阅读说明：本技术 一种基于空中轨道的移动式天然橡胶采胶装置 (Movable natural rubber collecting device based on aerial track ) 是由 肖苏伟 邓祥丰 曹建华 吴思浩 王玲玲 黄敞 金千里 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种基于空中轨道的移动式天然橡胶采胶装置,包括：位姿调整机构、行走模块、采胶机构、固定架和行走轨道；行走轨道为软质,行走模块与行走轨道配合；采胶机构通过位姿调整机构连接于行走模块；固定架用于设置在树干；位姿调整机构、行走模块和/或采胶机构具有用于同固定架配合的定位部。有益效果在于,行走轨道的设计采用软轨方式来实现,具有架设方便、成本低廉的特点,且能够根据作业目标进行适当延展,对于地势不平坦的坡区有着较好的应用优势。与现有技术相比,具有采胶便捷、环境适应性高和采胶稳定性高的特点。(The invention discloses a movable natural rubber collecting device based on an aerial track, which comprises: the pose adjusting mechanism, the walking module, the glue collecting mechanism, the fixing frame and the walking track; the walking track is soft, and the walking module is matched with the walking track; the glue collecting mechanism is connected with the walking module through the pose adjusting mechanism; the fixing frame is arranged on the trunk; the pose adjusting mechanism, the walking module and/or the glue collecting mechanism are/is provided with a positioning part which is used for being matched with the fixed frame. The flexible track has the advantages that the design of the walking track is realized by adopting a flexible track mode, the flexible track has the characteristics of convenience in erection and low cost, can be properly extended according to an operation target, and has better application advantages for a slope area with uneven terrain. Compared with the prior art, the method has the characteristics of convenience and quickness in glue collection, high environmental adaptability and high glue collection stability.)

1. The utility model provides a mucilage binding is adopted to portable natural rubber based on aerial track which characterized in that includes: the pose adjusting mechanism, the walking module (3), the glue collecting mechanism, the fixing frame (6) and the walking track;

the walking track is soft, and the walking module (3) is matched with the walking track;

the glue collecting mechanism is connected to the walking module (3) through the pose adjusting mechanism;

the fixing frame (6) is arranged on the trunk; the pose adjusting mechanism, the walking module (3) and/or the glue collecting mechanism are/is provided with a positioning part which is used for being matched with the fixing frame (6).

2. The aerial rail-based mobile natural rubber mining device of claim 1, wherein the pose adjusting mechanism comprises: a lifting module (2);

the lifting module (2) is provided with a positioning tongue (202) used for being matched with the fixed frame (6);

the walking module (3), the lifting module (2) and the glue collecting mechanism are sequentially connected.

3. The aerial rail-based mobile natural rubber tapping device according to claim 2, wherein the lifting module (2) further comprises: a positioning spring (203) and a slide rail bracket (204);

the positioning spring (203) is arranged between the positioning tongue (202) and the sliding rail bracket (204).

4. The aerial rail-based mobile natural rubber mining device of claim 2, wherein the pose adjusting mechanism further comprises: a rotation module (1);

the walking module (3), the lifting module (2), the rotating module (1) and the glue collecting mechanism are sequentially connected.

5. The aerial rail-based mobile natural rubber tapping device according to claim 4, wherein the rotating module (1) comprises: a tumble drive gear (102) and a horizontal drive gear (106);

the axial directions of the overturning transmission gear (102) and the horizontal transmission gear (106) are mutually vertical;

the rotating module (1) can drive the glue collecting mechanism to be axially and symmetrically overturned through the overturning transmission gear (102);

the rotating module (1) can drive the glue collecting mechanism to rotate circumferentially through a horizontal transmission gear (106).

6. The mobile natural rubber tapping device based on aerial track according to claim 1, characterized in that the walking module (3) comprises:

a running gear support (306);

the vertical fixed wheel (301) is arranged on the traveling device bracket (306) and is used for being matched with the side surface of the traveling track;

the walking wheel (303) is arranged on the walking device bracket (306) and is used for being matched with the top surface of the walking track; the vertical fixed wheel (301) and the walking wheel (303) are vertical to each other in axial direction.

