Intelligent branch removing equipment for removing branches and leaves on surface of tea stalk bamboo

Abstract

The invention discloses intelligent branch removing equipment for removing branches and leaves on the surface of tea stalk bamboo, and belongs to the technical field of bamboo processing. The equipment comprises a mounting rack and a horizontal guide rail on the mounting rack, a movable clamping device is slidably mounted on the horizontal guide rail through a movable platform and is driven by a driving device to reciprocate in the axial direction, and a clamping device is arranged on the movable platform; the driving device and the fixed clamping device alternately clamp bamboo wood, the cutterhead cutting device rotationally cuts the surface of the bamboo wood to remove branches and leaves in the bamboo wood pushing process, the multi-dimensional movement of axial feeding, cutterhead revolution, blade rotation and radial floating of the driving device is integrated in a limited space, a complex three-dimensional composite cutting track is achieved, the equipment function is complete, and the cutting efficiency is improved. The continuous line production of clamping, cutting and feeding is realized, the downtime of traditional equipment caused by clamp replacement is eliminated, the processing efficiency is greatly improved, the cutter head cutting device adopts a floating design and can automatically fit irregular curved surfaces and bamboo joint changes of bamboo materials, and the bamboo green is prevented from being damaged while thorough cutting is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bamboo processing, in particular to an intelligent branch removing device for removing branches on the surface of tea culm bamboo. BACKGROUND

[0002] Tea culm bamboo is widely used in the fields of manufacturing handicrafts, furniture, fishing rods and sports equipment, etc. due to its thick wall, smooth node, and tough material. Before subsequent processing or use, the branches and lateral buds on the surface of the tea culm bamboo must be completely removed to obtain a smooth and undamaged bamboo surface. At present, the branch removing process of tea culm bamboo mainly relies on manual branch removing and mechanical single-tool cutting. The manual branch removing completely relies on the experience and physical strength of workers, and uses a chopping knife or a specially-made scraper to clean the branches one by one, which has low production efficiency and cannot adapt to batch processing. The skill level and fatigue of workers directly affect the branch removing effect, and uneven force control can easily cause two kinds of damage: one is incomplete cutting, which leaves branches on the node and concave surface; the other is excessive force, which scratches or bites the valuable bamboo green, seriously affecting the appearance and value of the finished product. The mechanical single-tool cutting uses a fixedly installed rotary blade or a reciprocating scraper. However, the diameter of tea culm bamboo changes along the axial direction, and the surface has protruding nodes. The fixed trajectory knife cannot fit the changing curved surface, resulting in shallow cutting at the thick part of the bamboo, and possible interference or deep cutting at the thin part of the bamboo or the node. The rigid contact method is easy to cause impact damage when encountering the node, and cannot self-adaptively adjust the pressure when facing different diameters, forming a contradiction between "cutting completeness" and "bamboo surface protection". In addition, the clamping, cutting and feeding processes of traditional equipment are often mutually disjointed, requiring stopping cutting, moving the bamboo to another station by the feeding mechanism, and then cutting again, forming a discontinuous operation cycle of "processing-stop-feeding", which makes it difficult to break through the bottleneck of overall efficiency.

[0003] Therefore, there is an urgent need for an intelligent branch removing device for removing branches on the surface of tea culm bamboo to solve the above technical problems. SUMMARY

[0004] The present application aims to provide an intelligent branch removing device for removing branches on the surface of tea culm bamboo to solve the above technical problems.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions: The application discloses an intelligent branch removing device for removing branches on the surface of tea bamboo, which comprises a mounting rack, a moving clamping device, a control device and driving devices, fixed clamping devices and cutter disc cutting devices which are all fixed on the mounting rack; horizontal guide rails are arranged on the mounting rack along the axial direction of the device; the moving clamping device comprises a moving platform slidably arranged on the horizontal guide rails and at least one clamping device fixedly arranged on the moving platform; the output end of the driving device is fixedly connected with the moving platform and used for driving the moving clamping device to axially reciprocate along the horizontal guide rails; the fixed clamping device is arranged on one side of the cutter disc cutting device and used for clamping and fixing the axial position of the tea bamboo when the moving clamping device returns; the cutter disc cutting device is used for rotating and cutting the branches on the surface of the tea bamboo during pushing of the tea bamboo; and the control device is arranged on the mounting rack and used for controlling the automatic operation of the whole intelligent branch removing device.

[0006] As a preferred technical scheme of the application, the moving platform comprises a first bottom plate and a second bottom plate which are both slidably arranged on the horizontal guide rails; the first bottom plate is fixedly connected with the second bottom plate through a first connecting rod; two clamping devices are arranged on the moving clamping device and are fixedly arranged on the first bottom plate and the second bottom plate respectively; the fixed clamping device is fixedly arranged on the mounting rack between the first bottom plate and the second bottom plate; the fixed clamping device comprises at least one clamping device; the clamping axis of the clamping device on the fixed clamping device, the clamping axis of the clamping device on the moving clamping device and the cutting axis of the cutter disc cutting device are coaxial.

[0007] As a preferred technical scheme of the application, the clamping device comprises a clamping device rack, a linear driving mechanism, a driving clamping mechanism, a driven clamping mechanism and a symmetrical reverse transmission mechanism. The linear driving mechanism is fixedly installed on the clamping device rack, the driving clamping mechanism is connected with the output end of the linear driving mechanism, the driven clamping mechanism is oppositely arranged with the driving clamping mechanism, and the driving clamping mechanism and the driven clamping mechanism jointly form a space for accommodating and clamping the tea culm bamboo workpiece, the symmetrical reverse transmission mechanism comprises a mounting plate, a rotary transmission member, a first transmission member and a second transmission member, the mounting plate is fixedly installed on the clamping device rack, the rotary transmission member is rotatably installed on the mounting plate, the first transmission member and the second transmission member are symmetrically and parallelly arranged at two ends of the rotary transmission member with the rotation center of the rotary transmission member as the symmetric axis, and are respectively engaged with the rotary transmission member, the first transmission member is slidably installed on the first sliding rail through a first sliding block, the second transmission member is slidably installed on the second sliding rail through a second sliding block, and the first sliding rail and the second sliding rail are both fixedly installed on the mounting plate; the first transmission member is fixedly connected with the driving clamping mechanism, the second transmission member is fixedly connected with the driven clamping mechanism, and when working, the linear driving mechanism drives the driving clamping mechanism and the first transmission member to move linearly along the first sliding rail, drives the rotary transmission member to rotate, and further drives the second transmission member and the driven clamping mechanism to move synchronously in the direction opposite to the driving clamping mechanism, so that the tea culm bamboo workpiece is clamped and released.

