Picking device and harvester

Abstract

The invention provides a picking device and a harvester. The picking device comprises a rack and a plurality of harvesting mechanisms, the harvesting mechanisms are connected to the rack, and the harvesting mechanisms comprise the first harvesting mechanism and at least two second harvesting mechanisms; the first harvesting mechanism is located at the front end of the rack and horizontally arranged, and the first harvesting mechanism is used for harvesting the tops of chrysanthemums; the two second harvesting mechanisms are located on the two sides of the rack, the second harvesting mechanisms are obliquely arranged relative to the rack, and the two second harvesting mechanisms are used for harvesting the two sides of the chrysanthemums respectively. According to the picking device, effective adaptation to the three-dimensional flower cluster form of the chrysanthemum is achieved, and the harvesting integrity and the operation quality are improved. The three harvesting mechanisms work cooperatively and fit the spherical corolla form of the chrysanthemum, the problem that a traditional horizontal header cannot effectively pick flowers on the side is solved, the missing harvesting rate is remarkably reduced, and higher economic value and practicability are provided for mechanized harvesting of the chrysanthemum.

Description

Technical Field

[0001] This application relates to the field of chrysanthemum harvesting technology, specifically to harvesting devices and harvesters. Background Technology

[0002] As a crop with high economic value, the mechanization of chrysanthemum harvesting is a key step in achieving large-scale cultivation. Currently, mechanized devices used for chrysanthemum harvesting mostly employ reciprocating cutters or comb-type picking heads. Their structural design is usually based on the operational assumption of the top plane of the plant, that is, setting a single horizontal straight-line harvesting end.

[0003] However, chrysanthemums often form umbrella-shaped or crown-shaped three-dimensional flower clusters during their growth and maturity. The flowers are not evenly distributed on the top plane of the plant, but rather grow in large numbers on the lateral branches in the middle and upper parts of the plant, exhibiting a significant three-dimensional spatial distribution characteristic. Existing horizontal straight-line harvesting heads have revealed serious defects in actual operation: First, this structure can only effectively cover the top surface of the plant canopy, and cannot effectively harvest the flowers that extend to the sides and downwards, resulting in a very high rate of lateral missed harvesting. A large number of flowers are left in the field, causing not only economic losses but also requiring additional manpower for secondary harvesting; Second, in order to reduce missed harvesting, operators are often forced to lower the height of the cutting platform or increase the width of the cutting platform, attempting to force the lateral flowers into the harvesting area through mechanical pressure. This forced operation method is very likely to cause a large number of plant stems to be cut or torn, and may damage the root system, which will have an adverse effect on the growth of perennial chrysanthemums in the following year. At the same time, the impurity mixing rate is significantly increased, increasing the burden of subsequent cleaning.

[0004] Therefore, due to limitations in structural design, existing chrysanthemum harvesting devices are unable to adapt to the natural three-dimensional growth of chrysanthemums, resulting in significant deficiencies in harvesting integrity, operational quality, and plant protection. Summary of the Invention

[0005] Embodiments of this application provide a harvesting device and a harvester.

[0006] In a first aspect, embodiments of this application provide a harvesting device, including a frame and a plurality of harvesting mechanisms, wherein the harvesting mechanisms are connected to the frame, and the plurality of harvesting mechanisms include a first harvesting mechanism and at least two second harvesting mechanisms; The first harvesting mechanism is located at the front end of the frame and is horizontally arranged. The first harvesting mechanism is used to harvest the top of the chrysanthemum. Two second harvesting mechanisms are located on both sides of the frame. The second harvesting mechanisms are inclined relative to the frame and are used to harvest the chrysanthemums from both sides respectively.

[0007] In one embodiment, the harvesting mechanism includes a harvesting drum and a collecting cylinder. The harvesting drum has an installation space inside, and the collecting cylinder is installed in the installation space. The collecting cylinder has a collecting cavity, and the harvesting drum is used to harvest chrysanthemums and cause the chrysanthemums to fall into the collecting cavity. The harvesting device also includes a transport component, which is connected to the collection chamber and is used to transport the chrysanthemums in the collection chamber to a designated location.

[0008] In one embodiment, the transport component includes an exhaust pipe connected to the collection chamber, the exhaust pipe being used to drive the flow of gas within the collection chamber.

[0009] In one embodiment, the exhaust pipe includes a first exhaust pipe and a second exhaust pipe. The first exhaust pipe is connected to the material collection chamber of the first harvesting mechanism, the first inlet of the second exhaust pipe is connected to the material collection chamber of one of the second harvesting mechanisms, and the second inlet of the exhaust pipe is connected to the material collection chamber of the other second harvesting mechanism.

[0010] In one embodiment, the harvesting roller has a slit that communicates with the collection chamber; The harvesting drum can rotate relative to the frame to harvest chrysanthemums and allow them to fall from the gap into the collection chamber.

[0011] In one embodiment, the harvesting drum includes a drum, comb teeth, and a deflector wheel, wherein the comb teeth are fixedly connected to the drum, and the deflector wheel is rotatably connected to the drum; The harvesting mechanism further includes a first rotation drive assembly, which is used to drive the drum to rotate clockwise and the dial to rotate counterclockwise.

[0012] In one embodiment, the first rotation drive assembly includes a first rotation drive member, a first gear, and a second gear. The first rotation drive member is connected to the first gear. The first rotation drive member is used to drive the first gear to rotate clockwise. The first gear meshes with the second gear. The first gear is used to drive the second gear to rotate counterclockwise. The second gear is connected to the dial wheel to drive the dial wheel to rotate counterclockwise.

[0013] In one embodiment, the harvesting mechanism further includes two support plates arranged opposite to each other, and the harvesting drum is rotatably connected between the two support plates. At least one of the support plates is fixedly connected to the frame. The harvesting mechanism also includes a lever assembly located between the two support plates. The lever assembly is used to move the chrysanthemum to the harvesting drum.

[0014] In one embodiment, the lever assembly includes a second rotation drive, a first lever, a second lever, and a connecting rod. The second rotation drive is mounted on the support plate. The first lever and the second lever are respectively located on both sides of the harvesting drum. The connecting rod connects the first lever and the second lever. The second rotation drive is used to drive the first lever to rotate.

[0015] Secondly, embodiments of this application provide a harvester, including the harvesting device described above.

