PORTABLE TELESCOPIC PUSH-PULL VIBRATING-SHAKING TYPE CAMELLIA OLEIFERA FRUIT PICKING AND BEATING MACHINE

Abstract

Disclosed is a portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine. The machine includes a picking and beating head, a gear shifting mechanism, a power transmission and picking and beating rod, a direct current motor, a control system, a handheld grip, and a lithium battery. A battery supplies power to enable the direct current motor to rotate, the direct current motor drives a worm and worm wheel mechanism in the gear shifting mechanism to rotate through a power transmission rod, the worm and worm wheel mechanism drives the picking and beating head to achieve reciprocating push-pull motion, such that the picking and beating rod can pull a branch to generate push-pull and vibration to pick Camellia oleifera fruit down. The picking and beating head is provided with a force sensor capable of monitoring picking and beating strength at any time.

Claims

1. A portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine, mainly comprising a picking and beating head (1), a gear shifting mechanism (2), a power transmission and picking and beating rod (3), a direct current (DC) motor (4), a control system (5), a handheld grip (6), and a lithium battery (7), wherein the picking and beating rod (1) comprises a long hook (11), the long hook (11) is provided with a silicone case (12) at an inner upper end and a displacement sensor (14) at an inner lower end, and a tail portion of the long hook (11) is provided with a force sensor (13) and a telescopic rod fixing hole (15) for connecting and fixing the gear shifting mechanism (2); the gear shifting mechanism (2) comprises a telescopic rod (25) for connecting and fixing the picking and beating head (1), the telescopic rod (25) penetrates through a linear sliding bearing (26), and a worm and worm wheel mechanism (27) is fixedly connected to a tail portion of the telescopic rod (25); a rear portion of the worm and worm wheel mechanism (27) is provided with a steel tube track (28) and a power transmission and picking and beating rod fixing groove (29); the power transmission and picking and beating rod (3) comprises a power transmission rod (31), the power transmission rod (31) is externally wrapped with a plastic housing (32), and the power transmission and picking and beating rod (3) is connected to the gear shifting mechanism (2) and the DC motor (4); a housing surface of the DC motor (4) is provided with DC motor thermal vias (8); the control system (5) comprises a power switch (51), a start switch (52) is arranged at a side portion of the power switch (51), and the power switch (51) and the start switch (52) are installed on the handheld grip (6); the power switch (51) and the start switch (52) are electrically connected to a circuit board (55) by means of a power switch wire (56) and a start switch wire (57), respectively; the circuit board (55) is electrically connected to the lithium battery (7) by means of a battery wire (59) and is electrically connected to the DC motor (4) by means of a DC motor wire (53); a STM-32 single chip microcomputer (58) is arranged on the circuit board (55), one end of the STM-32 single chip microcomputer (58) is electrically connected to the circuit board (55), and the other end of the STM-32 single chip microcomputer (58) is electrically connected to the DC motor (4) by means of a control wire (54).

2. The portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to claim 1, wherein the picking and beating head (1) detects picking and beating strength at any time by the force sensor (13), is able to achieve an adaptive control through a fuzzy control system, and is fixedly connected with the telescopic rod (25) of the gear shifting mechanism (2) through a telescopic rod fixing hole (15).

3. The portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to claim 1, wherein the gear shifting mechanism (2) further comprises a linear sliding bearing fixing groove (21) for fixedly mounting the linear sliding bearing (26), a rear portion of the linear sliding bearing fixing groove (21) is provided with a steel tube track (22), and a rear portion of the steel tube track (22) is provided with a rotating rod fixing groove (23) and an angular contact ball bearing fixing groove (24).

4. The portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to claim 1, wherein the worm and worm wheel mechanism (2) comprises a slider (277) fixedly connected to the telescopic rod (25), the slider (277) is provided with a pulley (276) connected to a steel tube track (28), a rear portion of the slider (277) is provided with a double-crank connecting rod (275), and the slider (277) is indirectly connected to rotating arms (274) through the double-crank connecting rod (275), and is connected to a worm wheel (273) through the rotating arms (274) and the double-crank connecting rod (275); the rotating arms (274) are connected to a worm (272) arranged on the worm wheel (273) through the worm wheel (273), and both sides of each of the worm (272) and the worm wheel (273) on the rotating arm (274) are provided with the angular contact ball bearings (271).

