Novel ultrasonic elliptical vibration coupling mechanical rubber tapping system

Abstract

The utility model relates to a novel ultrasonic elliptical vibration coupling mechanical rubber tapping system which is suitable for high-precision low-damage harvesting operation of natural rubber trees. Through cooperative work of the ultrasonic power source, the ultrasonic transducer, the ultrasonic amplitude-change pole, the tool holder and the rubber tapping system base, controllable elliptical vibration of the rubber tapping knife is achieved, and the defects in the prior art are effectively overcome. The system adopts a full-bridge structure high-frequency inverter circuit with an auxiliary network, so that the switching loss is reduced, and the power conversion efficiency is improved; the bimodal composite vibration type ultrasonic transducer generates elliptical vibration through the transverse vibration set and the longitudinal vibration set, and the cutting effect is improved. The exponential ultrasonic amplitude-change pole amplifies a vibration signal, and the cutting strength and efficiency are enhanced; the rubber tapping system base ensures stable connection between the system and the robot; and the cutter clamping seat adopts a clamping type positioning groove, so that the blade is convenient to replace. The rubber tapping device has the advantages of being efficient, accurate and low in abrasion, and the quality and efficiency of rubber tapping operation are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of intelligent rubber tapping, and in particular to a novel ultrasonic elliptical vibration coupled mechanical rubber tapping system. Background Technology

[0002] Currently, rubber harvesting mainly employs two technologies: push-type manual tapping knives and electric tapping devices. While push-type knives are inexpensive, they have the following significant drawbacks: First, manual tapping requires years of experience to ensure consistent cutting depth; novices are prone to cutting too deeply, damaging the latex vessels, or cutting too shallowly, reducing latex yield. Second, the average effective tapping time per tree exceeds 45 seconds, and labor costs account for over 60% of the total production cost. Electric tapping knives improve efficiency by driving the blades in high-frequency reciprocating motion via a crank-slider mechanism, but their inherent defects due to simple harmonic motion include: fluctuations in the vertical bark trajectory (±0.8mm) causing a latex yield difference of over 30% between individual trees; and continuous friction between the blade and the latex layer accelerates wear, with steel blades increasing in edge radius to 6-8 times their original value after 100 taps.

[0003] Although mobile rubber tapping robots that have emerged in recent years have achieved autonomous navigation and adaptive positioning, their end effectors directly use traditional electric blades, which has led to the following problems: During high-speed robot movement (≥0.3m / s), the contact pressure fluctuations caused by blade vibration can result in a 0.5mm deviation in actual cutting depth; corrosion caused by the accumulation of sap residue in the blade groove results in the MTBF (Mean Time Between Failures) of critical components being less than 200 hours; and the lack of online monitoring of blade status forces the adoption of a conservative preventive replacement strategy, which drives up consumable costs. Summary of the Invention

[0004] This invention aims to solve the technical problems of high wear of the end-effector of existing mobile rubber tapping robots, inconsistent surface roughness, and inability to accurately control the cutting depth, and provides a novel ultrasonic elliptical vibration coupled mechanical rubber tapping system that is precise, reliable, and has a low wear rate.

[0005] To solve the above-mentioned technical problems, the technical solution of this utility model is: a novel ultrasonic elliptical vibration coupled mechanical rubber cutting system, comprising:

[0006] An ultrasonic power supply is used to generate high-frequency excitation signals;

[0007] An ultrasonic transducer, electrically connected to the ultrasonic power supply, is used to convert electrical signals into mechanical vibrations. It includes a longitudinal vibration piezoelectric ceramic group and a transverse vibration piezoelectric ceramic group. The transverse vibration piezoelectric ceramic group has a first transverse electrode plate and a second transverse electrode plate on both sides. The longitudinal vibration piezoelectric ceramic group has a first longitudinal electrode plate and a second longitudinal electrode plate on both sides. The longitudinal vibration piezoelectric ceramic group has a phase difference of 90° with the transverse vibration piezoelectric ceramic group along the axial direction.