[0016] The beneficial effects of the embodiments of this application are as follows: In the embodiments of this application, by employing a first and second harvesting mechanism arranged at multiple angles, the harvesting device effectively adapts to the three-dimensional flower cluster morphology of chrysanthemums, improving the integrity and quality of harvesting. The three harvesting mechanisms work together to conform to the spherical corolla shape of the chrysanthemum, solving the problem that traditional horizontal cutting platforms cannot effectively harvest side flowers, significantly reducing the missed harvest rate, and providing higher economic value and practicality for mechanized chrysanthemum harvesting. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the harvesting device provided in an embodiment of this application; Figure 2 This is a partial structural schematic diagram of the harvesting device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the harvesting mechanism provided in an embodiment of this application; Figure 4 This is a partial structural schematic diagram of the harvesting mechanism provided in an embodiment of this application; Figure 5 This is a schematic diagram of a harvesting mechanism that conceals a support plate, provided by an embodiment of this application; Figure 6 This is a schematic diagram of the structure of the second harvesting mechanism provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of the long collection cylinder provided in the embodiments of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application. In this application, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the upper and lower positions of the device in actual use or operation, specifically the drawing directions in the accompanying drawings; while "inner" and "outer" refer to the outline of the device.

[0020] The following is combined Figures 1 to 7 This application describes the harvesting device and harvester.

[0021] According to an embodiment of the first aspect of this application, this application provides a harvesting device. For example... Figure 1 and Figure 2 As shown, the harvesting device includes a frame 1 and a plurality of harvesting mechanisms 2, wherein the harvesting mechanisms 2 are connected to the frame 1, and the plurality of harvesting mechanisms 2 include a first harvesting mechanism 201 and at least two second harvesting mechanisms 202. The first harvesting mechanism 201 is located at the front end of the frame 1 and is horizontally arranged. The first harvesting mechanism 201 is used to harvest the top of the chrysanthemum. Two second harvesting mechanisms 202 are located on both sides of the frame 1. The second harvesting mechanisms 202 are inclined relative to the frame 1. The two second harvesting mechanisms 202 are used to harvest the chrysanthemums on both sides respectively.

[0022] Understandably, the frame 1 serves as the main supporting structure, supporting multiple harvesting mechanisms 2. The first harvesting mechanism 201 is located at the front end of the frame 1 and is horizontally positioned, used for cutting or plucking the flowers at the top of the chrysanthemum plant. Two second harvesting mechanisms 202 are located on either side of the frame 1, inclined relative to the frame 1, capable of covering the flowers on the lateral branches of the upper and middle parts of the plant, achieving harvesting from the sides of the chrysanthemum plant. This multi-angle arrangement of the harvesting mechanisms 2 allows the harvesting device to simultaneously cover the top and sides of the plant canopy in a single pass, adapting to the natural growth characteristics of the chrysanthemum's three-dimensional flower cluster morphology.

[0023] Because the first harvesting mechanism 201 is horizontally positioned, it efficiently harvests flowers specifically from the top plane of the plant, while the two second harvesting mechanisms 202 are angled, harvesting from the left and right sides close to the lateral branches of the plant, ensuring that laterally extending flowers are also effectively collected. This design significantly improves the harvesting coverage rate in a single operation and reduces the lateral missed harvesting problems caused by traditional single-level cutting platforms. At the same time, it eliminates the need to forcibly cover lateral flowers by lowering the cutting platform height or increasing its width, avoiding stem breakage, tearing, and root damage caused by mechanical pressure, thus protecting the perennial chrysanthemum's ability to grow the following year. Furthermore, the rationally planned harvesting path reduces the rate of impurity contamination, lessening the burden of subsequent cleaning work.

[0024] Therefore, by employing a first harvesting mechanism 201 and a second harvesting mechanism 202 arranged at multiple angles, the harvesting device effectively adapts to the three-dimensional flower cluster morphology of chrysanthemums, improving the integrity and quality of harvesting. The three harvesting mechanisms 2 work in concert, conforming to the spherical corolla shape of the chrysanthemum, solving the problem that traditional horizontal cutting platforms cannot effectively harvest side flowers, significantly reducing the missed harvest rate, and providing higher economic value and practicality for mechanized chrysanthemum harvesting.

[0025] In some examples, the first harvesting mechanism 201 can be a reciprocating cutter or a rotary drum 212 comb head 213, and the second harvesting mechanism 202 can be a flexible clamping or air-suction harvesting head; the frame 1 can be equipped with a height adjustment device to accommodate chrysanthemum plants of different heights; each harvesting mechanism 2 can be driven independently, and the rotation speed or oscillation frequency can be adjusted according to actual needs. This harvesting device is suitable for field harvesting of chrysanthemums of different varieties and planting densities, and is especially suitable for the high-efficiency, low-loss harvesting needs in large-scale planting scenarios.

[0026] The harvesting device of this application is further illustrated below: The first harvesting mechanism is positioned at the front and arranged horizontally, used to comb out the flowers at the top of the plant; two second harvesting mechanisms on the sides are respectively installed at an angle or vertically below the first harvesting mechanism, forming a downward-opening "inverted U-shaped" or "gate-shaped" enclosing harvesting space together with the first harvesting mechanism. Each harvesting mechanism is equipped with comb teeth and a suction hood. The comb teeth comb the flowers off the stems, and the negative pressure airflow draws the flowers from all directions into the conveying pipe (e.g., a long collection cylinder).

[0027] The structure of the three harvesting mechanisms perfectly conforms to the spherical corolla shape of chrysanthemums, effectively solving the problem that traditional horizontal harvesting platforms cannot harvest side flowers, and significantly reducing the missed harvest rate. The staggered layout of the first harvesting mechanism in front and the two second harvesting mechanisms on the sides behind forms a "wide-width pilot + flank envelopment" design.

[0028] In summary, the harvesting device of this application has the following effects: Error tolerance and correction: The wider first harvesting mechanism creates a wide-area capture space, which can effectively tolerate and compensate for row deviations during field operations, and prevent the main body of the plant from being missed due to machine deviation. Morphological Adaptation and Flow Stabilization: This structure perfectly conforms to the biological morphology of chrysanthemums, which are 'wide at the top and narrow at the bottom'. The front-mounted wide head prioritizes removing the densest corolla layer at the top of the plant, significantly reducing the workload of the subsequent second harvesting mechanism on the side. This achieves a reasonable distribution of material flow. The graded and staggered contact method avoids the violent shaking or lodging of the plant caused by the simultaneous impact of three harvesting mechanisms on the plant. Furthermore, it smoothly distributes harvesting resistance and material conveying flow over time, effectively reducing power consumption and preventing local blockages in the conveying system. High purity and low damage: Combining comb-tooth combing and air suction delivery, flower stem separation is achieved, and mechanical damage caused by forcibly crushing the plant to harvest side flowers is avoided. The harvesting device of this application can complete the three-dimensional harvesting of the entire chrysanthemum plant in one pass, which greatly improves the work efficiency and economic benefits.

[0029] In some embodiments, such as Figure 3 and Figure 4 As shown, the harvesting mechanism 2 includes a harvesting drum 21 and a collecting cylinder 22. The harvesting drum 21 has an installation space inside, and the collecting cylinder 22 is installed in the installation space. The collecting cylinder 22 has a collecting chamber 221. The harvesting drum 21 is used to harvest chrysanthemums and cause the chrysanthemums to fall into the collecting chamber 221. The harvesting device also includes a transport component 3, which is connected to the collection chamber 221. The transport component 3 is used to transport the chrysanthemums in the collection chamber 221 to a designated location.

