Flower cutting device and method for cutting flowers using the same

Abstract

The present invention discloses a flower cutting device and a method for cutting flowers using the flower cutting device, which belongs to the technical field of agricultural machinery and equipment. The device comprises a mechanical arm and a seedling picking mechanism for picking up flower seedlings; a frame for connecting to the mechanical arm, the seedling picking mechanism being installed at the front end of the frame; an orienting mechanism for reversing the flower seedlings from the seedling picking mechanism and orienting the flower seedlings, the orienting mechanism being installed at the rear end of the frame; a driving mechanism for driving the orienting mechanism to reversing the flower seedlings from the seedling picking mechanism, the driving mechanism being installed on the frame, and the driving mechanism being connected to one end of the orienting mechanism. The beneficial effect of the present invention is that the present invention performs cuttings on flower seedlings by adopting a double-claw flower cutting device similar to the way human hands exchange and position flower seedlings, thereby avoiding the problem of cutting failure caused by inability to adjust the angle, thereby improving work efficiency, and also avoiding damage to the flower seedlings.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery and equipment, in particular to a flower cutting device and a method for cutting flowers using the flower cutting device. Background Art

[0002] Yunnan is one of the few regions in my country most suitable for flower production, where major flower varieties worldwide can be produced on a large scale. In recent years, supported by relevant policies, the floriculture industry has accelerated its development, with significant improvements in production facilities and per-household planting areas in emerging production areas. However, a lack of specialized equipment remains a major bottleneck in the industry. For example, the use of automated equipment such as flower cutting and transplanting machines is not widespread.

[0003] According to statistics, the penetration rate of cutting equipment in China is only around 5%, indicating extremely low adoption. Cuttings are a crucial step in the cultivation and production of fresh flower seedlings, and existing cuttings are mostly performed manually. However, manual labor is often time-consuming and labor-intensive, and is susceptible to environmental conditions and human factors, resulting in low production efficiency and limiting the expansion of production capacity and scale.

[0004] In the prior art, although some corresponding flower cutting seedling raising devices have appeared to carry out cuttings on flowers and the like to replace traditional manual cutting operations, the angle at which the driving device clamps the flower seedlings to a vertical state is related to the initial angle when clamping the flowers. The device itself is loaded, and its rotation must do work. The higher the rotation and lifting, the more work it does, and the lower the efficiency.

[0005] For example, a rotary woody branch cutting mechanism, with application publication number CN 114145141 A and publication date March 8, 2022, discloses the use of cutting claws to grip cuttings and a rotary electric cylinder to adjust the direction of the cutting claws by 90 degrees to achieve the purpose of adjusting horizontal cuttings to a vertical position, replacing manual gripping of flower seedlings and increasing work efficiency. However, the device itself and the flower seedlings bear the weight, and the rotary electric cylinder rotates to lift the flower seedlings. The higher the rotation and lift, the greater the work done, and the lower the efficiency.

[0006] Another example is an automatic flower seedling cutting robot with an application publication number of CN 116439043 A and an application publication date of 2023.07.18. It discloses an end-effector to complete the action from clamping the flower seedlings to completing the cuttings, which can reduce the labor intensity of workers, improve the work efficiency of flower seedling cuttings, and has a high degree of automation. The end-effector uses a movable joint to enable the end-effector to clamp the flower seedlings and rotate them to achieve the purpose of adjusting the horizontal cuttings to a vertical state. Similarly, the end-effector still needs to be lifted from the bottom to the horizontal state. The work done during this period is the higher the rotation and lifting, the more work is done, and the lower the efficiency.

[0007] In the above-mentioned prior art, although clamps are used to replace manual clamping of seeds and then rotating and inserting them into the soil, the clamps or end actuators used in the prior art are all based on the work done from the bottom to the horizontal when adjusting the flower seedlings from a horizontal state to a vertical state. The rotation angle is related to the initial angle. If the rotation angle is not in place, the flower seedlings cannot be adjusted to a vertical position. Moreover, when the clamped flower seedlings are not placed horizontally, especially when the angle to be rotated is greater than 90 degrees, the flower seedlings need to be adjusted to a vertical position more often and lifted to a higher height. The more work is done, the lower the equipment efficiency. Summary of the Invention

[0008] The present invention aims to overcome the shortcomings of the prior art in flower cutting work and provides a flower cutting device. The object of the present invention is achieved through the following technical solutions: a flower cutting device, comprising a robotic arm and a seedling picking mechanism for picking up flower seedlings; a frame connected to the robotic arm, the seedling picking mechanism being mounted at the front end of the frame; an orienting mechanism for flipping the flower seedlings from the seedling picking mechanism and orienting the flower seedlings, the orienting mechanism being mounted at the rear end of the frame; a driving mechanism for driving the orienting mechanism to flip the flower seedlings from the seedling picking mechanism, the driving mechanism being mounted on the frame, the driving mechanism being connected to one end of the orienting mechanism, the orienting mechanism being rotatably mounted at the rear end of the frame; the driving mechanism being mounted on the frame and driving the orienting mechanism to rotate on the frame; an actuating end of the driving mechanism being rotatably connected to the orienting mechanism, the connection point being located above or below a junction between the orienting mechanism and the frame; the orienting mechanism and the driving mechanism forming a slider rocker mechanism.

[0009] Preferably, the orientation mechanism is rotatably connected to the frame via a cantilever, the orientation mechanism is mounted on the lower end of the cantilever, the cantilever is rotatably mounted on the frame and is rotatably connected to the action end of the driving mechanism.

[0010] Preferably, the driving mechanism is used to adjust the rotation angle of the cantilever and is a rigid displacement mechanism.

[0011] Preferably, the rigid displacement mechanism is a telescopic mechanism or a slider mechanism.

[0012] Preferably, the travel telescopic mechanism is a pneumatic telescopic mechanism, an electric telescopic mechanism or a hydraulic telescopic mechanism, and the telescopic end of the travel telescopic mechanism is provided with a connector; the slider mechanism is a crank slider mechanism, a screw slider mechanism or a gear rack slider mechanism.

[0013] Preferably, the pneumatic telescopic mechanism is a stroke pneumatic telescope, which is rotatably connected to the frame via a connector. Preferably, the connector is a movable cylinder seat, in which the pneumatic telescope is nested, and which is connected to the frame via a bearing.

[0014] Preferably, an oblique support beam is provided at the connection between the frame and the movable cylinder seat, and the movable cylinder seat is provided in the middle of the oblique support beam. Preferably, the cantilever is provided in the middle of the frame, and a cantilever bearing is provided at the connection between the frame and the cantilever, and the cantilever is mounted on the positioning cantilever bearing at the lower right end of the frame via a fixed axis.

[0015] Preferably, the frame and cantilever are configured as a box-like or fork-like component for support, and the cantilever, seedling removal mechanism, and orientation mechanism are located inside the box-like or fork-like component.

[0016] Preferably, the seedling retrieval mechanism includes a first displacement mechanism for adjusting the spacing, one end of the first displacement mechanism is fixedly installed at the front end of the frame; and a first opening and closing mechanism for fixing the flower seedlings, one end of the first opening and closing mechanism is installed at the bottom of the displacement mechanism and is located below the frame.

[0017] Preferably, the orientation mechanism includes a second displacement mechanism for adjusting the spacing, the second displacement mechanism is rotatably mounted on the rear end of the frame; and a second opening and closing mechanism for fixing the flower seedlings, one end of the second opening and closing mechanism is mounted on the bottom of the second displacement mechanism and is located below the frame.

[0018] Preferably, the first displacement mechanism adjusts the distance between the first opening and closing mechanism and the frame, and is a rigid displacement mechanism or a flexible displacement mechanism.

[0019] Preferably, the rigid displacement mechanism is a telescopic mechanism or a slider mechanism; the flexible displacement mechanism is a retractable pull rope. Preferably, the second displacement mechanism adjusts the distance between the second opening and closing mechanism and the frame, and is a rigid displacement mechanism.

[0020] Preferably, the rigid displacement mechanism is a telescopic mechanism or a slider mechanism.

[0021] Preferably, the telescopic mechanism is an electric telescopic mechanism, a pneumatic telescopic mechanism, or a hydraulic telescopic mechanism, and the first opening and closing mechanism and the second opening and closing mechanism are respectively installed at the telescopic end of the telescopic mechanism.

[0022] Preferably, the slider mechanism is a screw slider mechanism, a gear rack slider mechanism, or a crank slider mechanism; the first opening and closing mechanism and the second opening and closing mechanism are mounted on the slider.

[0023] Preferably, the retractable pull rope is an electric hoist pull rope or a winch pull rope, and the first opening and closing mechanism is installed at one end of the pull rope.

[0024] Preferably, the first opening and closing mechanism and the second opening and closing mechanism fix the flower seedlings by opening and closing the mechanism, and the first opening and closing mechanism and the second opening and closing mechanism are clamps or claws.

[0025] Preferably, the pneumatic telescopic mechanism is a double-rod pneumatic telescope, the telescopic cylinder is installed on the frame, and the telescopic shaft is suspended under the frame; the gripper slide air gripper, the slide air gripper is installed under the telescopic shaft.

[0026] Preferably, the double-rod pneumatic telescope is vertically and invertedly mounted at the front end of the frame through a fixing frame; the sliding platform air claw is threadedly connected to the head of the telescopic shaft of the double-rod pneumatic telescope.

[0027] Preferably, a robotic arm joint is provided on the frame to connect with the robotic arm.

[0028] Preferably, the frame is fixedly connected to the robotic arm via a robotic arm joint.

[0029] A method for cutting flowers using a flower cutting device comprises the following steps:

[0030] S1: prepare a pile of flower seedlings placed horizontally;

[0031] S2: moving the flower cutting device to the top of the flower seedling pile by a robotic arm;

[0032] S3: Suspending a seedling taking mechanism above the flower seedling pile and simultaneously opening the seedling taking mechanism;

[0033] S3-1: Control the seedling picking mechanism to extend downward and pick up the flower seedlings;

[0034] S3-2: Control the seedling taking mechanism to retract, and at the same time control the orientation mechanism to rotate back to the seedling taking mechanism to exchange the flower seedlings;

[0035] S3-3: Controlling the orienting mechanism to clamp the flower seedlings and controlling the driving mechanism to adjust the rotation direction of the orienting mechanism so that the flower seedlings are vertically downward;

[0036] S4: Control the robotic arm to move downward to insert the flower seedlings into the plug tray;

[0037] S5: The device returns to its original position and continues the next cycle.

