End execution equipment for collecting natural rubber

Abstract

The utility model discloses end execution equipment for collecting natural rubber, which is mounted on a top platform of a woodland walking trolley and comprises a rubber collecting bowl, a rubber bowl clamping jaw device, a rubber bowl reversing device, a rubber bowl pushing device, a rubber collecting box and a clamping jaw rotating and lifting device, the rubber bowl clamping jaw device is used for clamping and releasing the rubber collecting bowl, and the clamping jaw rotating and lifting device is used for clamping and releasing the rubber collecting bowl. The rubber bowl back-off device drives the rubber bowl clamping jaw device to turn over and switch up and down, so that the rubber collecting bowl is turned over and switched between an upright state and a back-off state; the rubber bowl pushing and extruding device is correspondingly matched with the rubber collecting bowl in an inverted state, and downwards pushes and extrudes the flexible deformation part of the rubber collecting bowl to deform so as to extrude rubber; and the clamping jaw rotating and lifting device is used for driving the rubber bowl reversing device and the rubber bowl clamping jaw device to horizontally rotate and lift. According to the automatic rubber collecting device, the defect that a rubber collecting bowl with a flexible part is used is overcome, natural rubber blocks are extruded out through deformation of the rubber collecting bowl and carried on a forest walking carrier, manual work can be replaced, automatic natural rubber collecting is achieved, and the rubber collecting efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, in particular to a terminal execution device for collecting natural rubber. Background Art

[0002] Natural rubber has certain properties that synthetic rubber cannot match, such as high impact resistance, puncture resistance, tear resistance, etc. my country's natural rubber production capacity is extremely disproportionate to its consumption status. The contradiction between domestic natural rubber supply and demand is prominent, and the external dependence rate is as high as 86%. There is a potential threat to the security of natural rubber resource supply.

[0003] At present, the degree of mechanization of natural rubber field production at home and abroad is low, and the rubber flowing out after the rubber tapping operation will condense into solid after a period of time. The general process of the current manual rubber collection operation is: workers walk in the forest and pick up the rubber bowl. If there is still liquid natural rubber in the bowl, pour it out. If the natural rubber solidifies and adheres to the bowl, use hooks and other sharp objects to pick out the rubber blocks in the rubber bowl. This process is time-consuming and laborious. Therefore, paying attention to the automation of the collection of natural rubber after tapping is of great significance to the development of the rubber industry.

[0004] To sum up, how to realize the automation of rubber collection operation, shift the focus of rubber collection from manual labor to machine work, and reduce labor intensity is a problem that needs to be solved at present. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides an end-effector device for collecting natural rubber.

[0006] In order to solve the above technical problems, the technical solution of the utility model is: an end-effector for collecting natural rubber, which is installed on the top platform of a forest walking vehicle, including:

[0007] A rubber collecting bowl, which is open at the top and closed at the bottom for collecting rubber, and comprises a hard clamping portion near the top and a flexible deformation portion near the bottom;

[0008] The rubber bowl clamping device has a clamping state and an open state, and is used to clamp and release the hard clamping part of the rubber bowl;

[0009] A rubber bowl inverted device, wherein the rubber bowl clamping device is installed at the rotating end of the rubber bowl inverted device, and the rubber bowl inverted device drives the rubber bowl clamping device to flip up and down, so that the rubber collecting bowl flips and switches between the upright state and the inverted state;

[0010] The rubber bowl pushing device is located above the clamped rubber collecting bowl and cooperates with the rubber collecting bowl in an inverted state to push the flexible deformation part of the rubber collecting bowl downward to deform and squeeze out the rubber;

[0011] A rubber collection box, located below the clamped rubber collecting bowl, for collecting the squeezed rubber;

[0012] The clamping jaw rotating and lifting device, the rubber bowl inverted device is installed on the clamping jaw rotating and lifting device, and the clamping jaw rotating and lifting device is used to drive the rubber bowl inverted device and the rubber bowl clamping jaw device to rotate and lift horizontally.