[0030] Understandably, the harvesting drum 21, as a harvesting execution component, has comb teeth 213, flexible paddles, or cutting blades on its outer periphery for clamping, combing, or gently cutting the chrysanthemums. The harvesting drum 21 has a hollow installation space inside, within which the collecting cylinder 22 is integrally embedded and coaxially or eccentrically fixed. The collecting cylinder 22 forms a closed or semi-closed collecting chamber 221 inside, with its upper opening 224 facing the inner side of the harvesting drum 21. This allows the chrysanthemums separated by the harvesting drum 21 to naturally fall into the collecting chamber 221 under the guidance of centrifugal force, gravity, or airflow, preventing the flowers from scattering in the field or becoming entangled on the surface of the drum 212 after harvesting.

[0031] The transport component 3 is connected to the bottom or side of the collection chamber 221, forming a continuous material channel. When a certain amount of chrysanthemums accumulates in the collection chamber 221, the transport component 3 is activated, extracting the chrysanthemums from the collection chamber 221 and transporting them to a designated location such as a collection box, storage bin, or transfer platform behind the frame 1. This process can be carried out simultaneously during the harvesting operation, realizing integrated continuous operation of "harvesting-collection-transportation", effectively preventing squeezing damage or blockage caused by excessive accumulation of chrysanthemums in the collection chamber 221.

[0032] Because the long collecting cylinder 22 is built into the harvesting drum 21, the overall structure is compact and the center of gravity is concentrated, which helps the harvesting mechanism 2 maintain stability when tilted or rotating at high speed. At the same time, the path of the chrysanthemum from harvesting to entering the chamber and then to transportation is short and closed, reducing the mixing of external impurities and the exposure time of the flowers, thus improving the cleanliness of harvesting and product quality. In addition, the introduction of the transportation component 3 avoids frequent manual cleaning, significantly improving the continuity of operation and the level of automation.

[0033] In some examples, the collecting cylinder 22 is a cylindrical or conical structure with a smooth inner wall to reduce friction; the transport assembly 3 includes a screw conveyor, pneumatic conveying pipe, or flexible conveyor belt; the bottom of the collecting chamber 221 is provided with a guide port that is sealed and connected to the feed end of the transport assembly 3; the harvesting drum 21 is driven by a motor to rotate, and the speed is adjustable to adapt to the harvesting intensity of different varieties of chrysanthemums. This structure is particularly suitable for mechanized harvesting scenarios of tea chrysanthemums or medicinal chrysanthemums where high flower integrity is required.

[0034] In some embodiments, such as Figure 1 and Figure 3 As shown, the transport component 3 includes an exhaust pipe 31, which is connected to the collection chamber 221. The exhaust pipe 31 is used to drive the gas flow in the collection chamber 221.

[0035] Understandably, one end of the exhaust pipe 31 is connected to the collection chamber 221, and the other end is connected to a negative pressure source (such as a fan or vacuum pump). When the negative pressure source is running, a negative pressure airflow is formed in the exhaust pipe 31, which in turn drives the gas in the collection chamber 221 to flow outward. Since the collection chamber 221 is connected to the inside of the harvesting drum 21, this airflow simultaneously forms a guiding wind field from the outside to the inside in the harvesting area, which helps to quickly draw the chrysanthemums separated by the harvesting drum 21 into the collection chamber 221, preventing the flowers from scattering due to inertia or remaining on the surface of the drum 212. Subsequently, the continuous airflow transports the chrysanthemums in the collection chamber 221 along the exhaust pipe 31 to the downstream collection device, completing the automatic transfer of the chrysanthemums.

[0036] Because chrysanthemums are soft and fragile, using airflow as the conveying power avoids the squeezing, friction, or petal loss that can occur with traditional mechanical pushing or spiral conveying. Simultaneously, the negative pressure environment created by the exhaust pipe 31 helps to adsorb and fix the flowers at the moment of harvesting, improving the harvesting success rate, especially suitable for chrysanthemum varieties with loose corollas or thin flower stalks. Furthermore, the airflow conveying path can be flexibly arranged, facilitating the centralized transport of chrysanthemums to designated locations far from the harvesting point, such as elevated storage bins or enclosed transfer containers, further reducing manual intervention.

[0037] Therefore, by setting up an exhaust pipe 31 connected to the collection chamber 221 and using gas flow to achieve the intake and transport of chrysanthemums, the harvesting device realizes low-loss, high-efficiency, and continuous integrated harvesting and transport operation, which significantly improves the integrity, cleanliness and automation level of chrysanthemum harvesting.

[0038] In some examples, the negative pressure source is a centrifugal fan or a Roots vacuum pump, with adjustable airflow and pressure.

[0039] In some embodiments, such as Figure 1 and Figure 3 As shown, the exhaust pipe 31 includes a first exhaust pipe 311 and a second exhaust pipe 312. The first exhaust pipe 311 is connected to the material collection chamber 221 of the first harvesting mechanism 201. The first inlet of the second exhaust pipe 312 is connected to the material collection chamber 221 of one of the second harvesting mechanisms 202, and the second inlet of the exhaust pipe 31 is connected to the material collection chamber 221 of the other second harvesting mechanism 202.

[0040] Understandably, the first harvesting mechanism 201 is located at the front end of the frame 1, and its collection chamber 221 is independently connected to the negative pressure source through the first exhaust pipe 311. The two second harvesting mechanisms 202 are located on both sides of the frame 1, and their respective collection chambers 221 are connected to the same second exhaust pipe 312. The second exhaust pipe 312 has two inlets, which are sealed and connected to the collection chambers 221 of the two second harvesting mechanisms 202 respectively. When the negative pressure source is activated, the first exhaust pipe 311 forms a negative pressure airflow in the collection chamber 221 of the first harvesting mechanism 201 to suck in and transport the chrysanthemums harvested from the top. The second exhaust pipe 312 simultaneously generates negative pressure in the two lateral collection chambers 221, causing the chrysanthemums harvested from both sides to converge into the same conveying channel through their respective inlets and be transported to the downstream collection location.

[0041] Since the first harvesting mechanism 201 and the second harvesting mechanism 202 operate in different areas and may have different harvesting volumes, the first exhaust pipe 311 is configured independently. This ensures stable airflow along the top harvesting path and avoids affecting the conveying efficiency of the main harvesting area due to lateral harvesting fluctuations. The two second harvesting mechanisms 202 share the second exhaust pipe 312. By rationally designing the symmetry of the pipeline and the inlet size, the pipeline layout can be simplified while ensuring balanced airflow, reducing system complexity and manufacturing costs. This branched design balances conveying performance and structural compactness, ensuring that chrysanthemums harvested from different directions can be promptly and reliably sucked and conveyed, preventing flowers from accumulating or scattering in the collection chamber 221.