[0008] An ultrasonic amplitude transformer is installed at the front output end of the ultrasonic transducer;

[0009] A tool holder is located at the front end of the ultrasonic amplitude transformer and a rubber cutting tool can be detachably installed thereon.

[0010] A rubber tapping system base is used to install the system at the working end of a mobile rubber tapping robot.

[0011] As a preferred technical solution, the ultrasonic power supply includes a high-frequency inverter unit, a matching network, a detection circuit, a PWM generation circuit, and a drive circuit;

[0012] The high-frequency inverter unit converts DC voltage into high-frequency voltage to meet the high-frequency voltage requirements of the ultrasonic transducer.

[0013] A matching network is provided between the PWM generation circuit and the high-frequency inverter unit to ensure that the ultrasonic transducer has high sensitivity and wide bandwidth when operating at high frequency resonance.

[0014] The detection circuit is used to detect the voltage and current phase difference waveform and feed back the phase difference signal to the DSP chip in the PWM generation circuit.

[0015] The PWM generation circuit uses a DSP chip to generate and control the output signal based on the feedback signal. When the phase difference signal between voltage and current is detected, the PWM signal is controlled accordingly to achieve phase shift control of the high-frequency inverter circuit.

[0016] A driving circuit is located between the high-frequency inverter unit and the ultrasonic transducer, and is used to generate transverse vibration excitation signals and longitudinal vibration excitation signals to drive the ultrasonic transducer.

[0017] As a preferred technical solution, the ultrasonic transducer includes, from back to front, a transducer rear cover plate, a first longitudinal electrode plate, a longitudinal vibrating piezoelectric ceramic assembly, a second longitudinal electrode plate, a transducer middle cover plate, a first transverse electrode plate, a second transverse vibrating piezoelectric ceramic assembly, a second transverse electrode plate, a transducer front cover plate, and pre-tightening bolts that fix each structure sequentially along the axial direction. The first longitudinal electrode plate and the second longitudinal electrode plate have the same angle, the first transverse electrode plate and the second transverse electrode plate have the same angle, and the first longitudinal electrode plate and the second transverse electrode plate have a phase difference of 90° relative to each other.

[0018] As a preferred technical solution, both the transverse vibration piezoelectric ceramic group and the longitudinal vibration piezoelectric ceramic group include a semi-circular ring piezoelectric ceramic sheet A and a semi-circular ring piezoelectric ceramic sheet B, and there is a phase difference with a relative angle of 90°.

[0019] As a preferred technical solution, the first longitudinal electrode is connected to the common electrode of the ultrasonic power supply, the second longitudinal electrode is connected to the negative electrode of the ultrasonic power supply, the first transverse electrode is connected to the positive electrode of the ultrasonic power supply, and the second transverse electrode is connected to the common electrode of the ultrasonic power supply.

[0020] As a preferred technical solution, the ultrasonic amplitude transformer is an exponential amplitude transformer, with its input end connected to the ultrasonic transducer and its output end connected to the tool holder.

[0021] As a preferred technical solution, the tool holder includes a lower half fixed to the output end of the ultrasonic amplitude transformer, an upper half detachably mounted on the lower half, and a clamping and positioning groove for mounting the rubber cutting tool is provided between the mating surfaces of the lower half and the upper half.

[0022] As a preferred technical solution, the rubber tapping system base is mounted on a sliding block that swings up and down, and the sliding block is slidably mounted on an arc-shaped slide rail. The arc-shaped slide rail is mounted on the working end of the mobile rubber tapping robot via a lifting mechanism.

[0023] Due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0024] (1) The ultrasonic power supply design in this utility model has significant advantages. It adopts a full-bridge high-frequency inverter circuit with an auxiliary network, which can reduce switching losses under high-frequency operating conditions. This effectively improves the power supply conversion efficiency, reduces energy loss, and extends the service life of the equipment. The use of the matching network makes the ultrasonic transducer more sensitive and has a wider bandwidth when operating at high frequency resonance, ensuring stable output of vibration signals. At the same time, through the coordinated work of the detection circuit and the PWM generation circuit, precise phase shift control is achieved based on the voltage and current phase difference signal, further optimizing the driving effect of the power supply on the transducer. This makes the entire rubber tapping system more energy efficient and provides a strong guarantee for stable and reliable rubber tapping operations.

