Material Receiving Device for Stamen Collection and Recycling and Intelligent Collection and Recycling Equipment

Abstract

The object of the present invention is to provide a material receiving device and an intelligent collection and recycling device for stamen collection and recycling. The material receiving device is mainly composed of a plurality of conveyor belt assemblies that are arranged at intervals and can be independently conveyed, etc. Among them, the gap area formed between two adjacent conveyor belt assemblies gradually increases along its conveying direction to separate stamens of different grade lengths. Compared with the prior art, the material receiving device and the intelligent collection and recycling device for stamen collection and recycling provided by the present invention can achieve classified collection of stamens to improve the collection efficiency.

Description

Technical Field

[0001] The present invention relates to an automated device, and more particularly to a receiving device for collecting and recycling stamens and an intelligent collection and recycling device. Background Art

[0002] Generally, many herbaceous plants have medicinal values. For example, saffron, also known as crocus sativus, as a herbaceous plant, has the medicinal value of promoting blood circulation and removing blood stasis. In recent years, its market demand at home and abroad has been continuously increasing.

[0003] However, in the prior art, since the stamens of the flower bodies such as saffron have relatively high economic values, such as medicinal values, and since the lengths and sizes of the stamens are usually different during collection, and during the processing and selling of the stamens, stamens with better qualities are usually selected. Therefore, during collection, it is necessary to manually classify and collect the stamens according to their lengths. Such a collection and recycling method not only has low efficiency, but also has high labor costs, affecting its economic value and popularization.

[0004] Therefore, how to achieve automatic classification and collection of stamens to improve the collection efficiency is a technical problem that the present invention urgently needs to solve. Summary of the Invention

[0005] The technical problem to be solved by the present invention is how to provide a receiving device for collecting and recycling stamens, which can achieve automatic classification and collection of stamens to improve the collection efficiency.

[0006] To solve the above technical problem, the present invention provides a receiving device for collecting and recycling stamens, including:

[0007] A plurality of conveyor belt assemblies arranged at intervals and capable of independent transmission;

[0008] Wherein, the length of the gap area formed between two adjacent conveyor belt assemblies gradually increases along its transmission direction, so as to gradually separate stamens of different grade lengths received on the receiving area.

[0009] Further preferably, it further includes: a conveyor belt bracket for fixing each conveyor belt assembly and suspending it; collection cylinders respectively located below each gap area.

[0010] Further preferably, the conveyor belt assembly at least includes: a conveyor belt for receiving and transmitting the stamens, and a baffle adjacent to the end of the conveyor belt for supporting the stamens.

[0011] Further preferably, the gap area at least includes: a first gap area and a second gap area arranged in sequence along the conveying direction; wherein, the length of the first gap area is 15-25 mm; the length of the second gap area is 30-40 mm.

[0012] Further preferably, it further includes: a guide comb arranged adjacent to the end of the receiving area and connected to the conveyor belt bracket; wherein, the guide comb includes: a guide comb body provided with a plurality of guide comb channels arranged at equal intervals; wherein, the guide comb body is arranged close to the conveyor belt surface of the conveyor belt assembly, for combing the flower pistils and making the length direction of the flower pistils parallel to the conveying direction of the conveyor belt.

[0013] Further preferably, the guide comb channel includes: a first diversion channel and a second diversion channel connected to the first diversion channel; wherein, the cross-sectional area of the first diversion channel gradually decreases from the end contacting the flower pistil towards the end connected to the second diversion channel; the height of the second diversion channel is less than the height of the first diversion channel.

[0014] Further preferably, it further includes: a carding device arranged adjacent to the end of the receiving area; a suspension bracket for suspending the carding device and connected to the conveyor belt bracket; wherein, the carding device includes: a carding body provided with a plurality of carding channels arranged at equal intervals; and, the end of the carding body contacts the conveyor belt surface of the conveyor belt assembly in the receiving area; the carding body includes: a carding main body, a plurality of comb teeth connected to the carding main body to form the carding channels, and a flexible rolling body connected to the ends of the comb teeth and used for contacting the conveyor belt surface.

[0015] Further preferably, the flexible rolling body is integrally formed with the ends of the comb teeth, or the flexible rolling body is a ball body inserted by the ends of the comb teeth and forming a rotational connection.

[0016] This application also provides an intelligent collection and recycling device, including: the above-mentioned receiving device; an intelligent robotic arm cooperating with the receiving device; when the intelligent robotic arm moves above the receiving area of the receiving device, the flower pistils are released onto the receiving area.

[0017] Further preferably, the intelligent robotic arm includes: a grasping component for grasping the stamens in the flower body to be collected; a limiting component connected to the grasping component and used to make the grasping component perform spreading movement and contraction movement; a driving device connected to the grasping component and the limiting component; wherein, the driving device is used to make the head of the grasping component separate from the limiting component and perform the spreading movement to open the petals of the flower body and cover the stamens, and to be constrained by the limiting component to perform the contraction movement to clamp the stamens.

[0018] Further preferably, the grabbing component comprises: a retractable ring and a plurality of elastic rods; wherein, one end of the elastic rod is connected to the ring and the other end is connected to the driving device; each elastic rod is nested in the limiting component, and the part separated from the limiting component can expand outward under its own elastic action.

[0019] Further preferably, it also includes: an air charging device which is mounted on the limiting component and electrically connected to the control device; wherein, the air charging device is used to release air flow to the stamen after the intelligent robotic arm moves to above the material collecting area and the limiting component gradually breaks away from the constraint on the grasping component, so that the stamen automatically falls onto the material collecting area; wherein, the air charging device has an air outlet arranged in a ring.

