Aiming at the moving operation form of automatic rubber extraction equipment of natural rubber, a kind of holding device which can realize the adaptive envelope holding of rubber trunk was designed. The working principle, composition structure, grasping mode and adaptive envelope grabbing characteristics of the device were described and analyzed, providing basis for optimizing the design of holding device. ANSYS Workbench software was used for finite element analysis, and the results showed that the maximum total shape variable of the holding device was 0.01 m in the actual working condition, which occurred at the front end of the flexible guide rail, and all the shape variables were small and consistent with the actual force of the holding device. The maximum stress was 0.45 MPa, and the stress was concentrated at the connection between the flexible guide rail and the support plate. However, it had a large material redundancy. The topological optimization of the holding device was carried out, and the mass of the optimized structure was reduced from 0.53 kg to 0.39 kg according to the material removal rates of 30%, 40%, 50% and 70%, respectively. The results showed that the reduction of material redundancy of the holding device could meet the operation requirements under the requirements of ensuring the strength and stiffness. Qualitative and quantitative tests were carried out on the prototype of the holding device, and through the analysis of feedback data, the force situation of the grasping mode was obtained, and the clamping effect was good.

Natural rubber is an important strategic material in our country. In this paper, an electric-driven bias rubber tapping device was designed for the serious loss of rubber workers and the difficulty of mechanization of rubber tapping. Based on the theoretical analysis and mathematical modeling, the finite element model of the transmission structure was established by Adams and ANSYS, and the motion characteristic law was expounded to verify the accuracy of the model construction, and the stress distribution, dynamic characteristics and vibration mechanism of the transmission parts were analyzed in the process of motion. It provided a reference way for the design and later improvement of portable rubber tapping device. Through the analysis of kinematics, the errors of blade swing, transmission structure force and theoretical calculation value were 4% and 3%, respectively. In the numerical simulation, the maximum stress of the transmission structure appears at the connection between the Y-type drive fork and the tapper seat, and the equivalent stress in the three directions of XYZ is all less than the yield limit of the material, so there will be no failure and no resonance. According to the experimental analysis, compared with the traditional manual glue tapper, the average difference of the offset glue tapping device prototype in the glue tapping speed, skin consumption thickness and glue tapping depth is respectively 42.3%, 4.3%, 0.6%, among which the difference of glue tapping speed is more significant. The theoretical model analysis results of the rubber tapping device are basically consistent with the actual prototype manufacturing test.

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.

The self-propelled continuous operation baler is a new type of straw collection equipment that realizes continuous baling operations. The failure of one of its key functional components will seriously affect the regular baling work. This paper proposed a fault diagnosis method combining rough sets and genetic algorithms to monitor, prevent, and control gearbox faults. This method used the multiple fault characteristic parameters obtained from time-domain and frequency-domain analysis as conditional attributes and the fault type as decision attribute to obtain a decision rule table using the genetic algorithm and realize the attribute reduction without prior information. In the gearbox fault diagnosis experiment, signal acquisition and diagnosis analysis were carried out on different fault types. The results showed that the method reduced the 12 fault characteristic parameters into 3 when no prior information was given. The accuracy of fault diagnosis according to the decision rule table was 100%. The results showed that this method could accurately determine the occurrence and type of faults, which was of great significance to fault monitoring, prevention, and control.