Self-adaptive constant pressure cutting device of tea culm bamboo branch removing machine and intelligent constant pressure control cutting method thereof

Abstract

The application discloses a self-adaptive constant-pressure cutting device of a tea culm bamboo branch removing machine and an intelligent constant-pressure control cutting method thereof, and belongs to the technical field of bamboo processing. The device comprises a rack, a transmission system and a ring-shaped cutter head. The transmission system is fixedly installed on the rack, and an output end of the transmission system is connected with the ring-shaped cutter head, which is used for driving the ring-shaped cutter head to revolve around the center line of the bamboo horizontally, so that a circumferential cutting force is generated. Three air cylinders which are circumferentially arranged on the ring-shaped cutter head can synchronously feed in the radial direction and provide constant pressing force. A bull's eye wheel which can rotate in all directions is used to adapt to the changes of the diameter and the node of the bamboo. When working, the bamboo is axially fed, and the high-speed revolving cutter blade is cooperated with the radial constant-pressure floating, so that a composite spiral cutting track is generated, continuous and profiling cutting of the bamboo branch is realized, and the bamboo surface is effectively protected from being pressed or scratched.

Description

Technical Field

[0001] This invention relates to the field of bamboo processing technology, and more specifically, to an adaptive constant pressure cutting device for a tea stalk bamboo debranching machine and its intelligent constant pressure control cutting method. Background Technology

[0002] Tea stalk bamboo is a bamboo species with high economic value. Its surface is covered with a large number of branches, leaves, and raised knots, which need to be cleaned before it can be used for further processing. However, the traditional manual debranching method has problems such as low production efficiency, high labor intensity, rising production costs, and prominent safety hazards. More importantly, the stability of manual operation is poor, and it is easy to damage the bamboo green layer due to improper control of force and angle, resulting in a decrease in the grade of bamboo and affecting the value of the finished product. Existing mechanical debranching equipment mostly uses rigid fixed blades or simple spring clamping mechanisms, which cannot effectively cope with the natural diameter variation, curvature, and bamboo node height difference of tea stalk bamboo. During operation, the phenomena of "overcutting" and "undercutting" coexist: in the concave parts of the bamboo, the blade cannot effectively follow, resulting in the residue of branches and leaves; when encountering hard bamboo nodes, the rigid blade cannot retreat in time and generates violent impact, which not only easily damages the blade and causes equipment jamming, but also leaves deep cuts, tears and other irreversible damage on the bamboo surface.

[0003] Therefore, there is an urgent need for an adaptive constant pressure cutting device and an intelligent constant pressure control cutting method for a tea stalk bamboo debranching machine that can actively adapt to the undulations of the bamboo surface and maintain stable and controllable radial compression during the adaptive process, in order to solve the above technical problems. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive constant pressure cutting device for a tea stalk and bamboo branch removal machine and its intelligent constant pressure control cutting method, thereby solving the above-mentioned technical problems.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An adaptive constant pressure cutting device for a tea stalk and bamboo debranching machine includes a frame, a transmission system, an annular cutter head, and a control system.

[0007] The transmission system is fixedly mounted on the frame, and its output end is connected to the annular cutter head. It is used to drive the annular cutter head to revolve around the center line of the bamboo that passes horizontally through it. The annular cutter head has three cylinders evenly distributed circumferentially on its surface. The output end of each cylinder is provided with a piston rod, and the extension and retraction direction of the piston rod points to the center of the annular cutter head. The output end of each piston rod is connected to a cutter holder. The cylinder drives the piston rod to move the cutter holder radially along the annular cutter head. The cutter holder includes a blade, a bullseye wheel, and a body connected to the piston rod. The bullseye wheel and the blade are both fixed on the side of the body near the center of the annular cutter head. The plane of the blade is perpendicular to the axis of the piston rod. In the radial direction of the annular cutter head, the outer edge of the bullseye wheel protrudes beyond the cutting edge of the blade, so that the bullseye wheel contacts the bamboo surface before the blade during radial feed. The cutting edge of the blade is set in a direction parallel to the axis of the bamboo.

[0008] The control system is mounted on the frame and is used to control the automated operation of the entire device.

[0009] As a preferred embodiment of the present invention, the transmission system includes a motor, a small active synchronous pulley, a synchronous belt, a large synchronous pulley, and a hollow shaft. The motor is fixed to the frame via a motor mounting bracket. The small active synchronous pulley is mounted on the output shaft of the motor. The large synchronous pulley is connected to the small active synchronous pulley via the synchronous belt. The output end of the large synchronous pulley is fixedly connected to one end of the hollow shaft. The hollow shaft is supported in a bearing housing by a pair of angular contact ball bearings. The bearing housing is fixed to the frame. The annular cutter head is coaxially fixed to the other end of the hollow shaft. The central hole of the annular cutter head is aligned with the through hole of the hollow shaft, forming a channel for bamboo to pass through. The motor drives the hollow shaft to rotate relative to the bearing housing, thereby driving the annular cutter head to rotate.

