Intelligent peeling and harvesting device for agricultural trees

Abstract

The application discloses an intelligent peeling and harvesting device for agricultural trees, comprising a walking trolley, a mechanical arm, a ring clamping fixing component, a ring longitudinal cutting component and a ring peeling component. The ring longitudinal cutting component is a key component for realizing ring cutting and longitudinal cutting. Firstly, a ring-shaped cutter groove is cut on the surface of the tree bark through ring cutting. After the ring cutting is completed, a plurality of vertical cutter grooves are cut on the surface of the tree bark through longitudinal cutting, which is used for striping the tree bark. Finally, the ring peeling component is used for peeling, so that the tree bark directly falls off in the form of strips. The application solves the problem of difficult bark harvesting, and proposes a peeling method based on embedded blades. The ring clamping fixing component, the ring longitudinal cutting component and the ring peeling component are carried by the mechanical arm. The ring cutting and vertical cutting are used for assisting the effective embedding of the peeling blade into the tree bark. The peeling is performed along the ring cutting and vertical cutting tracks. The harvesting efficiency and quality are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment, and more particularly to an intelligent bark-peeling and harvesting device for agricultural trees. Background Technology

[0002] With the rapid development of the traditional Chinese medicine industry, the demand for bark-based medicinal materials such as cinnamon, yellow bark, and white bark has increased. Traditional harvesting methods rely on manual labor, which is inefficient and labor-intensive. Traditional manual harvesting is not only time-consuming and labor-intensive but also easily damages the medicinal materials, affecting their quality and yield. Therefore, intelligent harvesting equipment that improves harvesting efficiency and protects harvested quality has gradually become a research hotspot. As for medicinal materials like cinnamon, the process of peeling the bark in existing agricultural tree farming is difficult, time-consuming, and labor-intensive, especially requiring skillful handling of the tree's toughness to avoid bark damage. Therefore, developing an intelligent bark-peeling and harvesting device specifically for agricultural tree bark is particularly important. 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 that is easy to operate, highly efficient, and can quickly peel bark.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is: an intelligent bark peeling and harvesting device for agricultural trees, comprising a walking trolley and a robotic arm, and further comprising: The mounting bracket is connected to the end of the robotic arm and serves as the mounting base for the following components; The ring clamp fixing component is located at the top and bottom of the mounting frame and can be opened and closed to clamp and fix it to the surface of the tree; The circumferential cutting component is slidably and vertically connected to the mounting frame via a lifting control device. It includes an upper cutting opening and closing ring arm and a lower cutting opening and closing ring arm that can open and close around the surface of the tree. An upper ring cutting tooth rail is installed inside the upper cutting opening and closing ring arm, and a lower ring cutting tooth rail is installed inside the lower cutting opening and closing ring arm. A circumferential cutting knife module is slidably installed on the inner circumference of the upper and lower ring cutting tooth rails via a circumferential cutting sliding module. A longitudinal cutting knife module is vertically slidably installed between the upper and lower circumferential cutting sliding modules via a longitudinal cutting lifting module. The ring-shaped peeling component is slidably and vertically connected to the mounting frame via a lifting control device and is located above the ring longitudinal cutting component. It includes a peeling opening and closing ring arm that can be opened and closed to encircle the surface of the tree, and a ring-shaped peeling knife is fixed to the inner circumference of the peeling opening and closing ring arm.