[0020] Compared with the prior art, the material collecting device for collecting and recycling stamens provided by the present invention can realize automatic classification and collection of stamens to improve the collection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0022] Figure 1 : A schematic structural diagram of a material receiving device in a first embodiment of the present invention;

[0023] Figure 2 : Figure 1 The local enlarged structural schematic diagram shown in C;

[0024] Figure 3 : A schematic structural diagram of a comb guide of a material receiving device in a first embodiment of the present invention;

[0025] Figure 4 : A schematic diagram of the state of the collecting device when separating the stamens in the first embodiment of the present invention;

[0026] Figure 5 : A schematic structural diagram of a material receiving device in a second embodiment of the present invention;

[0027] Figure 6 : Schematic diagram of a partial structure of another preferred material receiving device in the second embodiment of the present invention;

[0028] Figure 7 : Schematic diagram of the external structure of the intelligent robotic arm in the third embodiment of the present invention;

[0029] Figure 8 : Schematic diagram of the state of the intelligent robotic arm in the third embodiment of the present invention Figure One ;

[0030] Figure 9 : Schematic diagram of the state of the intelligent robotic arm in the third embodiment of the present invention Figure Two ;

[0031] Figure 10 : Schematic diagram of the state of the intelligent robotic arm in the third embodiment of the present invention Figure Three ;

[0032] Figure 11 : Schematic diagram of the internal structure of the intelligent robotic arm in the third embodiment of the present invention;

[0033] Figure 12 : Schematic diagram of the structure of the grasping component in the third embodiment of the present invention;

[0034] Figure 13 : Schematic diagram of the grasping principle of the intelligent robotic arm in the third embodiment of the present invention Figure One ;

[0035] Figure 14 : Schematic diagram of the working principle of the intelligent robotic arm in the third embodiment of the present invention Figure Two ;

[0036] Figure 15 : Schematic diagram of the working principle of the intelligent robotic arm in the third embodiment of the present invention Figure Three ;

[0037] Figure 16 : Schematic diagram of the working principle of the intelligent robotic arm in the third embodiment of the present invention Figure Four ;

[0038] Figure 17 : Schematic diagram of the structure of the intelligent acquisition and recycling device in the fourth embodiment of the present invention;

[0039] Figure 18 : Schematic diagram of the structure of the intelligent acquisition and recycling device in the fifth embodiment of the present invention;

[0040] Figure 19 : Schematic diagram of the structure of the conveying device in the fifth embodiment of the present invention;

[0041] Figure 20: Schematic structural diagram of the intelligent acquisition and recycling device in the fifth embodiment of the present invention;

[0042] Figure 21 : Schematic structural diagram of the intelligent robotic arm in the sixth embodiment of the present invention;

[0043] Figure 22 : Schematic structural diagram of the stamping device in the sixth embodiment of the present invention;

[0044] Reference numerals:

[0045] Material receiving device 7, conveyor belt assembly 71, conveyor belt assembly 71a, conveyor belt assembly 71b, conveyor belt assembly 71c, conveyor belt bracket 72, gap area 72a, gap area 72b, guide comb 73, guide comb body 731, guide comb channel 7311, first diversion channel 7311a, second diversion channel 7311b, guide comb fixing member 732, combing device 75, combing body 751, combing channel 7510, combing main body 7511, comb teeth 7512, flexible rolling body 7515, suspension bracket 76, collection cylinder 77, air inflation device 6, air outlet 61, air inlet 62, air outlet 63, flower body 20, flower stamen 201, intelligent robotic arm 1, grasping component 10, collar 101, elastic rod 102, fixed cylinder 103, flexible clamping member 105, limiting component 11, driving device 12, base 121, first driving assembly 122, slide rail assembly 1220, slide rail 12201, slider 12202, fixing plate 1221, connecting rod 1222, sliding assembly 1223, lead screw motor 12231, lead screw fixing seat 12232, lead screw guide rail 12233, sliding block 12235, lead screw 12236, coupling 12237, second driving assembly 123, driving cylinder body 1231, driving rod 1232, fixing member 1233, cover plate 13, chute 131, transmission device 2, transmission motor 21, linkage rod 22, transmission shaft 23, transmission assembly 26, driving gear 26a, transmission gear 26b, fixing bracket 3, conveying device 5, conveyor belt 51, conveying card slot 52, conveying assembly 53, conveying frame 54, cup holder 55, adsorption device 56, first sensor 57, second sensor 58. Detailed implementation manners

[0046] The concept of the present invention will be elaborated below by taking the material receiving device for flower stamen acquisition and recycling and the intelligent acquisition and recycling device as examples in combination with specific implementation manners.

[0047] Embodiment 1

[0048] As Figures 1 to 4As shown, this embodiment provides a material receiving device 7 for collecting and recycling stamens, which is used to receive the collected stamens 201. Among them, the material receiving device 7 is mainly composed of a plurality of conveyor belt assemblies 71 arranged at intervals and capable of independent transmission, etc. Among them, the gap areas formed between two adjacent conveyor belt assemblies 71, such as the conveyor belt assembly 71a, the conveyor belt assembly 71b, and the conveyor belt assembly 71c, for example, the lengths of the gap areas 72a and 72b gradually increase along their transmission directions, so as to separate the stamens 201 of different grade lengths.

[0049] Through the above structure, during the automatic collection of stamens 201 of different lengths released in the material receiving area, the stamens 201 with a length lower than the length of the gap area will automatically fall off, while the stamens 201 with a longer length will pass through the gap area with a smaller spacing, and automatic separation is achieved through different gap areas, so that manual sorting is not required, thus greatly improving the grading efficiency and significantly reducing the cost of classified collection. In this embodiment, by setting two gap areas, the separation of stamens 201 of three grade lengths (refer to Figure 4 the stamens 201a, stamens 201b, and stamens 201c in it) can be realized. Among them, the longest stamens 201, that is, the stamens 201 of the largest grade, can be exported through the end of the conveyor belt assembly 71c.

[0050] In addition, it should be noted that the number of conveyor belt assemblies 71 in the material receiving device 7 in this embodiment is not limited to three, and can also be two, four or other numbers. The grades of stamens for separation are not limited to three, and can also be two grades, or more than four grades, which will not be specifically limited and elaborated here. And the stamens 201 in this embodiment are preferably the stamens 201 of saffron. In actual application, it is not limited to the collection of the stamens 201 of saffron, and can also be the stamens 201 of other flower bodies. For example, the stamens of flower bodies with high economic value such as peonies.

[0051] In addition, through the function of conveyor belt transmission, the stamens 201 released to the collection area on the conveyor belt can automatically move along their length directions, avoiding stacking together. And during the process of conveying the stamens 201, treatments such as stretching and drying of the stamens 201 can also be carried out.

