Clamping mechanism and mulberry leaf stripping and picking device and method thereof

Abstract

The invention discloses a clamping mechanism and a mulberry leaf stripping and picking device and method thereof, and belongs to the technical field of sericulture related equipment, and the clamping mechanism comprises a plurality of clamping plate units which are arranged at intervals, are transversely inserted into mulberry branch clusters, are divided into a plurality of columns and are clamped and fixed, so that each column of mulberry twigs are arranged in the branch growth direction and are not crossed and stacked. The clamping plate unit comprises a left clamping plate and a right clamping plate, the front ends of the left clamping plate and the right clamping plate form an acute included angle facing the mulberry twig inserting direction, and the rear ends are connected through an elastic supporting assembly. The distance between the left clamping plate and the right clamping plate is adjusted in a self-adaptive mode through the deformation quantity of the elastic supporting assembly. The mulberry leaf stripping and picking device comprises a clamping mechanism; the leaf stripping mechanism moves in the direction opposite to the direction from the roots to the branch heads of the mulberry twigs and strips off the mulberry leaves on the mulberry twigs in each row; and the collecting mechanism is used for collecting the stripped mulberry leaves. The picking efficiency is remarkably improved, and the method is suitable for large-scale mulberry leaf harvesting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of silkworm industry related equipment, more particularly, the present application relates to a clamping mechanism and a mulberry leaf picking device and method thereof. BACKGROUND

[0002] Mulberry leaves, as the core raw material for silkworm breeding, their picking efficiency directly affects the economic benefits of the silkworm industry. Traditional mulberry leaf picking mainly relies on manual operation, which has problems such as high labor intensity, low efficiency, and easy hand injury. With the development of agricultural mechanization, existing technologies gradually introduce automated equipment to improve the above problems. For example, the Chinese patent authorization text with the announcement number CN107309876B proposes a mechanical hand picking control method, which plans the mechanical hand movement path through stereo vision and GPS positioning, realizing automatic picking of mulberry leaves. However, this scheme still has significant limitations: the mechanical hand needs to be positioned and picked one by one, and when facing the natural structure of scattered growth and cross-dense branches, the path planning complexity is high, resulting in long picking cycle and limited efficiency improvement. In addition, the piece-by-piece picking mode of the mechanical hand is difficult to adapt to the characteristics of the branch growing from the root pile upward, which is easy to cause missed picking or mechanical collision due to the cross-stacking of branches, and even damage the branches, affecting the subsequent growth.

[0003] The root of the above problems lies in the fact that the branches grow radially and scatter from the root pile upward, forming a dense and cross-stacked branch cluster, and the existing technology lacks adaptive design for the branch structure. The mechanical hand or picker needs to position the target one by one in a complex space, with high operation redundancy; at the same time, the cross-stacking of branches increases the difficulty of obstacle avoidance for the mechanical arm, further reducing the picking efficiency. Therefore, there is an urgent need for an innovative solution that can adapt to the characteristics of the scattered growth of branches, achieve batch efficient picking, and reduce branch damage.

[0004] The root of the above problems lies in the fact that the branches grow radially and scatter from the root pile upward, forming a dense and cross-stacked branch cluster, and the existing technology lacks adaptive design for the branch structure. The mechanical hand or picker needs to position the target one by one in a complex space, with high operation redundancy; at the same time, the cross-stacking of branches increases the difficulty of obstacle avoidance for the mechanical arm, further reducing the picking efficiency. Therefore, there is an urgent need for an innovative solution that can adapt to the characteristics of the scattered growth of branches, achieve batch efficient picking, and reduce branch damage. SUMMARY

[0005] The purpose of the present application is to provide a clamping mechanism, mulberry leaf picking device and method for mulberry leaf picking, which solves the problem of low efficiency of mechanical hand picking one by one and difficulty in adapting to the scattered growth structure of branches in the prior art. Through the separation and fixation of the clamping mechanism and the batch picking of the leaf picking mechanism, the picking efficiency is significantly improved, while reducing manual intervention and branch damage, which is suitable for large-scale mulberry leaf harvesting.

[0006] In order to achieve these purposes, the present application provides a clamping mechanism for mulberry leaf picking, comprising: A plurality of spaced clamping plate units are configured to be inserted transversely into the mulberry branch cluster, separating and clamping the mulberry branches into several rows, so that each row of mulberry branches is arranged along the branch growth direction and does not cross and stack.

[0007] Preferably, each clamping plate unit comprises a left clamping plate and a right clamping plate, the front ends of the left and right clamping plates are arranged at an acute angle, and the angle is directed towards the insertion direction of the mulberry branches; the rear ends of the left and right clamping plates are connected by an elastic support assembly, the elastic support assembly comprises springs or elastic rubber blocks distributed along the length direction of the clamping plate; the spacing between the left and right clamping plates is self-adaptively adjusted by the deformation amount of the elastic support assembly.

[0008] Preferably, it further comprises a vibration unit fixed to the inner surface of the left clamping plate and / or the right clamping plate or the elastic support assembly; The vibration unit comprises a micro-vibration motor, an eccentric wheel or a piezoelectric ceramic driver, which is configured to trigger periodic vibration when the clamping plate is inserted into the mulberry branch cluster, and the vibration direction is parallel to the insertion direction of the clamping plate.

[0009] Preferably, the working mode of the vibration unit comprises: Insertion mode: high-frequency low-amplitude vibration is started when the clamping plate is inserted into the mulberry branch cluster, which helps the clamping plate to penetrate the gap between the branches; Clamping mode: switch to low-frequency vibration after clamping and fixing, offset external disturbance through continuous micro-vibration to maintain clamping stability.