7. The aerial track-based mobile natural rubber tapping device according to claim 6, wherein the walking module (3) further comprises:

the vertical fixed wheel motor (302) is arranged on the walking device bracket (306) and is used for driving the vertical fixed wheel (301) to rotate;

a traveling wheel motor (304) arranged on the traveling device bracket (306) and used for driving the traveling wheel (303) to rotate; the vertical fixed wheel motor (302) and the travelling wheel motor (304) are vertical to each other in the axial direction.

8. The aerial track-based mobile natural rubber tapping device as claimed in claim 1, wherein the tapping mechanism comprises: a needling module (5);

the needling module (5) comprises: a needling motor (501), a needling transmission gear set (502), a needling fixing seat (503) and a needle (504);

the puncture needle (504) is arranged on the puncture fixing seat (503);

the acupuncture drive gear set (502) is connected between the acupuncture fixing seat (503) and the output end of the acupuncture motor (501) in a transmission manner.

9. The aerial track-based mobile natural rubber tapping device as claimed in claim 1, wherein the tapping mechanism further comprises: a hugging module (4);

the hugging module (4) comprises: a contraction gear (402), a holding flexible rail (403) and a holding fixed frame (404);

the holding soft rail (403) is semicircular; the holding soft rail (403) is provided with guide rail teeth; the first end of the holding soft rail (403) is meshed with the contraction gear (402) through the guide rail teeth, and the second end of the holding soft rail (403) is fixedly connected with the holding fixed frame (404).

10. The aerial rail-based mobile natural rubber tapping device according to claim 1, wherein the gripping module (4) further comprises: the holding fixing rod (405), the holding bracket (407) and the holding adjusting rod (408);

it is in through to hold tight support (407) one end hold tight dead lever (405) scalable connect in hold tight the first end of soft rail (403), the other end through hold tight regulation pole (408) scalable connect in hold tight the second end of soft rail (403).

Technical Field

The invention relates to the technical field of mechanical rubber collection, in particular to a movable natural rubber collection device based on an aerial track.

Background

The rubber tree is used as an economic crop, becomes one of important basic industries of national economy by using the unique economic value of the rubber tree, and provides rubber products such as daily-use, medical and rubber production equipment, rubber parts and the like for people.

However, in recent years, the price of rubber is continuously low, rubber tapping production is night work, the attraction of young labor force on rubber tapping production is insufficient, and rubber workers are seriously aged; in addition, the existing glue collection field has low mechanization and complex equipment structure, thereby leading the glue collection yield to be reduced year by year.

Therefore, how to provide a convenient glue collecting device becomes an important technical problem to be solved urgently by technical personnel in the field.

Disclosure of Invention

In view of the above, the invention provides a movable natural rubber mining device based on an aerial track, which is used for solving the defects in the prior art and has the characteristics of convenience in rubber mining, high environmental adaptability and high rubber mining stability.

In order to achieve the purpose, the invention provides the following technical scheme:

a rubber device is adopted to portable natural rubber based on aerial track includes: the pose adjusting mechanism, the walking module, the glue collecting mechanism, the fixing frame and the walking track;

the walking track is soft, and the walking module is matched with the walking track;

the glue collecting mechanism is connected to the walking module through the pose adjusting mechanism;

the fixing frame is arranged on the trunk; the pose adjusting mechanism, the walking module and/or the glue collecting mechanism are/is provided with a positioning part which is used for being matched with the fixing frame.

Preferably, the posture adjustment mechanism includes: a lifting module;

the lifting module is provided with a positioning tongue matched with the fixed frame;

the walking module, the lifting module and the glue collecting mechanism are sequentially connected.

Preferably, the lifting module further comprises: a positioning spring and a slide rail bracket;

the positioning spring is arranged between the positioning tongue and the sliding rail bracket.

Preferably, the posture adjustment mechanism further comprises: a rotation module;

the walking module, the lifting module, the rotating module and the glue collecting mechanism are sequentially connected.