[0008] As a preferred technical scheme of the present application, the driving clamping mechanism comprises a first V-shaped block, the driven clamping mechanism comprises a driven base and two second V-shaped blocks, the two second V-shaped blocks are fixedly installed in parallel and at intervals on the same side of the driven base, the second V-shaped block is oppositely arranged with the V-shaped opening of the first V-shaped block, and the driven base is fixedly connected with the second transmission member. The mounting plate is provided with a pair of oppositely arranged first bearing seats, each of the first bearing seats is provided with a first bearing, and the rotary transmission member is rotatably installed on the mounting plate through mounting shafts supported in the two first bearing seats at two ends.

[0009] As a preferred technical scheme of the present application, the driving device comprises a driving device frame, a pair of large gears and a pair of racks, the first motor is fixedly arranged on the driving device frame, the output shaft of the first motor is connected with a speed reducer, the output shaft of the speed reducer is connected with a small gear, the small gear is engaged with one of the large gears, the pair of large gears are coaxially fixed through a second connecting rod, the second connecting rod is rotatably supported on a second bearing seat fixedly arranged on the driving device frame through a second bearing, the pair of racks are arranged in parallel and are engaged with the pair of large gears one by one, the pair of racks are slidingly installed on the driving device frame through rack guide sliding blocks, one end of each of the racks is fixedly connected with the moving platform of the moving clamping device, so that the rotary motion of the large gears is converted into the linear reciprocating motion of the racks and the moving clamping device.

[0010] As a preferred technical scheme of the present application, the bottom of each of the pair of racks is fixedly arranged with a guide rail, the guide rail is parallel to the axis of the rack, the rack guide sliding blocks are two in number and are fixedly installed on the driving device frame in positions corresponding to the guide rails, and the rack guide sliding blocks are slidingly matched with the guide rails; the second bearing seat is two in number and is located on the inner side of the pair of large gears.

[0011] As a preferred technical scheme of the present application, the cutter head cutting device comprises a transmission mechanism and a ring-shaped cutter head; the transmission mechanism is fixedly installed on the mounting frame, the output end is connected with the ring-shaped cutter head, and is used for driving the ring-shaped cutter head to revolve around the horizontal tea culm workpiece center line, two air cylinders are symmetrically arranged on the disc surface of the ring-shaped cutter head in the circumferential direction, the output end of the air cylinder is provided with a piston rod, the extension direction of the piston rod is along the radial direction of the ring-shaped cutter head and points to the center of the ring-shaped cutter head, a branch removing assembly is connected with the output end of each piston rod, the branch removing assembly is slidingly installed on a third sliding rail through a third sliding block, the third sliding rail is fixedly connected with the ring-shaped cutter head, and the axis thereof is coaxial with the extension direction of the piston rod, and the air cylinder drives the piston rod to drive the branch removing assembly to move along the axial direction of the third sliding rail; The debranching assembly comprises a blade driving mechanism, a blade, a bull's eye wheel and a blade holder sliding seat connected with the piston rod, the blade holder sliding seat is fixed on the third sliding block, the bull's eye wheel is fixed on the side of the blade holder sliding seat close to the center of the annular cutter through a bull's eye wheel connecting piece, the blade driving mechanism is fixed on the blade holder sliding seat and comprises a second motor and a driving shaft, the second motor is fixed on the blade holder sliding seat, the driving shaft is rotatably supported on a third bearing seat fixed on the blade holder sliding seat through a third bearing, one end of the driving shaft is connected with the output shaft of the second motor through a coupling, the other end of the driving shaft is provided with the blade, the driving direction of the driving shaft is along the radial direction of the annular cutter and points to the center of the annular cutter, the plane of the blade is perpendicular to the axis of the driving shaft, the outer edge of the bull's eye wheel protrudes from the cutting edge of the blade in the radial direction of the annular cutter, so that the bull's eye wheel contacts the bamboo surface before the blade in the radial feeding, and the cutting edge of the blade is arranged towards the axis direction parallel to the tea culm bamboo workpiece; in working, the cylinder drives the piston rod to extend and push the debranching assembly to move towards the center of the annular cutter until the bull's eye wheel contacts the bamboo surface of the tea culm bamboo workpiece and applies a preset pressure, and at the same time, the blade driving mechanism drives the blade to rotate at high speed to cut the branches and leaves of the tea culm bamboo workpiece.

[0012] As the preferred technical scheme of the present application, the transmission mechanism comprises a third motor, a small pulley, a synchronous belt, a large pulley and a hollow shaft, the third motor is fixed on the mounting rack through a motor mounting rack, the small pulley is installed on the output shaft of the third motor, the large pulley is connected with the small pulley through the synchronous belt, the output end of the large pulley is fixedly connected with one end of the hollow shaft, the hollow shaft is supported in the fourth bearing seat through a pair of angular contact ball bearings, the fourth bearing seat is fixed on the mounting rack, the annular cutter is coaxially fixedly connected with the other end of the hollow shaft, the center hole of the annular cutter and the through hole of the hollow shaft are aligned with each other to form a passage for the bamboo to pass through, and the third motor drives the hollow shaft to rotate relative to the fourth bearing seat, thereby driving the annular cutter to rotate.

[0013] As the preferred technical scheme of the present application, an adjusting gasket is arranged between the bull's eye wheel connecting piece of the bull's eye wheel and the blade holder sliding seat, which is used to adjust the relative distance between the outer edge of the bull's eye wheel and the cutting edge of the blade, i.e. the cutting depth.

[0014] As the preferred technical scheme of the present application, the position sensor for detecting the position of the tea culm bamboo workpiece and the limit sensor for detecting the moving limit of the moving clamping device are further arranged, and the position sensor and the limit sensor are electrically connected with the control device.