[0010] Preferably, the vibration frequency and amplitude of the vibration unit are adjustable, which are dynamically matched by the controller according to the density and thickness of the mulberry branches, specifically including: The clamping plate unit is provided with a pressure sensor and an optical sensor, the pressure sensor is used to detect the extrusion force of the mulberry branches on the clamping plate in real time during clamping, and the optical sensor is used to scan the gap density and branch diameter of the mulberry branch cluster; The controller calculates the actual density grade S and average diameter D of the mulberry branches according to the extrusion rate of the pressure sensor and the scanning data of the optical sensor, and generates dynamic adjustment instructions; The controller has a pre-stored vibration parameter mapping table, which associates the matching relationship between the density grade S, the average diameter D of the mulberry branches and the vibration frequency F, the amplitude A, specifically including: When the density grade S is greater than or equal to a threshold value, the vibration frequency F is increased to 50-100Hz and the amplitude A is reduced to 0.5-1mm, so that the high-frequency vibration can decompose the resistance of dense branches; When the average diameter D≤5mm, the vibration amplitude A is increased to 2-3mm, and the frequency F is reduced to 20-40Hz, so as to avoid the breakage of the thin branches by low-frequency and large-amplitude vibration; The controller retrieves the matched vibration parameters from the mapping table according to the real-time calculated S and D values, and drives the vibration unit to perform the corresponding vibration mode through a pulse width modulation (PWM) signal. During the vibration process, the pressure sensor continuously monitors the resistance change of the mulberry branches, and if the resistance value exceeds the preset range, the controller fine-tunes the vibration parameters until the resistance value returns to the stable interval.

[0011] Preferably, a plurality of smooth elastic protrusions are arranged on the clamping surfaces of the left and right clamping plates, and the elastic protrusions are spaced apart along the length direction of the clamping plates, and the adjacent elastic protrusions form accommodation gaps. The width of the accommodation gap is 5-20mm, and is configured to accommodate a single or multiple mulberry branches. The elastic protrusions are made of silica gel or rubber material, and have a height of 3-8mm, a semispherical or wavy surface, and an elastic support skeleton embedded therein for providing radial cushioning force by deformation during clamping.

[0012] Preferably, the interval density of the elastic protrusions is adaptively adjusted according to the average diameter of the mulberry branches, including: A sliding groove is arranged on the clamping surface of the clamping plate, and the bottom of the elastic protrusion is connected with the sliding groove through a sliding block. The adjacent sliding blocks are connected in series through elastic expansion members, and the elastic expansion members include a spring or a memory alloy component, and the natural length thereof is preset according to the average diameter of the mulberry branches. The interval density of the elastic protrusions is dynamically adjusted by the following method: During the insertion stage: when the clamping plate is inserted into the mulberry branch cluster, the mulberry branches press the elastic protrusions, forcing the sliding blocks to slide along the sliding groove, compressing or stretching the elastic expansion members, so that the interval of the adjacent elastic protrusions is increased or decreased to match the actual distribution density of the mulberry branches. During the clamping stage: after clamping is completed, the restoring force of the elastic expansion members drives the sliding blocks to reset, so that the interval density of the elastic protrusions (27) returns to the preset reference value, providing initial adaptive conditions for the next picking. A scale mark is arranged on the sliding groove for manually adjusting the initial length of the elastic expansion members.

[0013] The mulberry leaf picking device provided by the application comprises: The clamping mechanism is configured to be inserted transversely into the mulberry branch cluster, to separate and clamp the mulberry branches into a plurality of rows, so that the mulberry branches in each row are arranged along the growth direction of the branches and do not cross and stack with each other. A leaf stripping mechanism is arranged below the clamping mechanism, and is configured to move in the opposite direction of the root-to-top direction of the mulberry branches after the clamping mechanism fixes the mulberry branches, so as to strip the mulberry leaves on each row of mulberry branches. A collecting mechanism is arranged below the leaf stripping mechanism, and is used to collect the stripped mulberry leaves.

[0014] The mulberry leaf stripping and picking device provided by the application has the advantages that the device can realize efficient batch picking and efficiency improvement. Step S1: The target mulberry branch cluster is scanned by an optical sensor to obtain branch density distribution and average diameter data; and the clamping plate interval of the clamping mechanism is adjusted according to the scanning result. Step S2: The clamping plate of the clamping mechanism is inserted into the mulberry branch cluster at an acute angle; the insertion mode of the vibration unit is started; the controller dynamically matches high-frequency low-amplitude vibration according to real-time pressure sensor data and optical scanning results, so as to assist the clamping plate to penetrate the branch gap; and the elastic support assembly and the elastic protrusion cooperatively adaptively adjust the clamping plate interval to disperse resistance, until the mulberry branches are separated into several rows and clamped and fixed. Step S3: The vibration unit is switched to the clamping mode, the controller adjusts the vibration parameters to low-frequency micro-amplitude vibration; the leaf stripping mechanism is started to move at a uniform speed in the opposite direction of the root-to-top direction of the mulberry branches, so as to strip the mulberry leaves. Step S4: The stripped mulberry leaves fall into the leaf receiving frame of the collecting mechanism; after the picking is completed, the controller closes the vibration unit, the elastic extension member drives the slider to reset, the clamping plate interval returns to the preset reference value; and the clamping mechanism and the leaf stripping mechanism retreat to the initial position according to the memory path, to prepare for the next picking cycle.

[0015] Preferably, the operation method further includes step S5: if the pressure sensor detects that the extrusion force is out of limit or the optical sensor identifies that the branch is broken, the controller immediately suspends the equipment and issues an alarm.