[0052] In addition, it is worth mentioning that, in this embodiment, the length of the gap area 72a is preferably 20 mm, and the length of the gap area 72b is preferably 35 mm. Only this is taken as an example for illustration. Generally, the length of the gap area 72a is greater than or equal to the length of the stamens 201 of the sorting grade, or slightly less than the length of the stamens 201 of the sorting grade. For example, when the stamens 201 are uploaded from the end of the conveyor belt assembly 71a to the gap area 72a, under the action of inertia, the stamens 201 with a longer length can cross the conveyor belt assembly 71a and reach the conveyor belt assembly 71b. Or, after part of them hangs down in the gap area 72a under the action of gravity, the front end of the adjacent conveyor belt assembly 72a can connect to the head of the stamens 201, thus preventing the stamens 201 from falling from the gap area 72a and continuing to be conveyed on the conveyor belt assembly 72a. At the same time, the conveying principle of the conveyor belt assembly 71b and the conveyor belt assembly 71c is similar.

[0053] In addition, it is worth mentioning that the conveying speeds of the conveyor belt assemblies in this embodiment, such as the conveyor belt assembly 71a, the conveyor belt assembly 71b, and the conveyor belt assembly 71c, can gradually increase along their conveying directions, so as to form a dragging force, enabling the stamens 201 of a higher grade, that is, the stamens 201 with a longer length, to be smoothly conveyed to the adjacent next conveyor belt assembly.

[0054] Specifically, the receiving device 7 further includes: a conveyor belt bracket 72 for fixing each conveyor belt assembly 71 and suspending the conveyor belt assembly 71, and a collection cylinder 77 located below each gap area, etc. Through the collection cylinders 77 respectively arranged below the gap areas between adjacent two conveyor belt assemblies 71, it is convenient to automatically collect the stamens 201 of different grades, so as to screen out the stamens 201 with relatively poor quality and the stamens 201 with relatively good quality, and improve their economic utilization value.

[0055] And, as Figure 1 shown, only three collection cylinders 77 are taken as an example in this embodiment. Among them, the number of collection cylinders is the same as the number of conveyor belt assemblies 71, and the positions correspond one by one.

[0056] In addition, in this embodiment, the conveyor belt assembly 71 may be composed of a driving conveyor roller (not labeled in the figure), a driven conveyor roller (not labeled in the figure), a driving motor (not labeled in the figure) for driving the driving conveyor roller to rotate, a conveyor belt 710 sleeved on the driving conveyor roller and the driven conveyor roller at opposite ends, and a frame 711 for fixing the driving conveyor roller and the driven conveyor roller and arranged on the conveyor belt bracket 72, etc. Among them, when the driving motor drives the driving conveyor roller to rotate, the conveyor belt rotates under the action of the driving conveyor roller, and the driven conveyor roller rotates accordingly. Among them, the driving motor can preferably be an in-built motor inside the driving conveyor roller. When the material receiving device 7 is started, the conveyor belt assembly 71 makes the conveyor belt 710 start to drive, so as to dynamically receive the flower pistils, so that the flower pistils can be preferably pulled along the length direction under the friction of the conveyor belt and unfolded on the contact surface of the conveyor belt.

[0057] Further preferably, as Figure 2 shown, the intelligent collection and recycling device further includes: a guide comb 73 connected to the conveyor belt bracket 72 and arranged adjacent to the end of the material receiving area. Among them, the guide comb 73 includes: a guide comb body 731 provided with a plurality of guide comb channels 7311 arranged at equal intervals. Among them, the guide comb body 731 is arranged close to the conveyor belt surface of the conveyor belt assembly 71, and is used to comb the flower pistils 201, and make the length direction of the flower pistils 201 parallel to the conveying direction of the conveyor belt. By combing and separating the flower pistils 201 released by the intelligent robotic arm 1 through the guide comb body 731, it is convenient to convey them along their length direction subsequently, so as to facilitate subsequent classification processing.

[0058] Further preferably, as Figure 3 shown, the guide comb channel 7311 may be composed of a first diversion channel 7311a, a second diversion channel 7311b communicated with the first diversion channel 7311a, etc. Among them, the cross-sectional area of the first diversion channel 7311a gradually decreases from the end contacting the flower pistil 201 to the end communicated with the second diversion channel 7311b; the height of the second diversion channel 7311b is smaller than the height of the channel of the first diversion channel 7311a. Through the setting of this channel structure, the aggregated flower pistils 201 can be separated and combed, and sequentially pass through the second diversion channel 7311b to reach the gap area. At the same time, the first diversion channel 7311a can play a buffering role for the aggregated flower pistils 201, so that the aggregated or disordered flower pistils 201 are diverted out by the second diversion channel 7311b, so as to achieve orderly passage.

[0059] Further preferably, as Figure 2As shown, the intelligent collection and recycling device further includes: a carding device 75 disposed at the end adjacent to the material receiving area, a hanging bracket 76 for hanging the carding device 75 and connecting it to the conveyor belt bracket 72, etc. Among them, the carding device 75 includes: a carding body 751 provided with a plurality of carding channels 7510 arranged at equal intervals, etc. And, the end of the carding body 751 is in contact with the surface of the conveyor belt of the conveyor belt assembly 71 located in the material receiving area; the carding body 751 includes: a carding main body 7511, a plurality of comb teeth 7512 connected to the carding main body 7511 to form the carding channels 7510, and a flexible rolling body 7515 connected to the ends of the comb teeth 7512 and used for contacting the surface of the conveyor belt, etc.

[0060] By contacting the surface of the conveyor belt through the flexible rolling body 7515, it can not only better prevent the flower stamens 201 from being missed during carding, so as to card the flower stamens 201 to the greatest extent, but also prevent it from causing greater damage to the surface of the conveyor belt when contacting the surface of the conveyor belt.

[0061] The flexible rolling body 7515 can be integrally formed with the ends of the comb teeth 7512, or can be a ball body inserted by the ends of the comb teeth 7512 and forming a rotational connection, etc., so as to avoid reducing the friction between them when dynamically contacting the surface of the conveyor belt, thereby maximizing the service life of the flexible rolling body 7515 and the conveyor belt assembly.