[0005] As a preferred technical solution, the ring clamp fixing component includes clamping ring arm support seats fixed to the top and bottom of the mounting frame respectively, and clamping ring arm assemblies are installed on the clamping ring arm support seats; the clamping ring arm assembly includes two mutually cooperating clamping ring arms, the ends of the two clamping ring arms near 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 respectively connected to the clamping ring arm support seats through clamping arm opening and closing drive devices; the clamping arm opening and closing drive devices can drive the two clamping ring arms to swing outwards to open or swing inwards to close simultaneously 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, and the top and bottom ends of the vertical guide rod are fixed on the mounting frame. A lifting motor is connected to one end of the vertical lifting screw. The annular longitudinal cutting component and the annular peeling component are respectively threaded to the vertical lifting screw and vertically slidably mounted on the outside of 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 base, on which two mutually cooperating upper ring cutting mounting arms and an upper cutting opening and closing driving device for driving the two upper ring cutting mounting arms to open and close are mounted. The two sides of the upper ring cutting toothed rail are respectively fixed on the two upper ring cutting mounting arms. The upper ring cutting toothed rail has an upper toothed rail opening at the end near the tree. The ring cutting blade module located above is slidably mounted on the inner circumference of the upper ring cutting toothed rail 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 base, on which two mutually cooperating lower ring cutting mounting arms and a lower cutting opening and closing driving device for driving the two lower ring cutting mounting arms to open and close are mounted; the two sides of the lower ring cutting toothed rail are respectively fixed on the two lower ring cutting mounting arms, and the lower ring cutting toothed rail has a lower toothed rail opening at the end near the tree, and the ring cutting blade module located below is slidably mounted on the inner circumference of the lower ring cutting toothed rail 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 toothed rail and the lower ring-cutting toothed rail. The two ring-cutting sliding modules are fixedly connected by an elastic support ring, and the two ring-cutting sliding modules are arranged in a 180° offset arrangement inside the upper ring-cutting toothed rail and the lower ring-cutting toothed rail.

[0010] As a preferred technical solution, the circumferential cutting sliding module includes a circumferential cutting sliding seat that slides along the upper circumferential cutting tooth rail and the lower circumferential cutting tooth rail. A circumferential cutting gear that meshes with the tooth profile of the upper circumferential cutting tooth rail and the lower circumferential cutting tooth rail and a circumferential cutting motor that drives the circumferential cutting gear to rotate are rotatably mounted on the circumferential 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 mounted on the upper and lower circumferential cutting sliding modules. The top and bottom ends of the longitudinal cutting guide rod are fixed on the upper and lower circumferential cutting sliding modules. A longitudinal cutting motor is connected to the end of one of the longitudinal cutting lifting screws. The longitudinal cutting blade module is threadedly connected to the longitudinal cutting lifting screw and is slidably mounted vertically outside the longitudinal cutting guide rod.

[0012] As a preferred technical solution, the annular peeling component includes a peeling clamp arm mounting base, on which two mutually cooperating peeling opening and closing ring arms and a peeling opening and closing driving device for driving the two peeling opening and closing ring arms to open and close are mounted; a semi-arc peeling arc frame is fixed to the inner circumferential surface of each of the two peeling opening and closing ring arms, and a peeling opening is provided at the end of each of the two peeling arc frames near the tree; the annular peeling knife includes two semi-arc peeling half-blades, which are respectively fixed to the two peeling arc frames, and the two peeling half-blades 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 downwards from the bottom end of the peeling knife holder, and a peeling edge at the bottom end of the peeling blade; the outer periphery of the peeling knife holder is fixed by multiple auxiliary longitudinal cutting knife holders, and the bottom end of each auxiliary longitudinal cutting knife holder is provided with an auxiliary longitudinal cutting edge. Due to the adoption of the above technical solution, the beneficial effects of this invention are: the invention solves the problem of difficult bark harvesting, and proposes a peeling method based on embedded blades. By using a robotic arm equipped with a ring clamp fixing component, a ring longitudinal cutting component, and an annular peeling component, the peeling blade is effectively embedded in the bark using ring cutting and vertical cutting assisting the ring cutting and vertical cutting trajectories for peeling. Compared with traditional manual harvesting methods, this method is less efficient and more labor-intensive, making it difficult to meet the high requirements of modern medicinal herb markets for harvesting speed and yield. The intelligent harvesting equipment of this application greatly improves harvesting efficiency through automated operation. At the same time, the design of the equipment makes the harvesting process more stable, reduces mechanical failures and misoperations, and improves overall operational reliability. Attached Figure Description