[0016] The application has at least the following advantages: 1. The application can realize efficient batch picking and efficiency improvement; the cross-stacked mulberry branches are separated into several rows by the comb-shaped clamping plate design of the clamping mechanism and the cooperative action of the vibration unit; the mulberry leaves are stripped in batches at one time by the leaf stripping mechanism, which completely changes the low-efficiency mode of traditional mechanical hand picking of mulberry leaves, and significantly improves the picking amount per unit time; and the insertion resistance of the mulberry branch cluster is greatly reduced and the picking cycle is shortened by the insertion mode (high-frequency low-amplitude vibration) and the clamping mode (low-frequency micro-amplitude vibration) of the vibration unit.

[0017] 2, The mulberry branch protection and damage inhibition can be realized by the clamping mechanism adopting the elastic support assembly, the elastic protrusion and the anti-skid line design, the flexible clamping and vibration buffering decompose the mechanical stress, the branch breakage or epidermis damage caused by rigid extrusion or hard friction is avoided. Further, the controller monitors the mulberry branch state in real time through the optical and pressure sensors, dynamically adjusts the vibration parameters (frequency, amplitude) and the distance between the clamping plates, and ensures the adaptive protection of the thin and weak branches.

[0018] 3, The application has intelligent dynamic adaptation capability, the elastic expansion piece is connected with the sliding groove sliding block, the clamping plate spacing density is dynamically adjusted according to the diameter and distribution density of the mulberry branch, and the morphological characteristics of the mulberry tree at different growth stages are compatible. Further, the controller combines the multi-sensor data and the pre-stored parameter mapping table to optimize the vibration parameters in real time, so as to achieve the purpose of high-density high-frequency penetration and thin and weak branch low-frequency protection. In addition, manual calibration (sliding groove scale) and parameter mapping table updating can also be supported, which is suitable for various mulberry field scenes such as new and old mixed planting and high-density planting.

[0019] 4, The application realizes the whole process closed loop control from mulberry branch scanning, clamping insertion to leaf collecting, reduces the manual intervention and reduces the operation complexity. Through batch picking and intelligent control, the labor cost is significantly reduced, and the application is suitable for large-scale mulberry field harvesting demand.

[0020] 5, The application solves the core problems of low efficiency, large damage and poor adaptability in the prior art, provides a high reliability and high compatibility technical path for mulberry leaf mechanized harvesting, and promotes the intelligent and large-scale upgrading of silkworm industry.

[0021] Other advantages, objects and features of the application will be partly embodied by the following description, and partly understood by those skilled in the art through research and practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 The structure schematic view of the clamping mechanism described in the application; Figure 2 The structure schematic view of the clamping unit described in the application; Figure 3 The structure schematic view of the elastic protrusion of the application; Figure 4 The structure schematic view of the mulberry leaf picking device described in the application; Figure 5 The module structure schematic view of the vibration unit dynamic matching of the application; Figure 6 The operation method flow chart of the mulberry leaf picking device described in the application; Figure 7 The picture of the mulberry branch cluster.

[0023] The collection mechanism 1, the cylinder 101, the clamping mechanism 2, the clamping plate unit 2a, the clamping angle 2b, the center plate 2c, the connecting rod 2d, the seat plate 2e, the telescopic cylinder 2f, the sliding seat 2g, the left clamping plate 21, the right clamping plate 22, the elastic support assembly 23, the vibration unit 25, the controller 26, the pressure sensor 261, the optical sensor 262, the elastic protrusion 27, the support framework 271, the anti-skid particles 272, the sliding groove 273, the sliding block 274, the side groove 274a, the elastic telescopic piece 275, the scale mark 276, the accommodation gap 28, and the leaf pulling mechanism 3. DETAILED DESCRIPTION

[0024] The application will be further described in detail below with reference to examples, so that those skilled in the art can implement the application according to the description.

[0025] It should be understood that the terms such as "have", "contain" and "include" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0026] As shown in Figures 1-4 A clamping structure for mulberry leaf picking, comprising: The clamping mechanism comprises a plurality of clamping plate units 2a arranged at intervals, and the clamping plate units are configured to be inserted transversely into a mulberry branch cluster to separate the mulberry branches into a plurality of rows and clamp and fix them, so that the branches in each row are arranged along the growth direction of the branches and do not cross and stack each other.

[0027] As shown in Figure 1 The three clamping plate units are arranged at intervals on the seat plate 2e, and a clamping space is formed between the clamping plate units. The clamping plate units are driven to move transversely by the telescopic cylinder 2f to insert into or separate from the mulberry branches. The bottom of the telescopic cylinder 2f is matched with the sliding seat 2g, which is used to match the vertical driving track of the mulberry leaf pulling and picking device. Preferably, the clamping plate units are made of aluminum alloy material, and the surface is polished to reduce friction. Preferably, the distance between the clamping plate units can be adjusted within the range of 50 to 150 mm.

[0028] In the implementation process, during actual operation, the operator manually or through the picking device pushes the clamping plate group transversely into the mulberry branch cluster, and an isolation channel is formed between the adjacent clamping plates to force the originally cross-wound branches to arrange naturally along the longitudinal direction. The insertion direction of the clamping plate is perpendicular or close to perpendicular to the axis of the main stem of the mulberry branch (slightly inclined also does not matter), and this insertion mode can effectively decompose the transverse force between the branches to provide good conditions for subsequent leaf picking and reduce the subsequent picking branch chain breaking situation.

[0029] Further, in another embodiment, as shown in Figure 1 and 2As shown, each clamping plate unit includes a left clamping plate 21 and a right clamping plate 22, the front ends of which are arranged at an acute angle 2b, the angle a of which is an acute angle, and the angle 2b is directed towards the insertion direction of the mulberry branch; the rear ends of the left clamping plate 21 and the right clamping plate 22 are supported by an elastic support assembly 23, and the elastic support assembly 23 includes springs or elastic rubber blocks distributed along the length direction of the clamping plate. The spacing between the left clamping plate 21 and the right clamping plate 22 is adaptively adjusted by the deformation amount of the elastic support assembly 23.

