Intelligent peeling and harvesting equipment for agricultural trees

Abstract

The invention discloses intelligent peeling and harvesting equipment for agricultural trees. The intelligent peeling and harvesting equipment comprises a walking trolley, a mechanical arm, an annular clamp fixing part, an annular longitudinal cutting part and an annular peeling part. The annular and longitudinal cutting component is a key component used for achieving annular cutting and longitudinal cutting, an annular cutter groove is cut in the surface of the bark in an annular cutting mode, after annular cutting is finished, a plurality of vertical cutter grooves are cut in the surface of the bark in a longitudinal cutting mode to be used for splitting the bark, and finally the annular peeling component is used for peeling. The barks directly fall off in a strip section mode. The problem that barks are difficult to harvest is solved, the peeling method based on the embedded blade is provided, the mechanical arm is used for carrying the ring clamp fixing part, the ring longitudinal cutting part and the ring peeling part, ring cutting and vertical cutting are used for assisting the peeling blade to be effectively embedded into the barks, peeling is carried out along the ring cutting and vertical cutting tracks, and the peeling efficiency is improved. And the harvesting efficiency and quality are greatly improved.

Description

Technical Field

[0001] The invention relates to the field of agricultural equipment, and in particular to intelligent bark peeling and harvesting equipment for agricultural trees. Background Art

[0002] With the rapid development of the traditional Chinese medicine industry, the demand for bark Chinese medicinal materials such as cinnamon, yellow peel, and white peel has increased. The traditional harvesting method relies on manual labor, which is inefficient and labor-intensive. Traditional manual harvesting is not only time-consuming and labor-intensive, but also easily causes damage to the medicinal materials, affecting the quality and yield of the medicinal materials. Therefore, intelligent harvesting equipment that improves harvesting efficiency and protects harvesting quality has gradually become a research hotspot. As a kind of medicinal material, such as cinnamon, in the existing agricultural tree field, the bark peeling process is difficult to operate, time-consuming and labor-intensive, and it is particularly necessary to cleverly handle the toughness of the trees to avoid bark damage. Therefore, it is particularly important to develop an intelligent peeling and harvesting device for the epidermis of agricultural trees. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent bark peeling and harvesting device for agricultural trees which is easy to operate, highly efficient and can quickly peel bark.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: an intelligent bark peeling and harvesting device for agricultural trees, including a walking trolley and a mechanical arm, and also including: A mounting frame, connected to the end of the mechanical arm, serving as a mounting base for the following components; The ring clamp fixing parts are arranged at the top and bottom ends of the mounting frame and can be opened and closed to clamp and fix on the surface of the tree; The ring-cutting component is connected to the mounting frame by sliding and lifting through a lifting control device, and comprises an upper cutting opening and closing ring arm and a lower cutting opening and closing ring arm which can be opened and closed to embrace the outside of the tree surface, an upper ring-cutting gear rail is installed inside the upper cutting opening and closing ring arm, and a lower ring-cutting gear rail is installed inside the lower cutting opening and closing ring arm, and the inner circumferences of the upper ring-cutting gear rail and the lower ring-cutting gear rail are respectively circumferentially slidably installed with a ring-cutting knife module group through a ring-cutting sliding module group, and a longitudinal cutting knife module group is vertically slidably installed between the upper and lower ring-cutting sliding modules through a longitudinal cutting lifting module group; The annular peeling component is connected to the mounting frame by a lifting control device and is located above the annular longitudinal cutting component. The annular peeling component includes an opening and closing peeling ring arm that can be opened and closed to embrace the surface of the tree. An annular peeling knife is fixed to the inner periphery of the opening and closing peeling ring arm.

[0005] As a preferred technical solution, the ring clamp fixing component includes a clamping ring arm support seat respectively fixed to the top and bottom ends of the mounting frame, and a clamping ring arm assembly is installed on the clamping ring arm support seat; the clamping ring arm assembly includes two clamping ring arms that cooperate with each other, and the ends of the two clamping ring arms close to the tree are provided with clamping ring arm openings, and the ends of the two clamping ring arms away from the tree are rotatably installed and are respectively connected to the clamping ring arm support seat through clamping arm opening and closing driving devices; the clamping arm opening and closing driving device can drive the two clamping ring arms to swing outward to open or swing inward to close at the same time to cooperate to form a semi-enclosed structure that can be opened and closed.

