A method for automatically centering, clamping and vibrating a tree

Abstract

The present invention discloses a method for automatic centering, clamping and vibration of trees, comprising: a depth camera identifies the relative position of a roller and the trunk of a tree; when a preset point is reached, a driving mechanism drives two clamping heads to move closer; during the clamping process, the roller rolls along the surface of the trunk, that is, the roller and the trunk undergo relative motion, and this relative motion drives the clamping head to slide on the clamping arm until the trunk axis is aligned with the center position of the elastic band, completing the centering; further clamping, until each roller is in close contact with the trunk surface and the two clamping heads and the elastic band are in close contact with the trunk surface in turn, completing the centering clamping; starting the vibration device, completing the harvesting. The present invention can clamp the head, elastic band, and roller, and under the action of the clamping force, the clamping head gradually reaches the center position of the trunk, making the clamping point of the clamping head more accurate. After centering and clamping, the trunk, elastic band, and clamping head are in close contact, which ensures the effective transmission of the vibration energy and avoids damage to the tree during the vibration harvesting of forest fruits.

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 generally refer to the fruits of dried fruit plants that grow naturally or are cultivated artificially in a forest environment. These dried fruits are not only an important part of forest food, but are also widely consumed for their high nutritional value and unique flavor. Due to the irregular growth of trees, the clamping head of current forest fruit harvesting devices usually only clamps one side or the head of the tree trunk when clamping, and cannot automatically align the clamping head with the center of the trunk. When the clamping head begins to vibrate, it cannot accurately vibrate and exert force at the center of the trunk, resulting in a certain amount of torque, which in turn loses some of the exciting force and causes some damage to the trunk's bark, making it impossible to achieve optimal harvesting results and a low clean harvest rate.

[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 fruit vibration harvesting device. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for automatic centering, clamping and vibration of 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 in the center of the trunk, resulting in damage to the trunk bark during the picking process, 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; a clamping head is elastically and slidably connected to each of the two clamping arms, and rollers are elastically connected at both ends of each clamping head, and the rollers at both ends of the clamping head are connected through an elastic belt transmission; a vibration excitation device is installed inside the clamping head;

[0008] The tree body automatic centering, clamping and vibration method includes:

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

[0010] The second step is to start the driving mechanism, which drives the clamping heads on the two clamping arms to move closer to each other. During the process of moving closer, first, the rollers at the outer ends of the clamping heads touch the tree trunk. Then, as the clamping heads continue to move closer, the rollers roll along the surface of the tree trunk, that is, the rollers and the tree trunk move relative to each other. This relative movement drives the clamping heads to slide on the clamping arms until the most convex point of the tree trunk on the side close to the elastic band reaches the center line position between the two rollers on the clamping heads, that is, the axis of the tree trunk is aligned with the center 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 closer to 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 heads stop 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 propulsion stroke of the depth camera 2. When the forward propulsion 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 pull 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 part of the connecting rod, the two ends of the connecting rod are respectively rotatably connected to one end of the pull rod, the other ends of the two pull 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 activated, and its output drives the rotating shaft to rotate. The rotating shaft drives the connecting rod to rotate. The connecting rod drives the slider at one end of the clamping arm to slide within the track on the base through the pull rod, thereby bringing the clamping heads on the two clamping arms closer together. 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 via a first spring. The first spring controls the clamping head's forward and backward extension on the clamping arm. When the entire device completes its operation, the clamping head returns to its original position due to the elastic force of the first spring. The clamping head of the present invention is provided with a slide groove, through which the clamping arm extends and can slide along the slide groove within the clamping head, thereby achieving 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, which is slidably connected to the inner rod inside the outer rod. One end of the inner rod is connected to the inner wall of the outer rod via a second spring, and the other end of the inner rod extends outside the outer rod and is rotatably connected to the roller. The present invention uses the rotation of the rollers at both ends of the clamping head to gradually position the clamping head at the center of the tree trunk, thereby achieving more precise clamping direction of the clamping head.

[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 via a first gear shaft. The first gear is meshed with a second gear. The second gear is connected to the second eccentric wheel via a second gear shaft. 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 the fruit picking is improved.