[0010] As a preferred embodiment of the present invention, an adjusting shim is provided between the mounting base of the bullseye wheel and the body to adjust the relative distance between the outer edge of the bullseye wheel and the cutting edge of the blade, i.e., the cutting depth.

[0011] As a preferred embodiment of the present invention, the blade is an indexable blade made of disposable cemented carbide, and the blade is fastened to the tool holder by screws.

[0012] As a preferred embodiment of the present invention, a pneumatic control system is also included for controlling the movement of the cylinder. The pneumatic control system includes an integrated pneumatic rotary joint, which includes a fixed end and a rotating end. The fixed end is fixedly connected to the bearing seat and remains stationary. The rotating end is fixedly connected to the hollow shaft and rotates synchronously with it. The fixed end is provided with multiple independent stationary air channels. The input end of the stationary air channel is connected to an external air source. The rotating end is machined with a rotating air channel corresponding to the stationary air channel. The input end of the rotating air channel is connected to the output end of the stationary air channel through a dynamic seal, and the output end is connected to the inlet and outlet of each cylinder through an air pipe. Compressed air provided by the external stationary air source is continuously delivered to the cylinder to provide power to the cylinder and control the movement of the piston rod to output a constant radial clamping force on the bamboo.

[0013] As a preferred embodiment of the present invention, a pneumatic control valve group for controlling the cylinder pressure and movement speed is also installed on the static air passage. The pneumatic control valve group includes a pressure reducing valve, a speed regulating valve, and a solenoid valve for controlling speed switching. The pressure reducing valve is used to set and maintain a constant cylinder thrust, the speed regulating valve is used to adjust the feed speed of the cylinder, and the solenoid valve is used to control whether the airflow bypasses the speed regulating valve and automatically switch the feed speed of the tool holder.

[0014] As a preferred technical solution of the present invention, the control system adopts PLC program control, and the device is equipped with a position sensor for detecting whether the bamboo is in place. The position sensor feeds back the detection data to the PLC program. After receiving the bamboo in place signal, the PLC program controls the motor of the transmission system and the cylinder to start.

[0015] The cylinder is equipped with a magnetic switch for detecting the position of the piston rod stroke. The magnetic switch is electrically connected to the control system. When the magnetic switch detects that the piston rod extends beyond a preset safe stroke, the control system controls the cylinder to stop operating.

[0016] The present invention discloses an intelligent constant pressure control cutting method for an adaptive constant pressure cutting device of a tea stalk and bamboo debranching machine, which includes the following steps:

[0017] S1. Data Acquisition: A gas flow meter is installed on the static gas channel to monitor the instantaneous flow data Q of the static gas channel in real time. An industrial camera is installed upstream of the feed direction of the tea stalk bamboo to capture the surface image of the tea stalk bamboo in real time and identify the bamboo nodes or concave contours on the tea stalk bamboo. Its axial length L and radial height H are calculated. The real-time revolution speed ω of the annular cutter head and the real-time feed speed v of the tea stalk bamboo are recorded simultaneously.

[0018] S2. Establish a dynamic flow prediction model: Based on the contour features (L, H) and motion parameters (ω, v) extracted in step S1, the control system calculates the ideal gas flow fluctuation range [Q] under the current operating conditions according to the preset contour-flow mapping model. min Q max ];

[0019] S3. Status Diagnosis: Compare the instantaneous flow rate data Q measured in step S1 with the gas flow rate fluctuation range [Q] generated in step S2. min Q max The comparison is performed, and the operating status of the device is determined based on the comparison results:

[0020] When the instantaneous flow rate data Q falls within the gas flow rate fluctuation range [Q] min Q max If the pressure of the bullseye wheel on the surface of the tea stalk bamboo remains constant and the machine is working normally, then the flow fluctuation of the flow meter is considered to be caused by the normal undulation of the surface of the tea stalk bamboo.

[0021] When the instantaneous flow rate data Q deviates from the gas flow rate fluctuation range [Q] min Q max] If the pressure of the bullseye wheel on the surface of the tea stalk bamboo deviates from the set value, the control system will trigger an abnormality warning signal to remind the operator.

[0022] As a preferred technical solution of the present invention, the construction of the profile-flow mapping model is achieved in the following way: In the calibration stage, a standard specimen with a known surface profile is used for testing, and instantaneous flow data Q under different combinations of profile features (L, H) and motion parameters (ω, v) on the standard specimen is collected. The data is trained using a machine learning algorithm to fit a model with L, H, ω, v as input and the gas flow fluctuation range [Q]. min Q max ] represents the output prediction model.

[0023] In summary, compared with the prior art, the beneficial effects of the present invention are:

[0024] The adaptive constant pressure cutting device of the tea stalk bamboo debranching machine of the present invention has a bullseye wheel that contacts the bamboo surface before the blade, forming a dynamic and rolling physical limit. This ensures that the cutting depth of the blade is strictly limited to a small range that can only remove bamboo branches. The cutting depth can be precisely set by adjusting the shims, which fundamentally eliminates the possibility of the blade cutting into the bamboo stalk body and damaging the precious bamboo green layer. At the same time, the constant pressure provided by the cylinder combined with the flexible support of the bullseye wheel allows the blade to slightly retract when encountering bamboo node protrusions and to follow up in time when bamboo is concave, realizing "contour cutting". In the end, a high-quality cut with flatness, smoothness, no gnaw marks and no missing cuts is obtained on the entire bamboo stalk surface, which greatly improves the commercial value and aesthetics of the bamboo after debranching.