[0006] As a preferred technical solution, the lifting control device includes a vertical lifting screw and a vertical guide rod, the top and bottom ends of the vertical lifting screw are rotatably mounted on the mounting frame, the top and bottom ends of the vertical guide rod are fixed on the mounting frame, one end of the vertical lifting screw is connected to a lifting motor, the annular longitudinal cutting component and the annular peeling component are respectively threadedly connected to the vertical lifting screw and vertically slidably mounted outside the vertical guide rod.

[0007] As a preferred technical solution, the upper cutting opening and closing ring arm includes an upper cutting clamp arm mounting seat, on which are mounted two upper ring cutting mounting arms that cooperate with each other and an upper cutting opening and closing driving device that drives the two upper ring cutting mounting arms to open and close. The two sides of the upper ring cutting rack are respectively fixed on the two upper ring cutting mounting arms. An upper rack opening is provided at one end of the upper ring cutting rack close to the tree, and the ring cutting knife module located above is slidably mounted on the inner periphery of the upper ring cutting rack through the ring cutting sliding module.

[0008] As a preferred technical solution, the lower cutting opening and closing ring arm includes a lower cutting clamp arm mounting seat, on which are mounted two lower ring cutting mounting arms that cooperate with each other and a lower cutting opening and closing driving device that drives the two lower ring cutting mounting arms to open and close; the two sides of the lower ring cutting rack are respectively fixed on the two lower ring cutting mounting arms, and a lower rack opening is provided at one end of the lower ring cutting rack close to the tree, and the ring cutting knife module located below is slidably mounted on the inner periphery of the lower ring cutting rack through the ring cutting sliding module.

[0009] As a preferred technical solution, two ring-cutting sliding modules are provided on the inner circumference of the upper ring-cutting rack rail and the lower ring-cutting rack rail, and the two ring-cutting sliding modules are fixedly connected by an elastic support ring. The two ring-cutting sliding modules are arranged 180° staggered inside the upper ring-cutting rack rail and the lower ring-cutting rack rail.

[0010] As a preferred technical solution, the circular cutting sliding module includes a circular cutting sliding seat that slides along the upper circular cutting rack and the lower circular cutting rack, and a circular cutting gear that meshes with the upper circular cutting rack and the lower circular cutting rack and a circular cutting motor that drives the circular cutting gear to rotate are rotatably installed on the circular cutting sliding seat.

[0011] As a preferred technical solution, the longitudinal cutting lifting module includes a longitudinal cutting lifting screw and a longitudinal cutting guide rod. The top and bottom ends of the longitudinal cutting lifting screw are rotatably installed on the upper and lower circular cutting sliding modules, and the top and bottom ends of the longitudinal cutting guide rod are fixed on the upper and lower circular cutting sliding modules. One of the ends of the longitudinal cutting lifting screw is connected to a longitudinal cutting motor, and the longitudinal cutting knife module is threadedly connected to the longitudinal cutting lifting screw and vertically slidably installed outside the longitudinal cutting guide rod.

[0012] As a preferred technical solution, the annular peeling component includes a peeling clamp arm mounting seat, on which are mounted two peeling opening and closing ring arms that cooperate with each other and a peeling opening and closing driving device that drives the two peeling opening and closing ring arms to open and close; semi-arc peeling arc frames are respectively fixed to the inner circumferential surfaces of the two peeling opening and closing ring arms, and a peeling opening is provided at one end of the two peeling arc frames close to the tree, and the annular peeling knife includes two semi-arc peeling half knives, and the two peeling half knives are respectively fixed on the two peeling arc frames, and the two peeling half knives can cooperate to form an annular structure.