[0025] (2) The piezoelectric ceramic plates in the dual-mode composite vibration ultrasonic transducer of this utility model are divided into transverse vibration piezoelectric ceramic groups and longitudinal vibration piezoelectric ceramic groups, and the two groups of ceramic plates are arranged in a 90° staggered phase in space. This layout can generate elliptical vibration, which effectively improves the cutting effect of the rubber tapping knife and makes the cut surface smoother and flatter. The semi-circular ring piezoelectric ceramic plates A and B are connected in series. The same excitation signal is applied to the two semi-circular ring piezoelectric ceramic plates separately, producing deformations of equal magnitude and opposite direction. Compared with the signal applied to a single ceramic plate, it can provide a greater amplitude under the same voltage, enhance the vibration energy, improve the cutting ability of the rubber tapping knife, help to deal with different hardness layers, and ensure the smooth progress of rubber tapping operations.

[0026] (3) The ultrasonic amplitude transformer in this invention is an exponential design with a tool holder at its output end. This amplifies the transverse and longitudinal composite vibration signals generated by the dual-mode composite vibration ultrasonic transducer, enabling the rubber tapping tool to achieve controllable elliptical vibration. This design effectively amplifies the vibration amplitude, further improving energy utilization and enhancing the cutting force and efficiency of the rubber tapping tool. Simultaneously, through a reasonable design and connection method, stable transmission of the vibration signal is ensured, allowing the rubber tapping tool to maintain a stable vibration state during cutting, thereby achieving better rubber tapping quality. It enables precise and efficient cutting of both soft and hard rubber layers, improving the adaptability and reliability of the entire rubber tapping system.

[0027] (4) The rubber tapping system base in this utility model can firmly fix the rubber tapping system to the working end of the mobile rubber tapping robot. This design ensures a stable connection between the rubber tapping system and the robot, avoiding cutting deviations or safety accidents caused by loose connections during the rubber tapping process. The stable connection allows the rubber tapping blade to accurately cut along the preset trajectory, improving the accuracy and reliability of the rubber tapping operation. At the same time, the compatible fixing device is easy to install and disassemble, facilitating equipment maintenance and replacement, improving work efficiency, reducing maintenance costs, and providing a strong guarantee for the stable operation and efficient work of the rubber tapping robot;

[0028] (5) The tool holder in this utility model is fixed to the end of the ultrasonic amplitude transformer and adopts a clamping positioning groove, which is compatible with common electric rubber tapping blades. This clamping positioning groove design makes the installation and replacement of rubber tapping blades more convenient, without complicated tools and cumbersome steps, greatly improving work efficiency. At the same time, it is compatible with common electric rubber tapping blades, ensuring the universality of rubber tapping tools and reducing the cost of use. In addition, the tool holder can stably transmit the amplified high-frequency vibration to the rubber tapping blade, ensuring the effective utilization of vibration energy, so that the rubber tapping blade can maintain a stable vibration state during the cutting process, thereby obtaining better rubber tapping effect and improving the quality and efficiency of rubber tapping operations. Attached Figure Description

[0029] The accompanying drawings are intended only to illustrate and explain the present invention and do not limit the scope of the present invention.

[0030] Figure 1 This is a schematic diagram of the structure of this utility model installed on a mobile rubber tapping robot according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the main structure of the ultrasonic vibration part in an embodiment of this utility model;

[0032] Figure 3 This is an exploded view of the main structure of the ultrasonic vibration part in an embodiment of this utility model.

[0033] Figure 4 This is a circuit connection diagram of an embodiment of the present utility model.