[0014] The following figures are intended only to illustrate and explain the present invention and do not limit the scope of the invention. Wherein: Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention; Figure 2 This is a partial enlarged structural schematic diagram of an embodiment of the present invention; Figure 3 yes Figure 2 A schematic diagram of the side view angle; Figure 4 This is a schematic diagram of the structure of the ring clamp fixing component and the ring longitudinal cutting component according to an embodiment of the present invention; Figure 5 yes Figure 4 A diagram illustrating the forward-looking angle; Figure 6 This is a schematic diagram of the structure of the annular peeling component according to an embodiment of the present invention; Figure 7 yes Figure 6 A magnified view of a portion of the image; Figure 8 yes Figure 6 A top-down view diagram; Figure 9 This is a schematic diagram illustrating the locations of circumferential and longitudinal cuts on the surface of a tree according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the peeling process according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the strip segmentation after peeling in an embodiment of the present invention; In the diagram: 100-Traveling trolley; 200-Robotic arm; 300-Ring clamp fixing component; 301-Clamping ring arm support seat; 302-Clamping ring arm; 400-Ring longitudinal cutting component; 401-Upper ring cutting toothed rail; 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 component; 501-Peeling clamp arm mounting seat; 502-Peeling opening and closing ring arm; 503-Peeling arc frame; 504-Ring peeling knife; 505-Auxiliary longitudinal cutting knife holder; 506-Peeling knife holder; 600-Mounting frame; 700-Lifting control device; 701-Vertical lifting screw; 702-Vertical guide rod. Detailed Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the following detailed description, only certain exemplary embodiments of the invention are described by way of illustration. Undoubtedly, those skilled in the art will recognize that various modifications can be made to the described embodiments without departing from the spirit and scope of the invention. Therefore, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.

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

[0017] The mobile vehicle 100 is a fully self-propelled vehicle responsible for the equipment's mobility, featuring autonomous navigation and battery life. Autonomous navigation: Equipped with GPS and ground sensors, it can navigate autonomously in complex terrain, ensuring movement along a pre-set path. Battery life: Designed with a high-performance battery, it supports extended operation and can work independently in outdoor environments.

[0018] The robotic arm 200 adopts a multi-degree-of-freedom design, enabling flexible adjustment of its angle and position to adapt to different tree species and growth stages. It features precise positioning and rapid response. Precise positioning: High-precision sensors monitor the tree's position and status in real time to ensure accurate bark removal. Rapid response: Equipped with high-response servo motors, it ensures flexible adaptation during the harvesting process. The traveling trolley 100 and the robotic arm 200 can adopt structures commonly used in rubber tapping robots, which are existing technologies and will not be elaborated upon here.

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

[0020] The ring clamp fixing component 300 includes clamping ring arm support seats 301 respectively fixed to the top and bottom of the mounting frame 600. A clamping ring arm assembly is installed on the clamping ring arm support seat 301. The clamping ring arm assembly includes two cooperating clamping ring arms 302. 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 have clamping ring arm 302 openings at the ends near the tree. The ends of the two clamping ring arms 302 away from the tree are rotatably installed and connected to the clamping ring arm support seat 301 respectively through a clamping arm opening and closing drive device. The clamping arm opening and closing drive device can drive the two clamping ring arms 302 to swing outward to open or swing inward to close simultaneously to form a semi-closed structure that can be opened and closed. The clamping arm opening and closing drive device drives the two clamping ring arms 302 to clamp and fix them to 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. Furthermore, a pressure sensor can be added to the inner circumferential surface of the clamping ring arms 302 to monitor the gripping force and avoid damage to the bark due to excessive force.

[0021] See Figure 2 and Figure 3 The annular longitudinal cutting component 400 and the annular peeling component 500 are slidably and vertically connected to the mounting frame 600 via 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, and the top and bottom ends of the vertical guide rod 702 are fixed to the mounting frame 600. A lifting motor is connected to one end of the vertical lifting screw 701. The annular longitudinal cutting component 400 and the annular peeling component 500 are respectively threaded onto the vertical lifting screw 701 and vertically slidably mounted on the outside of the vertical guide rod 702.

[0022] The ring-and-longitudinal cutting component 400 is a key component for realizing ring cutting and longitudinal cutting. First, a ring-shaped groove is cut into the surface of the bark by ring cutting. This facilitates the embedding of the subsequent peeling tool, ensuring good peeling entry. On the other hand, it positions the rubber tapping path, locating the upper and lower stop points of a section of bark, and pre-planning the peeling path for subsequent longitudinal cutting and peeling. After ring cutting, multiple vertical grooves are cut along the surface of the bark by longitudinal cutting to divide the bark into strips. This allows the bark to fall off directly in strips after peeling, reducing the need for subsequent strip-dividing operations by operators.