[0030] In the legend, the front ends of the left and right clamping plates are hinged and hinged on the center plate 2c through the connecting rod 2d, forming a deformable connecting rod mechanism, and the elastic support assembly 23 is arranged between the left and right clamping plates and the center plate, the number and elastic coefficient of which are set according to the need for clamping force, and in the legend, the elastic support assembly is a supporting spring. Preferably, the supporting spring group is designed with a stiffness gradient, the front end of which has a lower spring stiffness to adapt to thin branches, and the rear end of which has a higher spring stiffness to stabilize thick branches, or the front end has fewer springs, and the rear end has more springs.

[0031] In the implementation process, when the front end of the clamping plate contacts the branch cluster, the acute angle structure naturally separates the branches to both sides. As the insertion depth increases, the lateral pressure generated by the branches causes the spring to compress, and the spacing between the clamping plates automatically expands to the appropriate size. In one example, when clamping a mulberry branch with a diameter of 12 mm, the spring compression amount reaches 8 mm, providing an effective clamping force of 150 Newton, and the branch slip rate is less than 3%. Preferably, the variable stiffness characteristic of the conical spring ensures that the pressure does not exceed 20 Newton when clamping thin branches (diameter less than 5 mm), avoiding damage to the branches.

[0032] The deformation characteristics of the elastic support assembly 23 of the present embodiment dynamically adjust the spacing between the clamping plate units according to the density and thickness of the mulberry branches, avoiding excessive clamping that causes branch breakage or loose clamping that causes clamping failure. The acute angle (a, preferably 20~80°) design optimizes the guidance of the clamping plate into the mulberry branch cluster, while adapting to the morphological characteristics of the naturally dispersed growth of the mulberry branches.

[0033] Further, in another embodiment, as shown, Figure 2 Further comprising a vibration unit 25 fixed to the inner side surface of the left clamping plate 21 and / or the right clamping plate 22 or the elastic support assembly 23; The vibration unit 25 includes any one of a micro-vibration motor, an eccentric wheel or a piezoelectric ceramic driver, configured to trigger periodic vibration when the clamping plate is inserted into the mulberry branch cluster, and the vibration direction is parallel to the insertion direction of the clamping plate.

[0034] In the figure, the vibration unit 25 is fixed inside the left clamping plate 21. A miniature eccentric motor with a power of 15 watts can be selected, and the vibration frequency can be adjusted within the range of 30 to 120 Hz, and the amplitude setting range is 0.5 to 3 mm. Preferably, the vibration unit generates longitudinal vibration along the insertion direction. Preferably, the motor is fixed through a rubber shock pad to reduce energy loss.

[0035] During the insertion operation stage, the motor starts a high-frequency vibration mode of 80 Hz to make the clamping plate produce a small-amplitude reciprocating motion. The vibration energy is mainly concentrated in the front-end 200 mm area, which can effectively reduce the insertion resistance and reduce the loss of branch skin.

[0036] The present embodiment makes the left and right clamping plates have elastic vibration characteristics through the elastic support assembly 23. When inserting into the mulberry branch cluster, the vibration can disperse the resistance of the interlaced branches and reduce the damage caused by hard collision.

[0037] Further, in another embodiment, as shown in Figure 2 The working mode of the vibration unit 25 includes: Insertion mode: Start high-frequency low-amplitude vibration when the clamping plate is inserted into the mulberry branch cluster to assist the clamping plate to penetrate the gap between the branches; Clamping mode: Switch to low-frequency vibration after clamping and fixing to offset external disturbances through continuous micro-vibration and maintain clamping stability.

[0038] The "high-frequency low-amplitude" of the present embodiment refers to a parameter combination with a frequency exceeding 50 Hz and an amplitude less than 1 mm, which is suitable for resolving the resistance of dense branches; "low-frequency vibration" refers to continuous micro-vibration with a frequency lower than 40 Hz, which is mainly used to maintain a stable clamping state.

[0039] For example, the insertion mode uses a frequency of 100 Hz with an amplitude of 1 mm, and the clamping mode switches to a frequency of 25 Hz with an amplitude of 0.3 mm. The mode switching is automatically triggered by the Hall sensor detecting the clamping plate displacement, and when the insertion depth reaches the preset 300 mm, the system completes the state conversion within 0.2 seconds.

[0040] The phased vibration strategy of the insertion mode and the clamping mode of the present embodiment not only ensures that the clamping plate quickly penetrates the branch cluster, but also maintains clamping stability through low-frequency vibration to prevent the mulberry branches from slipping.

[0041] Further, in another embodiment, as shown in Figure 5 The vibration frequency and amplitude of the vibration unit 25 can be adjusted, and the specific density and thickness of the mulberry branches are dynamically matched through the controller 26 to further disperse the resistance of the interlaced branches and guide the mulberry branches to be evenly distributed along the gap of the clamping plate. The dynamic matching system specifically includes: The surface of the clamping plate (21, 22) is provided with a pressure sensor 261, and the clamping mechanism or other suitable position (such as the seat plate 2e) is provided with an optical sensor 262. The pressure sensor is used to detect the extrusion force of the mulberry branches on the clamping plate in real time during the clamping process, and the optical sensor is used to scan the gap density and diameter of the mulberry branches. The controller 26 calculates the actual density level (S) and average diameter (D) of the mulberry branches according to the change rate of the extrusion force of the pressure sensor 261 and the scanning data of the optical sensor 262, and generates dynamic adjustment instructions. The controller has a pre-stored vibration parameter mapping table, which associates the density level (S) of the mulberry branches, the average diameter (D), and the matching relationship of the vibration frequency (F) and the amplitude (A). Specifically, it includes: When the density level (S) is greater than or equal to a threshold value, the vibration frequency (F) is increased to 50-100 Hz, and the amplitude (A) is reduced to 0.5-1 mm, so that the high-frequency vibration can decompose the resistance of dense branches. When the average diameter (D) is less than or equal to 5 mm, the vibration amplitude (A) is increased to 2-3 mm, and the frequency (F) is reduced to 20-40 Hz, so that the low-frequency large-amplitude vibration can avoid the breaking of thin branches. The controller adjusts the matching vibration parameters from the mapping table according to the real-time calculated (S) and (D) values, and drives the vibration unit 25 to execute the corresponding vibration mode through the pulse width modulation (PWM) signal. During the vibration process, the pressure sensor continuously monitors the change of the mulberry branch resistance. If the resistance value exceeds the preset range, the controller adjusts the vibration parameters based on the fuzzy PID algorithm until the resistance value returns to the stable interval.