[0013] As a preferred technical solution, the rubber bowl pushing device includes a pushing mounting bracket fixedly connected to the top platform, a pushing telescopic push rod is installed on the pushing mounting bracket, the telescopic end of the pushing telescopic push rod is arranged downward and a rubber bowl pushing column is fixedly installed, and a pull-back claw is provided on the bottom outer surface of the rubber bowl pushing column.

[0014] As a preferred technical solution, the hard clamping part is a cylindrical structure made of metal, the flexible deformation part is a conical structure connected to the bottom end of the cylindrical structure, the bottom end of the conical structure is provided with a pushing column accommodating groove that cooperates with the rubber bowl pushing column, and the inner circumferential surface of the pushing column accommodating groove is provided with a claw ring groove for clamping with the pull-back claw.

[0015] As a preferred technical solution, the clamping jaw rotating lifting device includes a clamping jaw rotating motor, the rotating end of the clamping jaw rotating motor is fixed with a mounting base facing upward, the top of the mounting base is correspondingly provided with a rotatably mounted mounting top seat, the surface of the mounting base is provided with a screw motor, the rotating end of the screw motor is facing upward and is fixedly connected with a driving screw, the top of the driving screw is rotatably mounted on the mounting top seat, a guide column parallel to the driving screw is also connected between the mounting base and the mounting top seat, a clamping jaw lifting seat is threadedly connected to the driving screw, the rubber bowl inverted device is fixed on the clamping jaw lifting seat, and the clamping jaw lifting seat is also slidably sleeved outside the guide column.

[0016] As a preferred technical solution, the rubber bowl inverted device includes a rubber bowl rotating motor, the fixed end of the rubber bowl rotating motor is fixed on the clamping claw rotating lifting device, and the rubber bowl clamping device is fixed on the rotating end of the rubber bowl rotating motor.

[0017] As a preferred technical solution, the rubber bowl clamp device includes a clamp mounting frame fixed to the rotating end of the rubber bowl inverted device, and swing clamps that can be opened and clamped are rotatably mounted on both ends of the clamp mounting frame, and the two swing clamps are horizontally arranged left and right. A clamp driving cylinder is installed on the clamp mounting frame, and a clamp push arm is fixedly mounted on the telescopic end of the clamp driving cylinder, and a clamp connecting rod is hinged between the end of the clamp push arm and the middle part of the swing clamp.

[0018] As a preferred technical solution, the end execution equipment also includes a controller, and the rubber bowl pushing device, the rubber bowl inverted device, the rubber bowl clamping device and the clamping clamp rotating and lifting device are all electrically connected to the controller to achieve orderly and automatic rubber collection.

[0019] As a preferred technical solution, a sensor is provided on the inner wall of the rubber collecting bowl near the top.

[0020] Due to the adoption of the above technical solution, the beneficial effects of the utility model are:

[0021] 1. The utility model overcomes the cumbersome steps of manually using hooks to dig out the natural rubber after it condenses into blocks and adheres to the traditional rubber bowl. The rubber collecting bowl with a flexible part is used to squeeze out the natural rubber block by its deformation.

[0022] 2. The utility model enables the execution terminal equipment for collecting natural rubber to be mounted on a walking vehicle in the forest, so that it can truly realize the automatic harvesting of natural rubber, which can replace manual labor and improve the efficiency of rubber collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The following drawings are only intended to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0024] Figure 1 It is a schematic diagram of the structure of an embodiment of the utility model;

[0025] Figure 2 It is a side view of an embodiment of the utility model;

[0026] Figure 3 It is a cross-sectional view of a glue collecting bowl according to an embodiment of the utility model;

[0027] Figure 4 This is a schematic diagram of the structure of the rubber bowl clamping device of the embodiment of the utility model;

[0028] Figure 5 This is a schematic structural diagram of the rubber bowl clamping device from another angle according to an embodiment of the utility model;

[0029] Figure 6 This is a schematic diagram of the structure of the rubber bowl pushing device of the embodiment of the utility model;

[0030] Figure 7 This is a state diagram of the rubber bowl pushing device and the rubber collecting bowl before squeezing according to the embodiment of the utility model;