[0062] Embodiment 2

[0063] As Figure 5 shown, this embodiment also provides a material receiving device 7 for flower stamen collection and recycling. This embodiment is a further improvement of the above embodiment. The improvement lies in that the conveyor belt assembly further includes: a baffle 78 adjacent to the end of the conveyor belt 710 for supporting the flower stamens; among them, at least one baffle 78 is disposed in the above gap area 72a and gap area 72b. Among them, the baffle 78 can be fixed to the frame 711.

[0064] By providing a baffle adjacent to the end of the conveyor belt 710, it can better separate and support the flower stamens sent out from the ends of each conveyor belt assembly, thereby avoiding the situation that some flower stamens adhere to the conveyor belt of the conveyor belt assembly 71 and cannot be conveyed to the next conveyor belt assembly, or are always adhered to the conveyor belt of the conveyor belt assembly and cannot be separated, so as to improve the recycling utilization rate of flower stamen collection.

[0065] Here, it is worth mentioning that the baffle 78 in this embodiment can preferably be a rod-shaped component, or can preferably be a plate-shaped component. As Figure 6 shown, and this plate-shaped component is gradually turned upward from the end adjacent to the conveyor belt towards the next adjacent conveyor belt. For specific reference, see Figure 6A baffle 78 is provided above the region where the middle gap region 72a is located.

[0066] Embodiment Three

[0067] As Figure 7 shown, this embodiment also provides an intelligent collection and recycling device, including: the material receiving device in any of the above embodiments; an intelligent robotic arm cooperating with the material receiving device; when the intelligent robotic arm moves above the material receiving area of the material receiving device, the stamens are released onto the material receiving area. Among them, the material receiving device 7 can preferably be electrically connected to the control device. When the control device detects that the transmission device 2 is rotating, it controls the material receiving device 7 to start to receive the stamens released by the intelligent robotic arm 1.

[0068] Through the cooperation of the intelligent robotic arm and the material receiving device 7, the material receiving device 7 can automatically collect the stamens 201 released by the intelligent robotic arm 1, improving the efficiency of automatic collection.

[0069] Specifically, the intelligent robotic arm 1 in this embodiment is mainly composed of a grasping component 10, a limiting component 11, a driving device 12, etc. Among them, the grasping component 10 is used to grasp the stamens 201 in the flower body 20 to be collected; the limiting component 11 is connected to the grasping component 10 and is used to limit the grasping component 10 so that the grasping component 10 makes a spreading movement and a closing movement; the driving device 12, connected to the grasping component 10 and the limiting component 11, is used to make the head of the grasping component 10 gradually move away from the limiting component 11 after moving downward to a preset position, that is, the head of the grasping component 10 makes the spreading movement, so as to gradually open the petals of the flower body 20 and wrap the stamens 201 after inserting into the cavity of the petals, and when the limiting component 11 restricts the grasping component 10, the head of the grasping component 10 is gradually restricted by the limiting component 11 and makes the closing movement to clamp the stamens 201, so that when the grasping component 10 moves upward, the stamens 201 are separated from the petals.

[0070] Moreover, when the intelligent robotic arm 1 moves above the material receiving area, the limiting component 11 moves upward under the drive of the driving component to release the constraint on the grasping component 10, so as to release the stamens 201 onto the material receiving area, and then drive the grasping component 10 to return to the initial position.

[0071] As can be seen from the above: When it is necessary to collect the stamen 201, the petal with the stamen 201 can be moved below the intelligent robotic arm 1, or the intelligent robotic arm 1 can be moved above the petal with the stamen 201. By controlling the driving device 12 in the intelligent robotic arm 1 to move the limiting member 11 and the grasping member 10 downward, until reaching the preset position, then making the limiting member 11 move upward, or making the grasping member 10 move downward. During the process that the head of the grasping member 10 gradually disengages from the limiting member 11, the diffusion movement is performed, so as to realize the wrapping of the stamen 201 of the flower body 20, and gradually open the petals of the flower body 20. Then, by moving the limiting member downward, the head of the grasping member 10 is gradually constrained by the limiting member 11 again, and the closing movement is performed, so that while clamping and wrapping the stamen 201, the petals will not be clamped. Therefore, when the grasping member 10 clamps the stamen 201, during the process that the driving device 12 drives the grasping member 10 and the limiting member 11 to move upward to the initial position, the separation of the stamen 201 and the petals can be automatically realized. Thus, when the intelligent robotic arm 1 moves to the position for releasing the stamen 201, by moving the limiting member 11 upward, the head of the grasping member 10 is disengaged from the constraint of the limiting member 11, and the release of the stamen 201 can be realized, thereby realizing the automatic collection of the stamen 201. The whole process does not require manual intervention, improving the collection efficiency and reducing the labor cost.

[0072] In addition, it is worth mentioning that the flower body 20 in this embodiment is preferably a saffron flower body. Because of its high economic value, it is more suitable to use an automatic collection device for large-scale collection to reduce the collection cost. Obviously, and the stamen 201 in this embodiment is preferably the stamen 201 of saffron. In actual application, it is not limited to the collection of the stamen 201 of saffron, and it can also be the stamen 201 of other flower bodies in the blooming state, such as the stamen of a peony flower or other flower bodies with high economic value.

[0073] Further preferably, as Figure 9As shown, the grasping component 10 is mainly composed of a telescopic collar 101, several elastic rods 102, etc. Among them, one end of the elastic rod 102 is connected to the collar 101 and the other end is connected to the driving device 12; each elastic rod 102 is nested in the limiting component 11, and the part that breaks away from the limiting component 11 can expand outward under its own elasticity. Through the limitation of the elastic rod 102 by the telescopic collar 101, after the elastic rod 102 breaks away from the constraint of the limiting component 11, under the constraint of the collar 101, it will not expand disorderly, but expand synchronously in the circumferential direction, so as to better open the petals and prevent the elastic rod 102 from expanding outside the petals. Therefore, after the grasping component 10 is constrained by the limiting component 11 again, when clamping the stamen 201, it will not grasp the petals at the same time.

