Automatic flower loading and unloading device

Abstract

The application discloses a kind of automatic loading and unloading device of flowers, comprising: vehicle body;Vehicle body two opposite sides are equipped with opening;Two openings are respectively installed with placing assembly and unloading assembly;Placing assembly includes flat shovel, with the second drive device of transmission connection of flat shovel and placing mechanical arm;Unloading assembly includes unloading mechanical arm;Placing mechanical arm and unloading mechanical arm structure are same and are installed with industrial camera;Vehicle body is installed with transmission belt and the first drive device of drive transmission belt;Transmission belt top is also installed with conveying device.The whole process of unloading to placing is carried out by industrial camera;It can be according to the same standard requirement modeling and placing landscape flowers;It can be recycled with the waste flowers used up;High degree of automation, control precision.

Description

Technical Field

[0001] This invention relates to the field of landscape design technology, and in particular to an automatic flower loading and unloading device. Background Technology

[0002] Traditional manual loading and unloading of landscape flowers is costly and inefficient. It is also unable to complete the task with high quality and quantity in situations where high precision is required, flower bed shapes are complex, or placement is difficult to manage manually.

[0003] Therefore, considering the automation of the placement device, there is an urgent need to design an automatic flower loading and unloading device to arrange the flowers in a predetermined shape. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic flower loading and unloading device to solve the problems existing in the prior art. It can realize the unloading and placement of flowers in one process, and place the unloaded flowers according to the planned requirements to achieve automated placement.

[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides an automatic flower loading and unloading device, comprising: a vehicle body; openings on two opposite sides of the vehicle body; a placement component and an unloading component respectively installed at the two openings; the placement component includes a flat shovel, a second drive device and a placement robotic arm connected to the flat shovel; the unloading component includes an unloading robotic arm; the placement robotic arm and the unloading robotic arm have the same structure and are both equipped with an industrial camera;

[0006] The vehicle body is equipped with a transmission belt and a first drive device for driving the transmission belt; a conveyor device is also installed above the transmission belt.

[0007] The placement robotic arm is fixedly installed on one side of the opening and positioned above the flat shovel; the unloading robotic arm is fixedly installed on the other side of the opening and positioned above the transmission belt; one or two placement and unloading robotic arms are provided; each placement or unloading robotic arm has six degrees of freedom.

[0008] The robotic arm placement includes a robotic arm mounting base; the robotic arm mounting base is fixedly mounted on one side of the vehicle body opening; a slewing bearing is rotatably mounted on the main shaft of the robotic arm mounting base; a turntable is fixedly mounted on the slewing bearing; a first motor is also mounted on one side of the robotic arm mounting base; a first gear is mounted on the output end of the first motor; the first gear meshes with the gear teeth formed by the turntable and the peripheral wall of the slewing bearing; two support frames are also fixedly mounted on the turntable; the two support frames are symmetrically arranged about the robotic arm mounting base.

[0009] One end of a first transmission arm is mounted on each of the two support frames via a first transmission shaft; a secondary transmission arm is mounted on the other end of the first transmission arm.

[0010] A motor mounting plate is also fixedly installed on the turntable; a second motor is fixedly installed on the motor mounting plate; the output end of the second motor is fixedly connected to the first transmission shaft through a coupling; the motor mounting plate is placed on one side of one of the support frames.

[0011] The secondary transmission arm includes a second transmission arm, one end of which is connected to the first transmission arm via a second transmission shaft; one end of the second transmission shaft is fixedly connected to the output end of a third motor via a coupling; the other end of the second transmission arm is rotatably connected to one end of two third transmission arms via a third transmission shaft; a gripper is fixedly mounted on the other end of the two third transmission arms; one end of the third transmission shaft is fixedly connected to the output end of a fourth motor via a coupling; the industrial camera is also rotatably mounted on the third transmission shaft; the industrial camera is also fixedly mounted on one end face of the gripper and positioned between the two third transmission arms; several support arms are hinged to the other end face of the gripper.

[0012] The support arms are symmetrically installed at both ends of the end face of the gripper seat; two adjacent support arms on the same side are connected by a pin; a piston rod of a cylinder is rotatably installed in the middle of the pin; the fixed end of the cylinder is fixedly installed in the hinge seat on the side wall of the gripper seat.

