Fully automatic intelligent rubber tapping robot

A fully automatic intelligent rubber tapping robot, comprising:

• a moving platform and a tapping robot arm;
• the tapping robot arm is installed on the moving platform;
• an end of the tapping robot arm is equipped with an end actuator, which is composed of a tree-hugging fixed device and a sliding rubber tapping device;
• the rubber tapping robot arm adopts a four-degree-of-freedom structure and is installed on the electric rotary table on moving platform, and the overall structure of the rubber tapping robot arm is composed of a vertical and a horizontal sliding module;
• the rubber tapping robot arm contains four degrees of freedom, including an overall rotational degree of freedom, a vertical telescopic degree of freedom, a horizontal telescopic degree of freedom, and an end rotational degree of freedom;
• the moving platform is a crawler-type moving mode, and several shock absorbers are installed on the moving platform;
• the moving platform is equipped with a positioning and navigation system;
• the tree-hugging fixed device is installed at the end of the rubber tapping robot arm as an end actuator, and the overall design of the tree-hugging fixed mechanism is two identical belts up and down;
• there is an arc fixing part with a gap which is larger than the diameter of the rubber tree, and a guide wheel is installed at the gap;
• four fixing modules are installed on each arc fixing part, and the fixing modules can expand and contract along the diameter direction of the arc fixing part;
• the four fixing modules on each arc fixing part are connected by a synchronous belt, so that the expansion and contraction length of each fixing module is the same;
• there is an arc-shaped guide rail inside the arc fixing part, and the inside of the guide rail is a gear ring, which is used to install sliding rubber tapping device and provide it with a circular path;
• the upper and lower gears of the sliding rubber tapping device mesh with the internal ring gears of the upper and lower circular arc fixing parts respectively, and the gears can be driven by the motor to make the sliding rubber device move in a horizontal arc along the arc-shaped guide rail inside the arc fixing part, and the rubber tapping head on the sliding rubber tapping device is driven by a motor to move up and down.