5. The portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to claim 4, wherein the power transmission and picking and beating rod (3) is connected to the worm (272) in the gear shifting mechanism (2) and the DC motor (4) through particular hexagonal keyhole interfaces.

6. The portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to claim 5, wherein a rotation of the DC motor (4) is transmitted to the worm (272) in the gear shifting mechanism (2) through the power transmission rod (31) in the power transmission and picking and beating rod (3), a rotation of the worm (272) drives the worm wheel (273) to rotate, and a rotation of the worm wheel (273) drives the symmetrical rotating arms (274) on both sides to make 360 motion, the other ends of the rotating arms (274) are connected to the slider (277) through the double-crank connecting rod (275) to drive the slider (277) to make back-and-forth push-pull motion, and each of an upper portion and a lower portion of the up-down symmetrical slider (277) is provided with two pulleys (276), and the slider (277) drives the pulleys (276) to move back and forth on the steel tube track (28), and the other end of the slider (277) is connected to the telescopic rod (25) to drive the telescopic rod (25) to extend and retract.

7. The portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to claim 1, wherein the DC motor (4) is a single-stage planetary outer-rotor self-cooling brushless motor with the power of 400 W, and rotational speed of the motor is from 6,000 r/min to 12,000.

8. The portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to claim 1, wherein the STM-32 single chip microcomputer (58) is used to control the rotational speed of the DC motor (4) by receiving a signal from the force sensor (13) and reasoning using a fuzzy reasoning rule algorithm, so as to achieve slow start and automatic augmentation of the power, and a current of the DC motor (4) is fed back to the STM-32 single chip microcomputer (58), and a power-off protection is achieved by a fuzzy control of the control system (5).

9. The portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to claim 1, wherein a tail portion of the control system (5) is electrically connected to the lithium battery (7) by means of a battery wire (59), and a tail portion of the lithium battery (7) is provided with a battery back cover (9) connected to the control system (5).

10. The portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to claim 9, wherein the lithium battery (7) is a rechargeable high-performance special lithium battery independently developed, which is able to operate for 3-4 hours when fully charged.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0027] FIG. 1 is a schematic diagram of an overall structure of a portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to the present disclosure;

[0028] FIG. 2 is a structural schematic diagram of a picking and beating head of a portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to the present disclosure;

[0029] FIG. 3 is a schematic diagram of an upper internal sectional structure of a gear shifting mechanism of a portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to the present disclosure;

[0030] FIG. 4 is a schematic diagram of a lower internal sectional structure of a gear shifting mechanism of a portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to the present disclosure;

[0031] FIG. 5 is a structural schematic diagram of a worm and worm wheel mechanism of a portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to the present disclosure;

[0032] FIG. 6 is a schematic diagram of an internal sectional structure of a power transmission and picking and beating rod of a portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to the present disclosure;

[0033] FIG. 7 is a schematic diagram of an external structure of a control system of a portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to the present disclosure;

[0034] FIG. 8 is a schematic diagram of an internal sectional structure of a control system of a portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine according to the present disclosure.

[0035] In the drawings: 1picking and beating head; 2gear shifting mechanism; 3power transmission and picking and beating rod; 4DC motor; 5control system; 6handheld grip; 7lithium battery; 8DC motor thermal vias; 9battery back cover; 11long hook; 12silicon case; 13force sensor; 14displacement sensor; 15telescopic rod fixing hole; 21linear sliding bearing fixing groove; 22steel tube track; 23worm wheel fixing groove; 24angular contact ball bearing fixing groove; 25telescopic rod; 26linear sliding bearing; 27worm and worm wheel mechanism; 28steel tube track; 29power transmission and picking and beating rod fixing groove; 271angular contact ball bearing; 272worm; 273worm wheel; 274rotating arm; 275double-crank connecting rod; 276pulley; 277slider; 31power transmission rod; 32plastic housing; 51power switch; 52start switch; 53DC motor wire; 54control wire; 55circuit board; 56power switch wire; 57start switch wire; 58STM-32 single chip microcomputer; 59lithium battery wire.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The following clearly and completely describes the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are merely a part rather than all of the embodiments of the present disclosure. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0037] As shown in FIG. 1, a portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine mainly includes a picking and beating head 1, a gear shifting mechanism 2, a power transmission and picking and beating rod 3, a direct current motor 4, a control system 5, a handheld grip 6, and a lithium battery 7.