[0025] The inherent irregularities of bamboo, such as varying diameters, curvatures, and protruding nodes, pose a significant challenge to automated processing. This device addresses these challenges with its powerful adaptive capabilities through a combination of "three evenly distributed independent drives" and "a composite motion of revolution and radial adaptive feed." Driven by constant air pressure, the three evenly distributed cylinders propel their respective cutter heads independently, automatically centering and firmly gripping bamboo stalks of any diameter and ellipticity. As the annular cutter head revolves past a node, dynamic and instantaneous radial adjustments are made, ensuring uniform cutting pressure throughout the bamboo and between the nodes. This allows the device to intelligently adapt to the natural morphological changes of the bamboo, rather than forcing it to conform to the machine's rigid structure.

[0026] The intelligent constant pressure control cutting method of the adaptive constant pressure cutting device of the tea stalk bamboo debranching machine of the present invention, by introducing an intelligent constant pressure control method, endows the machine with the ability of "sensing, predicting, and diagnosing". It uses an industrial camera to predict the outline of the bamboo surface, uses a gas flow meter to monitor the instantaneous flow data Q of the pneumatic system in real time, and uses a dynamic flow prediction model established by machine learning to predict the flow fluctuation range under normal working conditions. By comparing the measured data with the predicted range, it can diagnose in real time whether it is a normal adaptive action or an abnormal fault such as air leakage or component jamming, thereby realizing early warning and active safety protection. It not only prevents the production of defective products, but also realizes the leap from passive maintenance to predictive maintenance, significantly improving the overall reliability and production efficiency of the equipment. Attached Figure Description

[0027] Figure 1 This is a three-dimensional schematic diagram of the adaptive constant pressure cutting device of the tea stalk and bamboo branching machine of the present invention;

[0028] Figure 2 This is a cross-sectional view of the adaptive constant pressure cutting device of the tea stalk and bamboo branching machine of the present invention;

[0029] Figure 3 This is a schematic diagram of the installation of the annular cutter head and cylinder of the present invention;

[0030] Figure 4 for Figure 3 A sectional view of AA;

[0031] Figure 5 This is a schematic diagram of the tool holder of the present invention;

[0032] Figure 6 This is a control principle diagram of the pneumatic control system of the present invention;

[0033] Among them, 1-motor, 2-motor mounting bracket, 3-active synchronous small pulley, 4-synchronous belt, 5-synchronous large pulley, 6-hollow shaft, 7-bearing housing, 8-ring cutter head, 9-angular contact ball bearing, 10-cylinder, 11-tool holder, 12-blade, 13-screw, 14-bullseye wheel, 15-body. Detailed Implementation

[0034] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for illustration and explanation only and are not intended to limit the present invention.

[0035] like Figures 1 to 5 As shown, an adaptive constant pressure cutting device for a tea stalk and bamboo debranching machine includes a frame, a transmission system, an annular cutter head 8, and a control system.

[0036] The transmission system is fixedly mounted on the frame, and its output end is connected to the annular cutter head 8. It is used to drive the annular cutter head 8 to revolve around the center line of the bamboo that passes horizontally. Three cylinders 10 are evenly distributed on the surface of the annular cutter head 8. The output end of the cylinder 10 is provided with a piston rod, and the extension and retraction direction of the piston rod points to the center of the annular cutter head 8. The output end of each piston rod is connected to a cutter holder 11. The cylinder 10 drives the piston rod to move the cutter holder 11 radially along the annular cutter head 8. The cutter holder 11 includes a blade 12, a bullseye wheel 14, and a body 15 connected to the piston rod. The bullseye wheel 14 and the blade 12 are both fixed on the side of the body 15 near the center of the annular cutter head 8. The plane of the blade 12 is perpendicular to the axis of the piston rod. In the radial direction of the annular cutter head 8, the outer edge of the bullseye wheel 14 protrudes from the cutting edge of the blade 12, so that the bullseye wheel 14 contacts the bamboo surface before the blade 12 during radial feed. The cutting edge of the blade 12 is set in a direction parallel to the axis of the bamboo.

[0037] The control system is mounted on the rack and is used to control the automated operation of the entire unit.