[0031] Figure 8 This is a state diagram of the rubber bowl pushing device and the rubber collecting bowl when being squeezed in the embodiment of the utility model;

[0032] In the figure: 100-traveling trolley; 200-rubber collecting bowl; 201-hard clamping part; 202-flexible deformation part; 203-pushing column accommodating groove; 204-claw ring groove; 300-rubber bowl clamping device; 301-claw mounting frame; 302-swinging clamping jaw; 303-claw driving cylinder; 304-claw pushing arm; 305-claw connecting rod; 400-rubber bowl inverted device; 500-rubber bowl pushing device; 501-pushing mounting bracket; 502-pushing telescopic push rod; 503-rubber bowl pushing column; 504-pull-back clamping jaw; 600-rubber collecting box; 700-claw rotating lifting device; 701-claw rotating motor; 702-mounting base; 703-mounting top seat; 704-screw motor; 705-driving screw; 706-guide column; 707-claw lifting seat. DETAILED DESCRIPTION

[0033] The present invention is further described below in conjunction with the accompanying drawings and examples. In the following detailed description, only certain exemplary embodiments of the present invention are described by way of illustration. Needless to say, those skilled in the art will recognize that the described embodiments may be modified in various ways without departing from the spirit and scope of the present invention. Therefore, the drawings and descriptions are illustrative in nature and are not intended to limit the scope of protection of the claims.

[0034] like Figures 1 to 8 As shown, a terminal execution device for collecting natural rubber is installed on the top platform of a forest walking vehicle 100, including a rubber collecting bowl 200, a rubber bowl clamping device 300, a rubber bowl inverted device 400, a rubber bowl pushing device 500, a rubber collection box 600, a clamping claw rotating and lifting device 700 and a controller. The rubber bowl pushing device 500, the rubber bowl inverted device 400, the rubber bowl clamping device 300 and the clamping claw rotating and lifting device 700 are all electrically connected to the controller to realize orderly and automatic rubber collection.

[0035] See also Figure 3The rubber collecting bowl 200 is open at the top and closed at the bottom for collecting rubber. The rubber collecting bowl 200 includes a hard clamping part 201 near the top and a flexible deformation part 202 near the bottom. The hard clamping part 201 is a cylindrical structure made of metal material. The metal material prevents its surface from being deformed, which can facilitate the rubber bowl clamping device 300 to clamp. The flexible deformation part 202 is a conical structure connected to the bottom of the cylindrical structure. The flexible deformation part 202 is made of deformable rubber material, which can be deformed to facilitate the rubber bowl pushing device 500 to push and deform. The bottom end of the conical structure is relatively thick, and is provided with a pushing column accommodating groove 203 that cooperates with the rubber bowl pushing column. The inner circumferential surface of the pushing column accommodating groove 203 is provided with a claw ring groove 204 for clamping with the pull-back claw. The claw ring groove 204 is used to pull the deformed rubber collecting bowl 200 back upward to restore the deformation. A sensor is provided near the top of the inner wall of the rubber collecting bowl 200, and the sensor can detect the height of the internal rubber to determine whether collection is required.

[0036] See also Figure 4 and Figure 5 The rubber bowl clamp device 300 has a clamping state and an opening state, and is used to clamp and release the hard clamping part 201 of the rubber bowl 200; the rubber bowl clamp device 300 includes a clamp mounting frame 301 fixed at the rotating end of the rubber bowl inverted device 400, and the two ends of the clamp mounting frame 301 are respectively rotatably mounted with swing clamps 302 that can be opened and clamped, and the two swing clamps 302 are horizontally arranged left and right, and a clamp driving cylinder 303 is installed on the clamp mounting frame 301, and a clamp push arm 304 is fixedly mounted on the telescopic end of the clamp driving cylinder 303, and a clamp connecting rod 305 is hinged between the end of the clamp pushing arm 304 and the middle part of the swing clamp 302, and one end of the clamp connecting rod 305 is rotatably connected to the end of the clamp pushing arm 304, and the other end is rotatably connected to the middle part of the swing clamp 302. The front part of the two swinging jaws 302 is an arc-shaped ring structure corresponding to the hard clamping part 201 of the rubber collection bowl 200. The two swinging jaws 302 are arranged horizontally left and right and can swing inward at the same time to clamp the rubber collection bowl 200; when the telescopic end of the jaw driving cylinder 303 retracts backward, it drives the jaw push arm 304 backward, and the two swinging jaws 302 swing outward and open through the jaw connecting rod 305. When the telescopic end of the jaw driving cylinder 303 extends forward, it drives the jaw push arm 304 forward, and the two swinging jaws 302 swing inward to clamp the rubber collection bowl 200 through the jaw connecting rod 305.