[0023] See Figure 4 and Figure 5The circumferential cutting component 400 includes an upper cutting ring arm and a lower cutting ring arm that can open and close around the surface of the tree. An upper circumferential cutting toothed rail 401 is installed inside the upper cutting ring arm, and a lower circumferential cutting toothed rail is installed inside the lower cutting ring arm. A circumferential cutting blade module 403 is circumferentially slidably mounted on the inner circumference of the upper and lower circumferential cutting toothed rails via a circumferential cutting sliding module 402. A longitudinal cutting blade module 405 is vertically slidably mounted between the upper and lower circumferential cutting sliding modules 402 via a longitudinal cutting lifting module 404. The circumferential cutting blade module 403 and the longitudinal cutting blade module 405 can be rubber tapping blades commonly used in the rubber tapping industry, which is existing technology; their specific structure will not be described in detail here.

[0024] The upper cutting opening and closing ring arm includes an upper cutting clamp arm mounting base, on which two cooperating upper ring cutting mounting arms 406 are mounted and an upper cutting opening and closing drive device for driving the two upper ring cutting mounting arms 406 to open and close. The two sides of the upper ring cutting toothed rail 401 are respectively fixed on the two upper ring cutting mounting arms 406. The upper ring cutting toothed rail 401 has an upper toothed rail opening at the end near the tree. The ring cutting blade module 403 located above is slidably mounted on the inner circumference of the upper ring cutting toothed rail 401 through the ring cutting sliding module 402.

[0025] The lower cutting opening and closing ring arm includes a lower cutting clamp arm mounting base, on which two mutually cooperating lower ring cutting mounting arms and a lower cutting opening and closing drive device for driving the two lower ring cutting mounting arms to open and close are mounted; the two sides of the lower ring cutting toothed rail are respectively fixed on the two lower ring cutting mounting arms, and the lower ring cutting toothed rail has a lower toothed rail opening at the end near the tree, and the ring cutting blade module 403 located below is slidably mounted on the inner circumference of the lower ring cutting toothed rail through the ring cutting sliding module 402.

[0026] Two ring-cutting sliding modules 402 are provided on the inner circumference of the upper ring-cutting toothed rail 401 and the lower ring-cutting toothed rail. The two ring-cutting sliding modules 402 are fixedly connected by an elastic support ring. The two ring-cutting sliding modules 402 are arranged in a 180° offset arrangement inside the upper ring-cutting toothed rail 401 and the lower ring-cutting toothed rail.

[0027] The circumferential cutting sliding module 402 includes a circumferential cutting sliding seat that slides along the inner guide grooves of the upper circumferential cutting toothed rail 401 and the lower circumferential cutting toothed rail. A circumferential cutting gear that meshes with the tooth profiles of the upper circumferential cutting toothed rail 401 and the lower circumferential cutting toothed rail is rotatably mounted on the circumferential cutting sliding seat, and a circumferential cutting motor that drives the circumferential cutting gear to rotate. When the circumferential cutting motor is running, it drives the circumferential cutting gear to rotate, thereby causing the circumferential cutting sliding seat to slide axially along the upper circumferential cutting toothed rail 401 and the lower circumferential cutting toothed rail through the tooth profile engagement relationship between the circumferential cutting gear and the upper circumferential cutting toothed rail 401 and the lower circumferential cutting toothed rail, thus driving the circumferential cutting blade module 403 to perform circumferential 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 circumferential cutting sliding modules 402. The top and bottom ends of the longitudinal cutting guide rod are fixed to the upper and lower circumferential cutting sliding modules 402. A longitudinal cutting motor is connected to the end of one of the longitudinal cutting lifting screws. The longitudinal cutting blade module 405 is threaded to the longitudinal cutting lifting screw and slidably mounted vertically outside the longitudinal cutting guide rod. When the longitudinal cutting motor is running, it can drive the longitudinal cutting blade module 405 to slide up and down along the longitudinal cutting guide rod to achieve longitudinal cutting.

[0029] In this embodiment, the upper annular cutting toothed rail 401 is provided with two annular cutting sliding modules 402, and the lower annular cutting toothed rail is provided with two annular cutting sliding modules 402, with their upper and lower positions corresponding one-to-one. It also provides two longitudinal cutting blade modules 405. (See [reference]). Figure 4 .