[0074] Further preferably, the elastic rod 102 is an annular sleeve rod. Among them, the end of the sleeve rod for sleeving and connecting the collar 101 is the expansion end, and the end connected to the driving device 12 is the contraction end; the collar 101 is a telescopic flexible ring body. Since the collar 101 is a telescopic flexible ring body, when the grasping component 10 is constrained by the limiting component 11, it is in a loose extrusion state. When the grasping component 10 breaks away from the constraint of the limiting component 11, under the action of the expansion of the elastic rod 102 due to its own rebound, the flexible ring body will automatically expand and enlarge in a ring shape to constrain the expansion direction and circumferential interface of each elastic rod 102. Among them, the flexible ring body can be a closed flexible ring body made of rubber material, or an open ring body made of metal material, such as an open ring structure similar to a key ring. Similarly, each elastic rod 102 can be a closed flexible closed body made of rubber material, or an open flexible closed body made of metal material, as Figure 12 shown.

[0075] Further preferably, as Figure 12 shown, the grasping component 10 further includes: a fixed cylinder 103 connected to the driving device 12 and used to connect the elastic rod 102, etc. Among them, the limiting component 11 can be sleeved on the fixed cylinder; one end of each elastic rod 102 connected to the fixed cylinder 103 is distributed in a circumferential manner. Through this structure, it is not only convenient for the installation of the grasping component 10, but also makes the structural dimensions of the grasping component 10 and the limiting component 11 relative to the driving device 12 smaller. And during the design, the length of the fixed cylinder 103 can be used to shorten the length of the downward movement of the fixed cylinder 103 by the driving device 12 to improve the acquisition efficiency. In addition, it is worth mentioning that the number of elastic rods 102 in this embodiment is only taken as an example of six for illustration, and in practice, it can also be designed as three, four or other numbers. Here, no specific limitation and elaboration will be made.

[0076] Further preferably, the grasping member 10 further includes: a plurality of flexible clamping members 105 disposed on the collar 101 and adapted to contact the stamen 201; wherein each flexible clamping member 105 is disposed between two adjacent elastic rods 102 and is arranged in a circumferential surrounding layout along the collar 101. The flexible clamping member 105 can constrain the circumferential interface of the grasping member 10 when it is constrained by the limiting member 11, ensuring that the elastic rods 102 also contract in a circular shape when performing the closing movement. At the same time, by clamping the stamen 201 with the flexible clamping member 105, the contact area between it and the stamen 201 can be preferably increased, thereby avoiding damage to the stamen body when the elastic rod 102 or the collar 101 directly contacts the stamen 201, which affects subsequent processing and sales. Among them, the flexible clamping member 105 can be a flexible body made of rubber material and in an arc shape.

[0077] Further preferably, the limiting member 11 is a limiting sleeve, and a limiting cavity for accommodating the grasping member 10 is provided therein. Since the limiting member 11 is a limiting sleeve, it can circumferentially constrain the grasping member 10 to facilitate wrapping and grasping the stamen 201.

[0078] Further preferably, as Figures 7 to 11 shown, the driving device 12 can be composed of a base 121, a first driving assembly 122 slidably disposed on the base 121 and connected to the grasping member 10 and the limiting member 11, and a second driving assembly 123 disposed on the base 121 for driving the first driving assembly 122 to perform reciprocating motion. The second driving assembly can drive the grasping member 10 and the limiting member 11 to move upward or downward as a whole, and the first driving assembly 122 can drive the limiting member 11 to move upward or downward relative to the grasping member 10, so as to realize the constraint and release of the grasping member 10.

[0079] Further preferably, as Figure 11 shown, the first driving assembly 122 can be composed of a slide rail assembly 1220, a fixture 1221 slidably disposed on the base 121 through the slide rail assembly 1220 and connected to the grasping member 10, a connecting rod 1222 connected to the limiting member 11, and a sliding assembly 1223 connected to the connecting rod 1222 and used to drive the limiting member 11 to perform reciprocating motion.

[0080] Since the fixing plate 1221 connected to the grasping member 10 is slidably disposed on the base 121, and the sliding assembly 1223 is disposed on the fixing plate 1221, the smooth sliding of the limiting member 11 relative to the fixing plate 1221 can be achieved by driving the connecting rod 1222 by the sliding assembly 1223, that is, the smooth relative sliding between the grasping member 10 and the limiting member 11 is achieved.

[0081] Further preferably, as Figure 11 shown, the second driving assembly 123 includes: a driving cylinder body 1231 fixedly disposed on the base 121, a driving rod 1232 connected to the driving cylinder body 1231 and the fixing plate 1221, etc. Among them, one end of the driving rod 1232 is connected to the fixing plate 1221 through a fixing member 1233. The slide rail assembly 1220 may be composed of a slide rail 12201 disposed on the base 121, at least one slider 12202 slidably disposed on the slide rail 12201 and connected to the fixing plate 1221, etc.

[0082] Through the cooperation of the driving cylinder body 1231 and the slide rail assembly 1220, the grasping member 10, the limiting member 11, and the first driving assembly 122 are driven by the driving rod 1232 of the driving cylinder body 1231 to perform smooth telescopic movement as a whole.

[0083] Further preferably, as Figure 11 shown, the sliding assembly 1223 is mainly composed of a screw motor 12231 disposed on the fixing plate 1221, a screw fixing seat 12232 disposed on the fixing plate 1221, a screw guide rail 12233 disposed on the fixing plate 1221, a sliding block 12235 slidably disposed on the screw guide rail 12233 and connected to the connecting rod 1222, and a screw 12236 for connecting the screw motor 12231 and the sliding block 12235, etc. Among them, the driving shaft of the screw motor 12231 is connected to the screw 12236 through a coupling 12237.

[0084] Therefore, through the above structure in which the screw motor 12231, the screw guide rail 12233, and the sliding block 12235 are cooperated, a driving motor structure with a smaller volume can be used to drive the rapid and smooth movement of the limiting member 11, so as to accurately control the displacement of the grasping member 10, thereby accurately grasping and releasing the flower stamen 201, and moreover, it can also play a role in energy saving.