[0037] See also Figure 6It is a structural schematic diagram of the rubber bowl pushing device 500; it is located above the clamped rubber collecting bowl 200, corresponds to the rubber collecting bowl 200 in the inverted state, pushes the flexible deformation part 202 of the rubber collecting bowl 200 downward to deform and squeeze out the rubber; the rubber bowl pushing device 500 includes a pushing mounting bracket 501 fixedly connected to the top platform, and a pushing telescopic push rod 502 is installed on the pushing mounting bracket 501, and the telescopic end of the pushing telescopic push rod 502 is arranged downward and fixedly installed with a rubber bowl pushing column 503, and the bottom outer surface of the rubber bowl pushing column 503 is provided with a pull-back claw 504, and the pull-back claw 504 corresponds to the claw ring groove 204. When the telescopic end of the pushing and telescopic push rod 502 is extended, the rubber bowl pushing column 503 is driven to move downward, and the bottom end of the rubber bowl pushing column 503 is extended into the pushing column accommodating groove 203, and the pull-back claw 504 is squeezed and clamped into the claw ring groove 204. As the pushing and telescopic push rod 502 continues to extend, the bottom of the rubber bowl pushing column 503 presses the rubber collecting bowl 200 downward to deform, and pushes out the solidified rubber block inside the rubber collecting bowl 200. When the rubber block is removed, the telescopic end of the pushing and telescopic push rod 502 is retracted, and the rubber bowl pushing column 503 drives the pull-back claw 504 upward, and pulls the rubber collecting bowl 200 upward through the claw ring groove 204, so that the rubber collecting bowl 200 recovers its deformation, and as the pushing and telescopic push rod 502 continues to move upward, the pull-back claw 504 escapes from the claw ring groove 204.

[0038] See also Figure 1 The rubber bowl clamping device 300 is installed at the rotating end of the rubber bowl inverted device 400, and the rubber bowl inverted device 400 drives the rubber bowl clamping device 300 to flip up and down, so that the rubber collecting bowl 200 flips 180 degrees between the upright state and the inverted state. The rubber bowl inverted device 400 includes a rubber bowl rotating motor, the fixed end of which is fixed to the clamping rotating lifting device 700, and the rubber bowl clamping device 300 is fixed to the rotating end of the rubber bowl rotating motor.

[0039] See also Figure 2The rubber bowl inverted device 400 is installed on the clamping claw rotating and lifting device 700, and the clamping claw rotating and lifting device 700 is used to drive the rubber bowl inverted device 400 and the rubber bowl clamping claw device 300 to rotate and lift horizontally. The clamping jaw rotating lifting device 700 includes a clamping jaw rotating motor 701, the rotating end of the clamping jaw rotating motor 701 is fixed with a mounting base 702 facing upward, the top of the mounting base 702 is correspondingly provided with a rotatably mounted mounting top seat 703, the mounting top seat 703 is rotatably connected to the pushing mounting bracket 501 through a bearing, a screw motor 704 is provided on the surface of the mounting base 702, the rotating end of the screw motor 704 is facing upward and is fixedly connected with a driving screw 705, the top of the driving screw 705 is rotatably mounted on the mounting top seat 703, a guide column 706 parallel to the driving screw 705 is also connected between the mounting base 702 and the mounting top seat 703, a clamping jaw lifting seat 707 is threadedly connected to the driving screw 705, the rubber bowl inverted device 400 is fixed on the clamping jaw lifting seat 707, and the clamping jaw lifting seat 707 is also slidably sleeved outside the guide column 706. When the clamping jaw rotating motor 701 is in operation, the mounting base 702, the mounting top seat 703 and all the structures thereon rotate together, so that the rubber bowl clamping jaw device 300 is separated from other devices when clamping the rubber bowl, so as not to affect its work; when the screw motor 704 is in operation, it drives the driving screw 705 to rotate, so that the clamping jaw lifting seat 707 and all the structures thereon are lifted and lowered together to adapt to the height of the rubber collecting bowl 200.