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

[0022] When the present invention is working, the relative position of 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 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 (abbreviated as trunk or tree body), that is, the roller The clamping head moves relative to the tree trunk, causing it to slide on the clamping arm until the most prominent point on the tree trunk, on the side closest to the elastic band, reaches the centerline between the two rollers on the clamping head. This aligns the axis of the tree trunk with the center of the elastic band, completing the centering. The two clamping heads then move closer together, clamping until each roller is in close contact with the surface of the tree trunk, and the arc-shaped clamping surfaces of the clamping head and the elastic band are in close contact with the surface of the tree trunk. This completes the centering and maintains the clamped state. At this point, the motor in the vibration device is activated, driving the first gear, which in turn drives the first, second, and second eccentrics. The first and second eccentrics rotate simultaneously, doubling the excitation force and improving the clean fruit harvesting efficiency. Because the center of the tree trunk is located midway between the multiple rollers on the two clamping heads, the excitation force generated within the clamping heads can be precisely applied to the center of the tree, achieving optimal harvesting results and significantly improving the clean fruit harvesting efficiency. The present invention enables the two clamping heads to gradually reach the center of the tree trunk and clamp the trunk by rotating the rollers at both ends of the clamping heads, and then start vibrating, so that the clamping direction of the two clamping heads is more precise. The first spring can control the clamping head to extend and retract on the clamping arm. When the device completes its work, the clamping head will return to its original position due to the elastic force of the first spring. The elastic belt is an elastic belt. After clamping is completed, the elastic belts are close together. 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 tight contact between the elastic belt and the tree surface also minimizes the damage to the tree body during picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the structure of an embodiment of the present invention.

[0024] Figure 2 This 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 a diagram of the conveyor belt status 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 diagram showing the state 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 This 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 a tree.

[0030] In the picture:

[0031] 1. Rotary 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. Second depth camera; 23. Tree trunk. DETAILED DESCRIPTION

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

[0033] like Figure 1-2 As shown, first, this embodiment provides an automatic tree centering, clamping, and vibration excitation device for a vibrating harvester for fruit trees, comprising a drive mechanism, a clamping arm 8, a clamping head 10, an elastic band 12, and a roller 11. The drive mechanism includes a rotary drive device 1, a base 2, a rotating shaft 3, a connecting rod 4, and a pull rod 5. The clamping arm 8, clamping head 10, elastic band 12, and roller 11 are collectively referred to as an adaptive clamping 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. Connection, tracks 6 are provided on both sides of the center hole of the base 2, two sliders 7 are respectively slidably connected in the two tracks 6, and 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, and rollers 11 are elastically connected to both ends of the clamping head 10. The rollers 11 at both ends of the clamping head 10 are connected by transmission through an elastic belt 12. Specifically, a groove is provided on the surface of the roller 11, and 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. An excitation device is provided in one or two of the clamping heads 10. The two clamping heads 10 in 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 via a first spring 9. The first spring 9 can control the extension and contraction of the clamping head 10. When the device completes its work, the clamping head 10 will return to its original position due to the elastic force of the first spring 9.

[0037] In this embodiment, a sliding groove is provided on the clamping head 10 , and the clamping arm 8 passes through the sliding groove and can slide along the sliding 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. During 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 centering of the tree trunk 23 is achieved. 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 roller 11 compresses 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 in close contact with each other. 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. 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. 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, it 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. 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. The central axis of the lens of the second depth camera 22 is tangential to the roller 11 located on the outside. Figure 2 or Figure 4 The depth camera 22 is connected to an external control system, which is used to control the start and stop of the rotation drive device 1 and the excitation device. The control system uses existing technology to control the start and stop of the rotation drive device 1 and the excitation device.

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

[0043] The tree automatic centering and vibration device of this 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 electric push rods, hydraulic cylinders, etc.) for use. The overall structure can be installed on a vehicle body, and the vehicle body can move 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. 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 electric push rod or hydraulic cylinder to drive the tree automatic centering and vibration device of this 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 depth camera 22 lens just touches the edge of the tree trunk 23, the advancement distance L of the depth camera 22 begins to be counted. 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, 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). The control system adjusts the flow and pressure of the liquid by controlling the control valve, thereby realizing the control of the hydraulic motor. The hydraulic motor is started, and 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. 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. During the clamping process, as shown in FIG. 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 center position of the elastic band 12, completing the centering. After that, the two clamping heads 10 continue to move closer to 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 point, the control system activates the motor within the excitation device, which drives the first gear 13 to rotate. The first gear 13 then drives the first eccentric 15, the second gear 16, and the second eccentric 17 to rotate. The first eccentric 15 and the second eccentric 18 rotate simultaneously, doubling the excitation force and improving the fruit picking efficiency. Because 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 within the clamping heads 10 can precisely vibrate and exert force at the center of the tree, achieving optimal picking results and greatly improving the picking efficiency.