[0085] In addition, through the forward or reverse movement of the lead screw motor 12231, the grasping component 10 can move upward or downward relative to the limiting component. For example, through the forward drive of the drive cylinder 1231 in the second drive assembly 123, that is, by pushing the elongation of the drive rod 1232, to drive the grasping component 10 to move in the direction shown by A in Figure 7 while, through the reverse movement of the lead screw motor 12231, to drive the limiting component 11 to move in the direction shown by B in Figure 10 , the grasping component 10 can move away from the limiting component 11 to perform a diffusion movement, gradually open the petals of the flower body 20, and wrap the stamens. For example, Figure 15 the state shown, so as to better avoid damaging the stamen body due to contact with the stamens during the process of wrapping the stamens.

[0086] Obviously, in this embodiment, the drive cylinder 1231 in the second drive assembly 123 can also rotate forward to drive the grasping component 10 to move in the direction shown by A in Figure 7 to a preset position. For example, Figure 14 after reaching the position shown, through the reverse movement of the lead screw motor 12231, to drive the limiting component 11 to move in the direction shown by B in Figure 15 , the grasping component 10 can move away from the limiting component 11 to perform a diffusion movement, gradually open the petals of the flower body 20, and wrap the stamens.

[0087] In addition, it is worth mentioning that, as Figure 9 shown, to meet the design, assembly and protection requirements in practical applications, the intelligent robotic arm further includes: a cover plate 13 for covering the first drive assembly 122, and a chute 131 opened on the cover plate for the sliding of the connecting rod 1222.

[0088] To better illustrate the control method of the intelligent robotic arm in this embodiment, it is as follows:

[0089] As Figures 13 to 16 shown:

[0090] Step 1. After the grasping component 10 is located above the flower body 20 to be collected, the grasping component 10 moves downward (in the direction of A shown in Figure 7 ) from the initial position (the position shown in Figure 12 and Figure 13 ) to a preset position (the position shown in Figure 8 ), and then the limiting component 11 moves upward (in the direction shown in Figure 15in the B direction shown in [Figure], so that the head of the grasping member 10 gradually disengages and performs the spreading movement, and after being inserted into the cavity of the petal, the petals of the flower body 20 are gradually opened and the stamens 201 are covered; it should be noted that during the process of some stamens 201 touching the grasping member 10, they may bend or directly bounce into the grasping member 10, and when the grasping member 10 is completely released, the stamens 201 will be covered within the grasping member 10.

[0091] Step 2, when the limiting member 11 moves downward again (such as Figure 15 in the A direction shown in [Figure]) to the initial position that restricts the head of the grasping member 10, the head of the grasping member 10 clamps the stamens 201 through the closing movement;

[0092] Step 3, when the grasping member 10 and the limiting member move upward synchronously, the stamens 201 are separated from the petals.

[0093] Or, as Figure 15 and Figure 16 shown:

[0094] Step 1a, when the grasping member 10 is at the first preset position above the flower body 20 to be collected, the grasping member 10 (such as Figure 15 in the A direction shown in [Figure]) moves downward and disengages from the restraint of the limiting member 11 to perform the spreading movement, and after being inserted into the cavity of the petal, the petals of the flower body 20 are gradually opened and the stamens 201 are covered; it should be noted that when the grasping member 10 makes the spreading movement downward, it can directly insert into the flower body 20 and cover the stamens 201, or when some stamens 201 touch the grasping member 10, they bend and bounce into the grasping member 10, so as to complete the full covering of the stamens 201 by the grasping member 10.

[0095] Step 2a, when the limiting member 11 (such as Figure 16 in the A direction shown in [Figure]) moves downward to the second preset position that restricts the head of the grasping member 10, the head of the grasping member 10 clamps the stamens 201 through the closing movement;

[0096] Step 3a, when the grasping member 10 and the limiting member move upward synchronously, the stamens 201 are separated from the petals.

[0097] In addition, it is worth mentioning that the control device in this embodiment can preferably be a PLC controller or an industrial control computer, etc.

[0098] Embodiment Four

[0099] As Figure 17As shown in the figure, this embodiment also provides an intelligent collection and recycling device, including: the intelligent robotic arm in the third embodiment above.

[0100] Specifically, the intelligent collection and recycling device in this embodiment further includes a transmission device 2 connected to the intelligent robotic arm 1 and used to move it to a preset collection station, a control device electrically connected to each intelligent robotic arm 1 and the transmission device 2, and a fixing bracket 3 for fixing the transmission device 2, etc.

[0101] Through the cooperation of multiple intelligent robotic arms 1 and the transmission device 2, that is, when it is necessary to collect the flower stamens 201, the transmission device 2 can rotate the intelligent robotic arm 1 above the collection station, so that the grasping component 10 on the corresponding intelligent robotic arm 1 can grasp the flower stamens 201. After separating from the petals, the transmission device 2 rotates the intelligent robotic arm 1 grasping the flower stamens 201 below the preset release station to release the corresponding flower stamens 201. At the same time, the next intelligent robotic arm 1 is rotated to the preset collection station to collect the flower stamens 201 in the next petal, thus realizing efficient collection of the flower stamens 201.

[0102] Further preferably, as Figure 17 shown, the transmission device 2 can be composed of a transmission motor 21 arranged on the fixing bracket 3, a linkage rod 22 connected to the intelligent robotic arm 1, a transmission shaft 23 coaxially connected to each linkage rod 22 and fixedly arranged on the fixing bracket 3, and a transmission component 26 for connecting the transmission shaft 23 and the transmission motor 21, etc. Among them, the intelligent robotic arm 1 rotates to the collection station following the transmission shaft 23 under the drive of the transmission motor 21 to collect the flower stamens 201.

[0103] It can be seen from the above: By adopting the cooperation of components such as the transmission motor 21, the linkage rod 22, the transmission shaft 23, and the transmission component 26, the stable rotation of the intelligent robotic arm 1 is realized, and each intelligent robotic arm 1 is rotated to the corresponding collection station in sequence to improve the collection efficiency and save power.

[0104] Further preferably, the axial direction of the transmission shaft 23 is parallel to the grasping direction of the intelligent robotic arm 1. With this structure, the structure can be relatively reasonable, more power can be saved, and it is convenient for the intelligent robotic arm 1 to grasp the flower stamens 201. Obviously, it should be noted that in this embodiment, the axial direction of the transmission shaft 23 and the grasping direction of the intelligent robotic arm 1 can also be designed to have other included angle settings according to the actual situation, and no specific limitation and elaboration will be made here.