[0042] Thus, by setting up the first exhaust pipe 311 and the second exhaust pipe 312, and connecting them to the material collection chamber 221 of the top and side harvesting mechanisms 2 respectively, the harvesting device realizes the zoned airflow collection and efficient integrated transportation of chrysanthemums in multiple areas, which improves the overall harvesting integrity and optimizes the resource allocation and operating efficiency of the pneumatic system.

[0043] In some examples, the first exhaust duct 311 and the second exhaust duct 312 are connected to independent fans, or they share the same fan but the air volume of each branch is controlled by a regulating valve.

[0044] In some embodiments, the harvesting roller 21 is formed with a slit, and the slit communicates with the collection chamber 221; The harvesting roller 21 can rotate relative to the frame 1 to harvest chrysanthemums and allow the chrysanthemums to fall from the gap into the collection chamber 221.

[0045] Understandably, the harvesting drum 21 is a hollow cylindrical structure with at least one slit in its wall. This slit extends axially, circumferentially, or spirally and directly communicates with the collection chamber 221 located inside the harvesting drum 21. When the harvesting drum 21 is driven by the drive device to rotate around its axis relative to the frame 1, the comb teeth 213, flexible blades, or cutting elements on the drum wall contact the chrysanthemum plants, completing the clamping, combing, or gentle cutting of the flowers. The separated chrysanthemums, under the assistance of centrifugal force, gravity, and airflow, pass through the slit in the drum wall and enter the collection chamber 221.

[0046] Because the gap directly connects to the collection chamber 221, chrysanthemums can fall into the collection chamber 221 directly after detaching from the plant without needing to go through an external guide path, significantly shortening the falling distance and reducing the risk of collision, scattering, or stagnation of flowers during transfer. Simultaneously, the size of the gap is set according to the diameter of the chrysanthemum corolla, ensuring that the entire chrysanthemum can pass through smoothly, while larger branches or impurities are blocked, serving as a preliminary screening function and helping to reduce the burden of subsequent cleaning. Furthermore, as the harvesting drum 21 rotates continuously, the gap periodically passes through the harvesting area, forming a continuous harvesting-falling cycle, ensuring smooth and efficient operation.

[0047] Therefore, by setting a gap on the harvesting drum 21 that communicates with the collection chamber 221, and by using the rotation of the drum 212 to achieve automatic detachment and collection of chrysanthemums, the harvesting device achieves a high degree of integration of harvesting and collection functions. While improving harvesting efficiency, it effectively protects the integrity of the flowers, which is significantly better than the traditional open-top design that requires an additional material guiding mechanism.

[0048] In some embodiments, such as Figure 3 and Figure 4 As shown, the harvesting drum 21 includes a drum 212, comb teeth 213 and a derailleur 214. The comb teeth 213 are fixedly connected to the drum 212, and the derailleur 214 is rotatably connected to the drum 212. The harvesting mechanism 2 also includes a first rotation drive assembly 23, which is used to drive the drum 212 to rotate clockwise and drive the dial 214 to rotate counterclockwise.

[0049] Understandably, the roller 212, as the main supporting component of the harvesting roller 21, can rotate relative to the frame 1 around its axis. The comb teeth 213 are fixedly installed along the outer circumference of the roller 212 and rotate synchronously with it, used to insert into the canopy of the chrysanthemum plants and hook or gently peel off the flowers. The deflector wheel 214 is located on the outside of the roller 212 or embedded between the comb teeth 213, and is rotatably connected to the roller 212 via bearings or bushings, and can rotate independently of the roller 212. The first rotation drive assembly 23 is connected to both the roller 212 and the deflector wheel 214, driving the roller 212 to rotate clockwise and simultaneously driving the deflector wheel 214 to rotate counterclockwise.

[0050] As the roller 212 rotates clockwise, the comb teeth 213 advance forward and contact the chrysanthemum stems; simultaneously, the deflector wheel 214 rotates counterclockwise, its surface creating relative motion with the comb teeth 213. This relative motion generates a clamping, rubbing, or combing effect between the comb teeth 213 and the deflector wheel 214, helping to separate the flowers from the stems while removing residual leaves or impurities from the gaps between the comb teeth 213, preventing blockage. Because the comb teeth 213 and the deflector wheel 214 rotate in opposite directions, their relative speed increases, improving the efficiency of flower separation, while the flexible rotation of the deflector wheel 214 cushions the impact on the flower crown, preventing petal tearing or flower damage.

[0051] Thus, by controlling the opposite rotation of the roller 212 and the dial 214 respectively through the first rotation drive component 23, the harvesting mechanism 2 realizes the coordinated operation of the three functions of "active harvesting + assisted flower removal + self-cleaning", which significantly reduces the flower damage rate while improving harvesting efficiency and ensuring the reliability of long-term continuous operation.

[0052] In some embodiments, such as Figure 4 and Figure 5 As shown, the first rotation drive assembly 23 includes a first rotation drive member 231, a first gear 232, and a second gear 233. The first rotation drive member 231 is connected to the first gear 232. The first rotation drive member 231 is used to drive the first gear 232 to rotate clockwise. The first gear 232 meshes with the second gear 233. The first gear 232 is used to drive the second gear 233 to rotate counterclockwise. The second gear 233 is connected to the dial wheel 214 to drive the dial wheel 214 to rotate counterclockwise.

[0053] Understandably, the first rotation drive 231 acts as a power source, driving the first gear 232 to rotate clockwise when it is in operation. Since the first gear 232 meshes with the second gear 233, the clockwise rotation of the first gear 232 causes the second gear 233 to rotate counterclockwise. The second gear 233 is coaxially fixed to the dial wheel 214 or connected via a coupling structure, thus the dial wheel 214 rotates counterclockwise synchronously with the second gear 233. Simultaneously, the drum 212 is driven clockwise by the first rotation drive 231 through another transmission path (e.g., direct connection or via a pulley), thereby achieving counterclockwise rotational engagement between the drum 212 and the dial wheel 214.

[0054] This gear transmission structure ensures that the rotation directions of the roller 212 and the dial wheel 214 are opposite and their speed relationship is stable. Because the first gear 232 and the second gear 233 mesh directly, the transmission response is rapid and slip-free, precisely maintaining the relative motion relationship between the comb teeth 213 and the dial wheel 214. During harvesting, the clockwise rotating comb teeth 213 bring the chrysanthemum branches into the working area, while the counterclockwise rotating dial wheel 214 applies a reverse force to the branches, promoting the flowers to detach from the stems and clearing residue from the gaps between the comb teeth 213, preventing blockage. This mechanism not only improves harvesting efficiency but also enhances the self-cleaning ability of the harvesting mechanism 2, ensuring stability during long-term continuous operation.

[0055] Thus, by adopting a gear transmission system consisting of a first rotation drive component 231, a first gear 232, and a second gear 233, the first rotation drive component 23 achieves reverse synchronous drive of the drum 212 and the dial wheel 214 in a simple structure and reliable transmission manner, providing a stable mechanical foundation for efficient and low-loss chrysanthemum harvesting.