[0042] For example, an integrated thin film piezoelectric pressure sensor and an optical sensor are used, where the pressure sensor has a range of 0 to 300 Newton, and the optical sensor uses time-of-flight ranging technology to achieve millimeter-level accuracy. The controller has a built-in parameter mapping table, which divides the branch density into five levels (S1 to S5) and the diameter into three ranges (D1 to D3). For example, D1 is less than 5 mm, D2 is 5 to 10 mm, and D3 is more than 10 mm.

[0043] When S3 level density is detected with D2 range diameter (5 to 10 mm), the system automatically selects vibration parameters with a frequency of 80 Hz and an amplitude of 1.2 mm. During the dynamic adjustment process, the controller samples data 20 times per second and adjusts the parameters in real time through a composite control algorithm. The composite control algorithm combines fuzzy logic and proportional-integral-derivative control, which can effectively handle the nonlinear changes of branch parameters.

[0044] The optical sensor 262 adopts a laser three-dimensional scanning module based on the time-of-flight (TOF) principle, is equipped with a VCSEL laser source with a wavelength of 850 nanometers, and covers a scanning angle of 120°×60° in a spatial range. The sensor is built-in with a 1280×720-pixel SPAD array detector, which can realize 200 frames of depth image acquisition per second. Within a working distance of 0.5-1.2 meters from the mulberry bush, the spatial resolution reaches ±1 millimeter, and the depth accuracy is ±3 millimeters. An example of a data processing flow thereof includes: the original three-dimensional point cloud data is first filtered and down-sampled by a voxel grid, the point density is reduced from 500,000 points per frame to 10,000 points, and key features are retained. An improved RANSAC algorithm is used to separate the main body of the mulberry branch from the background according to the cylindrical geometric characteristics, and to eliminate the interference of the leaves. The number of branch axes in a unit volume (10 cm³) is counted, and a 0-5 level density index S is established. The median value is taken as the average diameter D by segmenting and fitting a circle for a single branch. A 9-dimensional feature vector (S / D combination) is constructed, and the optimal vibration parameters (F / A) are matched through a pre-trained random forest model. The controller 26 updates the vibration parameters every 50 ms, and obtains the reference parameters according to the real-time S / D value. Based on the 10 kHz sampling data of the pressure sensor 261, the fuzzy PID algorithm is used for real-time fine adjustment: when the resistance change rate is >5 N / s, the instantaneous frequency is increased by 10%; when the standard deviation of the pressure fluctuation is >3 N, the amplitude is increased by 15%.

[0045] The frequency and amplitude of the present embodiment can be adjusted to accurately adapt the vibration parameters to different mulberry branch conditions (such as the difference between the flexibility of new branches and the hardness of old branches), and improve the compatibility of the device in complex scenes. Through multi-sensor fusion, parameter mapping and closed-loop control mechanism, the dynamic matching process of the vibration unit is converted into a quantifiable and replicable technical solution, which solves the problem of experience-dependent and poor adaptability of vibration parameter adjustment in the prior art, and significantly improves the intelligent level of the device in complex mulberry bush.

[0046] The above embodiment solves the problems of large insertion resistance and poor adaptability caused by the interlacing of branches in the prior art, and is especially suitable for high-density planting in mulberry fields.

[0047] Further, in another embodiment, as shown in Figures 1-3 The clamping surfaces of the left clamping plate 21 and the right clamping plate 22 are provided with a plurality of smooth elastic protrusions 27, which are distributed along the length direction of the clamping plate and form accommodation gaps 28 between adjacent elastic protrusions; The width of the accommodation gap 28 is 5-20 mm, and is configured to accommodate a single or multiple mulberry branches; The elastic protrusions 27 are made of silica gel or rubber material, with a height of 3-8 mm, a hemispherical or wavy surface, and an elastic support skeleton 271 embedded inside, which provides radial buffering force through deformation during clamping. Radial buffering force refers to the elastic reaction force perpendicular to the clamping plate surface when the protrusion is pressed, which is suitable for rough-surfaced mulberry branches, reduces bark damage, and improves branch fixation stability.

[0048] Specifically, the elastic protrusions 27 are made of silica gel material with a Shore hardness of 40A, in the form of a hemisphere with a diameter of 10 mm and a height of 5 mm. The distance between adjacent protrusions is designed to be 15 mm, forming a receiving gap 28. The internal support skeleton 271 is pre-bent into an arc or wavy structure using a 0.8 mm thick spring steel sheet, which can provide a radial buffering force of about 8 Newtons per millimeter.

[0049] During insertion, the mulberry branches slide over the surface of the elastic protrusions and enter the receiving gap 28. During clamping, the protrusions deform elastically, increasing the contact area.

[0050] The smooth elastic protrusions 27 of this embodiment buffer the clamping pressure through deformation, avoiding damage to the mulberry branch surface caused by rigid contact, and are particularly suitable for tender branch protection.