[0015] In summary, compared with the prior art, the present application has the following advantages: The intelligent branch removing device for surface branch and leaf removal of tea culm bamboo of the present application constructs a set of "cutting-feeding-re-cutting" uninterrupted assembly line operation mode through the time-sharing alternative clamping strategy of the moving clamping device and the fixed clamping device combined with the axial feeding driven by the driving device, completely eliminates the "dead time" that the traditional device must interrupt cutting when changing clamps, thereby significantly improving the production efficiency; in addition, the annular cutter head driven by the transmission mechanism makes the two branch removing assemblies revolve around the bamboo, combined with the axial feeding of the bamboo itself, forms a three-dimensional composite cutting track, ensures that the branches and leaves of the entire circumference and all axial positions of the bamboo can be processed, solves the problem of incomplete coverage of the traditional single-point fixed cutter, each branch removing assembly is driven radially by a cylinder, and a bullseye wheel protruding from the blade is used as a pilot contact point, so that the branch removing assembly becomes a flexible floating unit, the bullseye wheel first contacts the bamboo surface and maintains a constant preset pressure by the cylinder, when encountering bamboo joints or diameter changes, the entire branch removing assembly can be fine-tuned and floated under pressure control, the constant contact pressure ensures the stability of the cutting force, and avoids cutting residues or overcutting injuries caused by uneven pressure; the point contact bullseye wheel and the floating design avoid rigid scraping, effectively protect the precious bamboo green surface, and the distance between the bullseye wheel and the blade edge can be accurately set by adjusting the gasket, so as to realize the standardized adjustment of the cutting depth to adapt to bamboo with different hardness or processing requirements. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a three-dimensional schematic view of the intelligent branch removing device for surface branch and leaf removal of tea culm bamboo of the present application; Figure 2 is a three-dimensional schematic view of the moving clamping device of the present application; Figure 3 is a three-dimensional schematic view of the clamping device of the present application; Figure 4 is a sectional view of the clamping device of the present application; Figure 5 is a three-dimensional schematic view of the driving device of the present application; Figure 6 is a three-dimensional schematic view of the cutter head cutting device of the present application; Figure 7 is a three-dimensional schematic view of the cutter head cutting device of the present application; Figure 8 is a sectional view of the cutter head cutting device of the present application; Wherein, 1 - mounting rack, 11 - horizontal guide rail, 2 - moving clamping device, 21 - moving platform, 211 - first bottom plate, 212 - second bottom plate, 213 - first connecting rod, 22 - clamping device, 221 - clamping device rack, 222 - linear drive mechanism, 223 - driving clamping mechanism, 2231 - first V-shaped block, 224 - driven clamping mechanism, 2241 - driven base, 2242 - second V-shaped block, 225 - symmetrical reverse transmission mechanism, 2251 - mounting plate, 22511 - first bearing seat, 22512 - first bearing, 22513 - mounting shaft, 2252 - rotary transmission part, 2253 - first transmission part, 2254 - second transmission part, 2255 - first sliding block, 2256 - first sliding rail, 2257 - second sliding block, 3 - driving device, 31 - driving device rack, 32 - large gear, 33 - rack, 34 - first motor, 35 - speed reducer, 36 - small gear, 37 - second connecting rod, 38 - second bearing seat, 39 - rack guide sliding block, 310 - guide rail, 4 - fixed clamping device, 5 - cutter cutting device, 51 - transmission mechanism, 511 - third motor, 512 - small pulley, 513 - synchronous belt, 514 - large pulley, 515 - hollow shaft, 516 - motor mounting frame, 517 - angular contact ball bearing, 518 - fourth bearing seat, 52 - annular cutter, 53 - air cylinder, 54 - piston rod, 55 - branch removing assembly, 551 - blade driving mechanism, 5511 - second motor, 5512 - driving shaft, 5513 - third bearing seat, 5514 - shaft coupling, 552 - blade, 553 - bull's eye wheel, 554 - cutter holder sliding seat, 555 - bull's eye wheel connecting piece, 556 - adjusting gasket, 56 - third sliding block, 57 - third sliding rail. DETAILED DESCRIPTION

[0017] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments given here are only for the purpose of illustration and explanation of the present application, and cannot be used to limit the present application.

[0018] As Figure 1As shown, an intelligent debranching device for removing branches and leaves from the surface of tea stalk bamboo includes a mounting frame 1, a movable clamping device 2, a control device, and a drive device 3, a fixed clamping device 4, and a blade cutting device 5, all fixedly mounted on the mounting frame 1. A horizontal guide rail 11 is provided along the axial direction of the device on the mounting frame 1. The movable clamping device 2 includes a movable platform 21 slidably mounted on the horizontal guide rail 11 and at least one clamping device 22 fixedly mounted on the movable platform 21. The output end of the drive device 3 is fixedly connected to the movable platform 21 and is used to drive the movable clamping device 2 to reciprocate axially along the horizontal guide rail 11. The fixed clamping device 4 is located on one side of the blade cutting device 5 and is used to clamp and fix the axial position of the tea stalk bamboo when the movable clamping device 2 returns. The blade cutting device 5 is used to rotate and cut the surface of the tea stalk bamboo to remove branches and leaves during the pushing process. The control device is mounted on the mounting frame 1 and is used to control the automated operation of the entire intelligent debranching device.

[0019] This invention employs a dual-clamping mechanism with alternating clamping. When the movable clamping device 2 clamps the tea stalk bamboo and feeds it forward, the fixed clamping device 4 remains loose. At this time, the cutter head cutting device 5 continuously performs cutting operations, achieving synchronous cutting and feeding. When the movable clamping device 2 reaches the end of its stroke, the fixed clamping device 4 immediately clamps to fix the axial position of the tea stalk bamboo, and the movable clamping device 2 releases and quickly returns to the starting point, completing one "cutting feed-rapid return" cycle. This ensures that the auxiliary time and cutting time completely overlap, completely eliminating the "processing window period" of traditional equipment. This allows the bamboo material to be fed and the clamps to return and reset simultaneously, resulting in a near 100% equipment utilization rate and forming a continuous "quasi-assembly line" operation mode.

[0020] like Figure 2 As shown, in a preferred embodiment of the present invention, the mobile platform 21 includes a first base plate 211 and a second base plate 212 that are slidably mounted on a horizontal guide rail 11. The first base plate 211 and the second base plate 212 are fixedly connected by a first connecting rod 213. The mobile clamping device 2 is provided with two clamping devices 22, which are respectively fixed on the first base plate 211 and the second base plate 212. The fixed clamping device 4 is fixed on the mounting frame 1 between the first base plate 211 and the second base plate 212. The fixed clamping device 4 includes at least one clamping device 22. The clamping axis of the clamping device 22 on the fixed clamping device 4, the clamping axis of the clamping device 22 on the mobile clamping device 2, and the cutting axis of the cutter head cutting device 5 are coaxial.

[0021] When the tea culm is horizontally sent into the device, its axis is accurately coincided with the clamping axis of all clamping devices 22 and the axis of the cutter head cutting device 5. When the branch removing processing is performed, the two moving clamping devices 22 respectively installed on the first bottom plate 211 and the second bottom plate 212 move synchronously, like two stable "claws" clamping the two ends of the tea culm respectively, while the fixed clamping device 4 located between them acts as an "intermediate anchor point", and the three of them together constitute a three-point dynamic stable support system, which ensures that the tea culm does not sway or vibrate in the full length range.