[0038] As shown in FIG. 2, in the portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine, the picking and beating rod 1 includes a long hook 11, the long hook 11 is provided with a silicone case 12 at an inner upper end and a displacement sensor 14 at an inner lower end, and a tail portion of the long hook 11 is provided with a force sensor 13 and a telescopic rod fixing hole 15 for connecting and fixing the gear shifting mechanism 2.

[0039] As shown in FIG. 3, in the portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine, the picking and beating head 1 detects picking and beating strength at any time by the force sensor 13, can achieve an adaptive control through a fuzzy control system, and is fixedly connected with the telescopic rod 25 of the gear shifting mechanism 2 through a telescopic rod fixing hole 15. The gear shifting mechanism 2 further includes a linear sliding bearing fixing groove 21 for fixedly mounting a linear sliding bearing 26, a rear portion of the linear sliding bearing fixing groove 21 is provided with a steel tube track 22, and a rear portion of the steel tube track 22 is provided with a rotating rod fixing groove 23 and an angular contact ball bearing fixing groove 24.

[0040] As shown in FIG. 4, in the portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine, the gear shifting mechanism 2 includes a telescopic rod 25 for connecting and fixing the picking and beating head 1, the telescopic rod 25 penetrates through the linear sliding bearing 26, a worm and worm wheel mechanism 27 is fixedly connected to a tail portion of the telescopic rod 25, and a rear portion of the worm and worm wheel mechanism 27 is provided with a steel tube track 28 and a power transmission and picking and beating rod fixing groove 29.

[0041] As shown in FIG. 4 and FIG. 5, in the portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine, the worm and worm wheel mechanism 27 includes a slider 277 fixedly connected to the telescopic rod 25, and the slider 277 is provided with a pulley 276 connected to the steel tube track 28. A rear portion of the slider 277 is provided with a double-crank connecting rod 275, and the slider 277 is indirectly connected to rotating arms 274 through the double-crank connecting rod 275, and is connected to a worm wheel 273 through the rotating arms 274 and the double-crank connecting rod 275. The rotating arms 274 are connected to a worm 272 arranged on the worm wheel 273 through the worm wheel 273, and both sides of each of the worm 272 and the worm wheel 273 on the rotating arm 274 are provided with the angular contact ball bearings 271. The power transmission and picking and beating rod 3 is connected to the worm 272 in the gear shifting mechanism 2 and the DC motor 4 through particular hexagonal keyhole interfaces. A rotation of the DC motor 4 is transmitted to the worm 272 in the gear shifting mechanism 2 through the power transmission rod 31 in the power transmission and picking and beating rod 3, a rotation of the worm 272 drives the worm wheel 273 to rotate, a rotation of the worm wheel 273 drives the symmetrical rotating arms 274 on both sides to make 360 motion, and the other ends of the rotating arms 274 are connected to the slider 277 through the double-crank connecting rod 275 to drive the slider 277 to make back-and-forth push-pull motion. Each of an upper portion and a lower portion of the up-down symmetrical slider 277 is provided with two pulleys 276, and the slider 277 drives the pulleys 276 to move back and forth on the steel tube track 28, and the other end of the slider 277 is connected to the telescopic rod 25 to drive the telescopic rod 25 to extend and retract.

[0042] As shown in FIG. 6, the power transmission and picking and beating rod 3 includes a power transmission rod 31. The power transmission rod 31 is externally wrapped with a plastic housing 32, and the power transmission and picking and beating rod 3 is connected to the gear shifting mechanism 2 and the DC motor 4.

