Tree body automatic centering clamping and excitation method

Abstract

The invention discloses a tree body automatic centering clamping and excitation method which comprises the steps that a depth camera recognizes the relative position of a roller and a tree body trunk, when a preset point position is reached, a driving mechanism drives two clamping heads to get close, the roller rolls along the surface of the trunk in the clamping process, that is, the roller moves relative to the trunk, and the tree body is clamped. The relative movement drives the clamping head to slide on the clamping arm until the axis of the trunk is aligned with the center position of the elastic band, and centering is completed; further clamping until each roller is tightly attached to the surface of the trunk and the two clamping heads and the elastic belt are tightly attached to the surface of the trunk in sequence, so that centering clamping is completed; the excitation device is started, and harvesting is completed. The clamping head, the elastic belt and the rolling wheels can gradually reach the center position of a trunk under the action of clamping force, the clamping point position of the clamping head is more accurate, after centering and clamping, the trunk, the elastic belt and the clamping head are tightly attached, effective transmission of excitation energy is guaranteed during vibration harvesting of forest fruits, and damage to tree bodies is avoided.

Description

Technical Field

[0001] The invention relates to the field of fruit picking, and in particular to a method for automatic centering, clamping and vibrating a tree body. Background Art

[0002] Forestry dried fruits usually refer to the fruits of dried fruit plants that grow naturally or are artificially cultivated in a forest environment. These dried fruits are not only an important part of forest food, but are also widely consumed because of their high nutritional value and unique flavor. Due to the irregularity of tree growth, the clamping head of the current forest fruit harvesting device usually only clamps one side or the head of the tree trunk when clamping the tree trunk, and cannot automatically align the clamping to the center of the trunk. When the clamping head starts to vibrate, it cannot accurately vibrate and exert force at the center of the trunk, and there will be a certain torque, which will lead to a loss of part of the exciting force, and there will be a certain damage to the epidermis of the trunk, making it impossible to achieve the best picking effect and the net picking rate is low.

[0003] In order to solve the above problems, it is necessary to propose a method for automatically centering, clamping and vibrating a tree body of a vibration harvesting device for fruit trees. Summary of the invention

[0004] The object of the present invention is to provide a method for automatic centering, clamping and vibrating a tree body, so as to solve the problems raised in the above background that the clamping head of the current fruit and vegetable harvesting device cannot be aligned with the center of the tree trunk for clamping, and cannot accurately vibrate and exert force at the center of the trunk, resulting in damage to the epidermis of the tree trunk during picking, failure to achieve the best picking effect, and low picking rate.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0006] A method for automatically centering, clamping and vibrating a tree, comprising:

[0007] A driving mechanism is installed on the two clamping arms, and the driving mechanism is used to drive the two clamping arms to move closer to and apart from each other; clamping heads are elastically and slidably connected to the two clamping arms, and both ends of each clamping head are elastically connected to rollers, and the rollers at both ends of the clamping head are connected through elastic belt transmission; a vibration excitation device is installed inside the clamping head;

[0008] The tree body automatic centering clamping and vibration exciting method comprises:

[0009] Step 1: Move the two clamping heads to the vicinity of the tree trunk, and half of the tree trunk structure has entered between the two clamping heads;

[0010] Step 2, start the driving mechanism, the driving mechanism drives the clamping heads on the two clamping arms to move towards each other, in the process of moving towards each other, first, the roller at the outer end of the clamping head touches the tree trunk, then as the clamping heads continue to move towards each other, the roller rolls along the surface of the tree trunk, that is, the roller and the tree trunk move relative to each other, this relative movement drives the clamping head to slide on the clamping arm until the most convex point of the tree trunk on the side of the elastic band reaches the center line position between the two rollers on the clamping head, that is, the axis of the tree trunk is aligned with the middle position of the elastic band, and the centering is completed, the driving mechanism continues to drive the clamping heads on the two clamping arms to move towards each other, until each roller is in close contact with the surface of the tree trunk and the clamping surfaces of the two clamping heads, the elastic band and the surface of the tree trunk are in close contact in turn, that is, the centering clamping of the tree trunk is completed and the clamping state is maintained, and the clamping head stops moving;

[0011] Step 3: Start the vibration device. The vibration force generated by the vibration device vibrates the center of the tree trunk to complete the harvest.