[0056] In some examples, the first gear 232 and the second gear 233 are spur gears or helical gears, and the module and number of teeth are set according to the required speed ratio; the first rotation drive 231 is a servo motor, stepper motor or hydraulic motor.

[0057] In some embodiments, such as Figure 3 As shown, the harvesting mechanism 2 also includes two support plates 24 arranged opposite to each other. The harvesting drum 21 is rotatably connected between the two support plates 24, and at least one of the support plates 24 is fixedly connected to the frame 1.

[0058] Understandably, the two support plates 24 are arranged in parallel opposite directions, forming the two side support frames of the harvesting mechanism 2. The two ends of the harvesting drum 21 are rotatably mounted on the two support plates 24 via bearings, bushings, or shafts, allowing the harvesting drum 21 to rotate stably around its own axis under the drive of the first rotation drive assembly 23. At least one of the support plates 24 is fixedly connected to the frame 1, providing a reliable installation reference and force support point for the entire harvesting mechanism 2, ensuring that the harvesting mechanism 2 will not shift or loosen due to vibration or plant resistance during operation.

[0059] Because the harvesting drum 21 is supported by two support plates 24, its rotation axis 6 remains highly coaxial, effectively preventing swaying, jamming, or bearing overload problems that may occur with a single-sided cantilever structure. Simultaneously, the fixed connection between the support plates 24 and the frame 1 simplifies the overall assembly of the harvesting mechanism 2 and provides a stable connection foundation for the subsequent angle adjustment mechanism 4 (such as the telescopic drive 41 or the rotation drive). When the harvesting mechanism 2 needs to adjust its tilt angle, the entire support plate 24 assembly can rotate synchronously with the adjustment mechanism 4, while the harvesting drum 21 still maintains stable operation between the two support plates 24.

[0060] Thus, by setting two opposing support plates 24 and rotatably connecting the harvesting drum 21 between them, while fixing at least one support plate 24 to the frame 1, the harvesting mechanism 2 achieves good structural rigidity and operational stability, ensuring efficient harvesting while improving adaptability to complex field conditions and long-term reliability.

[0061] In some embodiments, such as Figure 2 and Figure 5 As shown, the harvesting mechanism 2 also includes a lever assembly 25, which is located between the two support plates 24. The lever assembly 25 is used to move the chrysanthemum to the harvesting drum 21.

[0062] Understandably, the two support plates 24 are arranged opposite each other, and the harvesting drum 21 is rotatably connected between the two support plates 24. The lever assembly 25 is installed in the space between the two support plates 24, located in front of or to the side of the harvesting drum 21, and its position is on the path of the chrysanthemum plants entering the harvesting area. When the harvesting device moves forward, the chrysanthemum plants first come into contact with the lever assembly 25. The lever assembly 25 guides the flowers that are laterally extended, drooping, or deviating from the main harvesting path toward the harvesting drum 21 through its own structure or movement, so that the flowers accurately enter the working range of the harvesting drum 21.

[0063] Because chrysanthemum branches are often irregularly distributed, some flowers may not directly contact the harvesting drum 21 due to angle deviation or obstruction by branches. The lever assembly 25 can actively intervene in the plant's posture, gathering and pushing the scattered flowers into the effective harvesting area of ​​the harvesting drum 21 without damaging the stems, thereby increasing the harvesting coverage rate per pass. At the same time, the lever assembly 25 can also play a preliminary sorting role, reducing the direct impact of large branches or weeds on the harvesting drum 21 and lowering the risk of blockage.

[0064] Thus, by setting a lever assembly 25 between the two support plates 24, the harvesting mechanism 2 realizes the forward guidance and posture adjustment of the chrysanthemum, effectively making up for the harvesting blind spots caused by the irregular natural growth form of the plant, and significantly improving the harvesting integrity and operation smoothness.

[0065] In some embodiments, such as Figure 2 and Figure 5 As shown, the lever assembly 25 includes a second rotation drive 251, a first lever 252, a second lever, and a connecting rod 253. The second rotation drive 251 is mounted on the support plate 24. The first lever 252 and the second lever are respectively located on both sides of the harvesting drum 21. The connecting rod 253 connects the first lever 252 and the second lever. The second rotation drive 251 is used to drive the first lever 252 to rotate.

[0066] Understandably, the two support plates 24 are arranged opposite to each other, and the harvesting drum 21 is rotatably connected between the two support plates 24. The first lever 252 and the second lever are located on the left and right sides of the harvesting drum 21, respectively, and one end of each is rotatably connected to the corresponding support plate 24 via a rotating shaft. The two ends of the connecting rod 253 are fixedly connected to the first lever 252 and the second lever, respectively, forming a rigid linkage structure. The second rotation drive component 251 is mounted on one of the support plates 24, and its output shaft is drivenly connected to the first lever 252 to drive the first lever 252 to rotate around its rotating shaft.

[0067] When the second rotating drive 251 operates, it drives the first lever 252 to rotate. The first lever 252 transmits the motion to the second lever through the connecting rod 253, causing the second lever to rotate synchronously in the same direction and angle. As a result, the first lever 252 and the second lever form a symmetrical swinging motion on both sides of the harvesting drum 21, which can simultaneously push the lateral flower branches of the chrysanthemum plants inward or forward from both sides, guiding the flowers that deviate from the main harvesting path into the working area of ​​the harvesting drum 21.

[0068] Because the first lever 252 and the second lever are mechanically linked through the connecting rod 253, their movements are completely synchronized, avoiding uneven force or posture distortion of the plants caused by unilateral levering. This symmetrical levering mechanism can effectively cover the three-dimensional space in front of the harvesting drum 21, and is especially suitable for chrysanthemum plants with umbrella-shaped or crown-shaped distribution, significantly reducing missed harvesting caused by the dispersed orientation of the flowers. At the same time, the active movement of the levers can adapt to different plant row densities, playing a role in thinning branches and guiding flow in dense areas, improving harvesting continuity and operational stability.

[0069] Thus, by adopting the linkage lever assembly 25, which consists of the second rotation drive 251, the first lever 252, the second lever and the connecting rod 253, the harvesting mechanism 2 achieves synchronous and coordinated guidance of the flower branches on both sides of the chrysanthemum plant, enhances the adaptability and initiative of the harvesting front end, and provides a reliable guarantee for efficient and complete mechanized harvesting of chrysanthemums.

[0070] It should be noted that the second rotation drive component 251 can directly drive the first lever 252 to rotate, or it can drive the first lever 252 to rotate through a gear or gear set.

[0071] In some embodiments, such as Figure 1 and Figure 6 As shown, the harvesting device also includes an adjustment mechanism 4, which is connected to at least part of the harvesting mechanism 2. The adjustment mechanism 4 is used to drive the harvesting mechanism 2 to rotate relative to the frame 1, so as to change the tilt angle of the harvesting mechanism 2.