[0043] As shown in FIG. 7 and FIG. 8, in the portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine, a housing surface of the DC motor 4 is provided with DC motor thermal vias 8. The control system 5 includes power switch 51, a start switch 52 is arranged at a side portion of the power switch 51, and the power switch 51 and the start switch 52 are installed on the handheld grip 6. The power switch 51 and the start switch 52 are electrically connected to a circuit board 55 by means of a power switch wire 56 and a start switch wire 57, respectively. The circuit board 55 is electrically connected to the lithium battery 7 by means of a battery wire 59 and is electrically connected to the DC motor 4 by means of a DC motor wire 53. A STM-32 single chip microcomputer 58 is arranged on the circuit board 55, one end of the STM-32 single chip microcomputer 58 is electrically connected to the circuit board 55, and the other end of the STM-32 single chip microcomputer 58 is electrically connected to the DC motor 4 by means of a control wire 54. The DC motor 4 is a single-stage planetary outer-rotor self-cooling brushless motor with the power of 400 W, and rotational speed of the motor is from 6,000 r/min to 12,000. The STM-32 single chip microcomputer 58 is used to control the rotational speed of the DC motor 4 by receiving a signal from the force sensor 13 and reasoning using a fuzzy reasoning rule algorithm, so as to achieve slow start and automatic augmentation of the power, and a current of the DC motor 4 is fed back to the STM-32 single chip microcomputer 58, and a power-off protection is achieved by a fuzzy control of the control system 5. A tail portion of the control system 5 is electrically connected to the lithium battery 7 by means of a battery wire 59, and a tail portion of the lithium battery 7 is provided with a battery back cover 9 connected to the control system 5. The lithium battery 7 is a rechargeable high-performance special lithium battery independently developed, which can operate for 3-4 hours when fully charged.

[0044] As shown in FIG. 1, the portable telescopic push-pull vibrating-shaking type Camellia oleifera fruit picking and beating machine includes a picking and beating head 1, a gear shifting mechanism 2, a power transmission and picking and beating rod 3, a DC motor 4, a control system 5, a handheld grip 6, and a lithium battery 7. During operation, it should be ensured first that the lithium battery 7 is in a charged state, the battery back cover 9 is mounted after the lithium battery 7 is assembled. In order to fetch conveniently, the picking and beating machine can be assembled under the Camellia oleifera fruit tree. First, the height of the Camellia oleifera fruit tree should be determined, so as to determine whether the power transmission and picking and beating rod 3 should be lengthened or not. If the power transmission and picking and beating rod needs to be lengthened, a spare power transmission and picking and beating rod 3 can be taken out for connection. Both ends of the power transmission and picking and beating rod 3 are respectively connected to the DC motor 4 and the gear shifting mechanism 2, and the other end of the gear shifting mechanism 2 is connected to the picking and beating head 1, and in this, the assembly is finished. A Camellia oleifera branch needing to be picked is selected, and then the branch is hooked by the long hook on the picking and beating head. After the branch is fixed, the handheld grip 6 is held with one hand, and the power switch 51 and the start switch 52 are turned on with the other hand, where the power switch 51 is turned on first, which is pressed for three seconds to prevent accidental contact, and then the start switch 52 is turned on to start operation. After the switch is pressed, the handheld grip 6 is held with both hands to wait for the DC motor 4 to rotate slowly. The rotation of the DC motor 4 drives the power transmission rod 31 in the power transmission and picking and beating rod 3 to rotate together, one end of the power transmission rod 31 is connected to the worm 272 in the gear shifting mechanism 2, and the rotation of the worm 272 is about to inevitably drive the worm wheel below 273 to rotate together, and in this case, the direction of force has also changed. Symmetric rotating arms 274 are arranged on both sides of the worm wheel 273, and by means of 360 rotational motion, the rotating arms 274 are enabled to make back-and-forth push-pull motion through the slider 277 connected to the double-crank connecting rod 275. The slider is further assembled with the pulleys 276 and the steel tube track 28 to reduce friction and the loss of kinetic energy, thus making the vibration and shaking more powerful. The slider 277 is connected to the telescopic rod 25, and thus the back-and-forth push-pull motion can be transmitted to the telescopic rod, and due to the fac that the other end of the telescopic rod is connected to the picking and beating head 1, the push-pull motion is brought to the picking and beating head 1. As the picking and beating head 1 is fixed to the branch, the Camellia oleifera can be picked by impacting the branch through the push-pull vibrating-shaking motion. After a power supply is turned on, the force sensor 13 and the displacement sensor 14 start to operate. By detecting the picking and beating strength and the thickness of the branches, the received force is converted into an electrical signal to be transmitted to the STM-32 single chip microcomputer 58, which adjusts the rotational speed of the DC motor 4 according to the fuzzy reasoning rule, so as to cope with the branches with different thicknesses and give appropriate picking and beating strength to pick the Camellia oleifera fruits without damaging the branches. When the picking and beating head is stuck on the branch, the DC motor 4 is about to be overloaded. At this time, the STM-32 single chip microcontroller 58 can cut off the power supply to the DC motor 4 immediately to prevent the DC motor 4 from stalling and burning out. At this time, the machine can continue to operate by pressing the switch after taking the picking and beating head 1 off the branch and hanging the picking and beating head 1 on the branch again.