[0022] As shown in Figures 3-4 , as a preferred embodiment of the present application, the clamping device 22 includes a clamping device frame 221, a linear drive mechanism 222, a driving clamping mechanism 223, a driven clamping mechanism 224, and a symmetrical reverse transmission mechanism 225. The linear drive mechanism 222 is fixedly installed on the clamping device frame 221, the driving clamping mechanism 223 is connected with the output end of the linear drive mechanism 222, the driven clamping mechanism 224 is oppositely arranged with the driving clamping mechanism 223, and together constitute a space for accommodating and clamping the tea culm workpiece. The symmetrical reverse transmission mechanism 225 includes a mounting plate 2251, a rotary transmission member 2252, a first transmission member 2253, and a second transmission member 2254. The mounting plate 2251 is fixedly installed on the clamping device frame 221, the rotary transmission member 2252 is rotatably installed on the mounting plate 2251, the first transmission member 2253 and the second transmission member 2254 are symmetrically and parallelly arranged at both ends of the rotary transmission member 2252 with the rotation center of the rotary transmission member 2252 as the symmetry axis, and are respectively engaged with the rotary transmission member 2252. The first transmission member 2253 is slidably installed on the first sliding rail 2256 through the first sliding block 2255, the second transmission member 2254 is slidably installed on the second sliding rail through the second sliding block 2257, and the first sliding rail 2256 and the second sliding rail are both fixedly installed on the mounting plate 2251. The first transmission member 2253 is fixedly connected with the driving clamping mechanism 223, the second transmission member 2254 is fixedly connected with the driven clamping mechanism 224, and in working, the linear drive mechanism 222 drives the driving clamping mechanism 223 and the first transmission member 2253 to move linearly along the first sliding rail 2256, drives the rotary transmission member 2252 to rotate, and further drives the second transmission member 2254 and the driven clamping mechanism 224 to move synchronously in the opposite direction of the driving clamping mechanism 223, so as to realize the clamping and loosening of the tea culm workpiece.

[0023] When the straight line driving mechanism 222 extends, its output end directly pushes the driving clamping mechanism 223 and the first transmission member 2253 fixedly connected therewith to move linearly along the first sliding rail 2256, the linear movement of the first transmission member 2253 drives the rotary transmission member 2252 engaged therewith to rotate, and the rotation of the rotary transmission member 2252 simultaneously drives the second transmission member 2254 engaged with the other side of the rotary transmission member 2252 to move linearly at the same speed in the opposite direction along the second sliding rail, and finally the second transmission member 2254 pulls the driven clamping mechanism 224 to move synchronously towards the driving clamping mechanism 223, and the two together complete clamping of the workpiece, in the whole process, one-way linear driving is converted into two precisely synchronized opposite linear movements, through the mechanical principle of "single driving and bidirectional symmetrical transmission", fast, accurate and non-destructive clamping of tea culm bamboo is realized. The traditional cylinder 53 directly drives one-side clamping block, and the clamping force action line is eccentric, which is easy to cause the slender bamboo to roll or bend laterally in the V-shaped block, and the symmetrical reverse transmission mechanism 225 ensures that the moving speed of the driving clamping mechanism 223 and the driven clamping mechanism 224 is synchronous, the displacement is equal, and the direction is opposite, no matter how much force or displacement the straight line driving mechanism 222 outputs, the driving clamping mechanism 223 and the driven clamping mechanism 224 always take the theoretical center line of the workpiece as the symmetrical surface and perform precise mirror movement, and the clamping force is strictly distributed symmetrically along the center line, so that the eccentric moment is eliminated, not only can effectively prevent any slight rotation or deviation of the bamboo in the clamping process, but also can ensure that the positioning reference of the subsequent cutting process is absolutely accurate, and the uniform distribution of the clamping pressure also avoids the bamboo surface being pressed due to excessive single-point pressure, and realizes the ideal effect of "firm clamping" and "no damage to bamboo"; The clamping device 22 of the present application greatly improves the economy and compactness of the system, since the symmetrical reverse transmission mechanism 225 has an inherent "stroke multiplication" effect - one unit stroke of the straight line driving mechanism 222 is converted into one unit reverse displacement of the driving clamping mechanism 223 and the driven clamping mechanism 224 respectively, so that the total opening and closing range reaches twice the stroke of the straight line driving mechanism 222, which means that only one conventional short-stroke cylinder 53 is needed to cover a large diameter range, avoiding the use of expensive and bulky long-stroke actuators, so that the whole device is compact in structure, low in cost and fast in response, and is particularly suitable for integrated application in automatic production line.

[0024] As a preferred embodiment of the present application, the driving clamping mechanism 223 comprises a first V-shaped block 2231, the driven clamping mechanism 224 comprises a driven base 2241 and two second V-shaped blocks 2242, the two second V-shaped blocks 2242 are fixedly installed in parallel and at intervals on the same side of the driven base 2241, the second V-shaped block 2242 is arranged opposite to the V-shaped opening of the first V-shaped block 2231, and the driven base 2241 is fixedly connected with the second transmission member 2254; The mounting plate 2251 is provided with a pair of first bearing seats 22511 arranged oppositely, and each first bearing seat 22511 is provided with a first bearing 22512. The rotary transmission member 2252 is rotatably mounted on the mounting plate 2251 through a mounting shaft 22513 supported in the two first bearings 22512.

[0025] The first V-shaped block 2231 of the active clamping mechanism 223 and the two second V-shaped blocks 2242 of the driven clamping mechanism 224 form an isosceles triangle arrangement. When the symmetrical reverse transmission mechanism 225 works, the first V-shaped block 2231 moves towards the driven base 2241 that bears the two second V-shaped blocks 2242. When the tea culm bamboo is fed in, the inclined surfaces of the three V-shaped blocks will cooperate to automatically guide and clamp the tea culm bamboo in the center of the triangular space formed by them. Regardless of the initial position of the tea culm bamboo, it can be forced to roll and finally stably positioned at the theoretical center. This enables the axis of the tea culm bamboo to be accurately relocated at the same spatial position each time clamping occurs, which is a prerequisite for ensuring consistent cutting trajectory and uniform cutting depth of the subsequent cutter head. In addition, the rotary transmission member 2252 is supported in the two independent first bearing seats 22511 and the first bearings 22512 through the mounting shaft 22513. The double-sided support structure ensures that the mounting shaft 22513 has extremely high rotational stiffness and positioning accuracy when bearing bidirectional meshing force, eliminates the bending deformation of the mounting shaft 22513 caused by force, and ensures that the meshing gap between the rotary transmission member 2252 and the first transmission member 2253 and the second transmission member 2254 is constant within the full length range. This not only reduces transmission backlash and improves motion synchronization accuracy, but also enables uniform load distribution, greatly reduces wear, significantly improves the rigidity, motion stability, and service life of the entire symmetrical reverse transmission mechanism 225, and ensures the performance consistency of the clamping device 22 under long-term frequent operation.