[0034] In the diagram: 100-tracked chassis; 200-general-purpose robotic arm; 300-end effector; 301-slide; 302-arc slide rail; 303-lifting mechanism; 401-high-frequency inverter unit; 402-matching network; 403-detection circuit; 404-PWM generation circuit; 405-drive circuit; 500-ultrasonic transducer; 501-transducer rear cover plate; 502-longitudinal electrode plate one; 503-longitudinal vibrating piezoelectric ceramic assembly; 504-longitudinal electrode plate two; 505-transducer middle cover plate; 506-lateral electrode plate one; 507-lateral vibrating piezoelectric ceramic assembly; 508-lateral electrode plate two; 509-transducer front cover plate; 510-preload bolt; 600-ultrasonic amplitude transformer; 700-tool holder; 800-rubber tapping system base; 900-rubber tapping tool. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the following detailed description, only certain exemplary embodiments of the present invention are described by way of illustration. Undoubtedly, those skilled in the art will recognize that various modifications can be made to the described embodiments without departing from the spirit and scope of the present invention. Therefore, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.

[0036] like Figure 1 The diagram shown is a structural schematic of the present invention installed on a mobile rubber tapping robot. The mobile rubber tapping robot includes a tracked chassis 100 for movement, a universal robotic arm 200, and an end effector 300. The mechanical rubber tapping system of the present invention can be fixed to the end effector 300 of the mobile rubber tapping robot to realize automated rubber tapping operations. The system will be described in detail below with reference to the structure of each component and the diagram.

[0037] like Figure 1 and Figure 2 As shown, a novel ultrasonic elliptical vibration coupled mechanical rubber tapping system includes an ultrasonic power supply, an ultrasonic transducer 500, an ultrasonic amplitude transformer 600, a tool holder 700, and a rubber tapping system base 800.

[0038] The rubber tapping system base 800 is used to install the rubber tapping system on the working end of a mobile rubber tapping robot. The rubber tapping system base 800 is mounted vertically on a slide 301, and the two are connected via a rotating shaft. The rotating shaft is fixedly connected to the rubber tapping system base 800 and rotatably connected to the slide 301. A rotary motor is also connected to the rotating shaft, which can drive the rotating shaft and the rubber tapping system base 800 to swing vertically for angle adjustment. The slide 301 is slidably mounted on an arc-shaped slide rail 302. A sliding drive device is provided between the slide 301 and the arc-shaped slide rail 302. The arc-shaped slide rail 302 is mounted on the end of the robotic arm via a lifting mechanism 303. Both the sliding drive device and the lifting mechanism 303 are existing technologies and will not be described in detail here. The slide 301, the arc-shaped slide rail 302, and the lifting mechanism 303 constitute the end effector 300.

[0039] See Figure 4The ultrasonic power supply, used to generate high-frequency excitation signals, includes a high-frequency inverter unit 401, a matching network 402, a detection circuit 403, a PWM generation circuit 404, and a drive circuit 405. An onboard 48V DC power supply provides a stable DC voltage for the entire system. The input 48V DC voltage is converted to high frequency via a high-frequency inverter circuit composed of MOSFETs, and the switching frequency is adjusted to meet the high-frequency voltage requirements of the transducer. The high-frequency inverter unit 401 performs high-frequency inversion conversion of the DC voltage to meet the high-frequency voltage requirements of the ultrasonic transducer 500. The high-frequency inverter unit 401 adopts a full-bridge structure with an auxiliary network, effectively reducing the switching losses of the MOSFETs under high-frequency operating conditions. The matching network 402 is located between the PWM generation circuit 404 and the high-frequency inverter unit 401 to ensure that the ultrasonic transducer 500 has high sensitivity and a wide bandwidth when operating at high frequency resonance. The detection circuit 403 is used to detect the voltage and current phase difference waveform and feed back the phase difference signal to the DSP chip in the PWM generation circuit 404. The PWM generation circuit 404, with the DSP chip generating and controlling the output signal based on the feedback signal, controls the PWM signal accordingly to achieve phase shift control of the high-frequency inverter circuit when the voltage and current phase difference signals are detected. The driving circuit 405 is located between the high-frequency inverter unit 401 and the ultrasonic transducer 500 to generate transverse vibration excitation signals and longitudinal vibration excitation signals to drive the ultrasonic transducer 500. Specifically, the internal DSP generates two sinusoidal AC signals and transmits them to the power amplifier, which amplifies the two sinusoidal AC control signals into excitation signals capable of driving the ultrasonic transducer 500.