[0013] The end of the support arm away from the gripper seat is bent toward the center of the gripper seat, and a gripper block is rotatably mounted on the bent end of the support arm via a rotating rod; the gripper blocks at both ends of the gripper seat are arranged opposite to each other.

[0014] The second drive device includes a push rod mounting platform; two push rod mounting platforms are provided and are respectively installed on the inner side wall of the vehicle body; an electric push rod is fixedly installed on the push rod mounting platform; the output end of the electric push rod faces the opening and is fixedly connected to one end of the flat shovel; the placement robotic arm is positioned above the flat shovel.

[0015] The flat shovel has a sliding groove dug inward at the middle of its two opposite outer walls; the opening sidewall has a receiving hole corresponding to the position of the flat shovel; the receiving hole has an installation hole dug inward at the middle; a bearing is rotatably installed in the installation hole by means of an installation rod; the sliding groove corresponds to the position of the installation hole and is combined to form a slide; the bearing abuts against the sliding groove.

[0016] The first driving device includes a drive motor; the drive motor is fixedly installed at one end of the bottom surface of the vehicle body; the output shaft of the drive motor is connected to the drive shaft of the transmission belt via a pulley; the drive shaft is disposed close to one side wall of the vehicle body; a tilting opening is formed between the driven shaft of the transmission belt and the other side wall of the vehicle body; a storage box is also installed on the bottom surface of the vehicle body; the tilting opening is located above one end of the storage box; the bottom surface of the inner cavity of the storage box is inclined.

[0017] The conveying device is positioned below the flat shovel; the conveying device includes a support platform, two of which are respectively installed on the inner side wall of the vehicle body; a linear guide rail and a servo motor are fixedly installed on the support platform; the servo motor causes the slider to slide horizontally on the linear guide rail via a lead screw; a clamping plate is threaded onto the top surface of the slider; a semi-circular hole is formed inward on one side wall of the clamping plate; several connecting slots are formed on the other side wall of the clamping plate; bolts pass through the connecting slots and are installed on the top surface of the slider; the semi-circular holes on the two clamping plates combine to form an annular area, and flowers are placed within the annular area.

[0018] A control console is also installed on the top surface of the vehicle's internal cavity.

[0019] The present invention discloses the following technical effects: the present invention uses an industrial camera to monitor the entire process from unloading to placement; it can arrange landscape flowers according to the same standard requirements; it can recycle used flowers; it has a high degree of automation and precise control. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure;

[0022] Figure 2 This is a side view of the vehicle body;

[0023] Figure 3 for Figure 2 Enlarged view of section A;

[0024] Figure 4 A schematic diagram of the structure for placing the robotic arm;

[0025] Figure 5 for Figure 4 Enlarged view of section B;

[0026] Figure 6 This is a sectional view of the vehicle body structure;

[0027] Figure 7 This is a diagram showing the positional relationship between the limit slide rail and the limit screw;

[0028] Figure 8 This is a diagram showing the positional relationship between the conveyor belt and the vehicle body.

[0029] The components include: 1. Vehicle body; 2. Drive belt; 3. Flat shovel; 4. Placing robotic arm; 5. Unloading robotic arm; 6. Industrial camera; 7. Storage box; 8. Support platform; 9. Control console; 21. Drive motor; 22. Pulley; 23. Drive shaft; 24. Driven shaft; 31. Push rod mounting platform; 32. Electric push rod; 33. Mounting hole; 34. Bearing; 41. Robotic arm mounting base; 42. Turntable; 43. First motor; 44. First gear; 45. Slewing bearing; 46. Support frame; 47. First rotating arm. ; 48. Motor mounting plate; 49. Second motor; 51. Second transmission arm; 52. Third motor; 53. Third transmission arm; 54. Gripper seat; 55. Fourth motor; 56. Support arm; 57. Pin shaft; 58. Cylinder; 59. Hinge seat; 510. Gripper block; 81. Linear guide rail; 82. Servo motor; 83. Slider; 84. Mounting plate; 10. Rotary motor; 11. Limit screw; 12. Limit slide rail; 13. Conveyor belt; 14. Elastic lever; 15. Vibration motor; 16. Rotary shaft. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Reference Figure 1-8 The present invention provides an automatic flower loading and unloading device, comprising: a vehicle body 1; openings on two opposite sides of the vehicle body 1; a placement component and an unloading component respectively installed at the two openings; the placement component includes a flat shovel 3, a second drive device and a placement robotic arm 4 connected to the flat shovel 3; the unloading component includes an unloading robotic arm 5; the placement robotic arm 4 and the unloading robotic arm 5 have the same structure and are both equipped with an industrial camera 6.