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

[0031] The annular peeling component 500 includes a peeling clamp arm mounting base 501, on which two mutually cooperating peeling opening and closing ring arms 502 are mounted, as well as a peeling opening and closing drive device for driving 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 the ends near the tree; the annular peeling knife 504 includes two semi-arc peeling half-knives, 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 peeling knife includes a peeling knife holder, a peeling blade extending downward from the bottom end of the peeling knife holder, and a peeling edge at the bottom end of the peeling blade; the outer periphery of the peeling knife holder is fixed by multiple auxiliary longitudinal cutting knife holders, and the bottom end of each auxiliary longitudinal cutting knife holder is provided with an auxiliary longitudinal cutting edge.

[0033] The annular peeling knife 504 includes a peeling knife holder 506, a peeling blade extending downwards from the bottom end of the peeling knife holder 506, and a peeling edge at the bottom end of the peeling blade. The outer periphery of the peeling knife holder 506 is fixed to the peeling arc frame 503 by multiple auxiliary longitudinal cutting knife holders 505, each with an auxiliary longitudinal cutting edge at its bottom end. The auxiliary longitudinal cutting knife holders 505 support the peeling blade and correspond to the positions of pre-cut vertical grooves. That is, when six vertical grooves are cut, their positions correspond exactly to the positions of the six auxiliary longitudinal cutting edges. This ensures that when the peeling knife moves downwards, the auxiliary longitudinal cutting knife holders 505 move downwards along the positions of the vertical guide grooves, achieving both avoidance and allowing the auxiliary longitudinal cutting edges to cut again at the vertical guide groove positions for further vertical cutting of the bark.

[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 principle. They can adopt structures such as motors, gears, and connecting rods. The motor drives the gears, and the connecting rods drive the ring arm to swing open and close. Of course, structures such as motors, screws, and connecting rods can also be used. These are common technical means in this field, and the specific structures will not be described in detail here.

[0035] This equipment also includes a controller to control each component to operate in an orderly manner according to the steps.

[0036] The working principle of this embodiment: The trolley 100 moves to the location of the tree, adjusts its position using the robotic arm 200, and uses the ring clamp fixing component 300 to hold the tree firmly in place. At the same time, the lifting control device 700 controls the position of the ring longitudinal cutting component 400, and then performs ring cutting. The specific method of ring cutting is as follows: The upper cutting opening and closing drive device drives the two upper ring cutting mounting arms 406 to merge. At this time, the upper ring cutting toothed rail 401 is driven to surround the outer periphery of the tree. Then, the ring cutting sliding module 402 is activated to drive the two upper ring cutting blade modules 403 to cut the tree surface. During the axial movement of the ring cutting blade modules 403 along the upper ring cutting toothed rail 401, annular grooves are cut on the tree surface. During this process, the two ring cutting blade modules 403 on the lower ring cutting toothed rail simultaneously perform ring cutting, while the longitudinal cutting blade module 405 retracts its blade head to avoid the cutting. The two peeling opening and closing ring arms 502 of the ring peeling component 500 also open and do not perform peeling operation. After the upper and lower annular grooves are cut, the vertical cutting is prepared before the vertical cutting is performed. The cutting head of the ring-cutting blade module 403 retracts to avoid obstacles. Then, according to the pre-set 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 blade module 405 to slide up and down to cut the bark surface. The longitudinal cutting lifting module 404 slides between the upper and lower annular grooves to perform vertical cutting, forming vertical grooves. The depth of the vertical guide groove is greater than the depth of the annular groove. After two vertical grooves are completed, the ring-cutting sliding module 402 rotates a certain angle and continues cutting, performing three vertical cutting operations between the upper and lower annular grooves, finally forming six circumferentially distributed vertical grooves. See the cut annular grooves and vertical grooves. Figure 9 ; After the vertical cut is completed, the vertical blade moves aside, and the upper cutting opening and closing drive device drives the two upper ring cutting mounting arms 406 to open, and the lower cutting opening and closing drive device drives the two lower ring cutting mounting arms to open. Then, the lifting control device 700 drives the ring longitudinal cutting component 400 to descend until the peeling blade position of the ring peeling component 500 corresponds to the position of the upper ring groove, and then stops. Then, the peeling opening and closing drive device drives the two peeling opening and closing ring arms 502 to merge, so that the peeling blade is completely embedded in the ring groove. The peeling extension of the peeling blade is less than or equal to the extension of the ring groove. Then, the lifting control device 700 continues to move, driving the ring peeling component 500 to continue to descend. During the descent, the peeling blade is embedded in the ring groove, cutting the bark surface vertically downward inside the tree to achieve the purpose of peeling. See the peeling position. Figure 10 During this process, the auxiliary longitudinal cutting blade holder 505 moves downwards along the vertical cutting groove, allowing for further cutting and ensuring complete vertical cutting until the peeling blade reaches the lower annular guide groove. At this point, the bark peels off directly in multiple strips. (See [link to relevant documentation]). Figure 11 .