Preferably, the rotation module includes: the transmission gear and the horizontal transmission gear are turned over;

the turning transmission gear and the horizontal transmission gear are axially vertical to each other;

the rotating module can drive the glue collecting mechanism to be axisymmetrically overturned through the overturning transmission gear;

the rotating module can drive the glue collecting mechanism to rotate circumferentially through the rotating gear.

Preferably, the walking module comprises:

a running gear support;

the vertical fixed wheel is arranged on the traveling device bracket and is used for being matched with the side surface of the traveling track;

the walking wheel is arranged on the walking device bracket and is used for being matched with the top surface of the walking track; the vertical fixed wheel and the travelling wheel are axially vertical to each other.

Preferably, the walking module further comprises: the vertical fixed wheel motor is arranged on the walking device bracket and is used for driving the vertical fixed wheel to rotate;

the walking wheel motor is arranged on the walking device bracket and is used for driving the walking wheel to rotate; the vertical fixed wheel motor and the walking wheel motor are mutually vertical in axial direction.

Preferably, the glue collecting mechanism comprises: a needling module;

the needling module includes: the needle punching device comprises a needle punching motor, a needle punching transmission gear set, a needle punching fixed seat and a needle punching needle;

the pricking pin is arranged on the pricking fixing seat;

the acupuncture drive gear set is in transmission connection between the acupuncture fixing seat and the output end of the acupuncture motor.

Preferably, the glue collecting mechanism further comprises: a hugging module;

the hugging module comprises: the retractable gear, the holding flexible rail and the holding fixing frame;

the holding soft rail is a semicircle; the holding soft rail is provided with guide rail teeth; the first end of the holding soft rail is meshed with the contraction gear through the guide rail teeth, and the second end of the holding soft rail is fixedly connected with the holding fixing frame.

Preferably, the clasping module further comprises: the holding fixing rod, the holding bracket and the holding adjusting rod are arranged on the holding bracket;

it is through to hold support one end tightly hold the dead lever scalable connect in hold the first end of soft rail tightly, the other end through hold adjust the pole scalable connect in hold the second end of soft rail tightly.

According to the technical scheme, the movable natural rubber mining device based on the aerial track achieves the purpose of moving between trees by means of the cooperation of the walking module and the rope. During operation, the rubber picking machine can complete actions of up-and-down shrinkage, circumferential rotation, axisymmetric overturning and the like under the interaction of the lifting module and the rotating module, is fixed with a rubber tree through the holding module, and finally is drilled into barks through the pricker on the pricking module to complete rubber picking operation.

Has the advantages that: the design of the walking track is realized by adopting a soft track mode, has the characteristics of convenient erection and low cost, can be properly extended according to the operation target, and has better application advantages for uneven slope areas. In addition, the design of the fixing frame saves the cost of laying a hard rail, and the laying of the whole walking track and the position determination of fixed-point glue collection can be completed only by connecting the low-price soft rail with the fixing frame. Meanwhile, the fixed frame can pull and clamp the soft rail, so that the soft rail is kept in a tensioning state, and the sag of the suspended rubber sampling device is reduced. The lower end of the fixing frame can be fixed with a positioning tongue of the glue collecting machine, so that the better glue collecting stability is kept. Compared with the prior art, the method has the characteristics of convenience and quickness in glue collection, high environmental adaptability and high glue collection stability.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic three-dimensional structure diagram of a mobile natural rubber mining device based on an aerial track according to an embodiment of the present invention at a first viewing angle;

fig. 2 is a schematic three-dimensional structure diagram of a mobile natural rubber mining device based on an aerial track according to an embodiment of the present invention at a second viewing angle;

FIG. 3 is an internal block diagram of the travel module of FIG. 2;

FIG. 4 is a structural view of a traveling wheel and a traveling motor in the traveling module of FIG. 3;

FIG. 5 is an internal structural view of the clasping means of FIG. 2;

FIG. 6 is an internal block diagram of the lift module of FIG. 1;

FIG. 7 is an enlarged view of the rotating module of FIG. 1;

FIG. 8 is an internal structural view of the rotating module of FIG. 7;

FIG. 9 is an internal block diagram of the lancing module of FIG. 2;

FIG. 10 is an internal block diagram of the lancing module of FIG. 9 from another perspective;

FIG. 11 is a schematic view of the installation of a rubber tree holder;

fig. 12 is a schematic operation flow diagram of a mobile natural rubber tapping device based on an aerial track according to an embodiment of the present invention;

FIG. 13a is a schematic view of the position of the mobile natural rubber tapping device at step C in the process flow;

FIG. 13b is a schematic view of the position of the mobile natural rubber tapping device at step D in the process flow;

fig. 14 shows the position relationship between the rubber tree fixing frame and the positioning tongue.