[0038] The core advantage of the adaptive constant pressure cutting device of the bamboo stalk debranching machine of the present invention lies in its adaptability and constant pressure, which solves the cutting problems caused by the uneven diameter, non-circular shape, and irregular surface of bamboo stalks in bamboo processing. The outer edge of the bullseye wheel 14 protrudes from the cutting edge of the blade 12, so that the bullseye wheel 14 contacts the bamboo surface first and rolls on the bamboo surface to form a stable support point and a certain cutting depth. The blade 12 then follows, only removing the protruding bamboo branches without excessively cutting into the bamboo stalk body, perfectly protecting the integrity and smoothness of the valuable bamboo shoots. The three evenly distributed cylinders 10 and the blade holder 11 constitute a... An adaptive system ensures that regardless of the bamboo stalk's thickness, once it enters the annular cutter head 8, the three bullseye wheels 14 automatically adjust their position under the thrust of the cylinder 10, always keeping them close to the bamboo surface. This allows the annular cutter head 8 to automatically center itself. The three independent cylinders 10 can extend and retract independently, enabling the three blades 12 to follow the actual contour of the bamboo stalk. This ensures that a constant cutting pressure is maintained throughout the entire circumference, preventing excessive cutting due to protrusions or missed cuts due to depressions. The constant pressure guarantees a stable cutting process, resulting in clean and smooth cuts on the bamboo branches, which is beneficial for subsequent processing and storage, and reduces burrs and splitting.

[0039] In a preferred embodiment of the present invention, the transmission system includes a motor 1, a small active synchronous pulley 3, a synchronous belt 4, a large synchronous pulley 5, and a hollow shaft 6. The motor 1 is fixed on the frame via a motor mounting bracket 2. The small active synchronous pulley 3 is mounted on the output shaft of the motor 1. The large synchronous pulley 5 is connected to the small active synchronous pulley 3 via the synchronous belt 4. The output end of the large synchronous pulley 5 is fixedly connected to one end of the hollow shaft 6. The hollow shaft 6 is supported in a bearing seat 7 by a pair of angular contact ball bearings 9. The bearing seat 7 is fixed on the frame. The annular cutter disc 8 is coaxially fixed to the other end of the hollow shaft 6. The center hole of the annular cutter disc 8 is aligned with the through hole of the hollow shaft 6, forming a channel for bamboo to pass through. The motor 1 drives the hollow shaft 6 to rotate relative to the bearing seat 7, thereby driving the annular cutter disc 8 to rotate.

[0040] In this invention, the hollow shaft 6 and the annular cutter head 8 together form a continuous, coaxial channel, allowing bamboo to pass horizontally and continuously through the high-speed rotating cutting device, realizing automated assembly line operation without interrupting the processing to clamp or move the bamboo, greatly improving production efficiency. The rotational power of the motor 1 in the transmission system is transmitted to the active synchronous pulley 3 mounted on the output shaft, and then to the larger synchronous pulley 5 via the synchronous belt 4. The diameter ratio of the synchronous pulley 5 to the active synchronous pulley 3 constitutes the reduction ratio of the transmission system, which reduces the rotational speed and increases the output torque to adapt to the force and speed required for cutting by the annular cutter head 8. Compared with gear transmission, the synchronous belt 4 transmission is flexible and can absorb the impact and vibration during the start-up and operation of the motor 1. The synchronous belt 4 transmits power through the meshing of the belt teeth and pulley teeth, eliminating slippage. This makes the rotation of the annular cutter head 8 more stable, reducing the noise and wear of the entire machine. It also helps protect the surface of the bamboo, preventing unnecessary scratches caused by transmission vibration. The hollow shaft 6 is supported in the bearing housing 7 by a pair of angular contact ball bearings 9, thus achieving force distribution and smooth rotation. The bearings can simultaneously bear radial loads, such as the weight of the cutter head and cutter holder 11, and the radial force generated by cutting bamboo branches, as well as axial loads, such as the axial thrust that may be generated by bamboo feeding and the axial component of the transmission itself. This ensures the rigidity and stability of the hollow shaft 6 under high-speed rotation, preventing it from shaking and thus ensuring cutting accuracy.

[0041] In a preferred embodiment of the present invention, an adjusting shim is provided between the mounting base of the bullseye wheel 14 and the body 15 to adjust the relative distance between the outer edge of the bullseye wheel 14 and the cutting edge of the blade 12, i.e. the cutting depth.

[0042] The function of the bullseye wheel 14 is to provide rolling support and define a "reference surface". The amount by which the cutting edge of the insert 12 protrudes relative to this reference surface is the actual cutting depth. The cutting depth can be set by changing the adjusting shims of different thicknesses.

[0043] In a preferred embodiment of the present invention, the blade 12 is an indexable blade 12, made of disposable cemented carbide, and the blade 12 is fastened to the tool holder 11 by screws 13.

[0044] The blade 12 is an indexable blade. When one of the cutting edges wears out, there is no need to replace the entire blade 12. Simply loosen the screw 13, switch the blade 12 to a new, unused cutting edge, and then tighten it again. A blade 12 typically has 3-8 cutting edges, which extends the life of a single blade 12 several times and effectively reduces the consumption cost of the blade 12. In addition, the cemented carbide has extremely high hardness, wear resistance, and red hardness, which makes the blade 12 wear-resistant when cutting bamboo and can maintain its sharpness for a long time, thereby ensuring a smooth and clean cutting surface and avoiding burrs or tears caused by the wear of the blade 12.