[0012] As a further improved technical solution of the present invention, a second depth camera is installed on one of the clamping heads, the central axis of the lens of the second depth camera is circumscribed with the roller located at one end of the outer side of the clamping head, and the second depth camera is connected to an external control system;

[0013] The step 1 is specifically as follows: the base in the driving mechanism is connected to the robotic arm, and the driving mechanism, the clamping arm and the clamping head are driven by the robotic arm to move so that the trunk of the tree is located directly in front of the two clamping heads. The robotic arm continues to drive the driving mechanism, the clamping arm and the clamping head to advance in front of the trunk of the tree. When the depth camera 2 on the clamping head just recognizes the trunk information of the tree trunk, the depth camera 2 sends the trunk information to the control system, and the control system starts to count the forward advancement stroke of the depth camera 2. When the forward advancement stroke of the depth camera 2 is greater than or equal to the radius of the tree trunk, it is determined that half of the structure of the tree trunk has entered between the two clamping heads, and the driving mechanism, the clamping arm and the clamping head stop advancing in front of the tree trunk. The control system is also used to control the start and stop of the rotation drive device and the excitation device in the driving mechanism.

[0014] As a further improved technical solution of the present invention, the driving mechanism includes a rotary driving device, a base, a rotating shaft, a connecting rod and a pulling rod; the rotary driving device is connected to the base, the output end of the rotary driving device is connected to the rotating shaft, the rotating shaft is rotatably connected to the center hole of the base, the rotating shaft passes through the center hole of the base and is connected to the middle of the connecting rod, the two ends of the connecting rod are respectively rotatably connected to one end of the pulling rod, the other ends of the two pulling rods are rotatably connected to the slider at one end of the clamping arm, the two clamping arms are symmetrically arranged and the slider at one end of the clamping arm is slidably connected to the track on the base;

[0015] In step 2, the driving mechanism is started, and the driving mechanism drives the clamping heads on the two clamping arms to move closer to each other, specifically:

[0016] The rotary drive device is started, and the output end of the rotary drive device drives the rotating shaft to rotate, and the rotating shaft drives the connecting rod to rotate. The connecting rod drives the slider at one end of the clamping arm to slide in the track on the base through the pull rod, thereby achieving the clamping heads on the two clamping arms to move closer to each other. The pull rod of the present invention can control the movement of the clamping arm on the track to adjust the position of the clamping head.

[0017] As a further improved technical solution of the present invention, the rotary drive device adopts a hydraulic motor.

[0018] As a further improved technical solution of the present invention, the clamping arm and the clamping head are elastically connected through a first spring. The first spring can control the clamping head to extend and retract on the clamping arm. When the entire device completes the work, the clamping head will return to its original position due to the elastic force of the first spring. A sliding groove is provided on the clamping head of the present invention, and the clamping arm passes through the sliding groove and can slide along the sliding groove in the clamping head to achieve a sliding connection between the clamping arm and the clamping head.

[0019] As a further improved technical solution of the present invention, both ends of the clamping head are fixedly connected to the outer rod, the inner rod is slidably connected to the inner rod, one end of the inner rod is connected to the inner wall of the outer rod through a second spring, and the other end of the inner rod extends out of the outer rod and is rotatably connected to the roller. The present invention enables the clamping head to gradually reach the center of the tree trunk through the rotation of the rollers at both ends of the clamping head, so that the clamping direction of the clamping head is more accurate.

[0020] As a further improved technical solution of the present invention, the excitation device includes a first eccentric wheel, a first gear, a second eccentric wheel, a second gear and a motor, the motor is connected to the clamping head, the output end of the motor is connected to the first gear, the first gear is connected to the first eccentric wheel through the first gear shaft, the first gear is meshed with the second gear, the second gear is connected to the second eccentric wheel through the second gear shaft, and the first gear shaft and the second gear shaft are both rotatably connected to the inner wall of the clamping head. The first eccentric wheel and the second eccentric wheel of the present invention rotate simultaneously, so that the excitation force is doubled and the clean rate of forest fruits is improved.

