Design and Test of the Orbit Depth Control Device of the Laser Ranging Rubber Tapper

In response to the problems of uneven tapping depth and poor adaptation to tree bark undulations in current rubber tapping machinery, a laser distance measurement depth control rubber tapping machine was designed. The trajectory dynamics in tapping operations were analyzed by constructing a mathematical model, and the trajectory analytical equation was obtained. The method for adjusting the distance between the tapping tool and the rubber tree was determined based on the geometric relationship between the tapping actuator and the rubber tree. The mechanism of the influence of the interval angle of the measuring point on the cutting tool adjustment error was clarified, and the trajectory walking and precise control of the tapping tool were realized using an Arduino control board. An orthogonal experiment was conducted with the tapping speed, consumption of rubber tree bark, and threshold range as the experimental factors, and the number of tapping tool adjustments per single tapping, pressure data variance, and tapping thickness qualification rate as the evaluation indicators. The experimental results showed that the tapping thickness qualification rate could reach 87% or above under different consumption of rubber tree bark and threshold setting ranges, and the best tapping effect was obtained at a tapping speed of 0.4 r/s, consumption of 1.3 mm, and a threshold range of ± 0.1 mm, with a tapping thickness qualification rate of 95.74%, an average of 22.33 tapping tool adjustments, a pressure data variance of 14.89, and a relatively smooth tapping surface, which met the requirements of rubber tapping operations.