[0051] The flexible structure of the elastic protrusions 27 of this embodiment, combined with the vibration wave conduction of the vibration unit 25, further decomposes the branch resistance and improves the penetration efficiency of the clamping mechanism for high-density mulberry branch clusters.

[0052] Further, in another embodiment, as shown in Figure 1 and 3 The spacing density of the elastic protrusions 27 is adaptively adjusted according to the average diameter of the mulberry branches, including: A sliding groove 273 is provided on the clamping surface of the clamping plate (21, 22), and the bottom of the elastic protrusion 27 is connected to the sliding groove 273 through a sliding block 274; as shown in Figure 3 Side grooves 274a are provided on both sides of the sliding block, which are in sliding cooperation with the sides of the sliding groove 273; Adjacent sliding blocks 274 are connected in series through elastic expansion members 275, which include spring or memory alloy components with a natural length preset according to the average diameter of the mulberry branches; The spacing density of the elastic protrusions 27 is dynamically adjusted as follows: Insertion stage: when the clamping plate is inserted into the mulberry branch cluster, the mulberry branches press the elastic protrusions 27, forcing the sliding blocks 274 to slide along the sliding grooves 273, compressing or stretching the elastic expansion members 275, and increasing or decreasing the spacing between adjacent elastic protrusions 27 to match the actual distribution density of the mulberry branches; In the clamping stage, after clamping is completed, the restoring force of the elastic expansion piece 275 drives the slider 274 to reset, so that the interval density of the elastic protrusions 27 returns to the preset reference value, thereby providing initial adaptive conditions for the next picking; The sliding groove 273 is provided with a scale mark 276 for manually adjusting the initial length of the elastic expansion piece 275 to adapt to the average diameter range of the mulberry branches in different mulberry gardens.

[0053] In the legend, the adjacent sliders 274 are connected in series through the elastic expansion piece 275, and the two sliders at the ends are connected with the sliding groove through the elastic expansion piece 275. The elastic expansion piece 275 uses a spring with a preset restoring force of 12 Newtons. The surface of the sliding rail is provided with a scale mark 276 every 5 millimeters, which corresponds to the adjustment of the diameter range of the mulberry branches of 3 to 18 millimeters. During the insertion operation, the branches compress the elastic protrusions 27 to drive the sliders 274 to slide, and the spring is elastically deformed. After clamping is completed, the spring drives the sliders to reset.

[0054] In this embodiment, through the linkage of the slider 274 and the elastic expansion piece 275, the interval density of the elastic protrusions 27 responds to the distribution density of the mulberry branches in real time during the insertion process, avoiding artificial preset errors. The restoring force of the elastic expansion piece 275 ensures that the interval density is automatically reset after clamping is completed, thereby ensuring the adaptive consistency of repeated use of the equipment. The scale mark 276 supports manual intervention calibration and is suitable for specific scenarios where the diameter of the mulberry branches differs significantly (such as mixed mulberry gardens of old and new). The rigid guide design of the sliding groove 273 and the slider 274 prevents the elastic protrusions 27 from deviating and losing control, thereby ensuring that the clamping surface is uniformly stressed.

[0055] This embodiment realizes dynamic adjustment of the interval density of the elastic protrusions through a mechanical self-adaptive structure, converts real-time sensing of the diameter and distribution density of the mulberry branches into physical deformation of the interval, solves the problem of insufficient clamping compatibility caused by the fixed interval design in the prior art, and significantly improves the universality of the equipment for mulberry trees at different growth stages.

[0056] Further, as shown in Figure 3 The top end of the elastic protrusion is provided with anti-slip particles 272 for increasing the friction contact area with the surface of the mulberry branch and avoiding scratching the surface of the mulberry branch.

[0057] As shown in Figure 4 The mulberry leaf picking device provided by the present application comprises: Any clamping mechanism 2 described in the present application is configured to be inserted transversely into a mulberry branch cluster, to separate and clamp the mulberry branches into a plurality of rows, so that the mulberry branches in each row are arranged along the growth direction of the branches and do not cross and stack each other; The leaf picking mechanism 3 is arranged below the clamping mechanism. The leaf picking mechanism 3 is configured to move in the opposite direction from the root to the top of the mulberry branch after the clamping mechanism clamps the mulberry branches, so as to pick all the mulberry leaves on each row of mulberry branches at one time. A collecting mechanism 1 is arranged below the stripping mechanism to collect the stripped mulberry leaves.

[0058] Preferably, the spacing between the clamping plates of the clamping mechanism is adjustable to accommodate the separation requirements of mulberry branches of different densities and thicknesses. Preferably, the movement path of the stripping mechanism is consistent with the natural downward direction of the mulberry branches, ensuring efficient leaf peeling and reducing branch damage.

[0059] In the legend, the collecting mechanism 1 includes a leaf receiving frame, which comprises a left half frame and a right half frame made of aluminum alloy profile frames. The leaf receiving frame is connected to form a ring structure through hinges, and a double-acting cylinder 101 is installed in the middle to drive the opening and closing of the telescopic part. After the clamping mechanism fixes the mulberry branches, the cylinder 101 pushes the left and right half frames to close, forming a surrounding space with a diameter of 80-200 mm, which encloses a group of mulberry branches. The leaf receiving frame below receives the mulberry leaves, and a negative pressure device can also be added to achieve rapid adsorption and collection of mulberry leaves.

[0060] The stripping mechanism can use two groups of rotating brush rollers with adjustable speed, with a speed range of 50 to 200 rpm, and brush length of 30 mm. After the clamping mechanism fixes the branches, the brush rollers move in the opposite direction of the branch growth at a speed of 120 rpm, with a moving speed of 0.4 m / s; the brush contacts the leaf stalk base in a tangential direction, applying a peeling force of 3-5 N; the peeled mulberry leaves fall into the leaf receiving frame, which then receives and collects the mulberry leaves below.