[0021] The beneficial effects of the present invention are:

[0022] When the present invention is working, the relative position between the roller and the trunk of the tree is identified by the second depth camera. When the preset point is reached, the rotary drive mechanism is started, the rotary drive mechanism drives the rotating shaft to rotate, the rotating shaft drives the connecting rod to rotate, the connecting rod drives the two pull rods to move, and the two pull rods respectively drive the sliders of the two clamping arms to slide face to face on the track on the base, close to each other and clamp, and the roller located on the outside touches the trunk of the tree. In the process of continuous clamping, the roller will roll along the surface of the trunk of the tree (referred to as the trunk or tree body), that is, the roller The clamping head moves relative to the trunk, and this relative movement drives the clamping head to slide on the clamping arm until the most convex point of the trunk on the side of the elastic band reaches the center line position between the two rollers on the clamping head, that is, the axis of the trunk is aligned with the center position of the elastic band, and the centering is completed; the two clamping heads are further moved closer to each other and clamped until each roller is in close contact with the surface of the trunk and the arc-shaped clamping surface of the clamping head, the elastic band and the surface of the trunk are in close contact with each other, that is, the centering clamping is completed and the clamping state is maintained. At this time, the motor in the excitation device is started, and the motor drives the first gear to rotate, and the first gear drives the first eccentric wheel, the second gear and the second eccentric wheel to rotate. The first eccentric wheel and the second eccentric wheel rotate at the same time, so that the excitation force is doubled and the clean picking rate of the fruit is improved. Since the center of the trunk is located in the middle between the multiple rollers on the two clamping heads, the excitation force generated inside the clamping head can accurately vibrate and exert force at the center of the tree, so that the picking achieves the best effect and the clean picking rate is greatly improved. The present invention enables the two clamping heads to gradually reach the center of the tree trunk and clamp the tree trunk by rotating the rollers at both ends of the clamping heads, and then starts vibrating, so that the clamping direction of the two clamping heads is more accurate. The first spring can control the clamping head to extend and retract on the clamping arm. When the device completes the work, the clamping head will return to the original position due to the elastic force of the first spring. The elastic belt is an elastic belt. After the clamping is completed, the elastic belts are close together, and the tree surface, the elastic belt and the arc clamping surface of the clamping head are tightly attached, which is conducive to the transmission of the exciting force to the tree body. The elastic belt is tightly attached to the tree surface and also minimizes the damage to the tree body during picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0024] Figure 2 FIG. 4 is a structural diagram of an embodiment of the present invention.

[0025] Figure 3 for Figure 2 Schematic diagram of the internal structure of the AA section of the middle clamping head.

[0026] Figure 4 This is the conveyor belt status diagram when the clamping head is working.

[0027] Figure 5This is a state diagram when the depth camera 2 on the clamping head of the device of the present invention just recognizes the trunk information of the tree trunk.

[0028] Figure 6 This is a state diagram when the central axis of the second lens of the depth camera on the clamping head of the device of the present invention is aligned with the center of the tree trunk.

[0029] Figure 7 It is a schematic diagram of the rolling direction of the roller when the clamping head of the device of the present invention clamps the trunk of the tree.

[0030] In the figure:

[0031] 1. Rotation drive device; 2. Base; 3. Rotating shaft; 4. Connecting rod; 5. Pull rod; 6. Track; 7. Slider; 8. Clamping arm; 9. First spring; 10. Clamping head; 11. Roller; 12. Elastic band; 13. First gear; 14. First gear shaft; 15. First eccentric wheel; 16. Second gear; 17. Second eccentric wheel; 18. Second gear shaft; 19. Outer rod; 20. Second spring; 21. Inner rod; 22. Depth camera 2; 23. Trunk of tree. DETAILED DESCRIPTION

[0032] The specific embodiments of the present invention are further described below according to the accompanying drawings:

[0033] like Figure 1-2 As shown, first, this embodiment provides a tree body automatic centering clamping and excitation device of a fruit vibration harvesting device, including a driving mechanism, a clamping arm 8, a clamping head 10, an elastic belt 12 and a roller 11. The driving mechanism includes a rotary driving device 1, a base 2, a rotating shaft 3, a connecting rod 4 and a pull rod 5. The clamping arm 8, the clamping head 10, the elastic belt 12 and the roller 11 as a whole can also be called a clamping adaptive mechanism.

