Design and Test of Three-Axis Automatic Rubber Tapping Device Based on Laser Profiling

To solve the problem of the shortage of rubber workers, caused by the high labor intensity of rubber workers in the natural rubber industry, a three-axis laser profiling tapping device was designed to meet the technical requirements of tapping in the forest. By analyzing the rubber tree circumference and manual tapping trajectory, the structural parameters and program algorithms of the three-axis mobile mechanism were determined, and the STM32 development board was used to control the motor to complete the tapping trajectory. Pasting rubber tapping mechanism and profiling rotary mechanism were designed. By analyzing the distance measurement values of the three states, the profiling tapping is completed by the rotation of the servos. Taking tapping angle, tapping depth, and rubber tree circumference as test factors, and taking the qualified rate of tapping depth and the qualified rate of tapping surface uniformity as test indices, the indoor tapping test was designed and carried out by Design-Expert software. The results showed that when the tapping angle was 24° and the tapping depth was 4.96 mm, the device had an excellent tapping effect on different rubber tree circumferences. Among them, the tapping effect was the best when the rubber tree circumference was 583 mm, with the qualified rate of tapping depth was 91.5% and the qualified rate of tapping surface uniformity was 89.7%, meeting the technical requirements of tapping.