[0026] As shown in Figure 5 As a preferred embodiment of the present application, the driving device 3 includes a driving device frame 31, a pair of large gears 32, and a pair of racks 33. The first motor 34 is fixedly arranged on the driving device frame 31. The output shaft of the first motor 34 is connected with a speed reducer 35. The output shaft of the speed reducer 35 is connected with a small gear 36. The small gear 36 is engaged with one of the large gears 32. The two large gears 32 are coaxially connected through a second connecting rod 37. The second connecting rod 37 is rotatably supported on a second bearing seat 38 fixedly arranged on the driving device frame 31 through a second bearing. The pair of racks 33 are arranged in parallel and correspondingly engaged with the pair of large gears 32. The pair of racks 33 are slidably installed on the driving device frame 31 through rack guide sliding blocks 39. One end of each rack 33 is fixedly connected with the moving platform 21 of the moving clamping device 2, so that the rotary motion of the large gear 32 is converted into the linear reciprocating motion of the rack 33 and the moving clamping device 2.

[0027] The present application realizes smooth, accurate and powerful driving of the long-span moving platform 21 through the symmetric transmission design of "single motor input and double-side synchronous output". The first motor 34 drives the pinion 36 to rotate after increasing the torque through the speed reducer 35. The pinion 36 drives the single large gear 32 engaged with the pinion 36 to rotate. Since the pair of large gears 32 are rigidly coaxially connected through the second connecting rod 37, the two large gears 32 realize absolutely synchronous uniform rotation. Each large gear 32 drives the rack 33 engaged with the large gear 32 to move linearly. Since the two racks 33 are rigidly connected on the left and right sides of the moving platform 21 respectively, the two racks 33 jointly drive the whole moving platform 21 to move linearly along the horizontal guide rail 11, realizing absolutely synchronous double-side driving of the moving platform 21, ensuring the running stability and trajectory accuracy. For the long-span moving platform 21, if only one side is driven, a huge eccentric torque will be generated, causing the platform to be stuck, to crawl or even to damage the guide rail during the movement. The present application mechanically locks the two large gears 32 as the same rotating body through the rigid second connecting rod 37, thus eliminating the possibility of any speed difference or phase difference between the two output ends. Therefore, the racks 33 connected on the left and right sides of the moving platform 21 always maintain displacement synchronization, speed synchronization and force balance, ensuring that the moving platform 21 can run smoothly and smoothly without shaking during the whole long stroke.

[0028] As a preferred embodiment of the present application, the bottom of each rack 33 is fixedly provided with a guide rail 310, the guide rail 310 is parallel to the axis of the rack 33, the rack guide block 39 is provided with two rack guide blocks 39, which are fixedly installed on the driving device rack 31 corresponding to the positions of the guide rails 310, and the rack guide block 39 is in sliding fit with the guide rail 310. The second bearing seat 38 is provided with two second bearing seats 38, which are located on the inner sides of the pair of large gears 32.

[0029] As shown in Figures 6-8 As a preferred embodiment of the present application, the cutter disc cutting device 5 includes a transmission mechanism 51 and a ring-shaped cutter disc 52. The transmission mechanism 51 is fixedly installed on the mounting rack 1, and the output end is connected with the ring-shaped cutter disc 52 for driving the ring-shaped cutter disc 52 to revolve around the horizontal tea culm bamboo workpiece center line. Two air cylinders 53 are symmetrically arranged on the disc surface of the ring-shaped cutter disc 52 in the circumferential direction. The output end of the air cylinder 53 is provided with a piston rod 54, and the extension direction of the piston rod 54 is along the radial direction of the ring-shaped cutter disc 52 and points to the center of the ring-shaped cutter disc 52. Each piston rod 54 is connected with a branch removing assembly 55. The branch removing assembly 55 is slidably installed on the third sliding rail 57 through the third sliding block 56. The third sliding rail 57 is fixedly connected with the ring-shaped cutter disc 52, and the axis thereof is coaxial with the extension direction of the piston rod 54. The air cylinder 53 drives the piston rod 54 to drive the branch removing assembly 55 to move along the axial direction of the third sliding rail 57. The debranching assembly 55 comprises a blade driving mechanism 551, a blade 552, a bullseye wheel 553, and a tool holder sliding seat 554 connected with the piston rod 54, the tool holder sliding seat 554 is fixed on the third sliding block 56, the bullseye wheel 553 is fixed on the side of the tool holder sliding seat 554 close to the center of the annular cutter 52 through a bullseye wheel connecting piece 555, the blade driving mechanism 551 is fixed on the tool holder sliding seat 554 and comprises a second motor 5511 and a driving shaft 5512, the second motor 5511 is fixed on the tool holder sliding seat 554, the driving shaft 5512 is rotatably supported on a third bearing seat 5513 fixed on the tool holder sliding seat 554 through a third bearing, one end of the driving shaft 5512 is connected with the output shaft of the second motor 5511 through a coupling 5514, and the other end is provided with the blade 552, the driving direction of the driving shaft 5512 is along the radial direction of the annular cutter 52 and points to the center thereof, the plane of the blade 552 is perpendicular to the axis of the driving shaft 5512, the outer edge of the bullseye wheel 553 protrudes from the cutting edge of the blade 552 in the radial direction of the annular cutter 52, so that the bullseye wheel 553 contacts the bamboo surface before the blade 552 in the radial feeding, and the cutting edge of the blade 552 is arranged towards the direction parallel to the axis of the tea culm bamboo workpiece; in working, the cylinder 53 drives the piston rod 54 to extend and push the debranching assembly 55 to move towards the center of the annular cutter 52 until the bullseye wheel 553 contacts the bamboo surface of the tea culm bamboo workpiece and applies a preset pressure, and at the same time, the blade driving mechanism 551 drives the blade 552 to rotate at high speed to cut the branches and leaves of the tea culm bamboo workpiece.