[0013] As a preferred technical solution, the annular peeling knife includes a peeling knife holder, a peeling blade extending downward from the bottom end of the peeling knife holder, and a peeling blade is provided at the bottom end of the peeling blade; the outer periphery of the peeling knife holder is fixed by a plurality of auxiliary longitudinal cutting holders, and an auxiliary longitudinal cutting blade is provided at the bottom end of the auxiliary longitudinal cutting holder. Due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows: the invention solves the problem of the difficulty in harvesting skins, and proposes a method for peeling based on embedded blades, wherein a ring clamp fixing component, a ring longitudinal cutting component, and an annular peeling component are carried out by a mechanical arm, and the ring cutting and vertical cutting are used to assist the peeling blade to effectively embed into the bark, and peeling is performed along the ring cutting and vertical cutting tracks, which is inefficient and labor-intensive compared to the traditional manual harvesting method, and is difficult to meet the high requirements of the modern medicinal material market for harvesting speed and output. The intelligent harvesting equipment of the present application greatly improves the harvesting efficiency through automated operation, and at the same time, the design of the equipment makes the harvesting process more stable, reduces mechanical failures and misoperation, and improves the overall operation reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The following drawings are intended only to illustrate and explain the present invention, and are not intended to limit the scope of the present invention. Figure 1 is a schematic structural diagram of an embodiment of the present invention; Figure 2 It is a schematic diagram of a partial structure enlargement of an embodiment of the present invention; Figure 3 yes Figure 2 Schematic diagram of a side view angle; Figure 4 It is a schematic structural diagram of a ring clamp fixing component and a ring longitudinal cutting component according to an embodiment of the present invention; Figure 5 yes Figure 4 Schematic diagram of the front view angle; Figure 6 2 is a schematic structural diagram of an annular peeling component according to an embodiment of the present invention; Figure 7 yes Figure 6 A partial enlarged schematic diagram of Figure 8 yes Figure 6 Schematic diagram of the top view angle; Fig. 9 is a schematic diagram of the positions of the ring cutting and the longitudinal cutting on the tree surface according to the embodiment of the present invention; Fig.10 is a schematic diagram of peeling according to an embodiment of the present invention; Fig.11 This is a schematic diagram of strip segmentation after peeling according to an embodiment of the present invention; In the figure: 100-traveling trolley; 200-mechanical arm; 300-ring clamp fixing part; 301-clamping ring arm support seat; 302-clamping ring arm; 400-ring longitudinal cutting part; 401-upper ring cutting rack; 402-ring cutting sliding module; 403-ring cutting knife module; 404-longitudinal cutting lifting module; 405-longitudinal cutting knife module; 406-upper ring cutting mounting arm; 500-ring peeling part; 501-stripping clamp arm mounting seat; 502-stripping opening and closing ring arm; 503-stripping arc frame; 504-ring peeling knife; 505-auxiliary longitudinal cutting knife holder; 506-stripping knife holder; 600-mounting frame; 700-lifting control device; 701-vertical lifting screw; 702-vertical guide rod. DETAILED DESCRIPTION

[0015] The present invention is further described below in conjunction with the accompanying drawings and examples. In the following detailed description, certain exemplary embodiments of the present invention are described only by way of illustration. Needless to say, those of ordinary skill in the art will recognize that the described embodiments may be modified in various ways without departing from the spirit and scope of the present invention. Therefore, the drawings and description are illustrative in nature and are not intended to limit the scope of protection of the claims.

[0016] like Figure 1 and Figure 2As shown, an intelligent peeling and harvesting equipment for agricultural trees includes a walking trolley 100, a mechanical arm 200, a ring clamp fixing component 300, a ring longitudinal cutting component 400, and a ring peeling component 500. The ring clamp fixing component 300, the ring longitudinal cutting component 400, and the ring peeling component 500 are connected to the end of the mechanical arm 200 through a mounting frame 600, and the mounting frame 600 serves as a mounting base for the ring clamp fixing component 300, the ring longitudinal cutting component 400, and the ring peeling component 500.

[0017] The walking vehicle 100 is a fully self-propelled vehicle, which is responsible for the mobile function of the equipment and has the characteristics of autonomous navigation and battery life. Autonomous navigation: equipped with GPS and ground sensors, it can realize autonomous navigation in complex terrain and ensure movement according to the set path. Battery life: designed with high-performance batteries, it supports long-term work and can operate independently in outdoor environments.

[0018] The robotic arm 200 adopts a multi-degree-of-freedom design, which can flexibly adjust the angle and position to adapt to trees of different tree species and growth states. It has the characteristics of accurate positioning and rapid response. Accurate positioning: high-precision sensors are used to monitor the position and state of trees in real time to ensure the accuracy of the peeling operation. Rapid response: equipped with a servo motor with a high response speed to ensure flexible response during the harvesting process. The walking trolley 100 and the robotic arm 200 can adopt the structure commonly used in robots in the rubber tapping industry, which belongs to the existing technology and will not be repeated here.

