农业机械学报2025，Vol.56Issue(1)：254-266,13.DOI:10.6041/j.issn.1000-1298.2025.01.025
基于激光仿形的三轴式自动割胶装置设计与试验
Design and Test of Three-axis Automatic Rubber Tapping Device Based on Laser Profiling
摘要
Abstract
Aiming to solve the problems of high labor intensity and technical difficulty of rubber workers in the natural rubber industry,a three-axis automatic rubber tapping device was designed based on laser profiling.By analyzing the natural rubber tree circumference and manual rubber cutting trajectory within the natural rubber plantation,the structural parameters and algorithm procedures of the three-axis mobile mechanism were determined,and the tapping trajectory of the device was controlled by STM32 development board program.Pasting rubber tapping mechanism and profiling rotary mechanism were designed,and the module distance measurement values under three different tapping states were analyzed.The tree-sticking profiling tapping was completed by the rotation of the servos on the device.Taking rubber tapping angle,rubber tapping depth and the natural rubber tree circumference as test factors,and the qualified rate of rubber tapping depth and qualified rate of rubber tapping surface uniformity as test indexes,the indoor rubber tapping test was designed and carried out by Design-Expert software.the experimental results indicated that when the rubber tapping angle was 24 degrees and the tapping depth was 4.96 mm,the device had excellent tapping effect on different rubber tree circumference.Among them,the rubber tapping effect was the best when the natural rubber tree circumference was 583 mm,with the qualified rate of rubber tapping depth of 91.38％and the qualified rate of rubber tapping surface uniformity of 89.73％,meeting the technical requirements of rubber tapping.关键词
天然橡胶/自动割胶装置/三轴式/激光测距Key words
natural rubber/automatic rubber tapping device/three-axis type/laser ranging分类
农业科技引用本文复制引用
张喜瑞,陈璿立,张志富,刘俊孝,周洁,董学虎,符少华..基于激光仿形的三轴式自动割胶装置设计与试验[J].农业机械学报,2025,56(1):254-266,13.基金项目
海南省科技人才创新项目(KJRC2023C04)、国家自然科学基金区域联合基金项目(U23A20176)、海南省院士创新平台项目(YSPTZX202109)、国家天然橡胶产业技术体系项目(CARS-33-JX2)、海南省自然科学基金项目(523RC440)、三亚市科技创新专项项目(2022KJCX94)和海南省高等学校科学研究项目(Hnky2022-9) （KJRC2023C04）