[0105] In addition, it is worth mentioning that, in this embodiment, the number of the intelligent robotic arms 1 is preferably six, and they are circumferentially distributed with the axial direction of the transmission shaft 23 as the central axis. Moreover, the number of the intelligent robotic arms can also be adjusted to six, eight, etc. according to actual needs to meet the actual collection requirements. Therefore, this embodiment does not specifically limit and elaborate on the specific number of the intelligent robotic arms 1 in the intelligent collection device.

[0106] Further preferably, as Figure 11 shown, the transmission assembly 26 can be composed of a driving gear 26a connected to the main shaft of the transmission motor 21, a transmission gear 26b sleeved on the transmission shaft 23 and meshing with the driving gear 26a, etc. Among them, the transmission shaft 23 rotates following the transmission gear 26b under the drive of the driving gear 26a. Through this structure, power can be saved and the overall occupied space can be reduced.

[0107] Embodiment Five

[0108] As Figures 18 to 20 shown, this embodiment also provides an intelligent collection and recycling device. This embodiment is a further improvement on the above Embodiment Four. The improvement lies in that, in this embodiment, the intelligent collection and recycling device further includes: a conveying device 5 cooperating with the intelligent robotic arm 1. Among them, a plurality of conveying stations are provided on the conveying device 5 for receiving the flower body 20 to be collected and conveying the flower body 20 to be collected to the collection area below the intelligent robotic arm 1. Among them, the conveying device 5 is electrically connected to the control device. And it should be noted that, in this embodiment, the flower body 20 with the stamen 201 can be directly placed on the conveying station manually, or can be automatically dropped onto the conveying station by other devices and conveyed to the collection area automatically by the conveying device 5. When the control device detects that the transmission device 2 is rotating, it controls the conveying device 5 to start to receive and convey the flower body with the stamen.

[0109] Through the conveying device 5 cooperating with the intelligent robotic arm 1, the flower body 20 to be collected can be pre-placed on the conveying station and automatically conveyed to the corresponding collection station in the collection area by the conveying device 5, so that when the intelligent robotic arm 1 moves above the collection area, it can grab the stamen 201 on the collection station.

[0110] Further preferably, as Figure 18 and Figure 19 shown, the conveying device 5 includes: a conveyor belt 51, a plurality of conveying slots 52 opened on the conveyor belt 51 and forming the conveying stations, a conveying assembly 53 driving the conveyor belt 51 to transmit, and a conveying rack 54 for fixing the conveying assembly 53 and supporting the conveyor belt 51, etc.

[0111] With this structure, after the flower body 20 falls into the conveying slot 52, it can be fixed, and the opening of the flower body 20 faces upward, so as to facilitate the intelligent robotic arm 1 to grasp the stamens 201 and prevent the flower body 20 from falling out of the conveying slot 52. In addition, when the stamens 201 on the conveying slot 52 are grasped from the collection area and conveyed from above to below by the conveyor belt 51, the flower body 20 after the stamens are removed will automatically fall off the conveying slot 52 without manual cleaning. When the conveying slot 52 after the flower body 20 is automatically removed is conveyed from below the conveyor belt 51 to above again, it can receive a new flower body 20 with stamens 201 again.

[0112] Further preferably, the conveying slots 52 are equidistantly arranged on the conveyor belt 51 to facilitate the precise grasping control of the stamens by the intelligent robotic arm.

[0113] Further preferably, the intelligent collection and recycling device further includes: a cup holder 55 arranged in the conveying slot 52 and used for receiving the flower body 20. Through this cup holder 55, flower bodies 20 of different sizes can be adapted, so as to facilitate the subsequent grasping of the stamens in the flower bodies 20 of different sizes by the intelligent robotic arm 1 and reduce the probability of mis-grasping.

[0114] Further preferably, as Figure 18 and Figure 19 shown, the intelligent collection and recycling device further includes: an adsorption device 56 arranged below the collection area for adsorbing the flower body 20 on the conveying station. Through this adsorption device 56, after the flower body 20 falls above the conveying slot 52, it can be easily adsorbed into the conveying slot 52, and under the action of gravity and suction, it is ensured that the flower body 20 can fall into the conveying slot 52, and the opening of the flower body 20 is arranged upward so as to expose the stamens 201 in the flower body 20 upward.

[0115] In addition, it is worth mentioning that the adsorption device 36 can be composed of a closed shell arranged below the conveyor belt 51 and closely attached, a vacuum pump arranged in the closed shell and connected to the outside, etc. By pumping the air in the closed shell outwards by the vacuum pump, a strong adsorption force can be formed below the conveyor belt 51 to adsorb the flower body 20.

[0116] Further preferably, as Figure 18As shown in the figure, the intelligent collection and recycling device further includes: a first sensor 57 disposed on one side of the collection area and electrically connected to the conveying component 53 for sensing the cup holder 55. When the first sensor 57 senses the cup holder 55, it sends a stop signal to the conveying component 53, so that after the conveying component 53 stops driving the conveyor belt 51, the cup holder 55 is located below the collection station. By the induction of the cup holder 55 by the first sensor 57, the conveying device 5 can accurately convey the flower body 20 that needs to collect the stamens 201 to the collection station to avoid missing capture.

[0117] Further preferably, the intelligent collection and recycling device further includes: a second sensor 58 disposed on one side of the collection area and electrically connected to the control device for sensing the flower body 20. When the second sensor 58 senses the flower body 20, it sends a grasping signal to the control device, so that the control device rotates the corresponding intelligent robotic arm 1 above the collection station according to the grasping signal and controls the intelligent robotic arm 1 at the collection station to grasp the flower body 20. It can be seen that by the induction of the flower body 20 by the second sensor 58, the situation of missing capture by the grasping component 10 can be better prevented.

[0118] Further preferably, the intelligent collection and recycling device further includes: a receiving barrel (not shown in the figure) disposed on the discharge side of the conveying device 5 for receiving the flower body 20 on the conveyor belt 51. When the flower body 20 is grasped by the stamens 201 by the intelligent robotic arm 1, during the flipping process of the conveyor belt 51, it will fall into the receiving barrel under the action of gravity. The receiving barrel automatically collects the flower body 20 after classifying the stamens 201, so as to facilitate the recycling treatment of the collected flower body 20.

