end is fixed with the cutting execution mechanism (500). The damping spring (602) is sleeved on the outside of the lateral stabilizing bar (601). The lateral stabilizing bar (601) and the damping spring (602) are used to absorb the lateral disturbances experienced by the cutting execution mechanism (500) during the rubber cutting process.

5. The floating advanced end-cutting rubber device according to claim 1, characterized in that: The electronic control unit (701) is also configured to control the floating advanced mechanism (200) to generate a corrective displacement opposite to the lateral offset direction when the depth camera (702) detects that the cutting execution mechanism (500) has a lateral offset relative to the target rubber tapping work zone. The lateral stabilization buffer mechanism (600) passively absorbs high-frequency lateral disturbances during the lateral correction process performed by the electronic control unit (701), forming a primary-passive cooperative lateral stabilization control with the active corrective displacement of the electronic control unit (701).

6. The floating advanced end-cutting rubber device according to claim 1, characterized in that: The limiting mechanism (400) includes a limiting electric actuator (401) and a limiting slider (402). The limiting electric actuator (401) is disposed on the floating progressive mechanism (200), and the limiting slider (402) is disposed at the output end of the limiting electric actuator (401). The limiting electric actuator (401) is used to adjust the position of the limiting slider (402) relative to the cutting actuator (500). The limiting slider (402) is used to contact the surface of the target natural rubber tree bark during the rubber tapping process to limit the maximum cutting depth of the cutting actuator (500).

7. A control method for a floating advanced end-tapping rubber tapping device as described in any one of claims 1 to 6, characterized in that, Includes the following steps: Step 1: The depth camera (702) acquires the three-dimensional point cloud information of the tapping area of ​​the target natural rubber tree. The electronic control unit (701) extracts the bark surface contour based on the three-dimensional point cloud information and determines the tapping operation zone, the normal direction of the bark surface, and the extension direction of the tapping line. Step 2: The electronic control unit (701) generates a floating advanced rubber cutting path according to the rubber cutting operation zone, and divides the floating advanced rubber cutting path into multiple continuous advanced cutting units. Each advanced cutting unit corresponds to an independent advanced displacement and an independent target cutting amount. Step 3: The electronic control unit (701) controls the floating progressive mechanism (200) and the depth feed mechanism (300) to drive the cutting execution mechanism (500) to move to the starting area of ​​the floating progressive rubber tapping path and make the cutter (502) fit against the bark surface; Step 4: After the cutter (502) is attached to the bark surface, the electronic control unit (701) controls the cutter (502) to rotate, and controls the floating advanced mechanism (200) and the depth feed mechanism (300) to move synchronously according to the advanced displacement and target cutting amount corresponding to the current advanced cutting unit, so that the cutter (502) performs segmented advanced rubber cutting; Step 5: After each advanced cutting unit is completed, the depth camera (702) acquires the formed cut contour, the electronic control unit (701) calculates the actual cut depth based on the formed cut contour, and adjusts the target cutting depth of the next advanced cutting unit based on the deviation between the actual cut depth and the target cut depth. Step 6: Repeat steps 4 and 5 until all advanced cutting units in the floating advanced cutting path have been completed.

8. The control method according to claim 7, characterized in that: In step two, the electronic control unit (701) adaptively adjusts the division granularity of the advanced cutting unit according to the curvature change of the target natural rubber tree bark surface. When the curvature change of the bark surface is less than the preset curvature threshold, the advanced displacement of a single advanced cutting unit is increased. When the curvature change of the bark surface is greater than or equal to the preset curvature threshold, the advanced displacement of a single advanced cutting unit is decreased. In step five, when the actual cut depth is less than the target cut depth, the electronic control unit (701) controls the depth feed mechanism (300) to increase the cutting displacement in the next advanced cutting unit. When the actual cut depth is greater than the target cut depth, the electronic control unit (701) controls the depth feed mechanism (300) to decrease the cutting displacement or perform a retraction in the next advanced cutting unit.

9. The control method according to claim 7, characterized in that: It also includes anomaly detection and autonomous recovery steps. When the electronic control unit (701) detects that the operating status of the cutting execution mechanism (500) meets the preset anomaly triggering conditions, the electronic control unit (701) controls the depth feed mechanism (300) to drive the cutting execution mechanism (500) away from the bark, controls the floating advanced mechanism (200) to retreat to a safe position, controls the depth camera (702) to re-collect the bark surface information, and regenerates the subsequent advanced cutting unit based on the re-collected information before continuing to perform rubber tapping.

10. The control method according to claim 7, characterized in that: During the rubber tapping process, when the depth camera (702) detects that the cutter (502) has shifted laterally relative to the rubber tapping work area, the electronic control unit (701) controls the floating advanced mechanism (200) to generate a corrective displacement opposite to the direction of the lateral shift. When the lateral shift is less than or equal to a preset lateral shift threshold, the current advanced cutting unit continues to be executed. When the lateral shift is greater than the preset lateral shift threshold, the current advanced cutting unit is paused and the cutting posture of the cutter (502) is redefined.

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