[0034] The rotary drive device 1 of this embodiment is fixedly connected to the base 2, and the output end of the rotary drive device 1 is connected to the rotating shaft 3, and the rotating shaft 3 is rotatably connected to the center hole of the base 2 through a bearing. The rotating shaft 3 passes through the center hole of the base 2 and is connected to the middle of the connecting rod 4. The two ends of the connecting rod 4 are respectively rotatably connected to one end of the pull rod 5, and the other ends of the two pull rods 5 are rotatably connected to the slider 7 at one end of the clamping arm 8. The slider 7 is fixedly connected to one end of the clamping arm 8. The two clamping arms 8 are symmetrically arranged and the slider 7 at one end of the clamping arm 8 slides with the track 6 on the base 2. The base 2 is connected with a track 6 on both sides of the center hole. Two sliders 7 are respectively slidably connected in the two tracks 6. A clamping head 10 is slidably connected to each clamping arm 8. The slider 7 at one end of the clamping arm 8 is elastically connected to the clamping head 10. Both ends of the clamping head 10 are elastically connected to rollers 11. The rollers 11 at both ends of the clamping head 10 are connected by transmission through elastic belts 12. Specifically, the surface of the roller 11 is provided with a groove. The elastic belt 12 is embedded in the groove of the roller 11. There is a certain gap between the elastic belt 12 and the clamping surface of the clamping head 10. The center line of the rollers 11 at both ends of the clamping head 10 is parallel to the sliding direction between the clamping head 10 and the clamping arm 8. One or two of the clamping heads 10 are provided with an excitation device. The two clamping heads 10 of this embodiment are symmetrically arranged, and the rollers 11 on the two clamping heads 10 are also symmetrically arranged.

[0035] The rotary drive device 1 of this embodiment adopts a hydraulic motor, and the start and stop control method of the hydraulic motor adopts the existing technology.

[0036] The slider 7 of the clamping arm 8 of this embodiment is elastically connected to the clamping head 10 through the first spring 9. The first spring 9 can control the extension and contraction of the clamping head 10. When the device completes the work, the clamping head 10 will also return to its original position due to the elastic force of the first spring 9.

[0037] The clamping head 10 of this embodiment is provided with a slide groove, and the clamping arm 8 passes through the slide groove and can slide along the slide groove.

[0038] like Figure 4 As shown, both ends of the clamping head 10 of this embodiment are fixedly connected to an outer rod 19, and an inner rod 21 is slidably connected inside the outer rod 19. One end of the inner rod 21 is connected to the inner wall of the outer rod 19 through a second spring 20, and the other end of the inner rod 21 extends out of the outer rod 19 and is rotatably connected to the roller 11.

[0039] The elastic band 12 of this embodiment is an elastic belt. The elastic band 12 is close together after clamping the tree trunk 23. Figure 4As shown, the tree surface, the elastic belt 12 and the arc clamping surface of the clamping head 10 are in close contact, which is conducive to the transmission of the exciting force to the tree body, and the elastic belt is in close contact with the tree surface, which can also minimize the damage to the tree body during picking. In the clamping process, the roller 11 located on the outside first touches the tree trunk 23, and under the action of the clamping force, the roller 11 rolls along the surface of the tree trunk 23 (at the same time, the clamping head 10 slides on the clamping arm 8), so that the most convex point of the tree trunk 23 on the side of the elastic belt 12 reaches the center line position between the two rollers 11 on the clamping head 10, and the tree trunk 23 is centered. The outer rods 19 at both ends of the clamping head 10 are elastically connected to the rollers 11. When the two clamping heads 10 continue to approach each other for clamping, the rollers 11 compress the second spring 20 until the surface of the tree trunk 23, the elastic belt 12 and the arc clamping surface of the clamping head 10 are successively in close contact. At this time, as shown in FIG. Figure 4 When the outer roller 11 rotates, the inner roller 11 is also driven to rotate through the elastic band.

[0040] like Figure 3 As shown, the excitation device of this embodiment includes a first eccentric wheel 15, a first gear 13, a second eccentric wheel 18, a second gear 16 and a motor, wherein the motor is connected to the inside of the clamping head 10 in a side-lying manner, the output end of the motor is connected to the first gear 13, the first gear 13 is connected to the first eccentric wheel 15 through the first gear shaft 14, the first gear 13 is meshed with the second gear 16, the second gear 16 is connected to the second eccentric wheel 17 through the second gear shaft 18, and the first gear shaft 14 and the second gear shaft 18 are both rotatably connected to the inner wall of the clamping head 10. After the motor is started, the first gear 13 is driven to rotate, the first gear 13 drives the first eccentric wheel 15, the second gear 16 and the second eccentric wheel 17 to rotate, and the first eccentric wheel 15 and the second eccentric wheel 18 rotate at the same time, so that the excitation force is doubled and the fruit picking rate is improved.