[0045] After the excitation 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 action of 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 its 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 will 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, 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 apart from each other.

[0048] The clamping arm 8 and the clamping head 10 are elastically connected via a first spring 9, which is secured to the clamping arm 8 and the clamping head 10 using existing technology. A chute is provided on the clamping head 10, through which the clamping arm 8 extends and can slide along the chute within the clamping head 10, thereby achieving a sliding connection between the clamping arm 8 and the clamping head 10. Both ends of the clamping head 10 are fixedly connected to an outer rod 19, which is internally slidably connected to an inner rod 21. One end of the inner rod 21 is connected to the inner wall of the outer rod 19 via a second spring 20, and the other end of the inner rod 21 extends outside the outer rod 19 and is rotationally connected to the roller 11. The rollers 11 at both ends of the clamping head 10 are connected by an elastic band 12.

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

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

[0051] Step 1: Move the two clamping heads 10 to the vicinity of the tree trunk 23, with half of the tree trunk 23 already between the two clamping heads 10; specifically:

[0052] A second depth camera 22 is mounted 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 outside the clamping head 10 . 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 wherein 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. 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 undergo relative movement, and 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 center position of the elastic band 12, thus completing the centering; 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 in turn, thus completing the centering clamping of the tree trunk 23 and maintaining the clamping state;

[0054] Step 3: Start the excitation device. The excitation force generated by the excitation device vibrates the center of the tree trunk 23 to complete the harvest. The present invention can use the clamping adaptive mechanism, the elastic band, and the two rollers on the elastic band to gradually move the clamping head to the center of the tree trunk under the action of the clamping force, making the clamping point of the clamping head more precise. After centering and clamping, the tree, the elastic band, and the arc clamping surface are tightly attached. This ensures the effective transmission of the excitation energy during the vibration harvesting of forest fruits 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 it at the center of the tree). After the trunk 23 of the tree is centered, it is also beneficial to the effective transmission of the excitation force, which solves the problem that the existing ordinary clamping heads usually only clamp one side or the head of the tree trunk and cannot achieve automatic clamping at the center of the trunk. In addition, how the clamping head 10 reaches the vicinity of the tree trunk 23 is not within the scope of protection of the present invention, that is, the structural information such as the vehicle body, depth camera 1 and multi-degree-of-freedom joints and the data processing process of the control system all adopt existing technologies. In addition, the tree diameter targeted by the device and method of this embodiment needs to be within a certain range to be applicable to 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 is based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by those skilled in the art 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 apart from each other; a clamping head (10) is elastically and slidably connected to both 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 through elastic belts (12); an excitation device is installed inside the clamping head (10); The tree body automatic centering, clamping and vibration method includes: Step 1: Move the two clamping heads (10) to the vicinity of the tree trunk (23), and half 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 tree automatic centering, clamping and vibration method according to claim 1, characterized in that: In 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 outside 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 robot arm, and the robot arm drives the driving mechanism, the clamping arm (8) and the clamping head (10) to move so that the tree trunk (23) is located in front of the two clamping heads (10). The robot 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 robot 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 pull 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 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), 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 two clamping arms (8) are symmetrically arranged and the slider (7) at one end of the clamping arm (8) is slidably connected to the 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 within 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 tree automatic centering, clamping and vibration method 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 tree automatic centering, clamping and vibration method according to claim 4, characterized in that: Both ends of the clamping head (10) are fixedly connected to the outer rod (19), the inner rod (21) 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 tree automatic centering, clamping and vibration method 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, wherein 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) and the first eccentric wheel (15) are connected via a first gear shaft (14), the first gear (13) is meshed with a second gear (16), the second gear (16) and the second eccentric wheel (17) are connected via a second gear shaft, and the first gear shaft (14) and the second gear shaft are both rotatably connected to the inner wall of the clamping head (10).

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