[0030] The transmission mechanism 51 drives the annular cutter 52 to revolve around the axis of the tea culm bamboo, so that the two debranching assemblies 55 installed on the annular cutter 52 can cover the whole circumferential direction of the tea culm bamboo, when cutting is needed, the two cylinders 53 synchronously push the piston rods 54 to extend to drive the respective tool holder sliding seats 554 and the whole debranching assemblies 55 to feed in the radial direction of the annular cutter 52, in this process, the bullseye wheel 553 protruding from the blade 552 first contacts the bamboo surface as a pilot sensing element, the cylinder 53 maintains constant output force under the control of the air pressure system, so that the bullseye wheel 553 abuts against the bamboo surface with a preset constant pressure, at this time, the tool holder sliding seat 554 will automatically fine-tune its radial position according to the profile of the bamboo diameter or bamboo joint, becoming a floating carrier, at the same time, the second motor 5511 fixed on the tool holder sliding seat 554 drives the blade 552 to rotate at high speed, and the cutting edge direction thereof is parallel to the axis of the tea culm bamboo, so that the branches and leaves on the bamboo surface are completely and uniformly scraped off under the combined motion of revolution and floating.

[0031] The revolution of the annular cutter head 52 ensures that the cutting action covers 360° circumference. The pilot contact of the bullseye wheel 553 and the constant pressure control of the air cylinder 53 enable the cutter blade 552 to act like a floating head with tactile sensation, which can follow the micro relief of the bamboo surface in real time. Regardless of the diameter change of the bamboo or the encounter of the protruding bamboo joints, the cutter blade 552 can maintain constant cutting pressure following the surface through the feedback of the bullseye wheel 553 and the adjustment of the air cylinder 53, which ensures complete cutting in the concave place and avoids cutting too deep in the convex place to damage the bamboo green, and achieves a balance between cutting thoroughness and bamboo surface protection. The constant thrust provided by the air cylinder 53 means that the pressure of the bullseye wheel 553 on the bamboo surface is stable and adjustable, and does not fluctuate greatly due to the local hardness change of the bamboo or the vibration of the machine tool, which directly translates into stable and consistent cutting force, avoiding cutting vibration, cutter blade 552 bouncing or uneven cutting depth caused by sudden pressure changes, so as to obtain a smooth and uniform machined surface. At the same time, the cutter blade driving mechanism 551 is rigidly installed on the cutter holder slide 554 to form a high-rigidity cutting unit, which ensures the dynamic balance and cutting stability of the cutter blade 552 under high-speed rotation, and guarantees the processing quality.

[0032] As a preferred embodiment of the present application, the transmission mechanism 51 comprises a third motor 511, a small pulley 512, a synchronous belt 513, a large pulley 514 and a hollow shaft 515. The third motor 511 is fixedly arranged on the mounting frame 1 through a motor mounting frame 516. The small pulley 512 is installed on the output shaft of the third motor 511. The large pulley 514 is connected with the small pulley 512 through the synchronous belt 513. The output end of the large pulley 514 is fixedly connected with one end of the hollow shaft 515. The hollow shaft 515 is supported in the fourth bearing seat 518 through a pair of angular contact ball bearings 517. The fourth bearing seat 518 is fixedly arranged on the mounting frame 1. The annular cutter head 52 is coaxially fixedly connected with the other end of the hollow shaft 515. The central hole of the annular cutter head 52 and the through hole of the hollow shaft 515 are aligned with each other to form a passage for the bamboo to pass through. The third motor 511 drives the hollow shaft 515 to rotate relative to the fourth bearing seat 518, thereby driving the annular cutter head 52 to rotate.

[0033] The third motor 511 transmits power to the large pulley 514 in the form of deceleration and torque increase through the small pulley 512 and the synchronous belt 513, and the large pulley 514 is rigidly connected with one end of the hollow shaft 515 to directly input torque to the hollow shaft 515, which is a core rotating component and is rotatably supported in the fourth bearing seat 518 fixed to the mounting frame 1 through a pair of angular contact ball bearings 517, and when the hollow shaft 515 rotates in the bearing seat, the annular cutter head 52 coaxially and rigidly connected with the other end of the hollow shaft 515 rotates synchronously, thereby driving the debarking assembly 55 mounted thereon to perform circumrotary cutting, so that the tea culm bamboo can pass through the central through hole of the hollow shaft 515 and the central hole of the annular cutter head 52 without any obstruction, and the perfect separation and coaxiality of power transmission and workpiece feeding in space are realized, and the bamboo is not hindered, rubbed or disturbed during feeding, which protects the surface of the bamboo and makes the feeding action very smooth.

[0034] As a preferred embodiment of the present application, the bull's eye wheel connecting piece 555 of the bull's eye wheel 553 is provided with an adjusting gasket 556 between the bull's eye wheel 553 and the cutter holder slide 554, which is used to adjust the relative distance between the outer edge of the bull's eye wheel 553 and the cutting edge of the cutter 552, i.e. the cutting depth.

[0035] As a preferred embodiment of the present application, it further includes a position sensor for detecting the positioning of the tea culm bamboo workpiece and a limit sensor for detecting the movement limit of the moving clamping device 2, and the position sensor and the limit sensor are electrically connected with the control device.

[0036] Working principle: First stage: initial reset After the equipment is powered on and started, each actuator is automatically reset to a safe standby position, the two radial feeding cylinders 53 in the cutter head cutting device 5 are retracted, the debarking assembly 55 above is withdrawn to the far end, the central passage of the annular cutter head 52 is completely opened, the maximum bamboo inlet is formed, and the linear drive mechanism 222 in the moving clamping device 2 and the fixed clamping device 4 is retracted, so that the V-shaped block in each clamping device 22 is opened to the maximum opening, and the moving clamping device 2 is withdrawn and parked at the right end of the entire horizontal stroke under the driving of the driving device 3, i.e. the starting end of feeding, which is ready for receiving and clamping new bamboo.

[0037] Second stage: workpiece clamping and positioning The operator feeds a tea culm bamboo horizontally along the equipment axis (usually from right to left) into the processing area. When the front end of the tea culm bamboo passes through the hollow shaft 515 and the center hole of the ring-shaped cutter head 52 and reaches the preset clamping position, the position sensor installed on the mounting frame 1 detects that the bamboo is in place and sends a signal to the control device. The control device then issues an instruction to first control the two clamping mechanisms on the movable clamping device 2 to act. The linear drive mechanism 222 extends, and through the symmetrical reverse transmission mechanism 225, the first V-shaped block 2231 of the driving clamping mechanism 223 and the two second V-shaped blocks 2242 of the driven clamping mechanism 224 move in opposite directions, using the three-point centering principle to stably clamp the bamboo on the theoretical center line. At this time, the fixed clamping device 4 remains in a loose state.