[0033] The vehicle body 1 is equipped with a transmission belt 2 and a first drive device that drives the transmission belt 2; a conveyor device is also installed above the transmission belt 2.

[0034] In one embodiment of the present invention, the position of the potted plant is identified by the industrial camera 6 on the unloading robotic arm 5. The unloading robotic arm 5 grabs the potted plant and places it on the transmission belt 2, and places the potted plant on the conveying device to transport the potted plant to the placement end. The placement robotic arm 4 grabs the potted plant and places it according to the predetermined placement method. The flat shovel 3 is used to shovel up the potted plant when it is recycled.

[0035] In one embodiment of the present invention, the flower species are preferably, but not limited to, urban flowers (such as specific flower species with flower pots, plastic films, etc.). Flowers suitable for robotic arm handling can be selected according to actual needs to improve the scope of application for loading and unloading.

[0036] The placement robotic arm 4 is fixedly installed on one side of the opening and positioned above the flat shovel 3; the unloading robotic arm 5 is fixedly installed on the other side of the opening and positioned above the transmission belt 2; there is one or two placement robotic arms 4 and unloading robotic arms 5; each placement robotic arm 4 or unloading robotic arm 5 has six degrees of freedom.

[0037] In one embodiment of the present invention, when recycling flowers, the flowers can first be scooped up by a flat shovel 3, and then a robotic arm 4 can be placed to pick up the flowers on the flat shovel 3 and put them back on the transmission belt for recycling, sorting or destruction.

[0038] In one embodiment of the present invention, when two robotic arms 4 are provided, they are respectively located on both sides of the opening.

[0039] The robotic arm 4 includes a robotic arm mounting base 41; the robotic arm mounting base 41 is fixedly mounted on one side of the opening of the vehicle body 1; a slewing bearing 45 is rotatably mounted on the main shaft of the robotic arm mounting base 41; a turntable 42 is fixedly mounted on the slewing bearing 45; a first motor 43 is also mounted on one side of the robotic arm mounting base 41; a first gear 44 is mounted on the output end of the first motor 43; the first gear 44 meshes with the gear teeth formed by the turntable 42 and the peripheral wall of the slewing bearing 45; two support frames 46 are also fixedly mounted on the turntable 42; the two support frames 46 are symmetrically arranged about the robotic arm mounting base 41.

[0040] One end of the first transmission arm 47 is mounted on the two support frames 46 via the first transmission shaft; a secondary transmission arm is mounted on the other end of the first transmission arm 47.

[0041] A motor mounting plate 48 is also fixedly installed on the turntable 42; a second motor 49 is fixedly installed on the motor mounting plate 48; the output end of the second motor 49 is fixedly connected to the first transmission shaft through a coupling; the motor mounting plate 48 is placed on one side of a support frame 46.

[0042] In one embodiment of the present invention, the robotic arm mounting base 41 serves as a support and fixation, and the rotation of the first transmission arm 47 is achieved through the rotary support 45.

[0043] The secondary transmission arm includes a second transmission arm 51, one end of which is connected to the first transmission arm 47 via a second transmission shaft; one end of the second transmission shaft is fixedly connected to the output end of the third motor 52 via a coupling; the other end of the second transmission arm 51 is rotatably connected to one end of two third transmission arms 53 via a third transmission shaft; a gripper 54 is fixedly mounted on the other end of the two third transmission arms 53; one end of the third transmission shaft is fixedly connected to the output end of the fourth motor 55 via a coupling; an industrial camera 6 is also rotatably mounted on the third transmission shaft; the industrial camera 6 is also fixedly mounted on one end face of the gripper 54 and positioned between the two third transmission arms 53; several support arms 56 are hinged to the other end face of the gripper 54.

[0044] In one embodiment of the present invention, the secondary transmission arm enables flexible adjustment of the placement of the robotic arm 4 with multiple degrees of freedom; and the industrial motor 6 fixedly installed on the gripper 54 is used to read the movement trajectory of the support arm 56 and the position of the flowers placed in front of the robotic arm, so that the support arm 56 can grasp the flowers.