[0038] The present invention has the following advantages: the present invention uses a double-claw flower cutting device similar to the exchange and positioning of flower seedlings by human hands to cut flower seedlings, the seedling-picking mechanism stably picks up or clamps the flower seedlings, and the orientation mechanism adjusts the angle while exchanging the flower seedlings. This not only completes the angle and direction adjustment of the flower seedlings, but also utilizes the time period of orientation and downward cutting after the exchange, and the seedling-picking mechanism picks up or clamps the flower seedlings again. By using a slider rocker, the rotation angle is compensated and adjusted in advance, so that it does not do work for a period of time after clamping the flower seedlings. Moreover, the final lifting height is reduced, thereby reducing the time and power of the equipment to overcome the gravitational potential energy, thereby improving the efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 work.

[0040] Figure 1 It is a structural schematic diagram of the present invention.

[0041] Figure 2 It is an axonometric view of the present invention.

[0042] Figure 3 It is a schematic diagram of the seedling-taking state of the present invention.

[0043] Figure 4 It is a schematic diagram of the cutting state of the present invention.

[0044] Figure 5 It is a schematic diagram of the mechanism movement of the present invention.

[0045] Figure 6 It is a structural schematic diagram of the electric retractor of the present invention.

[0046] Figure 7 Schematic diagram of the screw slider mechanism of the present invention.

[0047] Figure 8 Schematic diagram of the rack and pinion slider mechanism of the present invention.

[0048] Figure 9 Schematic diagram of the crank slider mechanism of the present invention.

[0049] Figure 10 It is a schematic diagram of the clamp structure of the present invention.

[0050] Figure 11 It is a schematic diagram of the claw structure of the present invention.

[0051] Figure 12 Schematic diagram of the timing comparison between the present invention and the prior art.

[0052] Figure 13 Comparison of different angles of rotation of this device Figure 1 .

[0053] Figure 14 Comparison of different angles of rotation of this device Figure 2 .

[0054] Figure 15 Comparison of different angles of rotation of this device Figure 3 .

[0055] In the figure, the frame (1), the cantilever (2), the driving mechanism (3), the stroke cylinder (31), the seedling taking mechanism (4), the orientation mechanism (5), the movable cylinder seat (6), the moving shaft (7), the fixed shaft (8), the connector (9), the fixed frame (10), the stroke cylinder bearing seat (11), the shaft seat (12), the cylinder seat bearing (13), the cantilever bearing I (14), the cantilever bearing II (15), the mechanical arm joint (16), the double-rod cylinder I (17), the double-rod cylinder II (18), the slide claw I (19), the slide claw II (20), the flower seedling (21), the plug tray (22), polyester rubber pad (23), fixed cylinder (32), rotating telescopic cylinder (33), driving motor (34), driving slide rail (35), screw (36), slider (37), plate frame (38), rack groove (39), gear (310), rack (311), crank (312), connecting rod (313), clamping slide rail (41), clamping motor (42), clamping piece (43), double-headed screw (44), claw piece (45), fixing piece (46), connecting shaft (47), claw motor (48), claw spring (49), claw shaft (410). DETAILED DESCRIPTION

[0056] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0057] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0058] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0059] The glossary of the present invention is explained as follows:

[0060] Seedling picking mechanism: an independent motion unit used to pick up or clamp flower seedlings.

[0061] Frame: A general term for the frame that serves as a support.

[0062] Orienteering mechanism: an independent motion unit used to adjust and fix a certain direction.

[0063] Drive mechanism: an independent motion unit or transmission part in a mechanical structure used for power output.

[0064] Inversion: the reversal of left and right positions.

[0065] Action end: The end that performs the movement, as distinguished from the stationary end.

[0066] Slider rocker mechanism: a rocking linkage mechanism that uses a slider and a rocker to achieve the mutual conversion between movement and rocking.

[0067] Rigid displacement mechanism: an independent motion unit that does not change position without deformation.

[0068] Stroke telescopic mechanism: an independent motion unit that realizes the change of stroke back and forth.

[0069] Slider mechanism: a planar linkage mechanism that uses a slider to achieve movement.

[0070] Crank slider mechanism: a planar connecting rod mechanism that uses a crank and a slider to realize the mutual conversion between rotation and movement.

[0071] Screw-slider mechanism: a planar linkage mechanism that uses a screw and a slider to achieve the mutual conversion of screw rotation angle change and movement.

[0072] Gear rack slider mechanism: a planar linkage mechanism that uses a gear rack and a slider to realize the mutual conversion of gear rotation angle and movement.

[0073] Connector: A component used to connect soft or hard parts.

[0074] Diagonal support beam: a beam that provides diagonal support.

[0075] Displacement mechanism: an independent motion unit that can only move in one direction.

[0076] like Figure 1 A flower cutting device is shown, comprising a robotic arm and a seedling removal mechanism 4 for picking up flower seedlings. It also includes a frame 1 connected to the robotic arm, with the seedling removal mechanism 4 mounted at the front end of the frame 1. The frame 1 is connected to the robotic arm, and the robotic arm drives the entire frame 1 and its other components to move along with the robotic arm. The device also includes an orienting mechanism 5 mounted at the rear end of the frame 1, for reversing and orienting the flower seedlings from the seedling removal mechanism 4. The orienting mechanism 5 is mounted on the frame 1, and is connected to one end of the orienting mechanism 5. In this device, two independent moving components, the seedling removal mechanism 4 and the orienting mechanism 5, are used. The drive mechanism 3 drives the orienting mechanism 5 to remove flower seedlings from a stack of seedlings, adjust their orientation, and secure them. The device then proceeds to insert the flower seedlings downwards, driven by the robotic arm. During the rotation adjustment process, since two independently moving parts cooperate with each other, the adjustment angle does not need to reach 90 degrees from the vertical position to complete the adjustment, the adjustment is more convenient, the rotation angle of the work adjustment is smaller, the lower the lifting height, the less work is done, the seedling picking mechanism 4 and the orienting mechanism 5 can move simultaneously within the stroke without affecting each other, reducing the intermediate work time, saving time, and improving the working efficiency of the equipment.

[0077] In the entire device, the seedling picking mechanism 4 is used to clamp or pick up flower seedlings from the stacked flowers. At this time, the seedling picking mechanism 4 can adopt the same structure as the conventional seedling picking mechanism to achieve clamping. However, if a rotating mechanism such as a rotary electric cylinder is set on the seedling picking mechanism 4 to adjust the cutting angle of the flowers as in the prior art, there will be three situations: the angle between the flower seedling 21 and the slide air claw II 20 is equal to 90 degrees, greater than 90 degrees, or less than 90 degrees.

[0078] When the angle between the flower seedling 21 and the slide air gripper II 20 is equal to 90 degrees, Figure 13 As shown, the prior art adjusts the flower seedlings to a vertical state, and the lifting height difference is △H3. The present invention adjusts the flower seedlings to a vertical state, and the lifting height difference is △H4. By comparing the figures, it can be seen that △H4 is much smaller than △H3.

[0079] When the angle between the flower seedling 21 and the slide air gripper II 20 is less than 90 degrees, Figure 14As shown, the prior art adjusts the flower seedlings to a vertical state with a lifting height difference of △H1, and the present invention adjusts the flower seedlings to a vertical state with a lifting height difference of △H2. By comparing the figures, it can be seen that △H2 is also much smaller than △H1.

[0080] When the angle between the flower seedling 21 and the slide air gripper II 20 is greater than 90 degrees, Figure 15 As shown, the prior art adjusts the flower seedlings to a vertical state, and the lifting height difference is △H5. The present invention adjusts the flower seedlings to a vertical state, and the lifting height difference is △H6. By comparing the figures, it can be seen that △H6 is also much smaller than △H5.

[0081] The present invention relates to a kind of flower and plant that is clamped and arranged on the plant body. For single adjustment, each flower and plant will not be in the standard horizontal position during the accumulation process. Therefore, there must be flower seedlings placed at various angles. The factors that need to be considered and controlled in the process of clamping and adjusting will inevitably increase, which will have an impact on the whole working efficiency and mechanical efficacy. Even when the angle adjustment is not enough, it will cause the cutting failure and the loss of flower seedlings. And the angle is greater than 90 degree, and it will take more time to adjust to the vertical cutting position. The lifting height is greater, so another mechanism is needed to adjust its clamping flowers. Since the seedling taking mechanism 4 needs to maintain continuously after clamping the flower seedlings, its adjustment will cause the flower seedlings to fall off when it is realized on the seedling taking mechanism 4. Therefore, it can only be adjusted after it is put down. However, directly re-setting it on the horizontal position and then clamping will cause a long time, and it is not necessarily placed horizontally. Therefore, adopting the same action structure as people's hands, one stably picks up or clamps the flower seedlings, and the other adjusts when exchanging the flower seedlings. This mode structure is the best choice. Furthermore, since the drive mechanism 3 performs work to overcome the gravitational potential energy, which is only related to the height difference of the gravitational potential energy, the lower the height required for lifting, the less work is performed, and the higher the efficiency. This not only allows the angle and direction of the flower seedlings to be adjusted, but also allows the seedling picking mechanism 4 to pick up or clamp the flower seedlings again during the period of orientation and downward cutting after the exchange. This process allows for continuous and uninterrupted operation, reducing the intermediate work time, avoiding cutting failures caused by angle adjustment failures, preventing damage to the flower seedlings, and improving work efficiency and efficacy.