Wherein, 1-rotation module, 101-rotation arm, 102-turnover transmission gear, 103-rotation motor, 104-rotation gear, 105-rotation motor, 106-horizontal transmission gear; 2-lifting module, 201-positioning wheel, 202-positioning tongue, 203-positioning spring and 204-sliding rail bracket; 3-a walking module, 301-a vertical fixed wheel, 302-a vertical fixed wheel motor, 303-a walking wheel, 304-a walking wheel motor, 305-a rubber collecting machine controller and 306-a walking device bracket; 4-holding module, 401-inner shrinking motor, 402-shrinking gear, 403-holding soft rail, 404-holding fixed frame, 405-holding fixed rod, 406-first outer shrinking motor, 407-holding bracket, 408-holding adjusting rod and 409-second outer shrinking motor; 5-acupuncture module, 501-acupuncture motor, 502-acupuncture transmission gear set, 503-acupuncture fixing seat, 504-acupuncture needle, 505-acupuncture module fixing frame and 506-acupuncture module moving motor.

Detailed Description

The invention discloses a movable natural rubber picking device based on an aerial track, which finishes multi-tree rubber picking through the combined action of a pose adjusting mechanism, a walking module, a rubber picking mechanism, a fixing frame and the walking track, and has the advantages of convenience in rubber picking, high environmental adaptability and high rubber picking stability.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides a movable natural rubber mining device based on an aerial track, which is shown in a figure 1 and a figure 2 and comprises the following components: the pose adjusting mechanism, the walking module 3, the glue collecting mechanism, the fixing frame 6 and the walking track;

the walking track is soft, and the walking module 3 is matched with the walking track;

the glue collecting mechanism is connected with the walking module 3 through a pose adjusting mechanism;

the fixing frame 6 is arranged on the trunk; the pose adjusting mechanism, the walking module 3 and/or the glue collecting mechanism are/is provided with a positioning part which is used for being matched with the fixing frame 6.

It can be seen from the above technical solutions that, the movable natural rubber mining device based on the aerial track provided in the embodiment of the present invention takes fig. 11, 12, 13a and 13b as an example, and its working principle is as follows: firstly, position adjustment: the movable natural rubber picking device based on the aerial track moves to a position B on a sliding rope through a walking module 3 at an initial position A; after the glue collecting mechanism reaches the position C, the glue collecting mechanism is moved to the position C through the pose adjusting mechanism; in the position C, the glue collecting mechanism is attached to the outer surface edge of the trunk, namely in the position D; then the height and the specific position of the working plane are adjusted through the position and posture adjusting mechanism. Secondly, starting to work: the glue collecting mechanism is provided with a glue outlet. Thirdly, resetting the origin: after the opening of the glue collecting port is finished, the position D returns to the position C, and the holding motor moves in a return stroke to loosen the clamping device and returns to the position B.

By adopting the design, the device can be properly extended according to the operation target, and has better application advantages for the slope area with uneven terrain; furthermore, the design of the walking track is realized by adopting a soft track mode, and the device has the characteristics of convenience in erection, low cost and high glue collection stability.

In this solution, referring to fig. 1, 6, and 14, the posture adjustment mechanism includes: a lifting module 2;

the lifting module 2 is provided with a positioning tongue 202 which is used for matching with the fixed frame 6;

the walking module 3, the lifting module 2 and the glue collecting mechanism are connected in sequence.