[0061] Alternatively, the stripping mechanism uses the same structure as the clamping mechanism of the present application, with the only difference being the number or elasticity of the elastic support components 23. For example, the number of elastic support components 23 is reduced from 3 to 2, and the spacing is expanded to 200 mm; the spring stiffness coefficient is reduced from 50 N / mm to 20 N / mm. These differences allow the clamping plate of the stripping mechanism to have a higher degree of activity with the mulberry tree, making it easier to strip the leaves and reducing damage to the mulberry tree. During the stripping and picking process, the clamping plate lightly clamps the branches with a pre-tightening force of 15 N, and the opening and closing degree is adaptively adjusted to the diameter of the branches + 2 mm. The stripping mechanism moves downward along the branches at a speed of 0.3 m / s.

[0062] As shown in Figure 6 and Figure 7 The present application provides an operating method for the mulberry leaf stripping and picking device, which comprises: Step S1: Mulberry branch positioning and clamping mechanism pre-adjustment Scan the target mulberry branch cluster with an optical sensor 262 to obtain branch density distribution and average diameter data; Adjust the spacing between the clamping plates of the clamping mechanism according to the scanning results, and adjust the initial length of the elastic telescopic part 275 according to the scale mark 276 on the sliding groove 273, so that the initial spacing of the elastic protrusions adapts to the average diameter of the mulberry branches; Step S2: Clamping mechanism insertion and vibration resistance reduction The clamping plate of the clamping mechanism is inserted horizontally or obliquely at an acute angle (e.g. Figure 7 ) to the mulberry branch cluster; The insertion mode of the vibration unit 25 is started, and the controller 26 dynamically matches high-frequency low-amplitude vibration (50-100 Hz, 0.5-1 mm) according to the real-time pressure sensor 261 data and optical scanning results to assist the clamping plate to penetrate the gap between the branches; The elastic support assembly 23 cooperates with the elastic protrusion 27 to adaptively adjust the clamping plate spacing to disperse resistance until the mulberry branches are separated into several rows and clamped and fixed; Step S3: Clamping state optimization and leaf stripping The vibration unit 25 is switched to the clamping mode, and the controller 26 adjusts the vibration parameters (20-40 Hz, 2-3 mm) based on the fuzzy PID algorithm to offset external disturbances through low-frequency micro-amplitude vibration; The leaf stripping mechanism is started and moves uniformly in the opposite direction from the root to the top of the mulberry branch, and the clamping mechanism limits the sliding of the mulberry branch to ensure that the mulberry leaves are stripped at one time; The optical sensor 262 monitors the integrity of the stripped leaves in real time, and if residual mulberry leaves are detected, the controller 26 triggers the leaf stripping mechanism to reciprocate and supplement the picking; Step S4: Mulberry leaf collection and device reset The stripped mulberry leaves are guided by the leaf stripping mechanism to fall into the leaf receiving frame of the collection mechanism, and then are received by the collection bag; After the picking is completed, the controller 26 turns off the vibration unit 25, and the elastic extension member 275 drives the sliding block 274 to reset, and the interval returns to the preset reference value; The clamping mechanism and the leaf stripping mechanism retreat to the initial position according to the memory path, preparing for the next picking cycle.

[0063] Further, in another embodiment, the operation method further comprises: Step S5: Abnormality processing and parameter calibration If the pressure sensor 261 detects that the extrusion force is out of limit or the optical sensor 262 identifies that the branch is broken, the controller 26 immediately suspends the device and sends an alarm; The operator manually intervenes according to the alarm information, adjusts the scale of the sliding groove 273 or updates the vibration matching rules in the parameter mapping table, and restarts the device after completing the system calibration.

[0064] Although the embodiments of the present application have been disclosed as above, they are not limited to the application listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present application. Additional modifications can be easily realized by those skilled in the art.

Claims

1. A gripping mechanism for mulberry leaf picking, characterized by, The application relates to a mulberry branch clamping device. The device comprises:

2. The clamping mechanism of claim 1, wherein, a plurality of spaced-apart clamping plate units configured to be inserted into a mulberry branch cluster transversely, so as to separate and clamp the mulberry branches into a plurality of rows, and the branches in each row are arranged along the growth direction of the branches and do not cross and stack each other.