[0072] Understandably, the harvesting mechanism 2 is mounted on the frame 1 and is used to perform operations such as cutting, clamping, picking, or sucking chrysanthemums. The adjusting mechanism 4 is directly connected to the harvesting mechanism 2 and can drive the harvesting mechanism 2 to rotate relative to the frame 1 around a rotation axis, thereby adjusting the tilt angle between the working surface of the harvesting mechanism 2 and the ground or plant.

[0073] Because chrysanthemum plants vary in height, flower orientation, and branch density depending on the location, variety, or growth stage, a fixed-angle harvesting mechanism 2 cannot simultaneously ensure harvesting efficiency and flower integrity. By adjusting the mechanism 4 to rotate the harvesting mechanism 2, the working surface of the harvesting mechanism 2 can be aligned with the actual distribution direction of the chrysanthemum flower crown. For example, when the plant is tall, the harvesting mechanism 2 can be adjusted to a more horizontal position to cover the top of the flower crown, or when the plant is short and the flower branches are drooping, the harvesting mechanism 2 can be adjusted to a forward-leaning angle to get closer to the bottom of the flower branches. Therefore, the harvesting mechanism 2 can better conform to the actual growth posture of the chrysanthemum, reducing problems such as missed harvesting, flower tearing, or broken flower branches caused by mismatched angles.

[0074] By introducing the adjustment mechanism 4, the harvesting device enables flexible adjustment of the tilt angle of the harvesting mechanism 2, significantly improving its adaptability to different field conditions. Operators can adjust the harvesting angle in real time according to actual operational needs, ensuring an efficient and complete harvesting process with minimal damage to the plants. This structure not only increases the harvest coverage rate of a single operation but also reduces the cost of subsequent manual harvesting, providing higher operational quality and practicality for mechanized chrysanthemum harvesting.

[0075] In some examples, the frame 1 is mounted on a walking chassis, tractor, or handheld support; the adjustment mechanism 4 includes an electric push rod, hydraulic cylinder, screw and nut mechanism, or manual crank; one end of the adjustment mechanism 4 is hinged to the frame 1, and the other end is hinged to the side or back of the harvesting mechanism 2, driving the harvesting mechanism 2 to rotate around a horizontal axis through telescopic or rotary motion; the harvesting mechanism 2 can be a rotary drum 212 type, reciprocating cutting type, pneumatic suction type, or flexible clamping type structure; the frame 1 can also be equipped with a height adjustment device to achieve multi-dimensional posture adjustment in conjunction with the adjustment mechanism 4. This harvesting device is suitable for harvesting medicinal chrysanthemums, tea chrysanthemums, or ornamental chrysanthemums in various terrains such as plains and hills, and is especially suitable for the high-efficiency and low-loss harvesting needs in large-scale planting scenarios.

[0076] In some embodiments, the harvesting mechanism 2 includes a harvesting drum 21 and a collecting cylinder. The harvesting drum 21 has an installation space inside, and the collecting cylinder is installed in the installation space. An exhaust pipe 31 is connected to the first end of the collecting cylinder and communicates with the collecting chamber. The exhaust pipe 31 is used to drive the gas flow in the collecting chamber.

[0077] In some embodiments, such as Figure 1 and Figure 6 As shown, the harvesting device also includes a fixed beam 5, which is used to be fixedly connected to the main body of the harvester, and the harvesting mechanism 2 is rotatably connected to the fixed beam 5.

[0078] Understandably, the fixed beam 5 serves as the connection interface between the harvesting device and the external harvester. One end is rigidly fixed to the main body of the harvester, while the other end supports the harvesting mechanism 2. The harvesting mechanism 2 is rotatably connected to the fixed beam 5 via hinges, shafts, or slewing bearings, allowing the harvesting mechanism 2 to be angled relative to the fixed beam 5. The adjusting mechanism 4 is connected to the harvesting mechanism 2, driving the harvesting mechanism 2 to rotate around its axis of rotation, thereby changing the tilt angle of the harvesting mechanism 2.

[0079] Since the fixed beam 5 is directly and fixedly connected to the main body of the harvester, its position and posture are determined by the overall structure of the harvester, giving it high rigidity and stability. The harvesting mechanism 2 uses the fixed beam 5 as its installation reference for rotational adjustment, ensuring structural reliability during angle adjustment and preventing harvesting posture deviation caused by the flexible deformation of the frame 1. Furthermore, by setting the rotation fulcrum of the harvesting mechanism 2 on the fixed beam 5, the force path of the adjustment mechanism 4 is shortened, and the transmission is more direct, improving the response speed and accuracy of angle adjustment.

[0080] Therefore, the introduction of the fixed beam 5 enables the harvesting device to be stably integrated into the harvester platform and provides a reliable rotating support foundation for the harvesting mechanism 2. Under the premise of ensuring operational stability, it enables flexible adaptation to different growth forms of chrysanthemum plants, further improving harvesting integrity and operational efficiency.

[0081] In some embodiments, such as Figure 1 and Figure 6 As shown, the harvesting device includes a rotating shaft 6, which is embedded in the harvesting mechanism 2, and the fixed beam 5 is connected to the rotating shaft 6.

[0082] Understandably, the rotating shaft 6, as the core rotating component of the harvesting mechanism 2, is embedded and fixed inside the harvesting mechanism 2 or its supporting frame, forming an integrated rotating unit with the harvesting mechanism 2. The fixed beam 5 is directly connected to the rotating shaft 6. Specifically, the fixed beam 5 can be sleeved on the outer circumference of the rotating shaft 6, or it can be fixedly engaged with the end or middle of the rotating shaft 6 through bearings or flanges, thereby providing stable support and a rotation fulcrum for the rotating shaft 6. When the adjusting mechanism 4 drives the harvesting mechanism 2 to rotate, the harvesting mechanism 2 drives the rotating shaft 6 to rotate around the axis relative to the fixed beam 5, thereby adjusting the tilt angle.

[0083] Since the rotating shaft 6 is embedded in the harvesting mechanism 2, its relative position to the harvesting mechanism 2 is fixed, avoiding posture deviation caused by loose connections or assembly errors. At the same time, the direct connection between the fixed beam 5 and the rotating shaft 6 simplifies the transmission structure, reduces intermediate connecting parts, and improves the rigidity and rotational accuracy of the rotation system. This structure also brings the center of gravity of the harvesting mechanism 2 closer to the rotating shaft 6, reducing the driving torque required during adjustment, which is beneficial for the miniaturization and energy-saving operation of the adjustment mechanism 4.

[0084] Thus, by embedding the rotating shaft 6 into the harvesting mechanism 2 and connecting it to the fixed beam 5, the harvesting device achieves a harvesting posture adjustment mechanism that is compact in structure, rotates smoothly, and has precise angle control. While adapting to different chrysanthemum plant shapes, it ensures the stability and reliability of the operation process.