[0045] The design of a rotational speed fuzzy controller for the DC motor is introduced in detail below, and a fuzzy decision is achieved through the following steps:

[0046] (1) The picking and beating strength and the thickness grade of Camellia oleifera branches detected in a certain period are used as an input of a fuzzy decision control system.

[0047] (2) The picking and beating strength and the thickness grade of Camellia oleifera branches detected in Step (1) are fuzzified according to the triangular membership function.

[0048] (3) A fuzzy vector obtained in above Step (2) is reasoned according to a fuzzy rule table, so as to obtain a rotational speed fuzzy control output vector of the DC motor 4.

[0049] Design of rotational speed fuzzy controller for DC Motor 4:

[0050] A triangular membership function method is established according to the thickness grade of the Camellia oleifera branches and the picking and beating strength detected in a certain period as follows:

[00001]$\mathrm{branch}\mathrm{thickness}\{\begin{array}{cccc}{}_{A\left(x\right)}& =& \left(10-x\right)/10& 0x10\\ {}_{B\left(x\right)}& =& \{\begin{array}{c}\left(x-10\right)/5\\ \left(20-x\right)/5\end{array}& \begin{array}{c}10x15\\ 15x20\end{array}\\ {}_{C\left(x\right)}& =& \{\begin{array}{c}\left(x-20\right)/5\\ \left(30-x\right)/5\end{array}& \begin{array}{c}20x25\\ 25x30\end{array}\\ {}_{D\left(x\right)}& =& \{\begin{array}{c}\left(x-30\right)/5\\ \left(40-x\right)/5\end{array}& \begin{array}{c}30x35\\ 35x40\end{array}\\ {}_{E\left(x\right)}& =& \{\begin{array}{c}\left(x-40\right)/5\\ \left(50-x\right)/5\end{array}& \begin{array}{c}40x45\\ 45x50\end{array}\end{array}$${}_{\begin{array}{c}\mathrm{picking}\mathrm{and}\\ \mathrm{beating}\mathrm{strength}\end{array}}\{\begin{array}{cccc}{}_{S\left(y\right)}& =& \{\begin{array}{c}\left(y-55\right)/2\\ \left(59-y\right)/2\end{array}& \begin{array}{c}55y57\\ 57y59\end{array}\\ {}_{\mathrm{MS}\left(y\right)}& =& \{\begin{array}{c}\left(y-59\right)/2\\ \left(63-y\right)/2\end{array}& \begin{array}{c}59y61\\ 61y63\end{array}\\ {}_{M\left(y\right)}& =& \{\begin{array}{c}\left(y-63\right)/2\\ \left(67-y\right)/2\end{array}& \begin{array}{c}63y65\\ 65y67\end{array}\\ {}_{\mathrm{MB}\left(y\right)}& =& \{\begin{array}{c}\left(y-67\right)/2\\ \left(71-y\right)/2\end{array}& \begin{array}{c}67y69\\ 69y71\end{array}\\ {}_{B\left(y\right)}& =& \{\begin{array}{c}\left(y-71\right)/2\\ \left(75-y\right)/2\end{array}& \begin{array}{c}71y73\\ 73y75\end{array}\end{array}$ [0051] where denotes a triangular membership function; x denotes a diameter of a Camellia oleifera branch; y denotes a force on the branch when the machine vibrates; A-E indicate that the thickness grade of the branches is from low to high (A-thin, B-medium thin, C-medium, D-medium thick, E-thick); S-B indicate that the picking and beating strength is from low to high (S-small, MS-medium small, M-medium, MB-medium big, B-big).