[0019] See also Figure 2 and Figure 3 The ring clamp fixing part 300 is arranged at the top and bottom of the mounting frame 600, and can be opened and closed to clamp and fix on the tree surface. During operation, the ring clamp fixing part 300 firstly stably grasps the surface of the tree trunk to ensure the stability during the peeling process, which serves as the basis for the subsequent cutting and peeling quality.

[0020] The ring clamp fixing component 300 includes a clamping ring arm support seat 301 fixed to the top and bottom ends of the mounting frame 600 respectively, and a clamping ring arm assembly is installed on the clamping ring arm support seat 301; the clamping ring arm assembly includes two clamping ring arms 302 that cooperate with each other, and the clamping ring arms 302 can be made of hard rubber and have anti-slip claws on the inner surface. The two clamping ring arms 302 are provided with clamping ring arm 302 openings at one end close to the tree, and the two clamping ring arms 302 are rotatably installed at one end away from the tree, and are respectively connected to the clamping ring arm support seat 301 through a clamping arm opening and closing driving device; the clamping arm opening and closing driving device can drive the two clamping ring arms 302 to swing outward to open or swing inward to close at the same time to cooperate to form a semi-enclosed structure that can be opened and closed. The clamp arm opening and closing driving device drives the two clamping ring arms 302 to clamp and fix them on the bark surface. It can automatically adjust the opening and closing angle and clamping force according to the diameter and shape of the trunk to provide reliable fixing force. A pressure sensor can be added to the inner circumference of the clamping ring arm 302 to monitor the gripping force and avoid bark damage due to excessive force.

[0021] See also Figure 2 and Figure 3 The annular longitudinal cutting component 400 and the annular peeling component 500 are connected to the mounting frame 600 by sliding and lifting through a lifting control device 700. The lifting control device 700 includes a vertical lifting screw 701 and a vertical guide rod 702. The top and bottom ends of the vertical lifting screw 701 are rotatably mounted on the mounting frame 600. The top and bottom ends of the vertical guide rod 702 are fixed on the mounting frame 600. A lifting motor is connected to the end of one of the vertical lifting screws 701. The annular longitudinal cutting component 400 and the annular peeling component 500 are respectively threadedly connected to the vertical lifting screw 701 and vertically slidably mounted outside the vertical guide rod 702.

[0022] The ring-and-vertical cutting component 400 is a key component for realizing ring cutting and longitudinal cutting. First, a ring-shaped knife groove is cut on the bark surface by ring cutting. On the one hand, it is beneficial to the embedding of the subsequent peeling tool to ensure that the peeling knife can be better implemented. On the other hand, the tapping path is positioned to locate the upper and lower stop points of a section of bark, so as to pre-plan the peeling path for subsequent longitudinal cutting and peeling. After the ring cutting is completed, a plurality of vertical knife grooves are cut along the bark surface by longitudinal cutting to divide the bark into strips, so that after peeling, the bark falls off directly in strips, which can reduce the stripping operation of subsequent operators.

[0023] See also Figure 4 and Figure 5The ring-cutting and longitudinal cutting component 400 includes an upper cutting opening and closing ring arm and a lower cutting opening and closing ring arm that can be opened and closed to embrace the outside of the tree surface. An upper ring-cutting rack rail 401 is installed inside the upper cutting opening and closing ring arm, and a lower ring-cutting rack rail is installed inside the lower cutting opening and closing ring arm. The inner periphery of the upper ring-cutting rack rail 401 and the lower ring-cutting rack rail is respectively circumferentially slidably installed with a ring-cutting knife module 403 through a ring-cutting sliding module 402, and a longitudinal cutting knife module 405 is vertically slidably installed between the upper and lower ring-cutting sliding modules 402 through a longitudinal cutting lifting module 404. The ring-cutting knife module 403 and the longitudinal cutting knife module 405 can adopt rubber tapping knives commonly used in the rubber tapping industry, which belongs to the prior art, and the specific structure is not repeated here.

[0024] The upper cutting opening and closing ring arm includes an upper cutting clamp arm mounting seat, on which are mounted two upper ring cutting mounting arms 406 that cooperate with each other and an upper cutting opening and closing driving device that drives the two upper ring cutting mounting arms 406 to open and close. The two sides of the upper ring cutting rack 401 are respectively fixed on the two upper ring cutting mounting arms 406. An upper rack opening is provided at one end of the upper ring cutting rack 401 close to the tree, and the ring cutting knife module 403 located above is slidably installed on the inner periphery of the upper ring cutting rack 401 through the ring cutting sliding module 402.