[0041] The clamping head 10 of this embodiment is equipped with a second depth camera 22, and the central axis of the lens of the second depth camera 22 is circumscribed with the roller 11 located on the outside. Figure 2 or Figure 4 The depth camera 22 is connected to an external control system, and the control system is used to control the start and stop of the rotation drive device 1 and the excitation device. How the control system controls the start and stop of the rotation drive device 1 and the excitation device adopts the existing technology.

[0042] The fruit vibration harvesting device of this embodiment includes a tree body automatic centering vibration device, a body, a multi-degree-of-freedom joint, a depth camera, a control system, etc. The control system, the vibration device, etc. are also connected to a power supply.

[0043] The tree automatic centering and vibration device of the present embodiment can be connected to an existing multi-degree-of-freedom joint (i.e., a robotic arm), or can be connected to other devices (such as an electric push rod, a hydraulic cylinder, etc.) for use. The overall structure can be installed on a vehicle body, and the vehicle body can be moved to reach the destination where the tree trunk 23 is located. A depth camera 1 can be installed in the middle of the vehicle body, and the tree automatic centering and vibration device is also located in the middle of the vehicle body. The lens of the depth camera 1 faces the front of the vehicle body, and the vehicle body continues to adjust its position until the lens of the depth camera 1 faces the tree trunk 23 and the depth camera 1 can recognize the diameter D of the tree trunk 23 in front. When the depth camera 1 transmits the diameter D to the control system installed on the vehicle body, the control system can control the multi-degree-of-freedom joint or the electric push rod or the hydraulic cylinder to drive the tree automatic centering and vibration device of the present embodiment to advance (move) forward. When advancing forward, when the depth camera 2 22 on the clamping head 10 of the tree automatic centering and vibration device has just recognized the trunk information of the tree trunk 23 (i.e., Figure 5 As shown, when the central axis of the lens of the depth camera 22 just touches the edge of the tree trunk 23, the advancement stroke of the depth camera 22 is counted as L=0. When L is equal to D / 2, that is, Figure 6 As shown (if the cross section of the clamped position of the tree trunk 23 is regarded as a regular circle, and the diameter of the circle is recorded as D, at this time, the central axis of the lens of the depth camera 22 is almost aligned with the center of the tree trunk 23), at this time, at least half of the structure on the tree trunk 23 has entered between the two clamping heads 10 (that is, half of the structure has entered the inner side of the roller 11 at one end of the outer side of the two clamping heads 10), and the control system controls the control valve to adjust the flow and pressure of the liquid, thereby realizing the control of the hydraulic motor, starting the hydraulic motor, the hydraulic motor drives the rotating shaft 3 to rotate, the rotating shaft 3 drives the connecting rod 4 to rotate, the connecting rod 4 drives the two pull rods 5 to move, and the two pull rods 5 respectively drive the sliders 7 of the two clamping arms 8 to slide face to face on the track 6 on the base 2, and clamp each other close. During the clamping process, as shown in Figure 7 As shown, first, the roller 11 located on the outside touches the tree trunk 23, and under the action of the clamping force, the roller 11 rolls along the surface of the tree trunk 23 (at the same time, the clamping head 10 slides on the clamping arm 8), so that the most convex point of the tree trunk 23 on the side of the elastic band 12 reaches the center line position between the two rollers 11 on the clamping head 10, or until the axis of the tree trunk 23 is aligned with the middle position of the elastic band 12, and the centering is completed. After that, the two clamping heads 10 continue to approach each other for clamping, and the roller 11 compresses the second spring 20 until each roller 11 is in close contact with the surface of the tree trunk 23 and the arc-shaped clamping surfaces of the two clamping heads 10, the elastic band 12 and the surface of the tree trunk 23 are in close contact in turn, that is, the centering clamping is completed and the clamping state is maintained.

[0044] At this time, the motor in the excitation device is started through the control system, and the motor drives the first gear 13 to rotate, and the first gear 13 drives the first eccentric wheel 15, the second gear 16 and the second eccentric wheel 17 to rotate, and the first eccentric wheel 15 and the second eccentric wheel 18 rotate at the same time, so that the excitation force is doubled, and the clean picking rate of the fruit is improved. Since the center of the tree trunk 23 is located in the middle of the multiple rollers 11 on the two clamping heads 10, the excitation force generated inside the clamping head 10 can accurately vibrate and exert force at the center of the tree, so that the picking achieves the best effect and the clean picking rate is greatly improved.