[0119] In addition, it is worth mentioning that in this embodiment, the conveying component 53 can be composed of a conveying driving roller (not marked in the figure), a conveying driven roller (not marked in the figure), a driving motor (not marked in the figure) for driving the conveying driving roller to rotate, and the conveyor belt 51, etc. The two opposite ends of the conveyor belt 51 are sleeved on the conveying driving roller and the conveying driven roller, so that when the driving motor drives the conveying driving roller to rotate, the conveyor belt 51 rotates under the action of the conveying driving roller and the conveying driven roller rotates accordingly. The driving motor can preferably be an in-built motor in the conveying driving roller. In addition, through the action of the conveyor belt transmission, the flower bodies at each conveying station can be sequentially conveyed below the collection station. When the conveying device 5 is started, the conveyor belt assembly 51 makes the conveyor belt start to drive.

[0120] Embodiment Six

[0121] As Figure 21 AndFigure 22 As shown, this embodiment also provides an intelligent collection and recycling device. This embodiment is a further improvement on any one of Embodiments 3 to 5 of the above embodiments. The improvement lies in that, in this embodiment, the intelligent collection and recycling device further includes: an air inflation device 6 sleeved on the limiting member 11 and electrically connected to the control device. Wherein, the air inflation device 6 is used to release air flow to the stamen 201 when the intelligent robotic arm 1 moves above the material collection area and the limiting member 11 gradually releases the constraint on the grasping member 10, so that the stamen 201 automatically falls onto the material collection area.

[0122] Among them, the air inflation device 6 preferably further has an annular air outlet 61. Through the annular air outlet, the air flow can be sprayed circumferentially, that is, 360 degrees without dead angles, to blow the stamen 201 on the grasping member 10 downward to the maximum extent.

[0123] In addition, it is worth mentioning that the air inflation device 6 is also provided with an air inlet 62 and an air outlet 63 connected to the air source device. Through the cooperation of the air source device, such as a compressor, etc., and the air inlet 62 and the air outlet 63, by opening the air inlet 62 and closing the air outlet 63 at the same time, or by opening the air inlet 62 and the air outlet 63 at the same time, the control of the speed and flow rate of the air flow in the air inflation device 6 is realized, so as to facilitate the release and drying of the stamen 201 and other processes.

[0124] Therefore, in view of the many possible implementation schemes that can apply the disclosed principles, it should be recognized that the above implementation schemes are only examples and should not be regarded as limitations in terms of scope. Therefore, we reserve all rights to the subject matter disclosed herein, including the right to claim any and all combinations of the subject matter disclosed herein, including but not limited to all contents within the scope and spirit of the following claims.

Claims

1. A material receiving device for stamen collection and recycling, characterized in that, include: A plurality of conveyor belt assemblies arranged at intervals and capable of independent transmission; The length of the gap area formed between two adjacent conveyor belt assemblies gradually increases along the conveying direction thereof, so as to gradually separate the stamens of different lengths received in the receiving area; The conveyor belt assembly at least comprises: a conveyor belt for receiving and conveying the stamens, and a baffle plate adjacent to the end of the conveyor belt for supporting the stamens; wherein the baffle plate is a plate-shaped member, and gradually turns upward from one end adjacent to the conveyor belt toward the next adjacent conveyor belt; A comb guide connected to the conveyor belt support and arranged at the end of the receiving area; wherein the comb guide comprises: a comb guide body having a plurality of comb guide channels arranged at equal intervals; wherein the comb guide body is arranged close to the conveyor belt surface of the conveyor belt assembly, and is used to comb the stamens; The combing guide channel includes: a first flow guide channel and a second flow guide channel connected to the first flow guide channel; wherein the channel cross-sectional area of ​​the first flow guide channel gradually decreases from the end thereof contacting the stamen toward the end thereof connected to the second flow guide channel; and the height of the second flow guide channel is less than the channel height of the first flow guide channel; a combing device disposed adjacent to the end of the receiving area; The combing device comprises: a combing body having a plurality of combing channels arranged at equal intervals; and a distal end of the combing body contacts a conveyor belt surface of a conveyor belt assembly located in the material receiving area; The combing body includes: a combing body, a plurality of comb teeth connected to the combing body to form the combing channel, and a flexible roller body connected to the ends of the comb teeth and used to contact the surface of the conveyor belt, and the flexible roller body is inserted into the ends of the comb teeth to form a ball body with a rotational connection.

2. The material receiving device for stamen collection and recovery according to claim 1, characterized in that, Also includes: A conveyor belt bracket used to fix each conveyor belt assembly and make it suspended in the air; A collecting tube is respectively located below each gap area.

3. The material receiving device for stamen collection and recovery according to claim 1, characterized in that, The gap area at least includes: a first gap area and a second gap area sequentially arranged along the conveying direction; wherein the length of the first gap area is 15-25 mm; and the length of the second gap area is 30-40 mm.

4. The material receiving device for stamen collection and recovery according to claim 1, wherein, Also includes: A hanging bracket is used to suspend the combing device and is connected to the conveyor belt bracket.

5. An intelligent collection and recycling device, characterized in that, include: The material collecting device according to any one of claims 1 to 4; An intelligent mechanical arm matched with the material receiving device; When the intelligent robot arm moves to above the material receiving area of ​​the material receiving device, the stamen is released onto the material receiving area.

6. The intelligent acquisition and recycling device according to claim 5, characterized in that The intelligent robotic arm includes: a grasping component for grasping the stamens in the flower body to be collected; a limiting component connected to the grasping component and used to make the grasping component perform spreading movement and contraction movement; a driving device connected to the grasping component and the limiting component; wherein the driving device is used to make the head of the grasping component separate from the limiting component and perform the spreading movement to open the petals of the flower body and cover the stamens, and to be constrained by the limiting component to perform the contraction movement to clamp the stamens.

7. The intelligent acquisition and recycling device according to claim 6, characterized in that, The grasping component includes: a telescopic collar and a plurality of elastic rods; wherein, one end of each elastic rod is connected to the collar and the other end is connected to the driving device; each elastic rod is nested in the limiting component, and the part that breaks away from the limiting component can expand outward under its own elasticity.

Images