[0082] During the entire action process, how to realize the reverse exchange of the flower seedlings from the seedling-taking mechanism 4 to the orienting mechanism 5 and orienting them at the same time is the key point. The present invention realizes this action or function through the driving mechanism 3. A specific implementation structure is to rotatably install the orienting mechanism 5 on the rear end of the frame 1, and the driving mechanism 3 is installed on the frame 1 to drive the orienting mechanism 5 to rotate on the frame 1. At the same time, the action end of the driving mechanism 3 is rotatably connected to the orienting mechanism 5, and its connection point is located above or below the transfer point between the orienting mechanism 5 and the frame 1, so that the angle of the driving mechanism 3 can be flexibly adjusted to avoid the dead point of the orienting mechanism 5 during the rotation process. In this way, the orienting mechanism 5 and the driving mechanism 3 constitute a slider and rocker connecting rod mechanism that realizes the mutual conversion between movement and rocking by a slider and a rocker, such as Figure 5 As shown, the driving mechanism 3 realizes the back-and-forth movement of the slider, and the driving mechanism 3 is rotationally connected to the orienting mechanism 5 to convert this back-and-forth movement into the shaking of the orienting mechanism 5, thereby realizing the shaking of the orienting mechanism 5 to the seedling-taking mechanism 4 to obtain the flower seedlings.

[0083] In the entire device, in order to better achieve this shaking, and also to avoid the inconvenience of adjusting or installing the orienting mechanism 5 by directly connecting it, the orienting mechanism 5 of the device is rotatably connected to the frame 1 through the cantilever 2. The orienting mechanism 5 is mounted on the lower end of the cantilever 2, and the cantilever 2 is rotatably mounted on the frame 1 and rotatably connected to the operating end of the drive mechanism 3. In this way, the orienting mechanism 5 can be arbitrarily installed and adjusted on the cantilever 2 without affecting the rotational connection between the frame 1 and the cantilever 2.

[0084] One way to install the orienting mechanism 5 is to directly install the orienting mechanism 5 upside down and vertically fixed on the lower end of the cantilever 2. The orienting mechanism 5 is no longer adjusted on the cantilever 2, but is directly fixed once according to the design. At the same time, the driving mechanism 3 is actuated to adjust the rotation angle of the cantilever 2, which is a rigid displacement mechanism. The shaking is achieved by converting the change in the stroke position of the driving mechanism 3 into the rotation angle of the cantilever 2. Among them, the rigid displacement mechanism is a mechanism that can achieve a change in stroke position, such as a stroke telescopic mechanism or a slider mechanism. The stroke telescopic mechanism is one of a pneumatic telescopic mechanism, an electric telescopic mechanism, or a hydraulic telescopic mechanism. More specifically, the slider mechanism is one of a crank slider mechanism, a screw slider mechanism, or a rack and pinion slider mechanism, and the best pneumatic telescopic mechanism is a pneumatic telescope.

[0085] Preferably, when a pneumatic expander is selected as the driving mechanism 3, the expansion and contraction end of the pneumatic expander is equivalent to a slider that realizes the stroke displacement, and the cantilever 2 is a rocker. The expansion and contraction of the pneumatic expander is ultimately converted into the rocking of the cantilever 2. In order to facilitate its rotational installation on the frame 1 while expanding and contracting, the pneumatic expander is rotationally connected to the frame 1 through a connecting piece, which is a movable cylinder seat 6. The pneumatic expander is nested in the movable cylinder seat 6, and the movable cylinder seat 6 is connected to the frame 1 through a cylinder seat bearing 13.

[0086] Preferably, in order to facilitate the installation of the movable cylinder seat 6, an oblique support beam is provided at the connection between the frame 1 and the movable cylinder seat 6, and the movable cylinder seat 6 is provided in the middle of the oblique support beam.

[0087] Preferably, in order to facilitate the installation of the cantilever 2, the cantilever 2 is arranged in the middle of the frame 1, and a cantilever bearing 14 is provided at the connection between the frame 1 and the cantilever 2. The cantilever 2 is installed on the positioning cantilever bearing 14 at the lower right end of the frame 1 through the fixed axis 8. At the same time, a connector 9 is provided at the telescopic end of the travel telescopic mechanism.

[0088] Preferably, the frame 1 can be configured as a box-like or fork-like component for support as needed, with the cantilever 2, the seedling removal mechanism 4 and the orientation mechanism 5 located inside the frame.

[0089] In this device, a pneumatic expander is used as the drive mechanism 3. The pneumatic expander is connected to the cantilever 2 to form a slider-rocker mechanism. Since the pneumatic expander is the active component in this application, the cantilever 2 acts as the driven component in the mechanism. Due to the variable speed characteristics of the rocker slider or crank slider, the entire stroke time can be reduced, thereby improving the efficiency of cuttings. The cantilever 2 rotates at a variable speed, which can quickly swing the second opening and closing mechanism end of the mechanism 5 to the seedling removal mechanism 4. This is impossible with two ordinary rotating seedling removal mechanisms 4 and can only be achieved through a variable speed four-bar mechanism such as a slider-rocker or crank rocker. Achieving a variable speed effect with the same speed output control is unprecedented in the art. The requirements for the orienting mechanism 5 are even simpler. The orienting mechanism 5 includes a second displacement mechanism for adjusting the spacing, which is rotatably mounted to the rear end of the frame 1; and a second opening and closing mechanism for securing the flower seedlings, one end of which is mounted at the bottom of the second displacement mechanism and located below the frame 1.

[0090] Preferably, the second displacement mechanism adjusts the distance between the second opening and closing mechanism and the frame 1 and is a rigid displacement mechanism, which is convenient for adjustment and control.

[0091] Preferably, the rigid displacement mechanism is a telescopic mechanism or a slider mechanism.

[0092] Preferably, the telescopic mechanism is an electric telescopic mechanism, a pneumatic telescopic mechanism, or a hydraulic telescopic mechanism, and the first opening and closing mechanism and the second opening and closing mechanism are installed at the telescopic ends of the telescopic mechanism.

[0093] Preferably, the slider mechanism is a screw slider mechanism, a gear rack slider mechanism, or a crank slider mechanism; the first opening and closing mechanism and the second opening and closing mechanism are mounted on the slider.

[0094] In this device, when the driving mechanism 3 is used as the driving mechanism to realize the left and right reversal of the flower seedlings, the choice of the seedling taking mechanism 4 can also be diverse. Specifically, the seedling taking mechanism 4 includes a first displacement mechanism for adjusting the spacing: one end of the first displacement mechanism is fixedly installed at the front end of the frame 1; a first opening and closing mechanism for fixing the flower seedlings: one end of the first opening and closing mechanism is installed at the bottom of the displacement mechanism and is located below the frame 1.

[0095] Preferably, the first displacement mechanism adjusts the distance between the first opening and closing mechanism and the frame 1 and is a rigid displacement mechanism or a flexible displacement mechanism. Since the seedling removal mechanism 4 only moves in a vertical straight line, a flexible displacement mechanism can be selected as the first displacement mechanism. The flexible displacement mechanism can prevent the seedling removal mechanism 4 from causing direct hard impact on the flowers during the downward movement.

[0096] Preferably, the rigid displacement mechanism is a telescopic mechanism or a slider mechanism; and the flexible displacement mechanism is a retractable pull rope.

[0097] Preferably, the telescopic mechanism is an electric telescopic mechanism, a pneumatic telescopic mechanism, or a hydraulic telescopic mechanism, and the first opening and closing mechanism and the second opening and closing mechanism are installed at the telescopic ends of the telescopic mechanism.

[0098] Preferably, the slider mechanism is a screw slider mechanism, a gear rack slider mechanism, or a crank slider mechanism; the first opening and closing mechanism and the second opening and closing mechanism are mounted on the slider.

[0099] Preferably, the first opening and closing mechanism and the second opening and closing mechanism fix the flower seedlings by opening and closing the mechanism, and the first opening and closing mechanism and the second opening and closing mechanism are clamps or claws.

[0100] Preferably, the pneumatic telescopic mechanism is a double-rod pneumatic telescope, the telescopic cylinder is installed on the frame 1, and the telescopic shaft is suspended under the frame 1; the clamp is a slide air claw, and the slide air claw is installed under the telescopic shaft.

[0101] Preferably, the double-rod pneumatic expander is vertically and invertedly mounted at the front end of the frame 1 via a fixing frame 10; the slide air claw is threadedly connected to the head of the expansion shaft of the double-rod pneumatic expander.

[0102] The present invention performs cuttings on flower seedlings by adopting a double-claw flower cutting device that is similar to exchanging and positioning flower seedlings by human hands. One claw stably picks up or clamps the flower seedlings, and the other claw is adjusted while the flower seedlings are exchanged. This not only completes the angle and direction adjustment of the flower seedlings, but also utilizes the time period of orientation and downward cutting after the exchange, and the seedling-taking mechanism picks up or clamps the flower seedlings again. This process is utilized to achieve continuous and uninterrupted work, reduce intermediate working time, avoid cutting failure caused by failure in angle adjustment, avoid damage to the flower seedlings, and improve work efficiency and efficacy.

[0103] There are many options for the above-mentioned specific implementation. The following is a specific example of an embodiment of a structure that can achieve the inversion and orientation of flower seedlings. Specific embodiment one:

[0105] like Figure 2 The illustrated flower cutting device includes a frame 1 for connecting to a robotic arm. Frame 1 is configured as a fork-like frame, which reduces overall component material and weight. A robotic arm connector 16 is threadedly fixedly attached to one end of the frame 1. Frame 1 is threadedly connected to the robotic arm via the connector 16. A cantilever bearing II 15 for positioning is embedded in the lower right end of the frame 1. A fixed shaft 8 is attached to the cantilever bearing II 15. A cantilever 2 is attached to the fixed shaft 8 via a cantilever bearing I 14. Cantilever 2 is configured as a fork-like cantilever, reducing overall component material and weight. A double-rod cylinder II 18 is fixedly mounted in an inverted vertical position at the bottom of the cantilever 2. The telescopic end of the double-rod cylinder II 18 is threadedly fixed to a slide gripper II 20. The inner side of the gripper of the slide gripper II 20 is provided with a polyester rubber pad 23. An oblique support beam is fixedly connected to one end of the middle portion of the frame 1, on which a stroke cylinder bearing seat 11 is embedded. A cylinder seat bearing 13 is embedded in the stroke cylinder bearing seat 11, and a movable cylinder seat 6 is connected to the cylinder seat bearing 13. The stroke cylinder 31 of the pneumatic telescope is embedded in the movable cylinder seat 6. The telescopic end of the pneumatic telescope is connected to the movable shaft 7 via a connector 9. The movable shaft 7 is fixedly mounted on the shaft seat 12, and the shaft seat 12 is fixedly mounted on the top of the cantilever 2. A fixed frame 10 is provided at the front bottom of the frame 1, on which a double-rod cylinder I 17 is vertically mounted in an inverted manner. The telescopic end of the double-rod cylinder I 17 is threadedly connected to a slide claw I 19, and a polyester rubber pad 23 is provided on the inner side of the claw of the slide claw I 19.