[0025] The lower cutting opening and closing ring arm includes a lower cutting clamp arm mounting seat, on which are mounted two lower ring cutting mounting arms that cooperate with each other and a lower cutting opening and closing driving device that drives the two lower ring cutting mounting arms to open and close; the two sides of the lower ring cutting rack are respectively fixed on the two lower ring cutting mounting arms, and a lower rack opening is provided at one end of the lower ring cutting rack close to the tree, and the ring cutting knife module 403 located below is slidably installed on the inner periphery of the lower ring cutting rack through the ring cutting sliding module 402.

[0026] Two ring cutting sliding modules 402 are provided on the inner periphery of the upper ring cutting rack 401 and the lower ring cutting rack. The two ring cutting sliding modules 402 are fixedly connected by an elastic support ring. The two ring cutting sliding modules 402 are staggered by 180° inside the upper ring cutting rack 401 and the lower ring cutting rack.

[0027] The circular cutting sliding module 402 includes a circular cutting sliding seat that slides along the guide grooves in the upper circular cutting rack 401 and the lower circular cutting rack, and a circular cutting gear that meshes with the upper circular cutting rack 401 and the lower circular cutting rack and a circular cutting motor that drives the circular cutting gear to rotate are rotatably mounted on the circular cutting sliding seat. When the circular cutting motor is in operation, it can drive the circular cutting gear to rotate, so that through the tooth matching relationship between the circular cutting gear and the upper circular cutting rack 401 and the lower circular cutting rack, the circular cutting sliding seat slides axially along the upper circular cutting rack 401 and the lower circular cutting rack, that is, drives the circular cutting knife module 403 to achieve circular cutting.

[0028] The longitudinal cutting lifting module 404 includes a longitudinal cutting lifting screw and a longitudinal cutting guide rod. The top and bottom ends of the longitudinal cutting lifting screw are rotatably mounted on the upper and lower circular cutting sliding modules 402. The top and bottom ends of the longitudinal cutting guide rod are fixed on the upper and lower circular cutting sliding modules 402. One end of the longitudinal cutting lifting screw is connected to a longitudinal cutting motor. The longitudinal cutting knife module 405 is threadedly connected to the longitudinal cutting lifting screw and vertically slidably mounted outside the longitudinal cutting guide rod. When the longitudinal cutting motor is running, it can drive the longitudinal cutting knife module 405 to slide up and down along the longitudinal cutting guide rod to achieve longitudinal cutting.

[0029] In this embodiment, the upper ring cutting rack 401 is provided with two ring cutting sliding dies 402, and the lower ring cutting rack is provided with two ring cutting sliding dies 402, and the upper and lower positions correspond to each other, and two longitudinal cutting knife dies 405 are provided, see Figure 4 .

[0030] See also Figures 6 to 8 The annular peeling component 500 is a key component for peeling. The annular peeling component 500 is located above the ring longitudinal cutting component 400, and includes a peeling opening and closing ring arm that can be opened and closed to embrace the surface of the tree. A circular peeling knife 504 is fixed to the inner periphery of the peeling opening and closing ring arm.

[0031] The annular peeling component 500 includes a peeling clamp arm mounting seat 501, on which are mounted two peeling opening and closing ring arms 502 that cooperate with each other and a peeling opening and closing driving device that drives the two peeling opening and closing ring arms 502 to open and close; the inner circumferential surfaces of the two peeling opening and closing ring arms 502 are respectively fixed with semi-arc peeling arc frames 503, and the two peeling arc frames 503 are provided with peeling openings at one end close to the tree, and the annular peeling knife 504 includes two semi-arc peeling half knives, and the two peeling half knives are respectively fixed on the two peeling arc frames 503, and the two peeling half knives can cooperate to form an annular structure.

[0032] The annular skinning knife comprises a skinning knife holder, a skinning blade extending downward from the bottom end of the skinning knife holder, and a skinning edge is provided at the bottom end of the skinning blade; the outer periphery of the skinning knife holder is fixed by a plurality of auxiliary longitudinal cutting knife holders, and an auxiliary longitudinal cutting blade is provided at the bottom end of the auxiliary longitudinal cutting knife holder.