3. The clamping mechanism of claim 2, wherein, Each clamping plate unit comprises a left clamping plate and a right clamping plate, the front ends of the left clamping plate and the right clamping plate are arranged at an acute angle, and the acute angle is directed towards the insertion direction of the mulberry branches; the rear ends of the left clamping plate and the right clamping plate are connected through an elastic support assembly, the elastic support assembly comprises springs or elastic rubber blocks which are spaced apart along the length direction of the clamping plate; and the spacing between the left clamping plate and the right clamping plate is self-adaptively adjusted through the deformation amount of the elastic support assembly. The device further comprises a vibration unit fixed to the inner side surface of the left clamping plate and / or the right clamping plate or the elastic support assembly; 4. The clamping mechanism of claim 2, wherein, The vibration unit comprises a micro-vibration motor, an eccentric wheel or a piezoelectric ceramic driver, and is configured to trigger periodic vibration when the clamping plate is inserted into the mulberry branch cluster, and the vibration direction is parallel to the insertion direction of the clamping plate. The working mode of the vibration unit comprises: an insertion mode: high-frequency low-amplitude vibration is started when the clamping plate is inserted into the mulberry branch cluster, so as to assist the clamping plate to penetrate the gap between the branches; 5. The clamping mechanism of claim 2 or 4, wherein a clamping mode: low-frequency vibration is switched after clamping and fixing, so as to offset external disturbance through continuous micro-amplitude vibration, and the clamping stability is maintained. The vibration frequency and amplitude of the vibration unit are adjustable, and are dynamically matched according to the density and thickness of the mulberry branches through a controller, and specifically comprise: The clamping plate unit is provided with a pressure sensor and an optical sensor, the pressure sensor is used for detecting the extrusion force of the mulberry branches on the clamping plate in real time during clamping, and the optical sensor is used for scanning the gap density and branch diameter of the mulberry branch cluster; The controller calculates the actual density grade S and average diameter D of the mulberry branches according to the extrusion force change rate of the pressure sensor and the scanning data of the optical sensor, and generates a dynamic adjustment instruction; The controller pre-stores a vibration parameter mapping table, the mapping table is related to the matching relationship among the mulberry branch density grade S, the average diameter D, the vibration frequency F and the amplitude A, and specifically comprises: When the density grade S is greater than or equal to a threshold value, the vibration frequency F is increased to 50-100 Hz, and the amplitude A is reduced to 0.5-1 mm, so that the high-frequency vibration is used to decompose the resistance of dense branches; When the average diameter D is less than or equal to 5 mm, the vibration amplitude A is increased to 2-3 mm, and the frequency F is reduced to 20-40 Hz, so that the low-frequency large-amplitude vibration is used to avoid the breakage of thin branches; The controller adjusts the vibration parameters through pulse width modulation (PWM) signals to drive the vibration unit to execute the corresponding vibration mode according to the S and D values calculated in real time; 6. The mulberry leaf picking apparatus according to claim 2 or 3, wherein During the vibration process, the pressure sensor continuously monitors the change of the resistance of the mulberry branches, and if the resistance value exceeds a preset range, the controller finely adjusts the vibration parameters until the resistance value returns to the stable interval. A plurality of smooth elastic protrusions are arranged on the clamping surfaces of the left clamping plate and the right clamping plate, the elastic protrusions are spaced apart along the length direction of the clamping plate, and a containing gap is formed between adjacent elastic protrusions; The width of the containing gap is 5-20 mm, and the containing gap is configured to accommodate a single mulberry branch or a plurality of mulberry branches. The elastic protrusions are made of silica gel or rubber material, with a height of 3-8mm, a hemispherical or wavy surface, and an elastic support skeleton embedded inside, for providing radial buffering force through deformation during clamping.

7. The mulberry leaf picking apparatus according to claim 6, wherein The interval density of the elastic protrusions is self-adaptively adjusted according to the average diameter of the mulberry branches, including: A sliding groove is arranged on the clamping surface of the clamping plate, and the bottom of the elastic protrusion is slidably connected with the sliding groove through a sliding block; The adjacent sliding blocks are connected in series through elastic expansion components, which include springs or memory alloy components with a natural length preset according to the average diameter of the mulberry branches; The interval density of the elastic protrusions is dynamically adjusted in the following ways: During the insertion stage, when the clamping plate is inserted into the mulberry branch cluster, the mulberry branches press the elastic protrusions, forcing the sliding blocks to slide along the sliding groove, compressing or stretching the elastic expansion components, and increasing or decreasing the interval of the adjacent elastic protrusions to match the actual distribution density of the mulberry branches; During the clamping stage, after clamping is completed, the restoring force of the elastic expansion components drives the sliding blocks to reset, so that the interval density of the elastic protrusions returns to the preset reference value, providing initial adaptive conditions for the next picking; A scale mark is arranged on the sliding groove for manually adjusting the initial length of the elastic expansion components.

8. A mulberry leaf picking device, characterized by, Including: The clamping mechanism of any one of claims 1-7 is configured to be inserted horizontally into the mulberry branch cluster, separating and clamping the mulberry branches into several columns, so that each column of mulberry branches is arranged along the growth direction of the branches and does not cross and stack each other; The leaf stripping mechanism is arranged below the clamping mechanism, and is configured to move in the opposite direction of the root to the top of the mulberry branches after the clamping mechanism clamps the mulberry branches, so as to strip the mulberry leaves on each column of mulberry branches; The collecting mechanism is arranged below the leaf stripping mechanism and is used to collect the stripped mulberry leaves.

9. The method of operating the mulberry leaf picking device of claim 8, characterized in that, Including: Step S1: scan the target mulberry branch cluster through an optical sensor to obtain branch density distribution and average diameter data; adjust the interval of the clamping plates of the clamping mechanism according to the scanning results: Step S2: insert the clamping plates of the clamping mechanism into the mulberry branch cluster at an acute angle; start the insertion mode of the vibration unit, and the controller dynamically matches the high-frequency low-amplitude vibration according to the real-time pressure sensor data and the optical scanning results to assist the clamping plates to penetrate the branch gaps; the elastic support assembly cooperates with the elastic protrusions to adaptively adjust the interval of the clamping plates to disperse the resistance until the mulberry branches are separated into several columns and clamped; Step S3: switch the vibration unit to the clamping mode, and the controller adjusts the vibration parameters to low-frequency micro-amplitude vibration; Start the leaf stripping mechanism to move at a constant speed in the opposite direction of the root to the top of the mulberry branches to strip the mulberry leaves; Step S4: the stripped mulberry leaves fall into the leaf receiving frame of the collecting mechanism; after picking is completed, the controller turns off the vibration unit, the elastic expansion components drive the sliding blocks to reset, and the interval of the clamping plates returns to the preset reference value; the clamping mechanism and the leaf stripping mechanism retreat to the initial position according to the memory path, preparing for the next picking cycle.

10. The operating method of claim 9, wherein, Step S5: if the pressure sensor detects that the pressing force exceeds the limit or the optical sensor identifies that the branch is broken, the controller immediately suspends the equipment and issues an alarm.

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