[0037] This invention solves the problems of traditional bark harvesting, which typically requires a large amount of manpower and involves high labor intensity. The introduction of intelligent equipment reduces reliance on manual labor, lowers labor intensity, and alleviates the physical burden on workers. Simultaneously, it significantly increases the bark harvesting speed, improving efficiency by 50% or more compared to traditional manual harvesting, meeting the growing market demand for Chinese medicinal materials. The use of a combination of ring-cutting and vertical-cutting peeling techniques allows the blades to precisely embed into the bark, minimizing damage to its integrity and effectively improving product qualification rate and production capacity. A stable peeling process avoids tearing and breakage during bark separation, ensuring high-quality harvested bark and effectively enhancing the effective components and medicinal value of the medicinal materials. Furthermore, the equipment design takes into account the differences in various tree species and growing environments, allowing for flexible adjustments to harvesting strategies based on the characteristics of different trees, demonstrating strong adaptability and wide application range. Automated and mechanized harvesting methods significantly reduce overall harvesting costs, including labor and time costs, contributing to improved economic efficiency in the Chinese medicine industry. The invention of intelligent harvesting equipment for bark-type Chinese medicinal herbs combines advanced mechanical technology with intelligent control. It not only solves many problems associated with traditional harvesting methods but also provides crucial technical support for the modernization of the Chinese medicinal herb industry. The application of this innovative equipment will not only promote the development of the entire Chinese medicine industry but also bring higher economic benefits to farmers, demonstrating significant socio-economic value.

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

[0039] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent bark-peeling and harvesting device for agricultural trees, characterized in that, Including a walking cart and a robotic arm, and also: The mounting bracket is connected to the end of the robotic arm and serves as the mounting base for the following components; The ring clamp fixing component is located at the top and bottom of the mounting frame and can be opened and closed to clamp and fix it to the surface of the tree; The circumferential cutting component is slidably and vertically connected to the mounting frame via a lifting control device. It includes an upper cutting opening and closing ring arm and a lower cutting opening and closing ring arm that can open and close around the surface of the tree. An upper ring cutting tooth rail is installed inside the upper cutting opening and closing ring arm, and a lower ring cutting tooth rail is installed inside the lower cutting opening and closing ring arm. A circumferential cutting knife module is slidably installed on the inner circumference of the upper and lower ring cutting tooth rails via a circumferential cutting sliding module. A longitudinal cutting knife module is vertically slidably installed between the upper and lower circumferential cutting sliding modules via a longitudinal cutting lifting module. The ring-shaped peeling component is slidably and vertically connected to the mounting frame via a lifting control device and is located above the ring longitudinal cutting component. It includes a peeling opening and closing ring arm that can be opened and closed to encircle the surface of the tree, and a ring-shaped peeling knife is fixed on the inner circumference of the peeling opening and closing ring arm. The annular peeling component further includes a peeling clamp arm mounting base, on which two cooperating peeling opening and closing annular arms and a peeling opening and closing drive device for driving the two peeling opening and closing annular arms to open and close are mounted; semi-arc-shaped peeling arc frames are respectively fixed to the inner circumferential surfaces of the two peeling opening and closing annular arms; the annular peeling knife includes two semi-arc-shaped peeling half-blades, which are respectively fixed to the two peeling arc frames; the two peeling arc frames have peeling openings at the ends near the tree, and the two peeling half-blades can cooperate to form A ring-shaped structure; the ring-shaped peeling knife also includes a peeling knife holder, the bottom end of which extends downward to a peeling blade that can be embedded in a ring-shaped groove, and the bottom end of the peeling blade is provided with a peeling edge; the outer periphery of the peeling knife holder is fixed to the peeling arc-shaped frame by multiple auxiliary longitudinal cutting knife holders, the bottom end of which is provided with an auxiliary longitudinal cutting edge, the auxiliary longitudinal cutting knife holders correspond to the positions of pre-cut vertical grooves, and the auxiliary longitudinal cutting edges are used to move along the vertical grooves during the peeling process to vertically cut the bark.