[0033] The annular peeling knife 504 includes a peeling knife holder 506, a peeling blade extending downward from the bottom end of the peeling knife holder 506, and a peeling blade is provided at the bottom end of the peeling blade; the outer periphery of the peeling knife holder 506 is fixed to the peeling arc holder 503 through a plurality of auxiliary longitudinal cutting knife holders 505, and an auxiliary longitudinal cutting blade is provided at the bottom end of the auxiliary longitudinal cutting knife holder 505. The auxiliary longitudinal cutting knife holder 505 is used to support the peeling blade, and corresponds to the position of the pre-cut vertical knife groove, that is, when six vertical knife grooves are cut, its position just corresponds to the position of the six auxiliary longitudinal cutting blades, so that when the peeling moves downward, the auxiliary longitudinal cutting knife holder 505 moves downward along the position of the vertical guide groove, which achieves the purpose of avoidance on the one hand, and the auxiliary longitudinal cutting blade can also cut the vertical guide groove position again on the other hand, so as to further cut the bark vertically.

[0034] The clamping arm opening and closing drive device, the upper cutting opening and closing drive device, the lower cutting opening and closing drive device, and the peeling opening and closing drive device have the same structural principles and can adopt structures such as motors, gears and connecting rods. The motor drives the gears, and the connecting rods are used to drive the ring arms to swing open and close. Of course, motors, screws, connecting rods and other structures can also be used. These are commonly used technical means in this field, and the specific structure will not be repeated here.

[0035] The device also has a controller to control each component to operate in an orderly manner according to the steps.

[0036] The working principle of this embodiment: The walking trolley 100 moves to the position of the tree, adjusts the position through the mechanical arm 200, and uses the ring clamp fixing component 300 to hold the tree firmly to fix it, and at the same time controls the position of the ring longitudinal cutting component 400 through the lifting control device 700, and then performs circular cutting; The specific method of circular cutting is as follows: the upper cutting opening and closing driving device drives the two upper circular cutting mounting arms 406 to merge, and at this time drives the upper circular cutting rack 401 to embrace the outer periphery of the tree, and then starts the circular cutting sliding module 402 to drive the upper two ring cutting knife module groups 403 to cut the tree surface. During the axial movement of the ring cutting knife module group 403 along the upper circular cutting rack 401, a circular knife groove is cut on the tree surface. During this process, the two ring cutting knife module groups 403 on the lower circular cutting rack synchronously perform circular cutting, and the blade head of the longitudinal cutting knife module group 405 is retracted for avoidance at this time, and the two peeling opening and closing ring arms 502 of the circular peeling component 500 are also opened, and no peeling operation is performed; when the cutting of the upper and lower two circular knife grooves is completed, it is ready to be cut vertically. The cutter head of the ring cutting knife module 403 retracts to avoid, and then according to the preset vertical guide groove position, the ring cutting sliding module 402 first adjusts the circumferential position. After the circumferential position is determined, the longitudinal cutting lifting module 404 drives the longitudinal cutting knife module 405 to slide up and down to cut the bark surface. The longitudinal cutting lifting module 404 slides between the upper ring knife groove and the lower ring knife groove to perform vertical cutting to form a vertical knife groove. The depth of the vertical guide groove is greater than the depth of the ring knife groove. When the two vertical knife grooves are completed, the ring cutting sliding module 402 is rotated by a certain angle, and then the cutting is continued. Three vertical cutting operations are performed between the upper ring knife groove and the lower ring knife groove, and finally six vertical knife grooves evenly distributed circumferentially are formed; the ring knife groove and the vertical knife groove after cutting refer to Fig. 9 ; After the vertical cutting is completed, the vertical cutter avoids, and the upper cutting opening and closing driving device drives the two upper ring cutting mounting arms 406 to open, and the lower cutting opening and closing driving device drives the two lower ring cutting mounting arms to open, and then the lifting control device 700 drives the ring longitudinal cutting component 400 to descend until the peeling blade position of the annular peeling component 500 corresponds to the position of the annular knife groove of the upper layer and stops, and then the peeling opening and closing driving device drives the two peeling opening and closing ring arms 502 to merge, so that the peeling blade 504 is completely embedded in the annular knife groove, and the peeling extension of the peeling blade 504 is less than or equal to the extension of the annular knife groove, and then the lifting control device 700 continues to move, driving the annular peeling component 500 to continue to descend. During the descent, the peeling blade is embedded in the annular knife groove, and the bark surface is cut vertically downward inside the tree to achieve the purpose of peeling. See the peeling position for details. Fig.10 During this process, the auxiliary longitudinal cutting blade holder 505 moves downward along the vertical blade groove, which can further cut the vertical blade groove to ensure that the vertical cutting is complete, until the peeling blade moves into the annular guide groove of the lower layer, at which time the bark falls off directly in the form of multiple strips, see Fig.11 .