[0040] In this embodiment, the high-frequency inverter circuit adopts a full-bridge topology, with MOSFETs of type IRFP4668 (200V withstand voltage, 130A current), and a switching frequency adjustable from 20-40kHz. An auxiliary network (RCD snubber circuit) reduces switching losses to <5%.

[0041] In this embodiment, the phase difference feedback is achieved by the detection circuit 403 (Hall sensor ACS712) acquiring the voltage / current waveform in real time, calculating the phase difference through the DSP chip, adjusting the PWM phase shift angle (0-180°), and finally outputting two orthogonal sinusoidal signals (phase difference 90°) to drive the transverse and longitudinal vibration groups respectively.

[0042] In this embodiment, the matching network 402 adopts an L-shaped LC impedance transformation network (parallel inductor + series capacitor structure) to balance bandwidth and efficiency.

[0043] In this embodiment, the DSP chip selected is the TI TMS320F28379D. This chip integrates a dual-core 200MHz CPU and a CLA coprocessor, which can complete phase difference calculation (FFT + cross-correlation algorithm) within 5 microseconds. It also features 16-channel high-resolution PWM (150ps resolution), supports 20-40kHz full-bridge drive and 180° phase shift control. An integrated trigonometric function accelerator (TMU) can generate orthogonal sine waves in real time. A 12-bit ADC (3.5MSPS) directly interfaces with the ACS712 output, supporting 4-channel synchronous sampling. The differential PWM output mode can directly drive the full-bridge MOSFETs, and the dead time is programmable (avoiding IRFP4668 shoot-through).

[0044] In this embodiment, the electrode leads are connected to an external power supply via a coaxial connector (SMA interface), and the shielding layer is grounded to suppress electromagnetic interference.

[0045] See Figure 2 and Figure 3 The ultrasonic transducer 500 is electrically connected to the ultrasonic power supply and is used to convert electrical signals into mechanical vibrations. It includes a longitudinal vibration piezoelectric ceramic group 503 and a transverse vibration piezoelectric ceramic group 507. The transverse vibration piezoelectric ceramic group 507 is provided with a first transverse electrode plate 506 and a second transverse electrode plate 508 on both sides. The longitudinal vibration piezoelectric ceramic group 503 is provided with a first longitudinal electrode plate 502 and a second longitudinal electrode plate 503 on both sides. The longitudinal vibration piezoelectric ceramic group 503 has a phase difference of 90° with the transverse vibration piezoelectric ceramic group 507 along the axial direction.