[0038] Third stage: composite cutting and synchronous feeding The control device starts the transmission mechanism 51 of the cutter head cutting device 5. The third motor 511 drives the hollow shaft 515 and the ring-shaped cutter head 52 coaxially fixed thereto through the synchronous belt 513, starting to revolve around the axis of the clamped bamboo. At the same time, the control device starts the second motor 5511 on the two debarking assemblies 55, driving the cutter blade 552 to start high-speed rotation; After the ring-shaped cutter head 52 is swung stably, the control device controls the two radial feeding cylinders 53 symmetrically arranged on the ring-shaped cutter head 52 to be synchronously extended. The cylinder 53 piston rod 54 pushes the cutter holder sliding seat 554 and the entire debarking assembly 55 thereon to move radially along the cutter head towards the center of the bamboo. During this feeding process, the bull's eye wheel 553 first contacts the bamboo surface due to its outer edge protruding from the cutting edge of the cutter blade 552. The cylinder 53 maintains a constant output force under the control of the air pressure servo or pressure regulating valve, so that the bull's eye wheel 553 is pressed against the bamboo surface with a preset constant pressure. When the diameter of the bamboo changes or encounters a bamboo knot, the cutter holder sliding seat 554 will automatically adjust the radial position slightly under the action of constant air pressure, always keeping the pressure of the bull's eye wheel 553 on the bamboo surface stable; Under the above coordinated action, the high-speed rotating cutter blade 552 makes a circular motion under the drive of the cutter head revolving around the bamboo, while the movable clamping device 2 clamping the bamboo makes a uniform linear feeding to the left along the horizontal guide rail 11 under the drive of the drive device 3, forming a full coverage and spiral cutting of the branches and leaves on the outer surface of the bamboo.

[0039] Fourth stage: alternate clamping and rapid return When the mobile clamping device 2 clamps the bamboo material to reach the left end limit position of the stroke, the limit sensor sends a signal, and the control device instructs the fixed clamping device 4 to act, and the clamping device 22 thereof quickly clamps the bamboo material, so that the axial position of the bamboo material is fixed before the mobile clamping device 2 is released, ensuring that the cutting is not interrupted. At the moment when the fixed clamping device 4 completes clamping, the control device instructs the clamping device 22 on the mobile clamping device 2 to release the bamboo material, and the first motor 34 of the driving device 3 is reversed, and the mobile clamping device 2 that has been released is driven to quickly return to the starting position along the horizontal guide rail 11 through the gear rack 33 mechanism. During this period, since the bamboo material has been firmly fixed by the fixed clamping device 4, the cutter head cutting device 5 continues uninterrupted cutting operation; When the mobile clamping device 2 returns to the rightmost starting position, the clamping device 22 thereof clamps the bamboo material again, the fixed clamping device 4 is released, and the first motor 34 of the driving device 3 is rotated again to start a new round of “cutting synchronous feeding”. The mobile clamping device 2 and the fixed clamping device 4 clamp alternately, cooperate with the forward and reverse rotation of the driving device 3, realize the superposition and parallel of the two sub-cycles of “clamping-feeding cutting” and “releasing-quick returning”, so that the auxiliary time is completely hidden in the cutting time, forming a high-efficiency quasi-continuous operation flow.

[0040] Fifth stage: processing is completed and the system is reset After completing the last cutting, the control device sequentially sends the following instructions: the radial feeding cylinder 53 of the cutter head cutting device 5 is retracted, so that the blade 552 and the bullseye wheel 553 are separated from the bamboo surface; the second motor 5511 and the third motor 511 are stopped; the fixed clamping device 4 releases the processed bamboo material, and the bamboo material is moved out. Subsequently, the mobile clamping device 2 returns to the rightmost initial position under the driving of the driving device 3, and all mechanisms are reset to the state described in the first stage, ready to receive the next bamboo material to be processed, and start a new working cycle.

[0041] It should be understood that the above embodiments are one or more embodiments of the present application, and there are many other embodiments and variations of the present application based on the present application. Without making pioneering innovation, the person skilled in the art can deform and modify the present application, which all belong to the protection scope of the present application.

Claims

1. An intelligent debranching device for removing surface branches and leaves of tea bamboo, characterized in that: The intelligent tea culm bamboo debranching device comprises a mounting rack, a moving clamping device, a control device, and driving devices, fixed clamping devices, and cutter disc cutting devices which are all fixed on the mounting rack; horizontal guide rails are arranged on the mounting rack along the axial direction of the device; the moving clamping device comprises a moving platform slidably arranged on the horizontal guide rails and at least one clamping device fixedly arranged on the moving platform; the output end of the driving device is fixedly connected with the moving platform and used for driving the moving clamping device to axially reciprocate along the horizontal guide rails; the fixed clamping device is arranged on one side of the cutter disc cutting device and used for clamping and fixing the axial position of the tea culm bamboo when the moving clamping device returns; the cutter disc cutting device is used for rotating and cutting the branches and leaves on the surface of the tea culm bamboo during the pushing process; and the control device is arranged on the mounting rack and used for controlling the automatic operation of the whole intelligent debranching device.

2. The intelligent debranching device for removing surface branches and leaves of tea bamboo according to claim 1, characterized in that: The moving platform comprises a first bottom plate and a second bottom plate which are both slidably arranged on the horizontal guide rails; the first bottom plate is fixedly connected with the second bottom plate through a first connecting rod; the moving clamping device is provided with two clamping devices which are fixedly arranged on the first bottom plate and the second bottom plate respectively; the fixed clamping device is fixedly arranged on the mounting rack between the first bottom plate and the second bottom plate; the fixed clamping device comprises at least one clamping device; the clamping axis of the clamping device on the fixed clamping device, the clamping axis of the clamping device on the moving clamping device, and the cutting axis of the cutter disc cutting device are coaxial.

3. The intelligent debranching device for removing surface branches and leaves of tea bamboo according to any one of claims 1 or 2, characterized in that: The clamping device comprises a clamping device rack, a linear driving mechanism, a driving clamping mechanism, a driven clamping mechanism, and a symmetrical reverse transmission mechanism; The linear driving mechanism is fixedly arranged on the clamping device rack; the driving clamping mechanism is connected with the output end of the linear driving mechanism; the driven clamping mechanism is arranged opposite to the driving clamping mechanism and together forms a space for accommodating and clamping the tea culm bamboo workpiece; the symmetrical reverse transmission mechanism comprises a mounting plate, a rotary transmission member, a first transmission member, and a second transmission member; the mounting plate is fixedly arranged on the clamping device rack; the rotary transmission member is rotatably arranged on the mounting plate; the first transmission member and the second transmission member are symmetrically and parallelly arranged at the two ends of the rotary transmission member with the rotation center of the rotary transmission member as the symmetric axis, are engaged with the rotary transmission member respectively, and are slidably arranged on the first sliding rail and the second sliding rail through the first sliding block and the second sliding block respectively; the first sliding rail and the second sliding rail are both fixedly arranged on the mounting plate; the first transmission member is fixedly connected with the driving clamping mechanism; the second transmission member is fixedly connected with the driven clamping mechanism; and during operation, the linear driving mechanism drives the driving clamping mechanism and the first transmission member to linearly move along the first sliding rail, drives the rotary transmission member to rotate, and further drives the second transmission member and the driven clamping mechanism to synchronously move in the direction opposite to the driving clamping mechanism, so as to clamp and release the tea culm bamboo workpiece.