[0040] See also Figure 1 and Figure 2 The rubber collecting box 600 is located below the clamped rubber collecting bowl 200, and the top of the rubber collecting box 600 is open to collect the squeezed rubber.

[0041] The working principle of this embodiment is:

[0042] Step 1: The rubber collecting bowl 200 is generally placed under the rubber tapping port to collect rubber and wait for it to solidify, wherein the sensor can detect whether the rubber is full;

[0043] Step 2: When the glue liquid is full, the end-effector mounted on the forest walking trolley 100 approaches the glue collecting bowl 200. Since the placement position of the glue collecting bowl 200 is different from the height of the ground, the clamping claw rotating lifting device 700 adjusts the angle and height of the glue bowl clamping claw device 300, so that the height position of the glue bowl clamping claw device 300 and the hard clamping part 201 on the glue collecting bowl 200 are controlled to correspond, and then the glue bowl clamping claw device 300 is clamped;

[0044] Step 3: After the rubber bowl clamping device 300 clamps the rubber collecting bowl 200, the clamping claw rotating lifting device 700 adjusts the angle and height of the rubber bowl clamping device 300 so that the rubber collecting bowl 200 is located directly below the rubber bowl pushing device 500;

[0045] Step 4: At this time, the rubber bowl inverted device 400 turns the rubber bowl clamping device 300 and the rubber collecting bowl 200 clamped thereon downward by 180 degrees, so that the bottom end of the rubber collecting bowl 200 and the bottom end of the rubber bowl pushing device 500 are exactly aligned with each other in the axis. At this time, the unsolidified glue liquid will directly fall into the rubber collecting box 600 below, and the rubber block will adhere to the rubber collecting bowl 200;

[0046] Step 5, the rubber bowl pushing device 500 then moves, pushing the telescopic end of the telescopic push rod 502 to extend, driving the rubber bowl pushing column 503 to move downward, the bottom end of the rubber bowl pushing column 503 extends into the pushing column accommodating groove 203, and the claw 504 is pulled back to be squeezed and clamped into the claw ring groove 204. As the pushing telescopic push rod 502 continues to extend, the bottom of the rubber bowl pushing column 503 presses the rubber collecting bowl 200 downward to deform, pushing out the solidified rubber block inside the rubber collecting bowl 200 and dropping it into the rubber collecting box 600 below;

[0047] Step 6. When the rubber block is removed, the telescopic end of the telescopic push rod 502 is retracted, and the rubber bowl pushing column 503 drives the pull-back claw 504 upward, and pulls the rubber collecting bowl 200 upward through the claw ring groove 204, so that the rubber collecting bowl 200 recovers its deformation. As the telescopic push rod 502 continues to be pushed upward, the pull-back claw 504 escapes from the claw ring groove 204.

[0048] Step 7, after the telescopic push rod 502 is pushed and retracted to the initial position, the rubber bowl inverted device 400 drives the rubber bowl clamping device 300 to flip the rubber collecting bowl 200 180° in the opposite direction, and then controls the rubber bowl clamping device 300 to put the rubber collecting bowl 200 back to its original position, and the forest walking vehicle 100 drives away from the rubber tree and goes to the next tree to continue the next rubber collecting work.