[0046] The ultrasonic transducer 500, also known as a dual-mode composite vibration ultrasonic transducer 500, includes, from back to front, a transducer rear cover plate 501, a first longitudinal electrode plate 502, a second longitudinal vibrating piezoelectric ceramic assembly 503, a second longitudinal electrode plate 504, a middle cover plate 505, a first transverse electrode plate 506, a second transverse vibrating piezoelectric ceramic assembly 507, a second transverse electrode plate 508, a front cover plate 509, and pre-tightening bolts 510 that sequentially fix each structure along the axial direction. The fixing method of the pre-tightening bolts 510 is existing technology and will not be described in detail here. The first longitudinal electrode plate 502 and the second longitudinal electrode plate 504 have the same angle, the first transverse electrode plate 506 and the second transverse electrode plate 508 have the same angle, and there is a 90° phase difference between the first longitudinal electrode plate 502 and the second transverse electrode plate 508. The transducer rear cover plate 501, transducer middle cover plate 505, and transducer front cover plate 509 are made of ultra-hard aluminum alloy 7075, balancing lightweight and rigidity. The pre-tightening bolts 510 are made of No. 45 steel, with a nickel-plated surface for rust prevention, and the pre-tightening force is controlled at 300-400 N·m to ensure axial compression of the piezoelectric ceramic assembly. The longitudinal electrode sheet 502, longitudinal electrode sheet 504, transverse electrode sheet 506, and transverse electrode sheet 508 are all silver electrode sheets, coated with conductive silver paste (Ag content ≥85%) to ensure tight contact and low impedance connection with the piezoelectric ceramic. The electrode sheet thickness is 0.1-0.2 mm, and they are fixed to both sides of the ceramic assembly by laser welding or insulating adhesive. The longitudinal electrode 502 is connected to the common terminal of the ultrasonic power supply, the longitudinal electrode 504 is connected to the negative terminal of the ultrasonic power supply, the transverse electrode 506 is connected to the positive terminal of the ultrasonic power supply, and the transverse electrode 508 is connected to the common terminal of the ultrasonic power supply. Each electrode is connected to the ultrasonic power supply via a stranded metal wire (copper core plated with silver, 0.2 square millimeters). The outer layer of the wire is wrapped with a polytetrafluoroethylene insulating layer to prevent signal interference.

[0047] Both the transverse vibration piezoelectric ceramic assembly 507 and the longitudinal vibration piezoelectric ceramic assembly 503 include a semi-circular ring piezoelectric ceramic sheet A and a semi-circular ring piezoelectric ceramic sheet B, with a phase difference of 90° between them. Furthermore, the semi-circular ring piezoelectric ceramic sheets A and B in both the transverse and longitudinal vibration piezoelectric ceramic assemblies 507 and 503 are arranged in series. This means that the same excitation signal acts separately on each of the two semi-circular ring piezoelectric ceramic sheets, producing deformations of equal magnitude but opposite directions. Compared to the excitation signal acting separately on either semi-circular ring piezoelectric ceramic sheet A or B, the same voltage can provide a greater amplitude. In this embodiment, both the transverse and longitudinal vibration piezoelectric ceramic assemblies 507 and 503 use PZT-4 semi-circular ring piezoelectric ceramic sheets, with their polarization direction along the length direction (along the axial direction of the ceramic sheet's arc). This material has a high electromechanical coupling coefficient and low dielectric loss, making it suitable for high-frequency vibration scenarios. This design employs a semi-circular symmetrical arrangement (A / B plates installed in opposite directions) to enhance amplitude output. The phase difference between the transverse vibrating piezoelectric ceramic group 507 and the longitudinal vibrating piezoelectric ceramic group 503 is 90°, and an elliptical vibration trajectory is synthesized through the ultrasonic amplitude transformer 600. This design is expected to reduce cutting resistance by more than 40% and is suitable for high-toughness materials such as rubber bark. The preload of the piezoelectric ceramic group is adjusted by the preload bolt 510 to ensure that the ceramic plates are always under pressure during vibration, avoiding fracture due to tensile stress.

[0048] See Figure 2 and Figure 3 The ultrasonic amplitude transformer 600 is installed at the front output end of the ultrasonic transducer 500. The ultrasonic amplitude transformer 600 is an exponential amplitude transformer, with its input end connected to the ultrasonic transducer 500 and its output end connected to the tool holder 700. The ultrasonic amplitude transformer 600 is used to generate a composite vibration signal of lateral and longitudinal vibrations from the ultrasonic transducer 500, enabling the rubber tapping tool holder and the rubber tapping tool to achieve controllable elliptical vibration. In this embodiment, the exponential amplitude transformer is made of titanium alloy TC4 (Ti-6Al-4V), which has low density (4.43 g / cm³) and high fatigue strength (σ≈400MPa), making it suitable for amplifying high-frequency vibration signals.