2. The intelligent bark-peeling and harvesting equipment for agricultural trees as described in claim 1, characterized in that: The ring clamp fixing component includes clamping ring arm support seats fixed to the top and bottom of the mounting frame respectively. A clamping ring arm assembly is installed on the clamping ring arm support seat. The clamping ring arm assembly includes two cooperating clamping ring arms. The ends of the two clamping ring arms near the tree are provided with clamping ring arm openings. The ends of the two clamping ring arms away from the tree are rotatably installed and connected to the clamping ring arm support seat respectively through a clamping arm opening and closing drive device. The clamping arm opening and closing drive device can drive the two clamping ring arms to swing outward to open or swing inward to close simultaneously to form a semi-closed structure that can be opened and closed.

3. The intelligent bark-peeling and harvesting equipment for agricultural trees as described in 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. A lifting motor is connected to one end of the vertical lifting screw. The annular longitudinal cutting component and the annular peeling component are respectively threaded to the vertical lifting screw and vertically slidably mounted on the outside of the vertical guide rod.

4. The intelligent bark-peeling and harvesting equipment for agricultural trees as described in claim 1, characterized in that: The upper cutting opening and closing ring arm includes an upper cutting clamp arm mounting base, on which two cooperating upper ring cutting mounting arms and an upper cutting opening and closing drive device for driving the two upper ring cutting mounting arms to open and close are mounted. The two sides of the upper ring cutting toothed rail are respectively fixed on the two upper ring cutting mounting arms. The upper ring cutting toothed rail has an upper toothed rail opening at the end near the tree. The ring cutting blade module located above is slidably mounted on the inner circumference of the upper ring cutting toothed rail through the ring cutting sliding module.

5. The intelligent bark-peeling and harvesting equipment for agricultural trees as described in claim 1, characterized in that: The lower cutting opening and closing ring arm includes a lower cutting clamp arm mounting base, on which two mutually cooperating lower ring cutting mounting arms and a lower cutting opening and closing drive device for driving the two lower ring cutting mounting arms to open and close are mounted; the two sides of the lower ring cutting toothed rail are respectively fixed on the two lower ring cutting mounting arms, and the lower ring cutting toothed rail has a lower toothed rail opening at the end near the tree, and the ring cutting blade module located below is slidably mounted on the inner circumference of the lower ring cutting toothed rail through the ring cutting sliding module.

6. The intelligent bark-peeling and harvesting equipment for agricultural trees as described in claim 1, characterized in that: Two ring-cutting sliding modules are provided on the inner circumference of the upper ring-cutting toothed rail and the lower ring-cutting toothed rail. The two ring-cutting sliding modules are fixedly connected by an elastic support ring. The two ring-cutting sliding modules are arranged in a 180° offset arrangement inside the upper ring-cutting toothed rail and the lower ring-cutting toothed rail.

7. The intelligent bark-peeling and harvesting equipment for agricultural trees as described in claim 1, characterized in that: The circumferential cutting sliding module includes a circumferential cutting sliding seat that slides along the upper circumferential cutting toothed rail and the lower circumferential cutting toothed rail. A circumferential cutting gear that meshes with the tooth profile of the upper circumferential cutting toothed rail and the lower circumferential cutting toothed rail and a circumferential cutting motor that drives the circumferential cutting gear to rotate are rotatably mounted on the circumferential cutting sliding seat.

8. The intelligent bark-peeling and harvesting equipment for agricultural trees as described in 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 mounted on the upper and lower circumferential cutting sliding modules. The top and bottom ends of the longitudinal cutting guide rod are fixed on the upper and lower circumferential cutting sliding modules. A longitudinal cutting motor is connected to the end of one of the longitudinal cutting lifting screws. The longitudinal cutting blade module is threaded to the longitudinal cutting lifting screw and is slidably mounted vertically outside the longitudinal cutting guide rod.

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