[0045] After the vibration is completed, the hydraulic motor drives the rotating shaft 3 to reverse, so that the two clamping heads 10 move away from each other and leave the tree trunk 23. At this time, under the restoring force of the first spring 9 and the second spring 20, the clamping head 10 slides to the initial position on the clamping arm 8, and the roller 11 also returns to the initial position.

[0046] It should be noted that the strokes of the two clamping heads 10 of the present invention are the same. If the tree trunk 23 leans toward one of the clamping heads 10, the following situation may occur: Since the tree has a certain elasticity, when one clamping head 10 is already in close contact with the tree trunk 23 and the other has not yet been in close contact with the tree trunk 23, the two clamping heads 10 need to continue to move closer. When both clamping heads 10 are in close contact with the tree trunk 23, vibration will begin. At this time, the tree will bend, which is normal.

[0047] A driving mechanism is installed on the two clamping arms 8, and the driving mechanism is used to drive the two clamping arms 8 to move closer to and away from each other.

[0048] The clamping arm 8 and the clamping head 10 are elastically connected by the first spring 9, and the fixing method between the spring and the clamping arm 8 and the clamping head 10 adopts the existing technology. A slide groove is provided on the clamping head 10, and the clamping arm 8 passes through the slide groove and can slide along the slide groove in the clamping head 10 to realize the sliding connection between the clamping arm 8 and the clamping head 10. Both ends of the clamping head 10 are fixedly connected to the outer rod 19, and the inner rod 21 is slidably connected inside the outer rod 19. One end of the inner rod 21 is connected to the inner wall of the outer rod 19 through the second spring 20, and the other end of the inner rod 21 extends out of the outer rod 19 and is rotatably connected to the roller 11. The rollers 11 at both ends of the clamping head 10 are connected by transmission through the elastic belt 12.

[0049] A vibration excitation device is installed inside the clamping head 10 .

[0050] Based on the tree body automatic centering clamping and vibration exciting device of the above-mentioned fruit vibration harvesting device, this embodiment also provides a tree body automatic centering clamping and vibration exciting method, including:

[0051] Step 1: Move the two clamping heads 10 to the vicinity of the tree trunk 23, and half of the structure of the tree trunk 23 has entered between the two clamping heads 10; specifically:

[0052] A second depth camera 22 is installed on one of the clamping heads 10 , the central axis of the lens of the second depth camera 22 is circumscribed with the roller 11 located at one end of the outer side of the clamping head 10 , and the second depth camera 22 is connected to an external control system. The base 2 is connected to the robotic arm, and the robotic arm drives the base 2 to move so that the tree trunk 23 is located right in front of the two clamping heads 10 (the movement method of the robotic arm driving the base 2 adopts the existing technology). The robotic arm continues to drive the base 2 to advance (move) in the direction of the tree trunk 23. When the depth camera 22 on the clamping head 10 just recognizes the trunk information of the tree trunk 23, the depth camera 22 sends the trunk information to the control system, and the control system starts to count the forward propulsion stroke of the depth camera 22. When the forward propulsion stroke of the depth camera 22 is slightly greater than or equal to the radius of the tree trunk 23 (the radius of the tree trunk 23 can be obtained in advance by the existing method, and the obtained radius can be half of the length of the maximum major axis of the cross-section of the clamped part of the tree trunk 23), it is judged that at least half of the structure on the tree trunk 23 has entered between the two clamping heads 10 (that is, at least half of the structure has entered the inner side of the roller 11 at one end of the outer side of the two clamping heads 10, refer to Figure 6 The control system is also used to control the start and stop of the rotary drive device 1 and the excitation device.

