The invention discloses a bearing balance type natural rubber tapping robot which comprises an autonomous moving trolley, a bearing balance mechanism, a six-axis mechanical arm, an air pressure buckling mechanism, a rubber tapping executing mechanism and a control system. The air pressure fastening mechanism comprises a rubber tree supporting arm, the upper portion and the lower portion of the rubber tree supporting arm are each provided with an air bag supporting layer, the air bag supporting layers are flatly laid and fixedly installed on the arc-shaped supporting face, and an air supply air pressure device communicated with the air bag supporting layers for air inflation is further installed on the autonomous moving trolley; the rubber tapping executing mechanism comprises an arc-shaped opening guide groove formed in the rubber tree supporting arm, a cutting knife walking device is installed on the arc-shaped opening guide groove, a walking power device is connected between the cutting knife walking device and the rubber tree supporting arm, and a tail end cutting knife device is installed on the cutting knife walking device. The rubber tapping robot is suitable for autonomous walking in an orchard and capable of achieving automatic and stable rubber tapping, breakthrough improvement is provided for full-automatic rubber tapping operation in the industry, and the rubber tapping efficiency is greatly improved.

    本发明公开了一种承载平衡式天然橡胶割胶机器人,包括自主移动小车、承载平衡机构、六轴机械臂、气压扣紧机构、割胶执行机构以及控制系统;气压扣紧机构包括胶树支撑臂,胶树支撑臂的上部、下部分别设有气囊支撑层,气囊支撑层平铺固定安装在弧形支撑面上,自主移动小车上还安装有与气囊支撑层连通进行充气的供气气压装置;割胶执行机构包括设于胶树支撑臂上的弧形开口导槽,弧形开口导槽上安装有割刀行走装置,割刀行走装置与胶树支撑臂之间连接有行走动力装置,割刀行走装置上安装有末端割刀装置;本发明提供一种适用于果园内自主行走、可实现自动、稳定割胶的割胶机器人,为行业内全自动化割胶作业提供突破性的改进,大大提高割胶效率。


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    Title :

    Bearing balance type natural rubber tapping robot


    Additional title:

    承载平衡式天然橡胶割胶机器人


    Contributors:
    LIU JUNXIAO (author) / GU RUNZE (author) / ZHANG XIRUI (author) / ZHANG ZHIFU (author) / ZHANG JIN (author) / WEI SHENG (author) / DONG XUEHU (author)

    Publication date :

    2024-07-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    A01G Gartenbau , HORTICULTURE / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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