[0049] See Figure 2 and Figure 3The tool holder 700 is located at the front end of the ultrasonic amplitude transformer 600 and detachably mounts a rubber cutting tool 900. The tool holder 700 includes a lower half fixed to the output end of the ultrasonic amplitude transformer 600, and an upper half detachably mounted on the lower half. A clamping and positioning groove for mounting the rubber cutting tool 900 is provided between the mating surfaces of the lower half and the upper half, adapting to existing electric rubber cutting tools 900 and fixed to the end of the ultrasonic amplitude transformer 600. In this embodiment, the replaceable rubber cutting tool 900 is made of cemented carbide YG8 (WC-Co series), with a hardness ≥89HRA and a blade thickness of 0.3mm. It is fixed to the end of the amplitude transformer by the clamping and positioning groove, and the positioning groove is lined with a silicone rubber pad to buffer vibration and impact.

[0050] The method of using this utility model specifically includes the following steps:

[0051] (1) A mobile rubber tapping robot with its own 48V DC power supply is used. The DC voltage signal passes through the high-frequency inverter unit 401 to generate a high-frequency voltage signal that meets the requirements of the transducer. The high-frequency inverter unit 401 adopts a full-bridge structure with the auxiliary network. The matching network 402 enables the ultrasonic transducer 500 to have high sensitivity and wide bandwidth at high-frequency resonance;

[0052] (2) The voltage and current phase difference signal is fed back to the DSP chip in the PWM generation circuit 404 through the detection circuit 403. The DSP chip generates and controls the output signal. Based on the feedback signal, the PWM signal is controlled to realize the phase shift control of the high-frequency inverter circuit, generating transverse and longitudinal vibration excitation signals to drive the ultrasonic transducer 500.

[0053] (3) The excitation signal passes through the transverse vibration piezoelectric ceramic group 507 and the longitudinal vibration piezoelectric ceramic group 503, generating transverse and longitudinal vibrations. The two groups of piezoelectric ceramic sheets are arranged in series, and the same excitation signal acts alone to produce deformations of equal magnitude but opposite directions, providing a larger amplitude. There is a 90° phase difference between the transverse and longitudinal vibration signals;

[0054] (4) The composite vibration signal of transverse and longitudinal vibration generated by the ultrasonic transducer 500 is amplified by the ultrasonic amplitude transformer 600 and transmitted to the tool holder 700 and the rubber cutting tool 900, so that it can achieve controllable elliptical vibration, effectively amplify the vibration signal, and meet the rubber cutting requirements.

[0055] (5) The vibration signal amplified by the ultrasonic amplitude transformer 600 is transmitted to the rubber cutting blade 900 fixed thereon through the blade holder 700, so that the rubber cutting blade 900 can achieve controllable elliptical vibration and complete the rubber cutting operation. The blade holder 700 is compatible with existing electric rubber cutting blades and is fixed by a clamping positioning groove;

[0056] (6) The ultrasonic elliptical vibration coupled mechanical rubber tapping system is fixed to the working end of the mobile rubber tapping robot through the rubber tapping system base 800, ensuring the stability of the ultrasonic elliptical vibration coupled mechanical rubber tapping system during the rubber tapping operation and ensuring that the rubber tapping robot can accurately perform the rubber tapping task.

[0057] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A novel ultrasonic elliptical vibration coupling mechanical tapping system, characterized in that, The application relates to a rubber tapping system, which comprises the following components: an ultrasonic power supply for generating a high-frequency excitation signal; an ultrasonic transducer electrically connected to the ultrasonic power supply and used for converting an electric signal into mechanical vibration, which comprises a longitudinal vibration piezoelectric ceramic group and a transverse vibration piezoelectric ceramic group, two sides of the transverse vibration piezoelectric ceramic group are provided with a first transverse electrode sheet and a second transverse electrode sheet, two sides of the longitudinal vibration piezoelectric ceramic group are provided with a first longitudinal electrode sheet and a second longitudinal electrode sheet, and the longitudinal vibration piezoelectric ceramic group has a phase difference of 90 degrees in the axial direction with the transverse vibration piezoelectric ceramic group; an ultrasonic amplitude transformer installed at the front output end of the ultrasonic transducer; a cutter holder arranged at the front end of the ultrasonic amplitude transformer and detachably mounted with a rubber tapping cutter; a rubber tapping system base used for mounting the system at the working end of a mobile rubber tapping robot.