[0053] Step 2, start the rotary drive device 1, the output end of the rotary drive device 1 drives the rotating shaft 3 to rotate, the rotating shaft 3 drives the connecting rod 4 to rotate, and the connecting rod 4 drives the slider 7 at one end of the clamping arm 8 to slide in the track 6 on the base 2 through the pull rod 5, thereby achieving the clamping heads 10 on the two clamping arms 8 to move closer to each other. During the process of approaching, first, the roller 11 at the outer end of the clamping head 10 touches the tree trunk 23. During the continuous clamping process, the roller 11 rolls along the surface of the tree trunk 23, that is, the roller 11 and the tree trunk 23 move relative to each other. This relative movement drives the clamping head 10 to slide on the clamping arm 8 until the most convex point of the tree trunk 23 on the side of the elastic band 12 reaches the center line position between the two rollers 11 on the clamping head 10, or until the axis of the tree trunk 23 is aligned with the middle position of the elastic band 12, and the centering is completed; the driving mechanism further drives the clamping heads 10 on the two clamping arms 8 to approach each other until each roller 11 is in close contact with the surface of the tree trunk 23 and the clamping surfaces of the two clamping heads 10, the elastic band 12 and the surface of the tree trunk 23 are in close contact with each other, that is, the centering clamping of the tree trunk 23 is completed and the clamping state is maintained;

[0054] Step 3, start the excitation device, and the excitation force generated by the excitation device vibrates and exerts force at the center of the tree trunk 23 to complete the harvesting. The present invention can make the clamping head gradually reach the center of the tree trunk under the action of the clamping force through the clamping adaptive mechanism, the elastic belt and the two rollers on the elastic belt, so that the clamping point of the clamping head is more accurate. After centering and clamping, the tree, the elastic belt and the arc clamping surface are tightly attached, which ensures the effective transmission of the excitation energy when the fruit is harvested by vibration, and avoids damage to the tree.

[0055] It should be noted that the present invention only protects the tree automatic centering clamping and excitation device and the tree automatic centering clamping and excitation method. The tree automatic centering clamping and excitation device and the tree automatic centering clamping and excitation method can ensure the automatic centering of the tree (i.e., clamping at the center of the tree). The centering of the tree trunk 23 is also conducive to the effective transmission of the exciting force, which solves the problem that the existing ordinary clamping head usually only clamps one side or the head of the tree trunk and cannot achieve automatic clamping at the center of the tree trunk. In addition, how the clamping head 10 reaches the vicinity of the tree trunk 23 is not within the protection scope of the present invention, that is, the structural information such as the vehicle body, depth camera one and multi-degree-of-freedom joints, and the data processing process of the control system all adopt the existing technology. In addition, the tree diameter targeted by the device and method of this embodiment needs to be within a certain range to be suitable for the clamping of the clamping head 10 in the device and method.

[0056] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention shall be based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by technicians in this field shall fall within the protection scope of the present invention.

Claims

1. A method for automatically centering, clamping and vibrating a tree, characterized in that: A driving mechanism is installed on the two clamping arms (8), and the driving mechanism is used to drive the two clamping arms (8) to move closer to and away from each other; a clamping head (10) is elastically and slidably connected to the two clamping arms (8), and both ends of each clamping head (10) are elastically connected to rollers (11), and the rollers (11) at both ends of the clamping head (10) are connected by transmission via an elastic belt (12); and a vibration excitation device is installed inside the clamping head (10); The tree body automatic centering clamping and vibration exciting method comprises: Step 1: Move the two clamping heads (10) to the vicinity of the tree trunk (23), and half of the structure of the tree trunk (23) has entered between the two clamping heads (10); Step 2: Start the driving mechanism, which drives the clamping heads (10) on the two clamping arms (8) to move toward each other. During the process of moving toward each other, first, the roller (11) at the outer end of the clamping head (10) touches the tree trunk (23). Then, as the clamping heads (10) continue to move toward each other, the roller (11) rolls along the surface of the tree trunk (23), that is, the roller (11) and the tree trunk (23) move relative to each other. This relative movement drives the clamping head (10) to slide on the clamping arm (8) until the tree trunk (23) is touched. ) the most convex point on the side of the elastic band (12) reaches the center line position between the two rollers (11) on the clamping head (10), completing the centering, and the driving mechanism continues to drive the clamping heads (10) on the two clamping arms (8) to move closer to each other until each roller (11) is in close contact with the surface of the tree trunk (23) and the clamping surfaces of the two clamping heads (10), the elastic band (12) and the surface of the tree trunk (23) are in close contact in sequence, that is, the centering clamping of the tree trunk (23) is completed and the clamping state is maintained, and the clamping head (10) stops moving; Step 3: Start the vibration device, and the vibration force generated by the vibration device vibrates and exerts force at the center of the tree trunk (23), completing the harvest.