[0045] Support arms 56 are symmetrically installed at both ends of the end face of the gripper seat 54; two adjacent support arms 56 on the same side are connected by a pin 57; the piston rod of the cylinder 58 is rotatably installed in the middle of the pin 57; the fixed end of the cylinder 58 is fixedly installed in the hinge seat 59 on the side wall of the gripper seat 54.

[0046] The end of the support arm 56 away from the gripper seat 54 is bent toward the center of the gripper seat 54, and the end of the support arm 56 at the bent end is rotatably mounted with a gripper block 510 via a rotating rod; the gripper blocks 510 at both ends of the gripper seat 54 are arranged opposite to each other.

[0047] In one embodiment of the present invention, the support arm 56 on the same side is driven by the piston rod of the cylinder 58 to make the support arm 56 swing within a certain angle, thereby achieving stable grasping of flowers through the gripping block 510.

[0048] Furthermore, the shape of the gripping block 510 adaptively matches the shape of the flower being gripped.

[0049] The second drive device includes a push rod mounting platform 31; there are two push rod mounting platforms 31, which are respectively installed on the inner side wall of the vehicle body 1; an electric push rod 32 is fixedly installed on the push rod mounting platform 31; the output end of the electric push rod 32 faces the opening and is fixedly connected to one end of the flat shovel 3; the mechanical arm 4 is placed above the flat shovel 3.

[0050] The flat shovel 3 has a sliding groove dug inward at the middle of its two opposite outer walls; the opening side wall has a receiving hole corresponding to the position of the flat shovel 3; the receiving hole has an installation hole 33 dug inward at the middle; a bearing 34 is rotatably installed in the installation hole 33 by means of an installation rod; the sliding groove corresponds to the position of the installation hole 33 and is combined to form a slide; the bearing 34 abuts against the sliding groove.

[0051] In one embodiment of the invention, the electric push rod 32 on the second drive device realizes the extension and retraction of the flat shovel 3; the stability of the flat shovel 3 is enhanced by confining the flat shovel 3 within the receiving hole; and the flat shovel 3 is slidably connected to the bearing 34 within the slide to make the extension and retraction of the flat shovel 3 smooth.

[0052] In another embodiment of the present invention, reference is made to Figure 7 A groove is provided on the side wall of the vehicle body 1 to facilitate the sliding of the flat shovel 3. A rotary motor 10 is fixedly connected to the top of the vehicle body 1, and a limiting screw 11 is fixedly connected to the output end of the rotary motor 10. The limiting screw 11 passes through the push rod mounting platform 31 and is threadedly connected to the push rod mounting platform 31. A limiting slide rail 12 is fixedly connected to the limiting screw 11 in the groove. One end of the push rod mounting platform 31 extends into the limiting slide rail 12 and slides with the limiting slide rail 12. Thus, the rotary motor 10 controls the push rod mounting platform 31 to drive the flat shovel 3 to slide in the vertical direction, thereby improving the applicability of flower arrangement.

[0053] The first driving device includes a drive motor 21; the drive motor 21 is fixedly installed at one end of the bottom surface of the vehicle body 1; the output shaft of the drive motor 21 is connected to the drive shaft 23 of the transmission belt 2 via a pulley 22; the drive shaft 23 is set close to one side wall of the vehicle body 1; a tilting opening is formed between the driven shaft 24 of the transmission belt 2 and the other side wall of the vehicle body 1; a storage box 7 is also installed on the bottom surface of the vehicle body 1; the tilting opening is located above one end of the storage box 7; the bottom surface of the inner cavity of the storage box 7 is inclined.

[0054] In one embodiment of the present invention, when flowers need to be destroyed, the flowers are not placed on the conveyor device, but directly on the conveyor belt 2, so that they move to the pouring port and fall naturally into the storage box 7.

[0055] In another embodiment of the present invention, reference is made to Figure 7 , 8 An elastic lever 14 is provided on the inclined surface below the driven shaft 24. One end of the elastic lever 14 extends out of the vehicle body 1, and a rotating shaft 16 passes through the elastic lever 14. The elastic lever 14 is connected to the vehicle body 1 via the rotating shaft 16. A vibration motor 15 is fixedly connected inside the inclined surface. When the flowers fall into the gap between the driven shaft 24 and the vehicle body 1, the unloading robotic arm 5 moves the elastic lever 14 to transport the flowers out of the storage box 7 from the vehicle body 1 and transport them via the placed conveyor belt 13.