It should be noted that the pose adjusting mechanism, the walking module 3 and/or the glue collecting mechanism have positioning portions for being matched with the fixing frame 6, that is, the lifting module 2 has positioning portions for being matched with the fixing frame 6; in particular, the lifting module 2 has a positioning tongue 202 for cooperating with the fixed frame 6; therefore, when the rubber collecting machine reaches the fixing frame 6 on the rubber tree, the positioning tongue can limit the position of the positioning opening, and the rubber collecting machine is firmly positioned on the fixing frame.

Meanwhile, the walking module 3, the lifting module 2 and the rubber collecting mechanism are sequentially connected, so that the walking module 3 can firstly drive the lifting module 2 and the rubber collecting mechanism to move on a walking track to search for corresponding rubber trees to be collected; then the lifting module 2 drives the glue picking mechanism to move up and down along the trunk of the tree to be picked to find a proper glue picking point. This scheme so designs, has displacement mode simple, displacement effect good and the strong characteristics of location ability.

Preferably, the lifting module 2 further comprises: a positioning spring 203 and a slide rail bracket 204;

the positioning spring 203 is disposed between the positioning tongue 202 and the slide rail bracket 204.

It should be noted that the positioning tongue 202 is disposed between the sliding rail bracket 204 and the positioning spring 203, so that when the rubber tapping device reaches the fixing frame 6 on the rubber tree, the positioning tongue 202 is ejected from the suspension frame and clamped into the rubber tree fixing frame under the action of the spring 203, and the walking module 3 is firmly positioned on the fixing frame, thereby ensuring the positioning firmness. The scheme is designed like this, and the fixing device has the characteristics of simple fixing mode and good fixing performance.

In order to optimize the above technical solution, referring to fig. 1, 7 and 8, the pose adjustment mechanism further includes: a rotation module 1;

the walking module 3, the lifting module 2, the rotating module 1 and the glue collecting mechanism are connected in sequence. Therefore, on the basis that the lifting module 2 drives the rotating module 1 and the tree trunk to move up and down along the tree trunk of the tree to be rubber-collected, the rotating module 1 drives the rubber collecting mechanism to rotate so as to select a proper rubber collecting point; this scheme so design has the accurate characteristics of selecting to adopt gluey point.

Preferably, the rotating module 1 comprises: tumble transfer gear 102 and horizontal transfer gear 106;

the axial directions of the turnover transmission gear 102 and the horizontal transmission gear 106 are mutually vertical;

the rotating module 1 can drive the glue collecting mechanism to be axisymmetrically overturned through the overturning transmission gear 102;

the rotating module 1 can drive the glue collecting mechanism to rotate circumferentially through the horizontal transmission gear 106.

It should be noted that the turning transmission gear 102 and the horizontal transmission gear 106 are axially perpendicular to each other, and when the positioning tongue 202 of the walking module 3 is fixed to the fixing frame 6, two movements with different dimensions can be brought to the rubber picking mechanism, so that firstly, the rubber picking mechanism can be driven to perform axisymmetric turning along a vertical line which is basically perpendicular to the walking track, and the rubber picking operation of rubber trees on two sides is well adapted; secondly, the glue collecting mechanism can be driven to rotate in a plane after the axisymmetric overturning action is completed so as to find a proper glue collecting point along the circumference of the trunk. This scheme so design has simple structure and diversified selection and adopts the characteristics of gluing the point.

In this solution, with reference to fig. 2, 3 and 4, the walking module 3 comprises:

a running gear support 306;

the vertical fixed wheel 301 is arranged on the walking device bracket 306 and is used for being matched with the side surface of the walking track;

the traveling wheel 303 is arranged on the traveling device bracket 306 and is matched with the top surface of the traveling rail; the vertical fixed wheels 301 and the road wheels 303 have axial directions perpendicular to each other. Due to the design, the flexible rail can be well attached to the travelling wheels, and the vertical fixed wheels 301 are matched, so that the stability of the rubber picking machine in the movement process is greatly guaranteed; has the characteristic of high stability in the movement process.

Preferably, the walking module 3 further includes:

a vertical fixed wheel motor 302 arranged on the walking device bracket 306 and used for driving the vertical fixed wheel 301 to rotate;

a traveling wheel motor 304 arranged on the traveling device bracket 306 and used for driving the traveling wheel 303 to rotate; the vertical fixed wheel motor 302 and the road wheel motor 304 have their axial directions perpendicular to each other. By the design, the automation is improved, and the labor intensity is greatly reduced.