[0106] In this device, the double-rod cylinder Ⅰ17 drives the slide claw Ⅰ19 to extend. At the same time, the claws of the slide claw Ⅰ19 are in an open state. When the slide claw Ⅰ19 extends into the flower pile, the slide claw Ⅰ19 clamps the flower seedlings 21. The double-rod cylinder Ⅰ17 drives the slide claw Ⅰ19 to retract. At the same time, the telescopic end of the stroke cylinder 31 on the movable cylinder seat 6 moves, driving the cantilever 2 to rotate in the cantilever bearing Ⅰ14 or the cantilever bearing Ⅱ15, and rotating the slide claw Ⅱ20 to the slide claw Ⅰ19. Figure 3 At this time, the double-rod cylinder II 18 moves to drive the slide claw II 20 to extend, and the slide claw II 20 clamps the flower seedling 21. Then, the slide claw I 19 is released, and the stroke cylinder 31 moves again to drive the cantilever 2 connected to the entire slide claw II 20 to rotate and turn the direction of the flower seedling 21 and fix it. Figure 4 At this time, the double-rod cylinder Ⅰ 17 and the slide claw Ⅰ 19 return to their original positions, and the robotic arm drives the entire frame 1 to move downward to insert the flower seedlings 21 into the plug tray 22.

[0107] During the entire process, since the angles between the flower seedlings 21 and the slide air gripper II 20 are not always vertical when the slide air gripper II 20 exchanges the flower seedlings 21 with the slide air gripper I, but are in three states, therefore, when the direction of the flower seedlings 21 is turned downward, the rotation angle of the cantilever 2 at the vertical point below the fixed axis 8 must be less than 90 degrees. In this way, even if the slide air gripper I 19 is not horizontal when clamping the flower seedlings 21, that is, the angle with the slide air gripper I 19 is greater than 90 degrees, the slide air gripper II 20 can still turn the flower seedlings 21 to be vertically downward without rotating more than 90 degrees. Of course, the premise is that the angle between the flower seedlings 21 and the slide air gripper II 20 is not greater than 90 degrees when it is turned over to the slide air gripper II 20. When the flower seedlings 21 are turned over to the slide air claw Ⅱ 20 and the angle with the slide air claw Ⅱ 20 is greater than 90 degrees, the conventional seedling picking mechanism 4 must be much greater than 90 degrees when adjusting the direction by using a single shaft rotation, and the rotation angle of the slide air claw Ⅱ 20 in the technical solution of the present invention will also be greater than 90 degrees, but it must also be smaller than the rotation angle of the seedling picking mechanism 4 in the prior art. This angle difference is the key to the technical solution of the present invention to keep the flower seedlings 21 from being damaged, and it is also the path saved from the work of clamping the flower seedlings. At the same time, it leaves more room for adjustable angles, and the adjustable space is greater than 180 degrees. The following is a comparison through a chart.

[0108]

[0109] As can be seen from the table above, in the prior art, when adjusting a flower seedling to a vertical position, the angular difference in the initial retrieval mechanism 4 must be compensated to maintain the vertical position. Therefore, when the angle between the flower seedling and the cutting end is less than 90 degrees, the angle of compensation must be compensated accordingly. Correspondingly, when the angle is greater than 90 degrees, the angle adjustment can be reduced. Assuming the height from the bottom to the horizontal is 1 meter, and the combined mass of the flower and the supporting mechanism (i.e., the orienting mechanism 5) is 1 kg, the work done by gravity at the compensation angle is positive work, calculated from the time the orienting mechanism 5 is gripped until the flower is reached. At this point, the drive mechanism 3 does not need to perform any work, as gravity alone can drive the rotation mechanism to the lowest point. When the drive mechanism 3 drives the orienting mechanism 5 from the lowest point to lift the flower seedling to a vertical position, the angle of rotation from the lowest point to the specified point is smaller due to the compensation already performed. This translates to a lower lifting height than in the prior art. Therefore, the work done by the drive mechanism to overcome gravity is only related to the height difference. This results in a much lower work load and a higher efficiency.

[0110] During the whole process, since the angles of the flower seedlings 21 and the slide air gripper Ⅱ 20 are not always perpendicular when the slide air gripper Ⅱ 20 exchanges the flower seedlings 21 with the slide air gripper Ⅰ, when the angles of the flower seedlings 21 and the slide air gripper Ⅱ 20 are equal to 90 degrees, Figure 13 As shown, assuming the length of slide gripper II 20 is 10 units, the mass of the gripper and the flower seedling is 10 units, and the pre-compensation angle is 20 degrees, the height difference ΔH3 in the prior art is 10 units, while the height difference ΔH4 in the present invention is 10-10*sin20=10-10*0.34=6.6 units. Therefore, the work required to overcome gravity is: W=mgΔH. The work W3 in the prior art is 10*10*10=1000 units, while the work W4 in the present invention is 10*10*6.6=660 units. Clearly, W4 is smaller than W3, indicating that the present invention has higher efficacy.

[0111] When the angle between the flower seedling 21 and the slide air gripper II 20 is less than 90 degrees, the angle is set to 80 degrees. Figure 14 As shown, assuming the length of slide gripper II 20 is 10 units, the mass of the slide gripper and the flower seedling is 10 units, and the pre-compensation angle is 20 degrees, then the height difference ΔH1 of the prior art is 10-10*sin10=8.3 units, while the height difference ΔH2 of the present invention is 10-10*sin30=10-10*0.5=5 units. Therefore, the work required to overcome gravity is: W=mgΔH. The work W1 of the prior art is 10*10*8.3=830 units, while the work W2 of the present invention is 10*10*5=600 units. Clearly, W2 is less than W1, indicating that the present invention has higher efficacy.

[0112] When the angle between the flower seedling 21 and the slide air gripper II 20 is greater than 90 degrees, the angle is set to 100 degrees. Figure 15 As shown, assuming the length of slide gripper II 20 is 10 units, the mass of the slide gripper and the flower seedling is 10 units, and the pre-compensation angle is 20 degrees, the height difference ΔH5 of the prior art is 10 + 10 * sin 10 = 11.7 units, while the height difference ΔH6 of the present invention is 10 - 10 * sin 30 = 10 - 10 * 1.7 = 8.3 units. Therefore, the work required to overcome gravity is: W = mg ΔH. The work W5 of the prior art is 10 * 10 * 11.7 = 1170 units, while the work W6 of the present invention is 10 * 10 * 8.3 = 830 units. Clearly, W6 is less than W5, indicating that the present invention has higher efficacy.

[0113] When the present invention adopts double-claw seedling removal and cutting, the orientation mechanism 5 has a certain angle compensation in advance. Therefore, when adjusting flower seedlings at different angles, as long as the angle difference of the seedling removal mechanism 4 when initially removing the seedlings is within the compensation range, the angle does not need to be rotated more than 90 degrees starting from the vertical position. More importantly, with the compensation, the angle of flower rotation adjustment is greater than 180 degrees, which makes its adjustment margin larger and more convenient for protecting flower seedlings. The compensation angle of the orientation mechanism 5 is prepared in advance at the same time as the seedling removal mechanism 4 removes the seedlings. Since the whole process is carried out uninterruptedly and continuously, this overlapping time is the time that is saved, that is, the time for this application to optimize and improve the mechanical efficiency. Moreover, this period of time is idle operation. In the case of a large clamping mass, the work done by the gravitational potential energy of the seedlings in this adjustment distance is saved, and the equipment efficiency is higher. Figure 12 As shown, section a is the time for extending the claw downward to take the seedling, section b is the time for rotation angle compensation, and section c is the time for rotation adjustment. By comparing the two time sequences, it can be seen that sequence 1 is the time for single-claw cutting in the prior art, and each step needs to be performed in sequence, while sequence 2 is the time for double-claw cutting of the present invention, wherein section b is the time for rotation angle compensation, which is performed simultaneously with the time for extending the claw downward to take the seedling in section a, and section c is the time for rotation adjustment because the rotation angle is smaller. The two comparison figures can clearly show that the use of the present invention for cutting not only has a large margin for angle adjustment, but also greatly reduces the entire cutting efficiency sequence time, thereby improving the efficiency.