[0045] As a preferred embodiment of the present invention, it also includes a pneumatic control system for controlling the movement of the cylinder 10. The pneumatic control system includes an integrated pneumatic rotary joint, which includes a fixed end and a rotating end. The fixed end is fixedly connected to the bearing seat 7 and remains stationary, while the rotating end is fixedly connected to the hollow shaft 6 and rotates synchronously with it. The fixed end is provided with multiple independent stationary air channels. The input end of the stationary air channel is connected to an external air source. The rotating end is machined with a rotating air channel corresponding to the stationary air channel. The input end of the rotating air channel is connected to the output end of the stationary air channel through a dynamic seal, and the output end is connected to the inlet and outlet of each cylinder 10 through an air pipe. The compressed air provided by the external stationary air source is continuously delivered to the cylinder 10 to provide power to the cylinder 10 and control the movement of the piston rod to output a constant radial clamping force on the bamboo.

[0046] The pneumatic control system of this invention allows a stationary external air source to provide uninterrupted compressed air to a continuously rotating hollow shaft 6 and cylinder 10 on an annular cutter head 8. Without the limitations of traditional long air pipes that are tangled or twisted, the annular cutter head 8 can rotate continuously indefinitely, thereby ensuring that bamboo debranching can achieve true, uninterrupted automated production line operation and greatly improve production efficiency. The integrated pneumatic rotary joint usually exists as a standardized modular unit. Once the internal seals wear and cause leakage, it can be disassembled as a whole and quickly replaced, or the internal sealing components can be replaced by professionals, minimizing equipment downtime.

[0047] At the mating surface of the fixed end and the rotating end, a precision dynamic seal is provided for each independent air passage. Under the pre-tightening force of springs, it always maintains close contact with the rotating component, forming an interface that can slide relative to each other but can effectively seal. Compressed air enters the stationary air passage of the fixed end from an external air source. At the end of the stationary air passage, the gas pressure acts on the sealing surface. At the same time, relying on the elasticity of the seal itself, a dynamic and closed cavity is formed between the fixed end and the rotating end. The compressed air "transitions" from the stationary air passage to the rotating air passage of the rotating end through this dynamic sealing interface. Finally, the compressed air is delivered to the cylinder 10 that rotates together with the annular cutter head 8 through the air pipe connected to the rotating end, driving the piston rod to move. Since there are multiple independent stationary air passages and rotating air passages inside, and each passage has its own dynamic sealing system, the PLC program can control multiple external solenoid valves to independently control the airflow direction and on / off of each cylinder 10, thereby realizing the synchronous and precise coordinated action of the three cutter heads 11.

[0048] As a preferred embodiment of the present invention, a pneumatic control valve assembly for controlling the pressure and movement speed of the cylinder 10 is also installed on the stationary air passage. The pneumatic control valve assembly includes a pressure reducing valve, a speed regulating valve, and a solenoid valve for controlling speed switching. The pressure reducing valve is used to set and maintain a constant thrust of the cylinder 10, the speed regulating valve is used to adjust the feed speed of the cylinder 10, and the solenoid valve is used to control whether the airflow bypasses the speed regulating valve and automatically switch the feed speed of the tool holder 11.

[0049] As a preferred embodiment of the present invention, the control system adopts PLC program control. The device is equipped with a position sensor for detecting whether the bamboo is in place. The position sensor feeds back the detection data to the PLC program. After receiving the bamboo in place signal, the PLC program controls the motor 1 and cylinder 10 of the transmission system to start.

[0050] A magnetic switch for detecting the position of the piston rod stroke is connected to the cylinder 10. The magnetic switch is electrically connected to the control system. When the magnetic switch detects that the piston rod extends beyond the preset safe stroke, the control system controls the cylinder 10 to stop operating.

[0051] like Figure 6 As shown, the pneumatic control system is the core of achieving constant pressure feed and safety protection functions. After the pneumatic control system is started, the compressed air is filtered and pressure regulated before being divided into three parallel branches through the main air path, each independently controlling one of the three cutting cylinders 10. Each branch is connected in series with a pressure reducing valve and a speed regulating valve: the pressure reducing valve is used to set and maintain a constant working pressure for the driving cylinder 10, ensuring the stability of the cutting force; the speed regulating valve is used to precisely adjust the air intake speed of the cylinder 10, thereby controlling the radial feed rhythm of the tool holder 11. To ensure operational safety, each cylinder 10 is equipped with a magnetic switch to detect the piston rod's stroke position in real time and feed the signal back to the PLC program. Once the magnetic switch detects that the piston rod extends beyond the preset safe stroke, the PLC program will immediately determine that there is a risk of mechanical interference between the tool holder 11 and its internal components, and quickly issue a command to stop the cylinder 10's operation, effectively preventing equipment damage.