2. A novel ultrasonic elliptical vibration coupling mechanical tapping system as claimed in claim 1, characterized in that, The ultrasonic power supply comprises a high-frequency inverter unit, a matching network, a detection circuit, a PWM generating circuit and a driving circuit; the high-frequency inverter unit is used for high-frequency inverter conversion of a direct-current voltage to meet the high-frequency voltage requirement of the ultrasonic transducer; the matching network is arranged between the PWM generating circuit and the high-frequency inverter unit and is used for ensuring that the ultrasonic transducer has high sensitivity and a wide frequency band when working at high-frequency resonance; the detection circuit is used for detecting the voltage and current phase difference waveform and feeding back a phase difference signal to a DSP chip in the PWM generating circuit; the PWM generating circuit generates and controls an output signal according to the feedback signal, and when the voltage and current phase difference signal is detected, the PWM signal is controlled to realize phase shift control of the high-frequency inverter circuit; the driving circuit is arranged between the high-frequency inverter unit and the ultrasonic transducer and is used for generating a transverse vibration excitation signal and a longitudinal vibration excitation signal for driving the ultrasonic transducer.

3. A novel ultrasonic elliptical vibration coupling mechanical tapping system as claimed in claim 1, wherein, The ultrasonic transducer comprises, from back to front, a transducer back cover plate, a first longitudinal electrode sheet, a longitudinal vibration piezoelectric ceramic group, a second longitudinal electrode sheet, a transducer middle cover plate, a first transverse electrode sheet, a transverse vibration piezoelectric ceramic group, a second transverse electrode sheet, a transducer front cover plate and pre-tightening bolts for fixing the structures in sequence in the axial direction, the angle of the first longitudinal electrode sheet and the second longitudinal electrode sheet is the same, the angle of the first transverse electrode sheet and the second transverse electrode sheet is the same, and the first longitudinal electrode sheet and the second transverse electrode sheet have a phase difference of 90 degrees.

4. A novel ultrasonic elliptical vibration coupling mechanical tapping system as claimed in claim 3, wherein, The transverse vibration piezoelectric ceramic group and the longitudinal vibration piezoelectric ceramic group each comprise a semicircular ring piezoelectric ceramic sheet A and a semicircular ring piezoelectric ceramic sheet B and have a phase difference of 90 degrees.

5. A novel ultrasonic elliptical vibration coupling mechanical tapping system as claimed in claim 4, wherein, The first longitudinal electrode sheet is connected to a common electrode of the ultrasonic power supply, the second longitudinal electrode sheet is connected to a negative electrode of the ultrasonic power supply, the first transverse electrode sheet is connected to a positive electrode of the ultrasonic power supply, and the second transverse electrode sheet is connected to a common electrode of the ultrasonic power supply.

6. A novel ultrasonic elliptical vibration coupling mechanical tapping system as claimed in claim 1, wherein, The ultrasonic amplitude transformer is an exponential amplitude transformer, the input end of which is connected to the ultrasonic transducer, and the output end of which is connected to the cutter holder.

7. A novel ultrasonic elliptical vibration coupling mechanical tapping system as claimed in claim 1, wherein, The tool holder comprises a lower half holder fixed to the output end of the ultrasonic amplitude rod, and an upper half holder detachably mounted on the lower half holder, and a clamping positioning groove for mounting the tapping knife is arranged between the mating surfaces of the lower half holder and the upper half holder.

8. A novel ultrasonic elliptical vibration coupling mechanical tapping system as claimed in claim 1, wherein, The tapping system base is swingably mounted on a sliding seat, the sliding seat is slidingly mounted on an arc-shaped sliding rail, and the arc-shaped sliding rail is mounted on the working end of the mobile tapping robot through a lifting mechanism.

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