[0056] Furthermore, the bottom of the inner cavity of storage box 7 is inclined downwards towards the other end of the pouring spout to prevent flowers from piling up at the pouring spout.

[0057] The conveying device is placed below the flat shovel 3; the conveying device includes a support platform 8, two of which are installed on the inner side wall of the vehicle body 1 respectively; a linear guide rail 81 and a servo motor 82 are fixedly installed on the support platform 8; the servo motor 82 causes the slider 83 to slide horizontally on the linear guide rail 81 through a lead screw; a clamping plate 84 is threaded on the top surface of the slider 83; a semi-circular hole is formed inward on one side wall of the clamping plate 84; several connecting grooves are opened on the other side wall of the clamping plate 84; bolts pass through the connecting grooves and are installed on the top surface of the slider 83; the semi-circular holes on the two clamping plates 84 combine to form an annular area, and the flowers are placed in the annular area.

[0058] In one embodiment of the present invention, when it is necessary to transport flowers between two openings, the two clamping plates 84 are moved to the openings, and the flowers are picked up by placing the robotic arm 4 or unloading the robotic arm 5, and then placed on the transmission belt 2 in the annular area.

[0059] When it is necessary to place the flowers, the drive motor 21 reverses and moves the two clamping plates 84 to the unloading robotic arm 5. After placing the flowers in the circular area, they are placed on the transmission belt 2 and move with the transmission belt 2 to the placement robotic arm 4.

[0060] When it is necessary to recycle and sort the flowers, the movement direction is opposite to that described above.

[0061] In one embodiment of the present invention, the two mounting plates 84 can be fixed in position by adjusting the connecting groove, thereby making the semi-circular holes overlap, thereby adjusting the size of the annular area to adapt to various sizes of flower pots.

[0062] A control console 9 is also installed on the top surface of the inner cavity of the vehicle body 1.

[0063] In one embodiment of the present invention, the console 9 controls the movement commands of the robotic arm 4 and the robotic arm 5, the industrial camera 6 for identification, the forward and reverse rotation of the servo motor 82, the forward and reverse rotation of the drive motor 21, and the extension and retraction of the electric push rod 32.

[0064] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0065] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A flower automatic loading and unloading device, characterized by comprising: Include: The vehicle body (1); the vehicle body (1) two opposite sides are provided with openings; two the opening is installed with respectively and unloads the component of placing component;The placing component includes a flat shovel (3), and the second drive device and the placing mechanical arm (4) are connected with the transmission of the flat shovel (3);The unloading component includes unloading mechanical arm (5);The placing mechanical arm (4) and unloading mechanical arm (5) structure are same and all are installed with industrial camera (6); The vehicle body (1) is installed with transmission belt (2) and the first drive device of drive transmission belt (2);The transmission belt (2) top is also installed with conveying device; The second drive device includes push rod mounting table (31);The push rod mounting table (31) is provided with two, and is installed in the inner side wall of the vehicle body (1) respectively;The electric push rod (32) is fixedly installed on the push rod mounting table (31);The output end of the electric push rod (32) is towards the opening, and is fixedly connected with one end of the flat shovel (3);The placing mechanical arm (4) is placed above the flat shovel (3); The flat shovel (3) two opposite outer wall middle part is inwards and is excavated with sliding groove;The opening side wall is provided with the accommodating hole corresponding with the position of the flat shovel (3);The accommodating hole middle part is inwards and is excavated with mounting hole (33);The mounting hole (33) is rotated and installed with a bearing (34) in through mounting rod;The sliding groove and the mounting hole (33) position correspond, and combination forms a slide;The bearing (34) is in abutment in the sliding groove; The first drive device includes drive motor (21);The drive motor (21) is fixedly installed on the bottom surface one end of the vehicle body (1);The output shaft of the drive motor (21) is connected with the driving shaft (23) of the transmission belt (2) through belt pulley (22) transmission;The driving shaft (23) is close to the side wall of the vehicle body (1) and is arranged;The driven shaft (24) of the transmission belt (2) and the other side wall between the vehicle body (1) form a pouring opening;The bottom surface of the vehicle body (1) is also installed with the storage box (7);The pouring opening is placed above one side end of the storage box (7);The bottom surface of the storage box (7) inner chamber is inclinedly arranged; The conveying device is placed below the flat shovel (3);The conveying device includes support table (8), the support table (8) is provided with two, and is installed in the inner side wall of the vehicle body (1) respectively;And the support table (8) is fixedly installed with linear guide (81) and servo motor (82);The servo motor (82) makes the sliding block (83) horizontal sliding on the linear guide (81) through the screw;The sliding block (83) top surface is installed with clamping plate (84) by screw thread;The half round hole is started inwards on the side wall of the clamping plate (84);The other side wall of the clamping plate (84) is provided with a plurality of connecting grooves;The bolt is installed on the top surface of the sliding block (83) through the connecting groove;The half round hole on two the clamping plate (84) combination forms a ring area, and the flower is placed in the ring area.