In this scheme, referring to fig. 2, 9 and 10, adopt gluey mechanism to include: a needling module 5;

the needling module 5 includes: a needling motor 501, a needling transmission gear set 502, a needling fixing seat 503 and a needle 504;

the puncture needle 504 is arranged on the puncture fixing seat 503;

the acupuncture drive gear set 502 is connected between the acupuncture fixing seat 503 and the output end of the acupuncture motor 501 in a driving manner.

It should be noted that the needling fixing seat 503 is used as a mounting base for the needle 504, and is connected between the needling fixing seat 503 and the output end of the needling motor 501 through the transmission of the needling transmission gear set 502, so as to push the needling fixing seat 503 to move, further to push the needle 504 to be inserted into the bark, and to open the rubber tapping hole.

Preferably, the needling module 5 further includes: the acupuncture module fixing frame 505 and the acupuncture module moving motor 506 take the acupuncture module fixing frame 505 as a mounting base of the acupuncture drive gear set 502, the acupuncture fixing seat 503 and the acupuncture needle 504, and the acupuncture module fixing frame 505 is driven to be close to the trunk by the acupuncture module moving motor 506. This scheme so design has easily to adopt gluey good characteristics of gluey effect of adopting.

In order to optimize the above technical solution, referring to fig. 2 and 5, the glue collecting mechanism further includes: a hugging module 4;

the clasping module 4 includes: a contraction gear 402, a holding flexible rail 403 and a holding fixed frame 404;

the holding soft rail 403 is a semicircle; the holding soft rail 403 is provided with guide rail teeth; a first end of the holding soft rail 403 is meshed with the contraction gear 403 through guide rail teeth, and a second end of the holding soft rail 403 is fixedly connected to the holding fixed frame 404.

It should be noted that the retraction gear 402 is engaged with a first end of the clasping soft rail 403, and a second end of the clasping soft rail 403 is fixedly connected to the clasping fixing frame 404; wherein, because hold soft rail 403 tightly and have better ductility, consequently can laminate the rubber tree trunk better under the effect of shrink gear 402, or when adopting the glue and end, also can realize relaxing through shrink gear 402 and hold soft rail 403 tightly in order to break away from the effect of rubber tree trunk.

In addition, the clasping gear seat 4, the clasping soft rail 403 and the clasping fixing frame 404 in the clasping module 4 can properly adjust the clasping soft rail 403 according to the outline of the outer edge of the trunk and adapt to the sizes of different trunks; the clasping soft rail 403 is of a semicircular structure, so that the clasping module 4 can hold a trunk like a mechanical arm to realize simulated clasping. It is worth mentioning that the needling module 5 is installed on the clasping module 4, and needling can be performed on the clasping module 4 after clasping the trunk, so that the glue outlet is formed. This scheme design has simple structure, easy and simple to handle and the good characteristics of centre gripping effect.

Preferably, the clasping module 4 further comprises: a clasping fixing rod 405, a clasping bracket 407 and a clasping adjusting rod 408;

one end of the clasping bracket 407 is telescopically connected to the first end of the clasping soft rail 403 through a clasping fixing rod 405, and the other end of the clasping bracket is telescopically connected to the second end of the clasping soft rail 403 through a clasping adjusting rod 408.

It should be noted that, one end of the clasping bracket 407 is telescopically connected to the first end of the clasping soft rail 403 through the clasping fixing rod 405, and when the contraction gear 402 is engaged with the clasping soft rail 403, the part formed by the clasping fixing rod 405 and the clasping bracket 407 can ensure that the clasping soft rail 403 can be bent and deformed towards the shape conforming to the tree circumference, thereby achieving the clasping purpose; in addition, the clasping adjusting rod 408 is telescopically connected to the second end of the clasping soft rail 403, so that the bending deformation degree of the clasping soft rail 403 can be adjusted, and the clasping capacity is further enhanced. By the design, the clamping device has the characteristics of high clamping flexibility, strong clamping capacity and good clamping effect.