[0052] In addition, a speed switching circuit controlled by a solenoid valve (3YA) is specially designed in the air circuit. Its operation process is managed by the PLC program. At the beginning of the cutting cycle, the solenoid valve (3YA) is energized. The airflow on the rod side of cylinder 10 is discharged after being throttled by the speed regulating valve, driving the tool holder 11 to advance smoothly at a "slow speed" to achieve impact-free approach. When the proximity switch (not shown in the figure) installed on the tool holder 11 detects that the tool holder 11 is about to contact the bamboo surface, it will trigger a signal to the PLC program. The PLC program will then control the solenoid valve (3YA) to de-energize, so that the airflow on the rod side of cylinder 10 will bypass the speed regulating valve and be discharged quickly and in large quantities, switching to "fast" feed. This "slow-fast" speed switching process avoids impact damage to the bamboo surface when the tool holder 11 initially contacts the bamboo surface, and ensures the working efficiency of the subsequent cutting stage, achieving an organic unity of protection and high efficiency.

[0053] Working principle:

[0054] Phase 1: System Initialization and Standby

[0055] After the device is powered on, the PLC program puts the system into standby mode. At this time, the piston rod is fully retracted, driving the three tool holders 11 to the farthest radial end, so that the bamboo inlet at the center of the annular cutter head 8 is opened to the maximum, providing a channel for the smooth introduction of bamboo. The PLC program starts the drive motor 1, which drives the annular cutter head 8 to start continuously revolving around the center line of the bamboo through the transmission system. At this time, although the blade 12 is rotating, it is in an "empty tool" state because the tool holder 11 is not fed, waiting for processing instructions.

[0056] Phase Two: Bamboo Positioning and Adaptive Clamping

[0057] Bamboo is fed horizontally into the cutting area from right to left by an external feeding mechanism. When the front end of the bamboo reaches and triggers the preset position sensor, the position sensor immediately sends a "bamboo in position" signal to the PLC program. After receiving the signal, the PLC program controls the solenoid valve to switch, so that compressed air is delivered to the three cylinders 10 through the integrated pneumatic rotary joint. Driven by the air pressure, the piston rods of the three cylinders 10 extend synchronously, pushing the connected cutter holders 11 to move radially towards the center along the annular cutter disc 8.

[0058] At this time, the bullseye wheel 14 protruding from the blade 12 on the blade holder 11 first contacts the surface of the bamboo pole. The bullseye wheel 14 begins to roll under the action of friction on the bamboo surface, and mechanically feeds back the actual diameter and shape information of the bamboo pole to the cylinder 10. The cylinder 10 continuously applies thrust until all three bullseye wheels 14 are pressed tightly against the bamboo surface with a preset constant pressure, forcing the annular blade disc 8 to automatically align with the center of the bamboo and adaptively fit bamboo poles of different diameters and ellipticities, forming a stable dynamic support.

[0059] Phase 3: Composite Motion and Constant Pressure Cutting

[0060] While maintaining constant radial pressure, the bamboo is continuously fed axially, and the annular cutter head 8 drives the blade 12 to continuously revolve. The combination of the two movements results in the cutting edge of the blade 12 forming a spatial spiral cutting path relative to the bamboo stalk, which can cover the entire surface of the bamboo stalk without omission. When the blade 12 on the combined motion path encounters the bamboo branch, under the constant pressure of the cylinder 10, the blade 12 cuts the bamboo branch from the root with a stable cutting depth. When the blade 12 passes through the bamboo node (protruding part), the resistance increases, pushing the piston rod of the cylinder 10 to retract slightly in the opposite direction. When it passes through the bamboo gap (recessed part), the cylinder 10 immediately pushes the piston rod to follow, ensuring that the cutting pressure of the blade 12 on the bamboo branch remains constant throughout the entire cutting process. This avoids damage to the bamboo due to excessive pressure and also prevents missed cuts due to insufficient pressure.

[0061] Phase 4: Processing Completed and System Reset

[0062] Once the end of the bamboo has passed through the entire device, the PLC program controls the solenoid valve to switch direction again, and the compressed air switches to cylinder 10, driving the piston rod to retract. This causes the three cutter holders 11 to move radially backward in sync, and the blades 12 and bullseye wheels 14 completely leave the bamboo surface. The device instantly returns to the initial state of the first stage, and the entire system is ready to process the next bamboo that is fed in, thus realizing continuous and automated assembly line operation.

[0063] The present invention discloses an intelligent constant pressure control cutting method for an adaptive constant pressure cutting device of a tea stalk and bamboo debranching machine, which includes the following steps:

[0064] S1. Data acquisition: Install a gas flow meter on the static gas channel to monitor the instantaneous flow data Q of the static gas channel in real time, and install an industrial camera upstream of the feed direction of the tea stalk bamboo to capture the surface image of the tea stalk bamboo in real time and identify the bamboo nodes or concave contours on the tea stalk bamboo, calculate its axial length L and radial height H, and simultaneously record the real-time revolution speed ω of the annular cutter head 8 and the real-time feed speed v of the tea stalk bamboo.

[0065] S2. Establish a dynamic flow prediction model: Based on the contour features (L, H) and motion parameters (ω, v) extracted in step S1, the control system calculates the ideal gas flow fluctuation range under the current operating conditions according to the preset contour-flow mapping model [Q]. min Q max ];

[0066] S3. Status Diagnosis: Compare the instantaneous flow rate data Q measured in step S1 with the gas flow rate fluctuation range [Q] generated in step S2. min Q max The comparison is performed, and the operating status of the device is determined based on the comparison results:

[0067] When the instantaneous flow rate data Q falls within the gas flow rate fluctuation range [Q min Q max If the pressure of the bullseye wheel 14 on the surface of the tea stalk bamboo remains constant and the machine is working normally, then the flow fluctuation of the flow meter is considered to be caused by the normal undulation of the surface of the tea stalk bamboo.