[0114] Moreover, the device adopts a movement structure similar to that of human hands, with one hand steadily picking up or clamping the flower seedlings 21, and the other hand adjusting the flower seedlings 21 at the same time as the flower seedlings 21 are exchanged. This structure can not only complete the angular direction adjustment of the flower seedlings, but also adjust the angle to a larger extent, thereby avoiding the loss of the flower seedlings 21 due to the failure of the cutting. At the same time, the seedling picking mechanism 4 picks up or clamps the flower seedlings 21 again during the period of orientation and downward cutting after the exchange. This process is used to achieve continuous and uninterrupted work, reduce the intermediate time, avoid the failure of the cutting when the angle cannot be adjusted, and thus improve the mechanical working efficiency. The device uses a slider rocker to compensate for the rotation angle in advance, so that it does not do work for a period of time after clamping the flower seedlings. In addition, the final lifting height is reduced, thereby reducing the time and power of the device to overcome the gravitational potential energy, thereby improving the mechanical efficiency of the device. Specific embodiment two:

[0116] like Figure 2 and Figure 6 A flower cutting device shown includes a frame 1 for connecting to a robotic arm, and the frame 1 is configured as a box-type frame. A box-type frame can protect its internal components to avoid damage from external impacts. A robotic arm connector 16 is provided at one end of the upper portion of the frame 1 through an adjustable connection method such as magnetic adsorption or adhesion to facilitate adjustment. The frame 1 is magnetically adsorbed or adhered to the robotic arm through the robotic arm connector 16. This embodiment is a specific embodiment in which the driving mechanism 3, the seedling removal mechanism 4 and the orienting mechanism 5 are replaced as a whole on the basis of the above embodiment. Specifically, a cantilever bearing II 15 for positioning is embedded in the lower right end of the frame 1, and a fixed shaft 8 is connected to the cantilever bearing II 15. A cantilever 2 is connected to the fixed shaft 8 through a cantilever bearing I 14. The cantilever 2 is configured as a box-type cantilever. A box-type frame can protect its internal components to avoid damage from external impacts. Specifically, it can be configured as follows Figure 2The semi-open box shown in the figure has corresponding transfer connection points set on the box. In the previous embodiment, a pneumatic telescope is used as the displacement mechanism of the driving mechanism 3 and the seedling removal mechanism 4 and the orienting mechanism 5. The pneumatic telescope has its own unique advantages and disadvantages and can be replaced by other displacement mechanisms according to actual needs. For example, an electric telescope can be used instead for the convenience of control. Specifically, an electric telescope is fixedly set upside down and vertically at the bottom of the cantilever 2. The electric telescope includes a fixed cylinder 32, a rotating telescopic cylinder 33, and a driving motor 34. The rotating telescopic cylinder 33 is slidingly set in the fixed cylinder 32. A screw is provided in the internal thread connection of the rotating telescopic cylinder 33. The screw is connected to the output shaft of the driving motor 34. The driving motor 34 is set at one end of the fixed cylinder 32. The electric telescope is fixed on the frame 1 through a fixed frame 10. When the electric telescopic device is used as the displacement mechanism of the slide air claw II 20 and the slide air claw I 19, the slide air claw II 20 and the slide air claw need to be connected to it through a connector that can remove the rotating telescopic cylinder 33 and then connect the connector to the slide air claw II 20 and the slide air claw I 19. At the same time, when the electric telescopic device is a single cylinder, the slide air claw II 20 and the slide air claw I 19 will inevitably rotate offset. Therefore, it is necessary to set a guide slide shaft between the electric telescopic device and the slide air claw II 20 and the slide air claw I 19 for guidance and limit. Of course, this defect does not exist in double rods or single cylinders. A polyester rubber pad 23 is set on the inner side of the claw of the slide air claw II 20. An oblique support beam is fixedly connected to one end of the middle portion of the frame 1. A stroke cylinder bearing seat 11 is embedded in the oblique support beam. A cylinder seat bearing 13 is embedded in the stroke cylinder bearing seat 11. A movable cylinder seat 6 is connected to the cylinder seat bearing 13. An electric telescopic device is embedded in the movable cylinder seat 6. The electric telescopic device includes a fixed cylinder 32, a rotating telescopic cylinder 33, and a drive motor 34. The rotating telescopic cylinder 33 is slidably connected to the fixed cylinder 32. A screw is threadedly connected to the rotating telescopic cylinder 33. The screw is connected to the output shaft of the drive motor 34. The drive motor 34 is located at one end of the fixed cylinder 32. When the electric telescopic device is used as a rigid displacement mechanism, since the rotating telescopic cylinder 33 rotates when it is extended or retracted, the connector 9 needs to be connected to the telescopic cylinder 33 via a bearing to remove the rotation. The connector 9 is connected to the movable shaft 7. The movable shaft 7 is fixed to the shaft seat 12. The shaft seat 12 is fixed to the top of the cantilever 2. A fixing frame 10 is provided at the bottom front end of the frame 1, on which an electric telescopic device is vertically mounted inverted. The telescopic end of the electric telescopic device is threadedly connected to a slide air gripper Ⅰ 19, and a polyester rubber pad 23 is provided on the inner side of the claw of the slide air gripper Ⅰ 19.

[0117] In this device, the electric telescopic device drives the slide claw Ⅰ19 to extend. At the same time, the claws of the slide claw Ⅰ19 are in an open state. When the slide claw Ⅰ19 extends into the flower pile, the slide claw Ⅰ19 clamps the flower seedlings 21. The electric telescopic device drives the slide claw Ⅰ19 to retract. At the same time, the telescopic end of the stroke cylinder 31 on the movable cylinder seat 6 moves, driving the cantilever 2 to rotate in the cantilever bearing Ⅰ14 or the cantilever bearing Ⅱ15, and rotating the slide claw Ⅱ20 to the slide claw Ⅰ19. Figure 3 At this time, the electric expansion joint drives the slide claw II 20 to extend, and the slide claw II 20 clamps the flower seedling 21. Then, the slide claw I 19 is released, and the electric expansion joint drives the cantilever 2 connected to the entire slide claw II 20 to rotate and turn the direction of the flower seedling 21 and fix it. Figure 4 At this time, the electric expansion joint and the slide air claw Ⅰ 19 return to their original positions, and the robotic arm drives the entire frame 1 to move downward to insert the flower seedlings 21 into the plug tray 22.

[0118] During the entire process, since the angle between the flower seedlings 21 and the slide air gripper II 20 is not vertical but greater than 90 degrees when the slide air gripper II 20 exchanges the flower seedlings 21 with the slide air gripper I, when the direction of the flower seedlings 21 is turned downward, the rotation angle of the cantilever 2 at the vertical point below the fixed axis 8 must be less than 90 degrees. In this way, even if the slide air gripper I 19 is not horizontal when clamping the flower seedlings 21, that is, the angle with the slide air gripper I 19 is greater than 90 degrees, the slide air gripper II 20 can still turn the flower seedlings 21 to be vertically downward without rotating more than 90 degrees. Of course, the premise is that the angle between the flower seedlings 21 and the slide air gripper II 20 is not greater than 90 degrees when it is turned over to the slide air gripper II 20. When the flower seedlings 21 are turned over to the slide air claw Ⅱ 20 and the angle with the slide air claw Ⅱ 20 is greater than 90 degrees, the conventional seedling picking mechanism 4 must be much greater than 90 degrees when adjusting the direction by using a single shaft rotation, and the rotation angle of the slide air claw Ⅱ 20 in the technical solution of the present invention will also be greater than 90 degrees, but it must also be smaller than the rotation angle of the seedling picking mechanism 4 in the prior art. This angle difference is the key to the technical solution of the present invention to keep the flower seedlings 21 from being damaged, and it is also the path saved from the work of clamping the flower seedlings. At the same time, it leaves more room for adjustable angles, and the adjustable space is greater than 180 degrees. The following is a comparison through a chart.

[0119]

[0120] As can be seen from the table above, in the prior art, when adjusting a flower seedling to a vertical position, the angular difference in the initial retrieval mechanism 4 must be compensated to maintain the vertical position. Therefore, when the angle between the flower seedling and the cutting end is less than 90 degrees, the angle of compensation must be compensated accordingly. Correspondingly, when the angle is greater than 90 degrees, the angle adjustment can be reduced. Assuming the height from the bottom to the horizontal is 1 meter, and the combined mass of the flower and the supporting mechanism (i.e., the orienting mechanism 5) is 1 kg, the work done by gravity at the compensation angle is positive work, calculated from the time the orienting mechanism 5 is gripped until the flower is reached. At this point, the drive mechanism 3 does not need to perform any work, as gravity alone can drive the rotation mechanism to the lowest point. When the drive mechanism 3 drives the orienting mechanism 5 from the lowest point to lift the flower seedling to a vertical position, the angle of rotation from the lowest point to the specified point is smaller due to the compensation already performed. This translates to a lower lifting height than in the prior art. Therefore, the work done by the drive mechanism to overcome gravity is only related to the height difference. This results in a much lower work load and a higher efficiency.

[0121] During the whole process, since the angles of the flower seedlings 21 and the slide air gripper Ⅱ 20 are not always perpendicular when the slide air gripper Ⅱ 20 exchanges the flower seedlings 21 with the slide air gripper Ⅰ, when the angles of the flower seedlings 21 and the slide air gripper Ⅱ 20 are equal to 90 degrees, Figure 13 As shown, assuming the length of slide gripper II 20 is 10 units, the mass of the gripper and the flower seedling is 10 units, and the pre-compensation angle is 20 degrees, the height difference ΔH3 in the prior art is 10 units, while the height difference ΔH4 in the present invention is 10-10*sin20=10-10*0.34=6.6 units. Therefore, the work required to overcome gravity is: W=mgΔH. The work W3 in the prior art is 10*10*10=1000 units, while the work W4 in the present invention is 10*10*6.6=660 units. Clearly, W4 is smaller than W3, indicating that the present invention has higher efficacy.

[0122] When the angle between the flower seedling 21 and the slide air gripper II 20 is less than 90 degrees, the angle is set to 80 degrees. Figure 14 As shown, assuming the length of slide gripper II 20 is 10 units, the mass of the slide gripper and the flower seedling is 10 units, and the pre-compensation angle is 20 degrees, then the height difference ΔH1 of the prior art is 10-10*sin10=8.3 units, while the height difference ΔH2 of the present invention is 10-10*sin30=10-10*0.5=5 units. Therefore, the work required to overcome gravity is: W=mgΔH. The work W1 of the prior art is 10*10*8.3=830 units, while the work W2 of the present invention is 10*10*5=600 units. Clearly, W2 is less than W1, indicating that the present invention has higher efficacy.