The present solution is further described below with reference to specific embodiments.

The glue picking device provided by the embodiment of the invention realizes the purpose of moving between trees by means of the cooperation of the walking module and the rope. As shown in fig. 14, the rubber tree fixing frame and the positioning tongue are in a positional relationship such that when the rubber sampling machine reaches the fixing frame position on the rubber tree, the positioning tongue is ejected from the suspension frame and clamped to the V-shaped opening at the lower end of the rubber tree fixing frame under the action of the spring, so as to firmly position the rubber sampling machine on the fixing frame.

During operation, the glue collecting device can complete actions of up-and-down shrinkage, circumferential rotation, axisymmetric overturning and the like under the interaction of the lifting module 2 and the rotating module 1, is fixed with a rubber tree through the holding module 4, and finally is drilled into the bark through the pricker on the pricking module 5 to complete the glue collecting operation.

The working principle of the glue collecting device provided by the embodiment of the invention is as follows:

1. position adjustment: the mobile needling rubber collecting machine is at an initial position A and moves to a position B on the sliding rope through a walking motor; after reaching the position B, the glue collecting mechanism is moved to a position C through a horizontal rotating motor; in the position C, the clamping device is attached to the edge of the outer surface of the trunk by the holding motor, namely the rubber mining machine is positioned in the position D; then the height of the working plane is adjusted through a vertical motor; and finally, adjusting the specific position through an annular motor.

2. And (3) starting to work: the pricking pin of the pricking device is driven by the worm gear to extend out, and when the pricking pin penetrates into the bark at a certain depth position, the pricking pin triggers the set value of the pressure sensor and stops the movement of the mechanism.

3. Resetting the original point: after the puncturing work is finished, the puncturing needle is retracted according to the original path according to the control instruction and returns to the position C from the position D, and the holding motor moves backwards to release the clamping device and returns to the position B.

The holding module of the mobile full-automatic rubber collecting machine mainly comprises a contraction gear 402, a holding soft rail 403, a holding fixing frame 404, a holding fixing rod 405, a holding bracket 407 and a holding adjusting rod 408; as shown in fig. 5, the clasping module can realize the design function by means of engaging the pair of teeth on the contracting gear 402 and the clasping flexible rail 403, so as to achieve the purpose of freely contracting and expanding. The device can properly adjust the holding soft rail 403 according to the outline of the outer edge of the trunk, can adapt to the tree girth with different trunk sizes,

in addition, the holding soft rail 403 is also designed with a sawtooth shape, so that the contact friction force between the rubber picking machine and the outer edge of the trunk is increased in the process of holding the rubber tree; and the holding soft rail 403 has better ductility, so that the holding soft rail 403 can bear a certain degree of bending deformation when the retraction gear 402 moves back. The holding soft rail 403 is fixed with the trunk of the rubber tree in a semicircular shape, so that compared with the traditional circular holding hoop, the travel distance is saved, the holding time is shortened, and the inconvenience and the rapidness of a screw fixing mode are eliminated.

The invention has the protection points that:

1. the glue collecting can be carried out movably.

2. The movement is done on the rope.

3. The glue can be collected in multiple degrees of freedom.

In conclusion, the beneficial effects of the invention are as follows:

the design of the walking track is realized by adopting a soft track mode, has the characteristics of convenient erection and low cost, can be properly extended according to the operation target, and has better application advantages for uneven slope areas.

The walking mechanism can well attach the soft rail to the walking wheel under the fixation of the vertical walking wheel, and the stability of the rubber picking machine in the motion process is ensured.

The joint rotator can be turned over by 180 degrees, and is well suitable for rubber mining operation of rubber trees on two sides.

The design of mount has practiced thrift the cost of laying hard rail, only needs to be connected low price's soft rail and mount, just can accomplish whole walking orbital laying and fixed point and adopt gluey position determination. Meanwhile, the fixed frame can pull and clamp the soft rail, so that the soft rail is kept in a tensioning state, and the sag of the suspended rubber sampling device is reduced. The lower end of the fixing frame can be fixed with a positioning tongue of the glue collecting machine, so that the better glue collecting stability is kept.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.