2. The automatic flower loading and unloading device according to claim 1, characterized in that: The placing mechanical arm (4) is fixedly installed on one side of the opening and arranged above the flat shovel (3); the unloading mechanical arm (5) is fixedly installed on the other side of the opening and arranged above the transmission belt (2); the placing mechanical arm (4) and the unloading mechanical arm (5) are each provided with one or two.

3. The automatic flower loading and unloading device according to claim 1, characterized in that: The placing mechanical arm (4) comprises a mechanical arm mounting seat (41); the mechanical arm mounting seat (41) is fixedly installed on one side of the opening of the vehicle body (1); a slewing bearing (45) is rotatably installed on a main shaft of the mechanical arm mounting seat (41); a rotary table (42) is fixedly installed on the slewing bearing (45); a first motor (43) is further installed on one side of the mechanical arm mounting seat (41); a first gear (44) is installed at an output end of the first motor (43); the first gear (44) is in gear transmission with the rotary table (42) and the wheel teeth formed on the peripheral wall of the slewing bearing (45); two support frames (46) are further fixedly installed on the rotary table (42); the two support frames (46) are symmetrically arranged about the mechanical arm mounting seat (41); One end of a first transmission arm (47) is installed on the two support frames (46) through a first transmission shaft; a secondary transmission arm is installed at the other end of the first transmission arm (47); A motor mounting plate (48) is further fixedly installed on the rotary table (42); a second motor (49) is fixedly installed on the motor mounting plate (48); an output end of the second motor (49) is fixedly connected with the first transmission shaft through a shaft coupling; the motor mounting plate (48) is arranged on one side of one of the support frames (46).

4. The automatic flower loading and unloading device according to claim 3, characterized in that: The secondary transmission arm comprises a second transmission arm (51); one end of the second transmission arm (51) is in transmission connection with the first transmission arm (47) through a second transmission shaft; one end of the second transmission shaft is fixedly connected with an output end of a third motor (52) through a shaft coupling; the other end of the second transmission arm (51) is rotatably connected with one end of two third transmission arms (53) through a third transmission shaft; a grab clamping seat (54) is fixedly installed at the other end of the two third transmission arms (53); one end of the third transmission shaft is fixedly connected with an output end of a fourth motor (55) through a shaft coupling; the industrial camera (6) is rotatably installed on the third transmission shaft; the industrial camera (6) is further fixedly installed on one end face of the grab clamping seat (54) and arranged between the two third transmission arms (53); a plurality of supporting arms (56) are hingedly connected to the other end face of the grab clamping seat (54).

5. The automatic flower loading and unloading device according to claim 4, characterized in that: The supporting arms (56) are symmetrically installed on the end faces of the grab clamping seat (54); adjacent two supporting arms (56) on the same side are connected through a pin shaft (57); a piston rod of a pneumatic cylinder (58) is rotatably installed in the middle of the pin shaft (57); a fixed end of the pneumatic cylinder (58) is fixedly installed in a hinged seat (59) in a side wall of the grab clamping seat (54).

6. The automatic flower loading and unloading device according to claim 5, characterized in that: The end of the branch arm (56) away from the clamping seat (54) is bent towards the center of the clamping seat (54), and the end of the bent end of the branch arm (56) is provided with a clamping block (510) through rotary installation.

7. The automatic flower loading and unloading device according to claim 1, characterized in that: The top surface of the inner cavity of the vehicle body (1) is further provided with a control console (9).

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