[0123] When the angle between the flower seedling 21 and the slide air gripper II 20 is greater than 90 degrees, the angle is set to 100 degrees. Figure 15 As shown, assuming the length of slide gripper II 20 is 10 units, the mass of the slide gripper and the flower seedling is 10 units, and the pre-compensation angle is 20 degrees, the height difference ΔH5 of the prior art is 10 + 10 * sin 10 = 11.7 units, while the height difference ΔH6 of the present invention is 10 - 10 * sin 30 = 10 - 10 * 1.7 = 8.3 units. Therefore, the work required to overcome gravity is: W = mg ΔH. The work W5 of the prior art is 10 * 10 * 11.7 = 1170 units, while the work W6 of the present invention is 10 * 10 * 8.3 = 830 units. Clearly, W6 is less than W5, indicating that the present invention has higher efficacy.

[0124] When the present invention adopts double-claw seedling removal and cutting, the orientation mechanism 5 has a certain angle compensation in advance. Therefore, when adjusting flower seedlings at different angles, as long as the angle difference of the seedling removal mechanism 4 when initially removing the seedlings is within the compensation range, the angle does not need to be rotated more than 90 degrees starting from the vertical position. More importantly, with the compensation, the angle of flower rotation adjustment is greater than 180 degrees, which makes its adjustment margin larger and more convenient for protecting flower seedlings. The compensation angle of the orientation mechanism 5 is prepared in advance at the same time as the seedling removal mechanism 4 removes the seedlings. Since the whole process is carried out uninterruptedly and continuously, this overlapping time is the time that is saved, that is, the time for this application to optimize and improve the mechanical efficiency. Moreover, this period of time is idle operation. In the case of a large clamping mass, the work done by the gravitational potential energy of the seedlings in this adjustment distance is saved, and the equipment efficiency is higher. Figure 12 As shown, section a is the time for extending the claw downward to take the seedling, section b is the time for rotation angle compensation, and section c is the time for rotation adjustment. By comparing the two time sequences, it can be seen that sequence 1 is the time for single-claw cutting in the prior art, and each step needs to be performed in sequence, while sequence 2 is the time for double-claw cutting of the present invention, wherein section b is the time for rotation angle compensation, which is performed simultaneously with the time for extending the claw downward to take the seedling in section a, and section c is the time for rotation adjustment because the rotation angle is smaller. The two comparison figures can clearly show that the use of the present invention for cutting not only has a large margin for angle adjustment, but also greatly reduces the entire cutting efficiency sequence time, thereby improving the efficiency.

[0125] Moreover, the device adopts a movement structure similar to that of human hands, with one hand steadily picking up or clamping the flower seedlings 21, and the other hand adjusting the flower seedlings 21 at the same time as the flower seedlings 21 are exchanged. This structure can not only complete the angle and direction adjustment of the flower seedlings, avoiding the loss of the flower seedlings 21 due to failed cuttings, but also utilize the time period of orientation and downward cutting after the exchange, so that the seedling picking mechanism 4 picks up or clamps the flower seedlings 21 again. This process is used to achieve continuous and uninterrupted work, reduce the intermediate time, avoid the failure of cuttings caused by the inability to adjust the angle, and thus improve work efficiency. The device uses a slider rocker to compensate for the rotation angle in advance, so that it does not do work for a period of time after clamping the flower seedlings. In addition, the final lifting height is reduced, thereby reducing the time and power required for the device to overcome the potential energy of gravity, thereby improving the mechanical efficiency of the device. Specific embodiment three:

[0127] like Figure 2 and Figure 7 The illustrated flower cutting device includes a frame 1 for connecting to a robotic arm. Frame 1 is configured as a fork-like frame. A robotic arm connector 16 is attached to one upper end of frame 1 via threads, magnetic attraction, or adhesive bonding. Magnetic attraction between frame 1 and the robotic arm 16 allows for faster replacement. A cantilever bearing II 15 is embedded in the lower right end of frame 1 for positioning. A fixed shaft 8 is connected to cantilever bearing II 15. A cantilever 2 is attached to fixed shaft 8 via cantilever bearing I 14. Cantilever 2 is configured as a fork-like or box-like cantilever. In the above two embodiments, a pneumatic telescope and an electric telescope are respectively used as the displacement mechanisms for the drive mechanism 3 and the seedling removal mechanism 4 and orientation mechanism 5. These telescopic mechanisms have their own unique advantages and disadvantages and can be replaced with other displacement mechanisms based on actual needs. For example, a slider mechanism can be used to facilitate back-and-forth travel control. Specifically, a slider mechanism is fixed in an inverted vertical position at the bottom of the cantilever 2 as a displacement mechanism for the slide air gripper II 20 and the slide air gripper I 19. Figure 7When the screw-slider mechanism is used, it includes a drive motor 34, a drive rail 35, a screw 36, and a slider 37. When used as the drive mechanism 3, the drive rail 35 is embedded in the movable cylinder base 6, and a slider 37 is slidably disposed within the drive rail 35. The slider 37 is rotationally connected to the cantilever 2 via a connector 9. Of course, the slider 37 can also be used directly as the connector 9 and directly connected to the fixed shaft 8 of the cantilever 2. When the screw-slider mechanism serves as the displacement mechanism for the slide gripper II 20 and the slide gripper I 19, the slider 37 connects the slide gripper II 20 to the slide gripper I 19, and the inner side of the slide gripper II 20 is provided with a polyester rubber pad 23. An oblique support beam is fixedly attached to one end of the middle portion of the frame 1. A stroke cylinder bearing seat 11 is embedded in the oblique support beam. A cylinder seat bearing 13 is embedded within the stroke cylinder bearing seat 11. A movable cylinder seat 6 is connected to the cylinder seat bearing 13. A screw-slider mechanism is embedded within the movable cylinder seat 6. A fixed frame 10 is provided at the front bottom of the frame 1. The screw-slider mechanism is vertically mounted in an inverted position on the fixed frame 10. The slider 27 of the screw-slider mechanism is threadedly connected to a slide gripper Ⅰ 19. A polyester rubber pad 23 is provided on the inner side of the claw of the slide gripper Ⅰ 19.

[0128] In this device, the screw slider mechanism drives the slide claw Ⅰ19 to extend. At the same time, the claws of the slide claw Ⅰ19 are in an open state. When the slide claw Ⅰ19 extends into the flower pile, the slide claw Ⅰ19 clamps the flower seedlings 21. The screw slider mechanism drives the slide claw Ⅰ19 to retract. At the same time, the screw slider mechanism on the movable cylinder seat 6 moves, driving the cantilever 2 to rotate in the cantilever bearing Ⅰ14 or the cantilever bearing Ⅱ15, and rotating the slide claw Ⅱ20 to the slide claw Ⅰ19. Figure 3 At this time, the screw slider mechanism moves to drive the slide claw II 20 to extend, and the slide claw II 20 clamps the flower seedling 21. Then, the slide claw I 19 is released, and the electric retractor moves again to drive the cantilever 2 connected to the entire slide claw II 20 to rotate and turn the direction of the flower seedling 21 and fix it. Figure 4 At this time, the screw slider mechanism and the slide air claw Ⅰ 19 return to their original positions, and the robotic arm drives the entire frame 1 to move downward to insert the flower seedlings 21 into the plug tray 22.

[0129] During the entire process, since the angle between the flower seedlings 21 and the slide air gripper II 20 is not vertical but greater than 90 degrees when the slide air gripper II 20 exchanges the flower seedlings 21 with the slide air gripper I, when the direction of the flower seedlings 21 is turned downward, the rotation angle of the cantilever 2 below the fixed axis 8 must be less than 90 degrees. In this way, even if the slide air gripper I 19 is not horizontal when clamping the flower seedlings 21, that is, the angle with the slide air gripper I 19 is greater than 90 degrees, the slide air gripper II 20 can still turn the flower seedlings 21 vertically downward under the premise of rotating no more than 90 degrees. Of course, the premise is that the angle between the flower seedlings 21 and the slide air gripper II 20 is not greater than 90 degrees when it is turned over to the slide air gripper II 20. When the flower seedlings 21 are turned over to the slide air claw Ⅱ 20 and the angle with the slide air claw Ⅱ 20 is greater than 90 degrees, the conventional seedling picking mechanism 4 must be much greater than 90 degrees when adjusting the direction by using a single shaft rotation, and the rotation angle of the slide air claw Ⅱ 20 in the technical solution of the present invention will also be greater than 90 degrees, but it must also be smaller than the rotation angle of the seedling picking mechanism 4 in the prior art. This angle difference is the key to the technical solution of the present invention to keep the flower seedlings 21 from being damaged, and it is also the path saved from the work of clamping the flower seedlings. At the same time, it leaves more room for adjustable angles, and the adjustable space is greater than 180 degrees. The following is a comparison through a chart.

[0130]

[0131] As can be seen from the table above, in the prior art, when adjusting a flower seedling to a vertical position, the angular difference in the initial retrieval mechanism 4 must be compensated to maintain the vertical position. Therefore, when the angle between the flower seedling and the cutting end is less than 90 degrees, the angle of compensation must be compensated accordingly. Correspondingly, when the angle is greater than 90 degrees, the angle adjustment can be reduced. Assuming the height from the bottom to the horizontal is 1 meter, and the combined mass of the flower and the supporting mechanism (i.e., the orienting mechanism 5) is 1 kg, the work done by gravity at the compensation angle is positive work, calculated from the time the orienting mechanism 5 is gripped until the flower is reached. At this point, the drive mechanism 3 does not need to perform any work, as gravity alone can drive the rotation mechanism to the lowest point. When the drive mechanism 3 drives the orienting mechanism 5 from the lowest point to lift the flower seedling to a vertical position, the angle of rotation from the lowest point to the specified point is smaller due to the compensation already performed. This translates to a lower lifting height than in the prior art. Therefore, the work done by the drive mechanism to overcome gravity is only related to the height difference. This results in a much lower work load and a higher efficiency.