[0037] The present invention solves the problems that traditional bark harvesting usually requires a lot of manpower and has high labor intensity. After the introduction of intelligent equipment, the dependence on manual labor is reduced, the labor intensity is reduced, and the physical burden on workers is reduced. At the same time, the bark harvesting speed is significantly improved. Compared with traditional manual harvesting, the efficiency can be improved by 50% or even higher, meeting the market's growing demand for Chinese medicinal materials. The peeling technology combining ring cutting and vertical cutting is adopted, so that the tool can be accurately embedded in the bark, reducing damage to the integrity of the bark, and effectively improving the product qualification rate and production capacity. Through a stable peeling process, tearing and damage during bark separation are avoided, ensuring that the quality of the harvested bark is high, and effectively improving the effective ingredients and medical value of medicinal materials. At the same time, the design of the equipment takes into account the differences in various tree species and growth environments, and the harvesting strategy can be flexibly adjusted according to the characteristics of different trees, with strong adaptability and application range. The automated and mechanized harvesting method greatly reduces the overall harvesting cost, including labor cost and time cost, which helps to improve the economic benefits of the Chinese medicine industry. The invention of intelligent harvesting equipment for Chinese herbal medicines with skins combines advanced mechanical technology with intelligent control, which not only solves many problems in traditional harvesting methods, but also provides important technical support for the modernization of the Chinese herbal medicine industry. The application of this innovative equipment can not only promote the development of the entire Chinese medicine industry, but also bring higher economic benefits to farmers, and has significant social and economic value.

[0038] The invention can be used not only for peeling cassia bark, but also for other strip-shaped medicinal materials.

[0039] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent bark peeling and harvesting device for agricultural trees, characterized in that: Including walking trolley and mechanical arm, also includes: A mounting frame, connected to the end of the mechanical arm, serving as a mounting base for the following components; The ring clamp fixing parts are arranged at the top and bottom ends of the mounting frame and can be opened and closed to clamp and fix on the surface of the tree; The ring-cutting component is connected to the mounting frame by sliding and lifting through a lifting control device, and comprises an upper cutting opening and closing ring arm and a lower cutting opening and closing ring arm which can be opened and closed to embrace the outside of the tree surface, an upper ring-cutting gear rail is installed inside the upper cutting opening and closing ring arm, and a lower ring-cutting gear rail is installed inside the lower cutting opening and closing ring arm, and the inner circumferences of the upper ring-cutting gear rail and the lower ring-cutting gear rail are respectively circumferentially slidably installed with a ring-cutting knife module group through a ring-cutting sliding module group, and a longitudinal cutting knife module group is vertically slidably installed between the upper and lower ring-cutting sliding modules through a longitudinal cutting lifting module group; The annular peeling component is connected to the mounting frame by a lifting control device and is located above the annular longitudinal cutting component. The annular peeling component includes an opening and closing peeling ring arm that can be opened and closed to embrace the surface of the tree. An annular peeling knife is fixed to the inner periphery of the opening and closing peeling ring arm.

2. The intelligent bark peeling and harvesting device for agricultural trees according to claim 1, characterized in that: The ring clamp fixing component includes a clamping ring arm support seat respectively fixed to the top and bottom ends of the mounting frame, and a clamping ring arm assembly is installed on the clamping ring arm support seat; the clamping ring arm assembly includes two clamping ring arms that cooperate with each other, and the ends of the two clamping ring arms close to the tree are provided with clamping ring arm openings, and the ends of the two clamping ring arms away from the tree are rotatably installed and are respectively connected to the clamping ring arm support seat through clamping arm opening and closing driving devices; the clamping arm opening and closing driving device can drive the two clamping ring arms to swing outward to open or swing inward to close at the same time to cooperate to form a semi-enclosed structure that can be opened and closed.

