Abstract: Natural rubber is an essential strategic material of the country. With the low rubber prices in recent years, many rubber workers have lost their jobs, and large areas of rubber gardens have been abandoned and cut down. This research is based on the PLC control method to solve the situation mentioned above. It develops a fully automatic needlepunched rubber picking equipment that can be moved by a soft track erected on a tree. This paper designs the structure of the main moving parts of the rubber picker, sets up a control platform for automatic rubber picking, including PLC programming, manmachine interface design, analyzes the tensioning principle of the soft steel wire track of the walking device, and the principle of needle penetration, and provides theoretical support for the movement and operation design of the rubber picking machine. Finally, a comparative test was conducted on the traditional rubber tapping methods. The test results show that the time consumption of each needle punch of the rubber picker is almost the same as that of the traditional rubber tapping knife, which is both 10 s/plant. In the later stage, it can be combined with the stimulation of ethephon, and the number of pinholes for rubber picking can be increased to increase the output of the amount of glue. In terms of operation mode, the research and development of the rubber picking equipment and breakthroughs in key technologies also provide the possibility and lay the foundation for the realization of fully automatic rubber picking operations.

Key words:  natural rubber, fully automatic, needlepunched rubber extraction, structure design, control platform

摘要： 天然橡胶是国家的重要战略物资，随着近年来的胶价低迷，造成大量的胶工流失，大片胶园出现弃割弃管的情况。为解决上述出现的情况，基于PLC的控制方式，研发一款能够通过架设在树上软轨移动的全自动针刺采胶装备，对采胶机主要各运动部件进行结构设计，并搭建自动采胶的控制平台，包括PLC的编程、人机界面的设计等，分析行走装置的钢丝软轨绷紧原理与刺针的刺入原理，为采胶机的运动与作业设计提供理论支撑，最后通过对传统的割胶方式进行比较试验。试验结果表明：采胶机作业每针刺的耗时相对传统割胶刀较快，约为10 s/株，后期可以配合乙烯利的刺激与适当扩充采胶的针孔数，来提高出胶量。在作业模式上，该采胶装备的研发以及关键技术的突破，也为全自动采胶作业的实现提供可能性与奠定基础。

关键词: 天然橡胶, 全自动, 针刺采胶, 结构设计, 控制平台