4. The intelligent debranching device for removing surface branches and leaves of tea bamboo according to claim 3, characterized in that: The main clamping mechanism comprises a first V-shaped block, the driven clamping mechanism comprises a driven base and two second V-shaped blocks, the two second V-shaped blocks are fixedly installed in parallel and at intervals on the same side of the driven base, the second V-shaped blocks are arranged opposite to the V-shaped openings of the first V-shaped block, and the driven base is fixedly connected with the second transmission member; The mounting plate is provided with a pair of first bearing seats arranged opposite to each other, each first bearing seat is provided with a first bearing, and the rotary transmission member is rotatably mounted on the mounting plate through mounting shafts supported in the two first bearings at two ends.

5. The intelligent debranching device for removing surface branches and leaves of tea bamboo according to claim 1, characterized in that: The driving device comprises a driving device frame, a pair of large gears and a pair of racks. The first motor is fixedly arranged on the driving device frame. The output shaft of the first motor is connected with a speed reducer. The output shaft of the speed reducer is connected with a small gear. The small gear is engaged with one of the large gears. The two large gears are coaxially fixedly connected through a second connecting rod. The second connecting rod is rotatably supported on a second bearing seat fixedly arranged on the driving device frame through a second bearing. The two racks are arranged in parallel and are engaged with the two large gears one by one. The two racks are slidably mounted on the driving device frame through rack guide sliding blocks. One end of each rack is fixedly connected with the moving platform of the moving clamping device, so that the rotary motion of the large gear is converted into the linear reciprocating motion of the rack and the moving clamping device.

6. The intelligent debranching device for removing surface branches and leaves of tea bamboo according to claim 5, characterized in that: The bottom of each rack is fixedly provided with a guide rail parallel to the axis of the rack. The rack guide sliding blocks are fixedly arranged on the driving device frame corresponding to the positions of the guide rails. The rack guide sliding blocks are in sliding fit with the guide rails. The second bearing seat is provided with two second bearing seats located on the inner sides of the two large gears.

7. The intelligent debranching device for removing surface branches and leaves of tea bamboo according to claim 1, characterized in that: The cutter head cutting device comprises a transmission mechanism and an annular cutter head. The transmission mechanism is fixedly mounted on the mounting frame and connected with the annular cutter head at the output end to drive the annular cutter head to revolve around the horizontal tea culm workpiece center line. Two cylinders are symmetrically arranged on the disc surface of the annular cutter head. The output end of the cylinder is provided with a piston rod, and the extension direction of the piston rod is along the radial direction of the annular cutter head and points to the center of the annular cutter head. Each piston rod is connected with a branch removing assembly. The branch removing assembly is slidably mounted on the third sliding rail through the third sliding block. The third sliding rail is fixedly connected with the annular cutter head, and the axis thereof is coaxial with the extension direction of the piston rod. The cylinder drives the piston rod to drive the branch removing assembly to move along the axial direction of the third sliding rail. The debranching assembly comprises a blade driving mechanism, a blade, a bull's eye wheel and a blade holder sliding seat connected with the piston rod, the blade holder sliding seat is fixed on the third sliding block, the bull's eye wheel is fixed on the side of the blade holder sliding seat close to the center of the annular cutter through a bull's eye wheel connecting piece, the blade driving mechanism is fixed on the blade holder sliding seat and comprises a second motor and a driving shaft, the second motor is fixed on the blade holder sliding seat, the driving shaft is rotatably supported in a third bearing seat fixed on the blade holder sliding seat through a third bearing, one end of the driving shaft is connected with the output shaft of the second motor through a coupling, the other end of the driving shaft is provided with the blade, the driving direction of the driving shaft points to the center of the annular cutter in the radial direction of the annular cutter, the plane of the blade is perpendicular to the axis of the driving shaft, the outer edge of the bull's eye wheel protrudes from the cutting edge of the blade in the radial direction of the annular cutter, so that the bull's eye wheel contacts the bamboo surface before the blade in the radial feeding, and the cutting edge of the blade is arranged towards the axis direction parallel to the tea culm bamboo workpiece; in working, the cylinder drives the piston rod to extend and push the debranching assembly to move towards the center of the annular cutter until the bull's eye wheel contacts the bamboo surface of the tea culm bamboo workpiece and applies a preset pressure, and at the same time, the blade driving mechanism drives the blade to rotate at high speed to cut the branches and leaves of the tea culm bamboo workpiece.

8. The intelligent debranching device for removing surface branches and leaves of tea bamboo according to claim 7, characterized in that: The transmission mechanism comprises a third motor, a small pulley, a synchronous belt, a large pulley and a hollow shaft, the third motor is fixed on the mounting rack through a motor mounting rack, the small pulley is installed on the output shaft of the third motor, the large pulley is connected with the small pulley through the synchronous belt, the output end of the large pulley is fixedly connected with one end of the hollow shaft, the hollow shaft is supported in the fourth bearing seat through a pair of angular contact ball bearings, the fourth bearing seat is fixed on the mounting rack, the annular cutter is coaxially fixedly connected with the other end of the hollow shaft, the center hole of the annular cutter and the through hole of the hollow shaft are aligned with each other to form a channel for the bamboo to pass through, the third motor drives the hollow shaft to rotate relative to the fourth bearing seat, thereby driving the annular cutter to rotate.

9. The intelligent debranching device for removing surface branches and leaves of tea bamboo according to claim 7, characterized in that: An adjusting gasket is arranged between the bull's eye wheel connecting piece of the bull's eye wheel and the blade holder sliding seat, which is used for adjusting the relative distance between the outer edge of the bull's eye wheel and the cutting edge of the blade, i.e. the cutting depth.

10. The intelligent debranching device for removing surface branches and leaves of tea bamboo according to claim 1, characterized in that: The position sensor for detecting the position of the tea culm bamboo workpiece and the limit sensor for detecting the movement limit of the movable clamping device are further included, and the position sensor and the limit sensor are electrically connected with the control device.

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