[0052] According to the experience of experts and farmers, the diameter of the Camellia oleifera branch is generally from 0 mm to 50 mm, and when the branch is picked and beat in a vibrating-shaking manner, the force exerted by vibration on the branch is about 55-75 N. The thickness of the Camellia oleifera branch and the picking and beating strength are fuzzified using a fuzzy subset of five elements {thin (A), medium thin (B), medium (C), medium thick (D) and thick (E)} having a value range of (0, 50), and a fuzzy subset of five elements {small(S), medium small (MS), medium (M), medium big (MB) and big (B)} having a value range of (55, 75).

[0053] According to the experience of experts, the rotational speed of the DC motor 4 should be controlled at 6,000-12,000 r/min when the push-pull vibrating-shaking Camellia oleifera fruit picking and beating machine is used to pick and beat the Camellia oleifera fruit. According to the thickness of the branch and the picking and beating strength, and through empirical judgment, the rotational speed of the DC motor 4 is a fuzzy subset of five elements {low (L), medium low (ML), medium high (M), medium high (MH) and high (H)} having a value range of (6000,12000), which is fuzzified by the triangular membership function.

[00002]${}_{\begin{array}{c}\mathrm{motor}\mathrm{rotational}\\ \mathrm{speed}\end{array}}\{\begin{array}{cccc}{}_{S\left(p\right)}& =& \left(7200-p\right)/1200& 6000p7200\\ {}_{\mathrm{MS}\left(p\right)}& =& \{\begin{array}{c}\left(p-7200\right)/600\\ \left(8400-p\right)/600\end{array}& \begin{array}{c}7200y7800\\ 7800y8400\end{array}\\ {}_{M\left(p\right)}& =& \{\begin{array}{c}\left(p-8400\right)/600\\ \left(9600-p\right)/600\end{array}& \begin{array}{c}8400y9000\\ 9000y9600\end{array}\\ {}_{\mathrm{MF}\left(p\right)}& =& \{\begin{array}{c}\left(p-9600\right)/600\\ \left(10200-p\right)/600\end{array}& \begin{array}{c}9600y10200\\ 10200y10800\end{array}\\ {}_{F\left(p\right)}& =& \left(12000-p\right)/1200& 10800p12000\end{array}$ [0054] where denotes a triangular membership function; p represents the rotational speed of the motor; S-F indicate that the rotational speed of the motor is from low to high (S-slow, MS-medium slow, M-medium, MF-medium fast, F-fast).

[0055] Further, according to the thickness of the branch and the picking and beating strength, the rotational speed rule of the DC motor 4 is established as follows: [0056] a. The smaller the picking and beating strength and the thicker the branch, the faster the rotational speed of the motor. [0057] b. The bigger the picking and beating strength and the thinner the branch, the slower the rotational speed of the motor. [0058] c. When the picking and beating strength is medium and the thickness of the branch is medium, the rotational speed of the motor is medium.

[0059] The following fuzzy control rule table of the thickness of branch, the picking and beating strength and rotational speed of the DC motor 4 is obtained as shown in Table 1 below.

[0060] Therefore, when the force sensor 13 and the displacement sensor 14 transmit signals to the fuzzy controller, i.e., the STM-32 single chip microcomputer 58, the rotational speed of the motor can be adaptively controlled through the fuzzy control rule.

TABLE-US-00001 TABLE Fuzzy control rule of rotational speed of DC motor in embodiment Rotational Thickness grade of branch speed of motor A B C D E Picking and S M MF MF F F beating strength MS M M MF MF F M MS MS M MF MF MB S MS MS M M B S S MS MS M

[0061] Although the embodiments of the present disclosure have been shown and described, those skilled in the art can understand that many changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and purposes of the present disclosure, and the scope of the present disclosure is defined by the claims and their equivalents.