[0085] In some embodiments, such as Figure 1 and Figure 6 As shown, the adjustment mechanism 4 includes a telescopic drive component 41. The first end of the telescopic drive component 41 is connected to the fixed beam 5, and the second end of the telescopic drive component 41 is connected to the harvesting mechanism 2. The telescopic drive component 41 is used to drive the harvesting mechanism 2 to rotate relative to the frame 1 or the fixed beam 5.

[0086] Understandably, the telescopic drive component 41, as the execution unit of the adjustment mechanism 4, has its first end hinged or fixedly connected to the fixed beam 5, and its second end hinged or fixedly connected to the harvesting mechanism 2. When the telescopic drive component 41 extends or retracts, its length change is converted into a pushing or pulling force on the harvesting mechanism 2, driving the harvesting mechanism 2 to rotate relative to the fixed beam 5 around the rotation axis 6, thereby changing the tilt angle of the harvesting mechanism 2. Since the fixed beam 5 is fixedly connected to the main body of the harvester and its position is stable, the telescopic drive component 41 acts on the harvesting mechanism 2 with the fixed beam 5 as the fulcrum, ensuring that the force is clear and the movement trajectory is controllable during the angle adjustment process.

[0087] This connection method establishes a defined geometric relationship between the extension stroke of the telescopic drive 41 and the rotation angle of the harvesting mechanism 2, facilitating precise setting of the harvesting posture by controlling the extension amount. Simultaneously, the telescopic drive 41 maintains its output force after extending or retracting to the target position, ensuring the harvesting mechanism 2 maintains a stable angle during operation and resisting posture deviations caused by field bumps or plant resistance.

[0088] Therefore, by using telescopic drive components 41 that connect the fixed beam 5 and the harvesting mechanism 2 at both ends respectively, the adjustment mechanism 4 can flexibly adjust the tilt angle of the harvesting mechanism 2 in a simple, responsive and strong manner, effectively adapting to chrysanthemum plants of different heights, densities and corolla orientations, and improving the integrity of harvesting and operational stability.

[0089] In some examples, the telescopic drive 41 is, for example, a balance cylinder, which has a telescopic function and can also act as a buffer.

[0090] In some embodiments, such as Figure 1 and Figure 6 As shown, the harvesting mechanism 2 includes a harvesting drum 21, a connecting beam 26, and two opposing support plates 24. The connecting beam 26 connects the two support plates 24, and the harvesting drum 21 is rotatably connected between the two support plates 24. The harvesting drum 21 is used to harvest chrysanthemums.

[0091] Understandably, the two support plates 24 are arranged parallel to each other, forming the two side support frames of the harvesting mechanism 2. The connecting beam 26 is fixedly connected between the two support plates 24 to enhance the overall rigidity of the support plates 24 and prevent them from deforming or shifting relative to each other due to force during operation. The two ends of the harvesting drum 21 are rotatably mounted on the two support plates 24 through bearings, bushings, or shafts, respectively, so that the harvesting drum 21 can rotate around its own axis under the drive of the drive device to perform the picking, clamping, or cutting operations on the chrysanthemums.

[0092] Because the harvesting drum 21 is supported by two support plates 24, its rotation axis 6 remains stable, avoiding the swaying or jamming problems that may occur with unilateral support. The connecting beam 26 further enhances the torsional and bending resistance of the support structure, ensuring that the harvesting mechanism 2 can maintain the normal operation of the harvesting drum 21 even under complex field conditions. At the same time, this frame structure provides a reliable force point for the connection between the adjustment mechanism 4 and the harvesting mechanism 2, facilitating the connection of the telescopic drive component 41 or other adjustment components to the support plate 24 or the connecting beam 26 to achieve overall angle adjustment.

[0093] Therefore, by adopting an integrated harvesting mechanism 2 consisting of two support plates 24, a connecting beam 26 and a harvesting drum 21, the harvesting device achieves stable rotation and reliable operation of the harvesting drum 21 while ensuring structural strength, effectively improving the harvesting efficiency and integrity of chrysanthemum plants, and providing a solid mechanical foundation for the angle adjustment function.

[0094] In some embodiments, the middle position of the connecting beam 26 is rotatably connected to the fixed beam 5.

[0095] Understandably, the connecting beam 26 serves as the lateral support component of the harvesting mechanism 2, with two support plates 24 connected to its two ends and a rotating connection in the middle. The fixed beam 5 and the connecting beam 26 are rotatably connected at their midpoints via a pin, hinge, or slewing bearing, forming a pivot point for the harvesting mechanism 2 relative to the fixed beam 5. When the adjusting mechanism 4 drives the harvesting mechanism 2 to adjust its tilt angle, the entire harvesting mechanism 2 rotates around the fixed beam 5 with the midpoint of the connecting beam 26 as its center of rotation.

[0096] Because the rotating connection point is located in the middle of the connecting beam 26, which is the center of symmetry in the left-right direction of the harvesting mechanism 2, the harvesting mechanism 2 is subjected to balanced forces during rotation, avoiding stress concentration on one side or tilting due to eccentric rotation. At the same time, this rotation center is close to the overall center of gravity of the harvesting mechanism 2, which helps reduce the driving torque required by the adjusting mechanism 4 and improves the stability and response accuracy of angle adjustment. Furthermore, placing the rotating connection in the middle of the connecting beam 26 also facilitates the formation of a stable triangular mechanical structure with the adjusting mechanism 4, such as the telescopic drive component 41, enhancing its vibration and impact resistance during operation.

[0097] Thus, by rotatably connecting the middle position of the connecting beam 26 to the fixed beam 5, the harvesting device achieves balanced rotation of the harvesting mechanism 2 around the axis of symmetry, significantly improving the stability, reliability, and operability of angle adjustment, enabling the harvesting mechanism 2 to more accurately fit chrysanthemum plants with different growth forms, and improving harvesting quality and operational adaptability.

[0098] In some embodiments, such as Figure 1 and Figure 6As shown, the adjustment mechanism 4 includes two telescopic drive members 41, which are located on both sides of the fixed beam 5. One telescopic drive member 41 is connected to the fixed beam 5 and the first end of the connecting beam 26, and the other telescopic drive member 41 is connected to the fixed beam 5 and the second end of the connecting beam 26.

[0099] Understandably, the first and second ends of the connecting beam 26 correspond to its left and right ends, respectively. Two telescopic drive members 41 are symmetrically arranged on both sides of the fixed beam 5, with one end of each connected to the fixed beam 5 and the other end connected to the first and second ends of the connecting beam 26, respectively. When the two telescopic drive members 41 extend or retract synchronously, they jointly push or pull the two ends of the connecting beam 26, causing the entire harvesting mechanism 2 to pitch and rotate around the rotational connection point between the connecting beam 26 and the fixed beam 5, thereby changing the tilt angle of the harvesting mechanism 2.