[0049] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. An end-effector for collecting natural rubber, mounted on the top platform of a forest walking vehicle, characterized in that: include: A rubber collecting bowl, which is open at the top and closed at the bottom for collecting rubber, and comprises a hard clamping portion near the top and a flexible deformation portion near the bottom; The rubber bowl clamping claw device has a clamping state and an open state, and is used to clamp and release the hard clamping part of the rubber bowl; A rubber bowl inverted device, wherein the rubber bowl clamping device is installed at the rotating end of the rubber bowl inverted device, and the rubber bowl inverted device drives the rubber bowl clamping device to flip up and down, so that the rubber collecting bowl flips and switches between the upright state and the inverted state; The rubber bowl pushing device is located above the clamped rubber collecting bowl and cooperates with the rubber collecting bowl in an inverted state to push the flexible deformation part of the rubber collecting bowl downward to deform and squeeze out the rubber; A rubber collection box, located below the clamped rubber collecting bowl, for collecting the squeezed rubber; The clamping jaw rotating and lifting device, the rubber bowl inverted device is installed on the clamping jaw rotating and lifting device, and the clamping jaw rotating and lifting device is used to drive the rubber bowl inverted device and the rubber bowl clamping jaw device to rotate and lift horizontally.

2. The end effector for collecting natural rubber according to claim 1, characterized in that: The rubber bowl pushing device includes a pushing mounting bracket fixedly connected to the top platform, a pushing telescopic push rod is installed on the pushing mounting bracket, the telescopic end of the pushing telescopic push rod is arranged downward and a rubber bowl pushing column is fixedly installed, and a pull-back claw is provided on the bottom outer surface of the rubber bowl pushing column.

3. The end effector for collecting natural rubber according to claim 2, characterized in that: The hard clamping part is a cylindrical structure made of metal, and the flexible deformation part is a conical structure connected to the bottom end of the cylindrical structure. The bottom end of the conical structure is provided with a pushing column accommodating groove that cooperates with the rubber bowl pushing column, and the inner circumferential surface of the pushing column accommodating groove is provided with a claw ring groove for clamping with the pull-back claw.

4. The end effector for collecting natural rubber according to claim 1, characterized in that: The clamping jaw rotating lifting device includes a clamping jaw rotating motor, the rotating end of the clamping jaw rotating motor is fixed with a mounting base facing upward, the top of the mounting base is correspondingly provided with a rotatably mounted mounting top seat, the surface of the mounting base is provided with a screw motor, the rotating end of the screw motor is facing upward and is fixedly connected with a driving screw, the top of the driving screw is rotatably mounted on the mounting top seat, a guide column parallel to the driving screw is also connected between the mounting base and the mounting top seat, a clamping jaw lifting seat is threadedly connected to the driving screw, the rubber bowl inverted device is fixed on the clamping jaw lifting seat, and the clamping jaw lifting seat is also slidably sleeved outside the guide column.

5. The end effector for collecting natural rubber according to claim 1, characterized in that: The rubber bowl inverted device includes a rubber bowl rotating motor, the fixed end of the rubber bowl rotating motor is fixed on the clamping claw rotating lifting device, and the rubber bowl clamping claw device is fixed on the rotating end of the rubber bowl rotating motor.

6. The end effector for collecting natural rubber according to claim 1, characterized in that: The rubber bowl clamp device includes a clamp mounting frame fixed at the rotating end of the rubber bowl inverted device, and swing clamps that can be opened and clamped are rotatably mounted on both ends of the clamp mounting frame, and the two swing clamps are horizontally arranged left and right. A clamp driving cylinder is installed on the clamp mounting frame, and a clamp push arm is fixedly mounted on the telescopic end of the clamp driving cylinder, and a clamp connecting rod is hinged between the end of the clamp push arm and the middle part of the swing clamp.

7. The end effector for collecting natural rubber according to claim 1, characterized in that: The end execution device also includes a controller, and the rubber bowl pushing device, the rubber bowl inverted device, the rubber bowl clamping device and the clamping claw rotating and lifting device are all electrically connected to the controller to achieve orderly and automatic rubber collection.

8. The end effector for collecting natural rubber according to claim 1, characterized in that: A sensor is arranged near the top of the inner wall of the rubber collecting bowl.

Images