2. The method for automatically centering, clamping and vibrating a tree according to claim 1, characterized in that: In the step 1, a second depth camera (22) is installed on one of the clamping heads (10), the central axis of the lens of the second depth camera (22) is circumscribed with the roller (11) located at one end of the outer side of the clamping head (10), and the second depth camera (22) is connected to an external control system; The step 1 is specifically as follows: The driving mechanism is connected to the mechanical arm, and the mechanical arm drives the driving mechanism, the clamping arm (8) and the clamping head (10) to move so that the tree trunk (23) is located directly in front of the two clamping heads (10). The mechanical arm continues to drive the driving mechanism, the clamping arm (8) and the clamping head (10) to advance in front of the tree trunk (23). When the depth camera 2 (22) on the clamping head (10) just recognizes the trunk information of the tree trunk (23), the depth camera 2 (22) sends the trunk information to the control system, and the control system starts to count the forward advancement stroke of the depth camera 2 (22). When the forward advancement stroke of the depth camera 2 (22) is greater than or equal to the radius of the tree trunk (23), it is determined that half of the structure of the tree trunk (23) has entered between the two clamping heads (10), and the mechanical arm stops driving the driving mechanism, the clamping arm (8) and the clamping head (10) to advance in front of the tree trunk (23).

3. The tree automatic centering, clamping and vibration method according to claim 1, characterized in that: The driving mechanism comprises a rotary driving device (1), a base (2), a rotating shaft (3), a connecting rod (4) and a pulling rod (5); the rotary driving device (1) is connected to the base (2), the output end of the rotary driving device (1) is connected to the rotating shaft (3), the rotating shaft (3) is rotatably connected to the center hole of the base (2), the rotating shaft (3) passes through the center hole of the base (2) and is connected to the middle part of the connecting rod (4), the two ends of the connecting rod (4) are respectively rotatably connected to one end of the pulling rod (5), the other ends of the two pulling rods (5) are rotatably connected to a slider (7) at one end of a clamping arm (8), the two clamping arms (8) are symmetrically arranged and the slider (7) at one end of the clamping arm (8) is slidably connected to a track (6) on the base (2); In step 2, the driving mechanism is started, and the driving mechanism drives the clamping heads (10) on the two clamping arms (8) to move closer to each other, specifically: The rotary drive device (1) is started, and the output end of the rotary drive device (1) drives the rotating shaft (3) to rotate, and the rotating shaft (3) drives the connecting rod (4) to rotate, and the connecting rod (4) drives the slider (7) at one end of the clamping arm (8) to slide in the track (6) on the base (2) through the pull rod (5), thereby achieving the clamping heads (10) on the two clamping arms (8) to move closer to each other.

4. The method for automatically centering, clamping and vibrating a tree according to claim 3, characterized in that: The rotary drive device (1) adopts a hydraulic motor.

5. The tree automatic centering, clamping and vibration method according to claim 1, characterized in that: The clamping arm (8) is elastically connected to the clamping head (10) via a first spring (9); a slide groove is provided on the clamping head (10); the clamping arm (8) passes through the slide groove and can slide along the slide groove in the clamping head (10) to achieve a sliding connection between the clamping arm (8) and the clamping head (10).

6. The method for automatically centering, clamping and vibrating a tree according to claim 4, characterized in that: Both ends of the clamping head (10) are fixedly connected to the outer rod (19), the inner part of the outer rod (19) is slidably connected to the inner rod (21), one end of the inner rod (21) is connected to the inner wall of the outer rod (19) through a second spring (20), and the other end of the inner rod (21) extends out of the outer rod (19) and is rotatably connected to the roller (11).

7. The method for automatically centering, clamping and vibrating a tree according to claim 1, characterized in that: The excitation device comprises a first eccentric wheel (15), a first gear (13), a second eccentric wheel (18), a second gear (16) and a motor. The motor is connected to the clamping head (10). The output end of the motor is connected to the first gear (13). The first gear (13) is connected to the first eccentric wheel (15) via a first gear shaft (14). The first gear (13) is meshed with a second gear (16). The second gear (16) is connected to the second eccentric wheel (17) via a second gear shaft (18). Both the first gear shaft (14) and the second gear shaft (18) are rotatably connected to the inner wall of the clamping head (10).

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