[0132] During the whole process, since the angles of the flower seedlings 21 and the slide air gripper Ⅱ 20 are not always perpendicular when the slide air gripper Ⅱ 20 exchanges the flower seedlings 21 with the slide air gripper Ⅰ, when the angles of the flower seedlings 21 and the slide air gripper Ⅱ 20 are equal to 90 degrees, Figure 13 As shown, assuming the length of slide gripper II 20 is 10 units, the mass of the gripper and the flower seedling is 10 units, and the pre-compensation angle is 20 degrees, the height difference ΔH3 in the prior art is 10 units, while the height difference ΔH4 in the present invention is 10-10*sin20=10-10*0.34=6.6 units. Therefore, the work required to overcome gravity is: W=mgΔH. The work W3 in the prior art is 10*10*10=1000 units, while the work W4 in the present invention is 10*10*6.6=660 units. Clearly, W4 is smaller than W3, indicating that the present invention has higher efficacy.

[0133] When the angle between the flower seedling 21 and the slide air gripper II 20 is less than 90 degrees, the angle is set to 80 degrees. Figure 14 As shown, assuming the length of slide gripper II 20 is 10 units, the mass of the slide gripper and the flower seedling is 10 units, and the pre-compensation angle is 20 degrees, then the height difference ΔH1 of the prior art is 10-10*sin10=8.3 units, while the height difference ΔH2 of the present invention is 10-10*sin30=10-10*0.5=5 units. Therefore, the work required to overcome gravity is: W=mgΔH. The work W1 of the prior art is 10*10*8.3=830 units, while the work W2 of the present invention is 10*10*5=600 units. Clearly, W2 is less than W1, indicating that the present invention has higher efficacy.

[0134] When the angle between the flower seedling 21 and the slide air gripper II 20 is greater than 90 degrees, the angle is set to 100 degrees. Figure 15 As shown, assuming the length of slide gripper II 20 is 10 units, the mass of the slide gripper and the flower seedling is 10 units, and the pre-compensation angle is 20 degrees, the height difference ΔH5 of the prior art is 10 + 10 * sin 10 = 11.7 units, while the height difference ΔH6 of the present invention is 10 - 10 * sin 30 = 10 - 10 * 1.7 = 8.3 units. Therefore, the work required to overcome gravity is: W = mg ΔH. The work W5 of the prior art is 10 * 10 * 11.7 = 1170 units, while the work W6 of the present invention is 10 * 10 * 8.3 = 830 units. Clearly, W6 is less than W5, indicating that the present invention has higher efficacy.

[0135] When the present invention adopts double-claw seedling removal and cutting, the orientation mechanism 5 has a certain angle compensation in advance. Therefore, when adjusting flower seedlings at different angles, as long as the angle difference of the seedling removal mechanism 4 when initially removing the seedlings is within the compensation range, the angle does not need to be rotated more than 90 degrees starting from the vertical position. More importantly, with the compensation, the angle of flower rotation adjustment is greater than 180 degrees, which makes its adjustment margin larger and more convenient for protecting flower seedlings. The compensation angle of the orientation mechanism 5 is prepared in advance at the same time as the seedling removal mechanism 4 removes the seedlings. Since the whole process is carried out uninterruptedly and continuously, this overlapping time is the time that is saved, that is, the time for this application to optimize and improve the mechanical efficiency. Moreover, this period of time is idle operation. In the case of a large clamping mass, the work done by the gravitational potential energy of the seedlings in this adjustment distance is saved, and the equipment efficiency is higher. Figure 12 As shown, section a is the time for extending the claw downward to take the seedling, section b is the time for rotation angle compensation, and section c is the time for rotation adjustment. By comparing the two time sequences, it can be seen that sequence 1 is the time for single-claw cutting in the prior art, and each step needs to be performed in sequence, while sequence 2 is the time for double-claw cutting of the present invention, wherein section b is the time for rotation angle compensation, which is performed simultaneously with the time for extending the claw downward to take the seedling in section a, and section c is the time for rotation adjustment because the rotation angle is smaller. The two comparison figures can clearly show that the use of the present invention for cutting not only has a large margin for angle adjustment, but also greatly reduces the entire cutting efficiency sequence time, thereby improving the efficiency.

[0136] Moreover, the device adopts a movement structure similar to that of human hands, with one hand steadily picking up or clamping the flower seedlings 21, and the other hand adjusting the flower seedlings 21 at the same time as the flower seedlings 21 are exchanged. This structure can not only complete the angular direction adjustment of the flower seedlings, avoiding the loss of the flower seedlings 21 due to failed cuttings, but also utilize the time period of orientation and downward cutting after the exchange, so that the seedling picking mechanism 4 picks up or clamps the flower seedlings 21 again. This process is used to achieve continuous and uninterrupted work, reduce the intermediate time, avoid the failure of cuttings caused by the inability to adjust the angle, and thus improve work efficiency. The device uses a slider rocker to compensate for the rotation angle in advance, so that it does not do work for a period of time after clamping the flower seedlings. In addition, the final lifting height is reduced, thereby reducing the time and power required for the device to overcome the gravitational potential energy, thereby improving the mechanical efficiency of the device. Specific embodiment four:

[0138] like Figure 2 and Figure 8 and Figure 9The illustrated flower cutting device includes a frame 1 for connecting to a robotic arm. Frame 1 is configured as a fork-like frame. A robotic arm connector 16 is provided at one upper end of frame 1 via a threaded, magnetic, or adhesive connection. Frame 1 is threaded, magnetically, or adhesively connected to the robotic arm via the connector 16. A cantilever bearing II 15 for positioning is embedded in the lower right end of frame 1. A fixed shaft 8 is connected to cantilever bearing II 15. A cantilever 2 is connected to fixed shaft 8 via a cantilever bearing I 14. Cantilever 2 is configured as a fork-like or box-like cantilever. In the two embodiments described above, a pneumatic telescope and an electric telescope are used as the displacement mechanisms for the drive mechanism 3 and the seedling removal mechanism 4 and orientation mechanism 5, respectively. These telescopic mechanisms have their own unique advantages and disadvantages and can be replaced with other displacement mechanisms based on actual needs. For example, a slider mechanism can be used to facilitate back-and-forth travel control. Specifically, a slider mechanism is fixed in an inverted vertical position at the bottom of the cantilever 2 as a displacement mechanism for the slide air gripper II 20 and the slide air gripper I 19. Based on the above embodiment 3, the screw slider mechanism can be replaced by Figure 8 or rack and pinion slider mechanism or Figure 9 The slider crank mechanism shown. Figure 8 When the gear rack slider mechanism is configured, it includes a drive motor 34, a slider 37, a plate frame 38, a rack groove 39, a gear 310, and a rack 311. The plate frame 38 can be configured in an L-shape as needed, with a rack groove 39 provided at its bottom, a rack 311 provided in the rack groove 39, the rack 311 meshing with the gear 310, and the gear 310 is provided on the vertical plate of the plate frame 38 and connected to the output shaft of the drive motor 34. When the slider mechanism is Figure 9 The crank slider mechanism includes a driving rail 35, a slider 37, a crank 312, and a connecting rod 313. The crank 312 is driven by a driving motor 34 and connected to one end of the driving rail 35. The slider 37 is slidingly connected to the driving rail 35, and the slider 37 is connected to the crank 312 via a connecting rod 313 to form a crank slider mechanism. The remaining components are arranged in the same manner as in the above-mentioned embodiment 3, and will not be described one by one in this embodiment. For those skilled in the art, it is still possible to modify the technical solutions described in the above-mentioned embodiments, or to replace some of the technical features therein with equivalent ones. Specific embodiment five:

[0140] like Figure 2The flower cutting device shown includes a frame 1 for connecting to a robotic arm. The frame 1 is configured as a fork-type frame. One upper end of the frame 1 is fixedly connected to the robotic arm by threads, magnetic attraction, or adhesive bonding, and the frame 1 is threadedly fastened, magnetically attracted, or adhesively connected to the robotic arm via the robotic arm joint 16. A cantilever bearing II 15 for positioning is embedded in the lower right end of the frame 1. A fixed shaft 8 is connected to the cantilever bearing II 15. A cantilever 2 is connected to the fixed shaft 8 via a cantilever bearing I 14. The cantilever 2 is configured as a fork-type or box-type cantilever. In the above-mentioned embodiments, the technical solutions disclose several corresponding rigid displacement mechanisms of the drive mechanism 3, the seedling removal mechanism 4, and the rigid displacement mechanisms of the orienting mechanism 5. In fact, in the present invention, since the displacement mechanism of the seedling removal mechanism 4 only needs to move downward or upward, and it itself carries a certain amount of its own weight, the displacement mechanism here can also choose to use a retractable rope driven by a winch or electric hoist to drive the movement of the slide air claw Ⅰ19. It only needs to fix the rope on the slide air claw Ⅰ19. One of the biggest advantages of using a flexible displacement mechanism is to prevent the slide air claw Ⅰ19 from extending too long and directly cutting a large number of flower seedlings during the downward extension process. When an electric hoist or winch is used for suspension, the downward movement of the slide air claw Ⅰ19 falls under its own weight without any additional downward pressure. Therefore, a flexible displacement mechanism is also an alternative solution that can be selected as needed. The arrangement of the remaining components is the same as that of the fourth embodiment, and will not be described one by one in this embodiment. For those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned embodiments, or to replace some of the technical features therein with equivalent ones. Specific embodiment six:

[0142] like Figure 2 and Figure 10 or Figure 11The flower cutting device shown includes a frame 1 for connecting to a robotic arm. The frame 1 is configured as a fork-type frame. One end of the upper portion of the frame 1 is fixedly connected by threads, magnetically attracted, or adhesively connected to a robotic arm connector 16. The frame 1 is threadedly fastened, magnetically attracted, or adhesively connected to the robotic arm via the robotic arm connector 16. A cantilever bearing II 15 for positioning is embedded in the lower right end of the frame 1. A fixed shaft 8 is connected to the cantilever bearing II 15. A cantilever 2 is connected to the fixed shaft 8 via a cantilever bearing I 14. The cantilever 2 is configured as a fork-type or box-type cantilever. In the above-mentioned embodiments, the technical solutions disclose several corresponding rigid displacement mechanisms of the drive mechanism 3 and the seedling removal mechanism 4, as well as a rigid displacement mechanism of the orienting mechanism 5 and a flexible displacement mechanism of the seedling removal mechanism 4. Among them, only the use of sliding air claws Ⅰ 19 and sliding air claws Ⅱ 20 as the opening and closing mechanisms of the seedling picking mechanism 4 and the orienting mechanism 5 is disclosed. In fact, when the technical solution of the present invention is used to realize the purpose of reversely exchanging the flower seedlings from the seedling picking mechanism 4 to the orienting mechanism 5 and orienting them at the same time, there are more choices for the opening and closing mechanisms of the seedling picking mechanism 4 and the orienting mechanism 5 to clamp or pick up the flower seedlings. The above embodiments disclose a sliding air claw opening and closing clamping method. In fact, electric mechanical clamps or electric mechanical claws can also be used as needed. Figure 10 The electric mechanical clamp shown includes a clamping rail 41, a clamping motor 42, a clamping piece 43, and a double-headed screw 44. The clamping rail 41 is connected to a double-rod cylinder and can move with the movement of the double-rod cylinder. Two clamping pieces 43 are slidably arranged in the clamping rail 41. The two clamping pieces 43 are threadedly connected to the two ends of the double-headed screw 44. A clamping motor 42 is set at one end of the clamping rail 41 and connected to the double-headed screw 44. In this way, the clamping motor 42 can open and close the two clamping pieces 43 by rotating forward or reverse. Another alternative is to use an electric mechanical claw, such as Figure 11The electric mechanical claw shown includes a claw piece 45, a fixed part 46, a connecting shaft 47, a claw motor 48, a claw spring 49, and a claw shaft 410. Two symmetrical claw pieces 45 are rotatably connected to each other at the ends of the fixed part 46. A claw shaft 410 is threadedly connected to the middle of the fixed part 46. The claw shaft 410 is connected to the output end of the claw motor 48, which is fixedly connected to the displacement mechanism. One end of the claw piece 45 is connected to the connecting shaft 47, and one end of the connecting shaft 47 is connected to the housing or frame of the claw motor 48. A spring claw spring 49 is provided between the claw motor 48 and the fixed part 46. In this way, the rotation of the claw motor 48 drives the claw shaft 410 to rotate and retract within the fixed part 46, thereby realizing the opening and closing of the claw piece 45 driven by the connecting shaft 47. Of course, the claw motor 48 and claw shaft 410 can be replaced by a pneumatic retractor or other mechanical structure that can achieve opening and closing. The configuration of the remaining components is the same as that of the fourth embodiment, and will not be described one by one in this embodiment. For those skilled in the art, they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents.

[0143] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention. Specific embodiment seven:

[0145] A method for cutting flower seedlings using the cutting device of the above embodiment comprises the following steps:

[0146] S1: Prepare a horizontally placed pile of flower seedlings; the flower seedlings are piled in a container or spread out at a specified position.

[0147] S2: A flower cutting device is suspended above the flower seedling pile; specifically, the seedling taking mechanism 4 is moved above the flower seedling pile by a robotic arm, so that the clamp or claw in the seedling taking mechanism 4 can extend downward into the flower pile to clamp the flower seedlings after the telescopic device is extended.

[0148] S3: Using a flower cutting device to clamp and invert the flower seedlings, the flower seedlings are positioned so that the cutting end is vertically downward; this is achieved by the following three steps:

[0149] S3-1: Controlling the seedling retrieval mechanism 4 to extend downward and pick up the flower seedlings. During this process, the retrieval mechanism 4 is controlled to extend and retract by first opening the air gripper and retracting the cylinder. During operation, the cylinder inflates, extending the telescopic end. When the set extension value is reached, the end stops. Simultaneously, the air gripper closes, grasps the flower seedling, and holds it. The cylinder is then deflated, retracting the telescopic end. Simultaneously, the orienting mechanism 5 operates in step S3-1.

[0150] S3-2: Control the seedling-picking mechanism to retract, and at the same time control the orienting mechanism to rotate and reverse to the seedling-picking mechanism to exchange the flower seedlings; in this step, control the cylinder to unload air so that the telescopic end retracts, and the cylinder of the driving mechanism 3 is inflated and extended. At the same time, the air claws on the orienting mechanism 5 open. As the cylinder of the driving mechanism 3 is inflated and extended, the entire orienting mechanism 5 is driven by the cantilever 2 to shake to the seedling-picking mechanism 4. When the shaking position is at the set position, the cylinder of the orienting mechanism 5 is controlled to be inflated and extended to the flower seedlings. When the set position is reached, proceed to the next step.

[0151] S3-3: Controlling the orienting mechanism to hold the seedling and controlling the drive mechanism to adjust its rotational direction so that the seedling is pointing vertically downward. In this step, when the air grippers of the orienting mechanism 5 reach the set position, they are controlled to hold the seedling, while the air grippers of the seedling removal mechanism 4 are simultaneously opened and returned to their original positions. After holding the seedling, the cylinder of the drive mechanism 3 is de-aired and retracted, driving the cantilever 2 to rotate the entire orienting mechanism 5, rotating the seedling so that the cutting end is facing vertically downward and held. Once the seedling reaches the set position, the next step is performed.

[0152] S4: Control the robot arm to move downward to insert the flower seedlings into the plug tray 22; after the above steps are completed, the flowers are adjusted to a state that is easy to be cut. At this time, control the robot arm to move downward to insert the flower seedlings into the plug tray 22 to complete the cutting. Finally, all steps return to the next S5.

[0153] S5: The device returns to its original position and continues the next cycle.

[0154] In the above steps, all steps are continuous and synchronous, and of course they can be optimized more specifically. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the steps therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flower cutting device, comprising a mechanical arm and a seedling picking mechanism (4) for picking up flower seedlings; characterized in that: The invention comprises a frame (1) for connecting with a mechanical arm, a seedling picking mechanism (4) mounted on the front end of the frame (1); an orientation mechanism (5) for reversing flower seedlings from the seedling picking mechanism (4) and orienting the flower seedlings, the orientation mechanism (5) being rotatably mounted on the rear end of the frame (1); and a driving mechanism (3) for driving the orientation mechanism (5) to reversing the flower seedlings from the seedling picking mechanism (4), the driving mechanism (3) being mounted on the frame (1) to drive the orientation mechanism (5) to rotate on the frame (1), the driving mechanism (3) being rotatably connected to one end of the orientation mechanism (5), and the orientation mechanism (5) and the driving mechanism (3) forming a slider rocker mechanism.

2. A flower cutting device according to claim 1, characterized in that: The orientation mechanism (5) is rotationally connected to the frame (1) via the cantilever (2); the orientation mechanism (5) is mounted on the lower end of the cantilever (2); the cantilever (2) is rotationally mounted on the frame (1) and rotationally connected to the action end of the drive mechanism (3); the drive mechanism (3) is used to adjust the rotation angle of the cantilever (2) and is a rigid displacement mechanism.

3. A flower cutting device according to claim 2, characterized in that: The rigid displacement mechanism is a travel telescopic mechanism or a slider mechanism, and the rigid displacement mechanism is rotationally connected to the frame (1) via a connecting piece.

4. A flower cutting device according to claim 3, characterized in that: The connecting piece is a movable cylinder seat (6), the pneumatic telescopic device is nested in the movable cylinder seat (6), and the movable cylinder seat (6) is connected to the frame (1) via a bearing (13).

5. The flower cutting device according to claim 4, characterized in that: An oblique support beam is provided at the connection between the frame (1) and the movable cylinder seat (6), and the movable cylinder seat (6) is provided in the middle of the oblique support beam.

6. The flower cutting device according to claim 2, characterized in that: The cantilever (2) is arranged in the middle of the frame (1), and a cantilever bearing (14) is provided at the connection between the frame (1) and the cantilever (2). The cantilever (2) is installed on the positioning cantilever bearing (14) at the lower right end of the frame (1) through a fixed shaft (8).

7. The flower cutting device according to claim 6, characterized in that: The frame (1) and the cantilever (2) are configured as a box-like or fork-like component for support, and the cantilever (2), the seedling removal mechanism (4), and the orientation mechanism (5) are located inside the frame (1).

8. The flower cutting device according to claim 7, characterized in that: The seedling removal mechanism (4) comprises a first displacement mechanism for adjusting the spacing, one end of the first displacement mechanism being fixedly mounted on the front end of the frame (1); and a first opening and closing mechanism for fixing the flower seedlings, one end of the first opening and closing mechanism being mounted on the bottom of the displacement mechanism and located below the frame (1). The orientation mechanism (5) comprises a second displacement mechanism for adjusting the spacing, the second displacement mechanism being rotatably mounted on the rear end of the frame (1); and a second opening and closing mechanism for fixing the flower seedlings, one end of the second opening and closing mechanism being mounted on the bottom of the second displacement mechanism and located below the frame (1).

9. The flower cutting device according to claim 8, characterized in that: The first displacement mechanism adjusts the distance between the first opening and closing mechanism and the frame (1), and is a rigid displacement mechanism or a flexible displacement mechanism; the second displacement mechanism adjusts the distance between the second opening and closing mechanism and the frame (1), and is a rigid displacement mechanism.

10. A method for flower cutting using the flower cutting device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: prepare a pile of flower seedlings placed horizontally; S2: moving the flower cutting device to the top of the flower seedling pile by a robotic arm; S3: suspending a seedling taking mechanism (4) above the flower seedling pile and simultaneously opening the seedling taking mechanism (4); S3-1: Control the seedling picking mechanism (4) to extend downward and pick up the flower seedlings; S3-2: Control the seedling taking mechanism (4) to retract, and at the same time control the orientation mechanism (5) to rotate toward the seedling taking mechanism (4) to reversely exchange the flower seedlings; S3-3: controlling the orientation mechanism (5) to clamp the flower seedlings and controlling the driving mechanism (3) to adjust the rotation direction of the orientation mechanism (5) so that the flower seedlings are vertically downward; S4: Control the robotic arm to move downward to insert the flower seedlings into the plug tray (22); S5: The device returns to its original position and continues the next cycle.

Images