[0068] When the instantaneous flow rate data Q deviates from the gas flow rate fluctuation range [Q] min Q max] If the pressure of the bullseye wheel 14 on the surface of the tea stalk bamboo deviates from the set value, the control system will trigger an abnormal warning signal to remind the operator.

[0069] Traditional pneumatic constant pressure systems can only ensure that the air pressure supplied to cylinder 10 is constant. However, when the annular cutter head 8 passes through bamboo joints or depressions, cylinder 10 will expand and contract to maintain pressure, and its intake / exhaust volume (i.e., gas flow rate Q) will change accordingly. Traditional systems cannot distinguish whether this flow rate change is normal adaptation or abnormal malfunction. The intelligent constant pressure control cutting method of the adaptive constant pressure cutting device of the tea stalk bamboo debranching machine of the present invention can intelligently determine whether the current flow rate fluctuation is within the reasonable range of "normal adaptation" by monitoring the instantaneous flow rate data Q, a dynamic parameter, and combining it with the real-time contour image of the bamboo stalk. This ensures that the actual pressure acting on the bamboo surface is constant, not just the air source pressure. The magnetic switch can only alarm when the piston rod reaches the limit position, which is too late. However, this method can issue an early warning as soon as the pressure begins to deviate from the set value, ensuring that the cutting force of the blade 12 on the bamboo branch is kept within the optimal range throughout the entire processing process, including when passing through large bamboo joints. This avoids bamboo branch residue due to insufficient pressure or bamboo surface indentation due to excessive pressure, thereby improving the consistency of the quality of all processed bamboo stalks.

[0070] In a preferred embodiment of the present invention, the contour-flow mapping model is constructed as follows: During the calibration phase, a standard specimen with a known surface contour is used for testing. Instantaneous flow data Q are collected on the standard specimen under different combinations of contour features (L, H) and motion parameters (ω, v). The data is then trained using a machine learning algorithm to fit a model with L, H, ω, and v as inputs and the gas flow fluctuation range [Q]. min Q max ] represents the output prediction model.

[0071] It should be understood that the above embodiments are one or more embodiments of the present invention. There are many other embodiments and variations based on the present invention. Any variations and modifications made by those skilled in the art without making pioneering innovations are within the protection scope of the present invention.

Claims

1. An intelligent constant pressure control cutting method for an adaptive constant pressure cutting device of a tea stalk and bamboo debranching machine, used in the adaptive constant pressure cutting device of the tea stalk and bamboo debranching machine, characterized in that: The adaptive constant pressure cutting device of the tea stalk bamboo debranching machine includes a frame, a transmission system, a ring cutter head, and a control system. The transmission system is fixedly mounted on the frame, and its output end is connected to the ring cutter head. It drives the ring cutter head to revolve around the center line of the horizontally passing bamboo. Three cylinders are evenly distributed circumferentially on the surface of the ring cutter head. The output end of each cylinder is equipped with a piston rod, and the extension and retraction direction of the piston rod points towards the center of the ring cutter head. The output end of each piston rod is connected to a cutter holder. The cylinder drives the piston rod to move the cutter holder along the ring cutter head. The radial movement of the disc is described. The cutter holder includes a blade, a bullseye wheel, and a body connected to the piston rod. Both the bullseye wheel and the blade are fixed on the side of the body near the center of the annular cutter disc. The plane of the blade is perpendicular to the axis of the piston rod. In the radial direction of the annular cutter disc, the outer edge of the bullseye wheel protrudes beyond the cutting edge of the blade, such that during radial feed, the bullseye wheel contacts the bamboo surface before the blade. The cutting edge of the blade is oriented parallel to the axis of the bamboo. The control system is mounted on the frame and is used to control the automated operation of the entire device. It also includes a pneumatic control system for controlling the movement of the cylinder. The pneumatic control system includes an integrated pneumatic rotary joint, which has a fixed end and a rotating end. The fixed end has multiple independent stationary air channels. The input end of the stationary air channel is connected to an external air source. The rotating end has a rotating air channel corresponding to the stationary air channel. The input end of the rotating air channel is connected to the output end of the stationary air channel through a dynamic seal. The output end of the rotating air channel is connected to the inlet and outlet of each cylinder through an air pipe. Compressed air provided by the external stationary air source is continuously delivered to the cylinder to provide power to the cylinder and control the movement of the piston rod to output a constant radial clamping force on the bamboo. The intelligent constant pressure control cutting method includes the following steps: S1. Data Acquisition: A gas flow meter is installed on the static gas channel to monitor the instantaneous flow data Q of the static gas channel in real time. An industrial camera is installed upstream of the feed direction of the tea stalk bamboo to capture the surface image of the tea stalk bamboo in real time and identify the bamboo nodes or concave contours on the tea stalk bamboo. The axial length L and radial height H corresponding to the bamboo nodes or concave contours are calculated. The real-time revolution speed ω of the annular cutter head and the real-time feed speed v of the tea stalk bamboo are recorded simultaneously. S2. Establish a dynamic flow prediction model: Based on the contour features (L, H) and motion parameters (ω, v) extracted in step S1, the control system calculates the ideal gas flow fluctuation range [Q] under the current operating conditions according to the preset contour-flow mapping model. min Q max ]; S3. Status Diagnosis: Compare the instantaneous flow rate data Q measured in step S1 with the gas flow rate fluctuation range [Q] generated in step S2. min Q max The comparison is performed, and the operating status of the device is determined based on the comparison results: When the instantaneous flow rate data Q falls within the gas flow rate fluctuation range [Q] min Q max If the pressure of the bullseye wheel on the surface of the tea stalk bamboo remains constant and the machine is working normally, then the flow fluctuation of the flow meter is considered to be caused by the normal undulation of the surface of the tea stalk bamboo. When the instantaneous flow rate data Q deviates from the gas flow rate fluctuation range [Qmin, Q], max If the actual pressure of the bullseye wheel on the surface of the tea stalk bamboo deviates from the set value, the control system will trigger an abnormality warning signal to remind the operator.