3. The intelligent bark peeling and harvesting device for agricultural trees according to claim 1, characterized in that: The lifting control device includes a vertical lifting screw and a vertical guide rod. The top and bottom ends of the vertical lifting screw are rotatably mounted on the mounting frame, and the top and bottom ends of the vertical guide rod are fixed on the mounting frame. One end of the vertical lifting screw is connected to a lifting motor, and the annular longitudinal cutting component and the annular peeling component are respectively threadedly connected to the vertical lifting screw and vertically slidably mounted outside the vertical guide rod.

4. The intelligent bark peeling and harvesting device for agricultural trees according to claim 1, characterized in that: The upper cutting opening and closing ring arm includes an upper cutting clamp arm mounting seat, on which are mounted two upper ring cutting mounting arms that cooperate with each other and an upper cutting opening and closing driving device that drives the two upper ring cutting mounting arms to open and close. The two sides of the upper ring cutting rack are respectively fixed on the two upper ring cutting mounting arms. An upper rack opening is provided at one end of the upper ring cutting rack close to the tree, and the ring cutting knife module located above is slidably mounted on the inner periphery of the upper ring cutting rack through the ring cutting sliding module.

5. The intelligent bark peeling and harvesting device for agricultural trees according to claim 1, characterized in that: The lower cutting opening and closing ring arm includes a lower cutting clamp arm mounting seat, on which are mounted two lower ring cutting mounting arms that cooperate with each other and a lower cutting opening and closing driving device that drives the two lower ring cutting mounting arms to open and close; the two sides of the lower ring cutting rack are respectively fixed on the two lower ring cutting mounting arms, and a lower rack opening is provided at one end of the lower ring cutting rack close to the tree, and the ring cutting knife module located below is slidably mounted on the inner periphery of the lower ring cutting rack through the ring cutting sliding module.

6. The intelligent bark peeling and harvesting device for agricultural trees according to claim 1, characterized in that: Two annular cutting sliding modules are arranged on the inner circumference of the upper annular cutting rack rail and the lower annular cutting rack rail. The two annular cutting sliding modules are fixedly connected by an elastic support ring. The two annular cutting sliding modules are arranged 180 degrees offset inside the upper annular cutting rack rail and the lower annular cutting rack rail.

7. The intelligent bark peeling and harvesting device for agricultural trees according to claim 1, characterized in that: The circular cutting sliding module includes a circular cutting sliding seat that slides along the upper circular cutting rack and the lower circular cutting rack. A circular cutting gear that meshes with the upper circular cutting rack and the lower circular cutting rack and a circular cutting motor that drives the circular cutting gear to rotate are rotatably mounted on the circular cutting sliding seat.

8. The intelligent bark peeling and harvesting device for agricultural trees according to claim 1, characterized in that: The longitudinal cutting lifting module includes a longitudinal cutting lifting screw and a longitudinal cutting guide rod. The top and bottom ends of the longitudinal cutting lifting screw are rotatably installed on the upper and lower circular cutting sliding modules. The top and bottom ends of the longitudinal cutting guide rod are fixed on the upper and lower circular cutting sliding modules. One end of the longitudinal cutting lifting screw is connected to a longitudinal cutting motor. The longitudinal cutting knife module is threadedly connected to the longitudinal cutting lifting screw and is installed outside the longitudinal cutting guide rod along the vertical sliding direction.

9. The intelligent bark peeling and harvesting device for agricultural trees according to claim 1, characterized in that: The annular peeling component includes a peeling clamp arm mounting seat, on which are mounted two peeling opening and closing ring arms that cooperate with each other and a peeling opening and closing driving device that drives the two peeling opening and closing ring arms to open and close; the inner circumferential surfaces of the two peeling opening and closing ring arms are respectively fixed with semi-arc peeling arc frames, and the two peeling arc frames are provided with peeling openings at one end close to the tree, and the annular peeling knife includes two semi-arc peeling half knives, and the two peeling half knives are respectively fixed on the two peeling arc frames, and the two peeling half knives can cooperate to form an annular structure.

10. The intelligent bark peeling and harvesting device for agricultural trees according to claim 1, characterized in that: The annular skinning knife comprises a skinning knife holder, a skinning blade extending downward from the bottom end of the skinning knife holder, and a skinning edge is provided at the bottom end of the skinning blade; the outer periphery of the skinning knife holder is fixed by a plurality of auxiliary longitudinal cutting knife holders, and an auxiliary longitudinal cutting blade is provided at the bottom end of the auxiliary longitudinal cutting knife holder.

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