2. The intelligent constant pressure control cutting method of the adaptive constant pressure cutting device of the tea stalk and bamboo debranching machine according to claim 1, characterized in that: The transmission system includes a motor, a small active synchronous pulley, a synchronous belt, a large synchronous pulley, and a hollow shaft. The motor is fixed to the frame via a motor mounting bracket. The small active synchronous pulley is mounted on the output shaft of the motor. The large synchronous pulley is connected to the small active synchronous pulley via the synchronous belt. The output end of the large synchronous pulley is fixedly connected to one end of the hollow shaft. The hollow shaft is supported in a bearing housing by a pair of angular contact ball bearings. The bearing housing is fixed to the frame. The annular cutter head is coaxially fixed to the other end of the hollow shaft. The central hole of the annular cutter head is aligned with the through hole of the hollow shaft, forming a channel for bamboo to pass through. The motor drives the hollow shaft to rotate relative to the bearing housing, thereby driving the annular cutter head to rotate.

3. The intelligent constant pressure control cutting method of the adaptive constant pressure cutting device of the tea stalk and bamboo debranching machine according to claim 1, characterized in that: An adjusting shim is provided between the mounting base of the bullseye wheel and the body to adjust the relative distance between the outer edge of the bullseye wheel and the cutting edge of the blade, i.e., the cutting depth.

4. The intelligent constant pressure control cutting method of the adaptive constant pressure cutting device of the tea stalk and bamboo debranching machine according to claim 1, characterized in that: The blade is an indexable blade made of cemented carbide, and the blade is fastened to the tool holder with screws.

5. The intelligent constant pressure control cutting method of the adaptive constant pressure cutting device of the tea stalk and bamboo debranching machine according to claim 2, characterized in that: The fixed end is fixedly connected to the bearing seat and remains stationary, while the rotating end is fixedly connected to the hollow shaft and rotates synchronously with it.

6. The intelligent constant pressure control cutting method of the adaptive constant pressure cutting device of the tea stalk and bamboo debranching machine according to claim 1, characterized in that: The stationary air passage is also equipped with a pneumatic control valve assembly for controlling the cylinder pressure and movement speed. The pneumatic control valve assembly includes a pressure reducing valve, a speed regulating valve, and a solenoid valve for controlling speed switching. The pressure reducing valve is used to set and maintain a constant cylinder thrust, the speed regulating valve is used to adjust the cylinder feed speed, and the solenoid valve is used to control whether the airflow bypasses the speed regulating valve and automatically switch the feed speed of the tool holder.

7. The intelligent constant pressure control cutting method of the adaptive constant pressure cutting device of the tea stalk and bamboo debranching machine according to claim 1, characterized in that: The control system is controlled by a PLC program. The device is equipped with a position sensor for detecting whether the bamboo is in place. The position sensor feeds back the detection data to the PLC program. After receiving the bamboo in place signal, the PLC program controls the motor of the transmission system and the cylinder to start. The cylinder is equipped with a magnetic switch for detecting the position of the piston rod stroke. The magnetic switch is electrically connected to the control system. When the magnetic switch detects that the piston rod extends beyond a preset safe stroke, the control system controls the cylinder to stop operating.

8. The intelligent constant pressure control cutting method of the adaptive constant pressure cutting device of the tea stalk and bamboo debranching machine according to claim 1, characterized in that: The contour-flow mapping model is constructed as follows: During the calibration phase, a standard specimen with a known surface contour is used for testing. Instantaneous flow data Q under different combinations of contour features (L, H) and motion parameters (ω, v) on the standard specimen are collected. The data is trained using a machine learning algorithm to fit a model with L, H, ω, and v as inputs and the gas flow fluctuation range [Q]. min Q max ] represents the output prediction model.

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