[0100] Since the two telescopic drive components 41 act on both ends of the connecting beam 26 respectively, forming a dual-point drive structure, problems such as twisting of the connecting beam 26, uneven force on the support plate 24, or skewness of the harvesting roller 21 axis that may be caused by unilateral drive are effectively avoided. During the adjustment process, the two telescopic drive components 41 can work together to ensure that the connecting beam 26 maintains a horizontal posture or rotates along a preset trajectory, significantly improving the synchronicity of angle adjustment and structural rigidity. Even in uneven field conditions or with uneven plant resistance, the dual telescopic drive components 41 can maintain the stability of the harvesting mechanism 2 by applying force evenly, preventing adjustment failure or mechanical damage caused by excessive load on one side.

[0101] Therefore, by using two telescopic drive components 41 that connect the fixed beam 5 and the two ends of the connecting beam 26 respectively, the adjustment mechanism 4 achieves symmetrical and balanced drive of the harvesting mechanism 2, which not only improves the accuracy and reliability of angle adjustment, but also enhances the torsional and eccentric load resistance of the harvesting mechanism 2 in complex operating environments, further ensuring the integrity and efficiency of chrysanthemum harvesting.

[0102] In some embodiments, the adjustment mechanism 4 includes a rotation drive member, which is mounted on the frame 1 and connected to the harvesting mechanism 2. The rotation drive member is used to drive the harvesting mechanism 2 to rotate relative to the frame 1.

[0103] Understandably, the rotary drive component is fixedly mounted on the frame 1, and its output shaft or drive end is directly or indirectly connected to the harvesting mechanism 2. When the rotary drive component is running, its output shaft generates rotational motion, which is transmitted to the harvesting mechanism 2, causing the harvesting mechanism 2 to rotate relative to the frame 1 around a predetermined axis, thereby changing the tilt angle of the harvesting mechanism 2. This rotational axis can coincide with the rotation fulcrum of the harvesting mechanism 2, for example, coaxial with the rotational connection point between the connecting beam 26 and the fixed beam 5, ensuring a smooth and reliable rotation process.

[0104] Because the rotary drive directly provides rotational power without the need for a telescopic-lever conversion mechanism, the transmission path is shorter, the response is faster, and the angle control accuracy is higher. Furthermore, the rotary drive is mounted on the frame 1, its position is fixed, facilitating wiring, heat dissipation, and maintenance, and it will not experience dynamic load interference due to the movement of the harvesting mechanism 2. In addition, the rotary drive can employ closed-loop control, providing real-time feedback on the current angle position, enabling precise setting and dynamic adjustment of the harvesting mechanism 2's attitude.

[0105] Therefore, by using a rotating drive component installed on the frame 1 and connected to the harvesting mechanism 2, the adjustment mechanism 4 can achieve continuous or step-by-step adjustment of the tilt angle of the harvesting mechanism 2 in a direct and efficient manner, thereby improving the adaptability to different chrysanthemum plant morphologies and enhancing the automation level and operational stability of the entire harvesting device.

[0106] In some examples, the rotational drive is, for example, a rotary motor.

[0107] In some embodiments, the harvesting device includes a plurality of harvesting mechanisms 2 and a plurality of adjustment mechanisms 4. The plurality of harvesting mechanisms 2 are all connected to the frame 1. The plurality of harvesting mechanisms 2 correspond one-to-one with the plurality of adjustment mechanisms 4. Different harvesting mechanisms 2 are located on different sides of the frame 1 to perform harvesting operations on different positions of the chrysanthemums.

[0108] Understandably, the frame 1 serves as the main support structure, on which multiple harvesting mechanisms 2 are mounted. Each harvesting mechanism 2 is arranged in at least two different positions on the left, right, front, or rear side of the frame 1. Each harvesting mechanism 2 is equipped with an independent adjustment mechanism 4, which is connected to the corresponding harvesting mechanism 2 and used to individually control the tilt angle of that harvesting mechanism 2 relative to the frame 1. Multiple harvesting mechanisms 2 can work simultaneously or at different times, each facing different areas of the chrysanthemum plant. For example, one harvesting mechanism 2 may target the outer corolla of the plant, while another harvesting mechanism 2 may target the inner or opposite flower branches.

[0109] Because the different harvesting mechanisms 2 are located on different sides of the frame 1 and each has independent angle adjustment capabilities, the harvesting device can simultaneously adapt to the multidirectional distribution characteristics of chrysanthemum plants between rows, between plants, or within the canopy. For example, in densely planted chrysanthemum fields, single-sided harvesting is difficult to cover all flower branches, while the multi-sided harvesting mechanisms 2 can approach the flowers from multiple directions, reducing missed harvests; when the plant height is uneven or the flower branches are scattered, each harvesting mechanism 2 can be adjusted to the optimal tilt angle to ensure that the harvesting operation on each side conforms to the actual flower crown posture.

[0110] Therefore, by setting up multiple harvesting mechanisms 2 and multiple adjusting mechanisms 4, and distributing the harvesting mechanisms 2 on different sides of the frame 1, the harvesting device significantly expands the spatial operation coverage and improves the harvest integrity rate and operational efficiency of a single pass. At the same time, the independent adjustment capability of each harvesting mechanism 2 ensures flexible adaptability to complex field conditions, providing reliable technical support for efficient, low-loss, and widely adaptable mechanized harvesting of chrysanthemums.

[0111] In some embodiments, such as Figure 3 and Figure 7 As shown, the harvesting device includes a harvesting mechanism 2 and an exhaust pipe 31: The harvesting mechanism 2 includes a harvesting drum 21 and a long collecting cylinder 22. The harvesting drum 21 has an installation space inside, and the long collecting cylinder 22 is installed in the installation space. The long collecting cylinder 22 has a collecting cavity 221. The harvesting drum 21 is used to harvest chrysanthemums and cause the chrysanthemums to fall into the collecting cavity 221. The exhaust pipe 31 is connected to the first end of the long collecting cylinder 22 and communicates with the collecting chamber 221. The exhaust pipe 31 is used to drive the gas flow in the collecting chamber 221. The second end of the long collection cylinder 22 is provided with an air inlet 222, which is connected to the outside.

[0112] Understandably, the harvesting drum 21, as the harvesting execution component, has a hollow installation space inside. The collecting cylinder 22 is integrally embedded in this installation space and coaxially fixed with the harvesting drum 21. The collecting cylinder 22 forms a closed collecting chamber 221 inside, used to receive the chrysanthemums separated by the harvesting drum 21 and falling into it. An exhaust pipe 31 is connected to the first end of the collecting cylinder 22 (i.e., the end closest to the blower) and communicates with the collecting chamber 221. When the blower is running, the exhaust pipe 31 creates a negative pressure airflow extending from the first end to the second end within the collecting chamber 221, used to transport the chrysanthemums along the collecting chamber 221 to the downstream collection device.

[0113] The key feature is that the second end of the long collecting cylinder 22 (i.e., the end furthest from the exhaust pipe 31) is equipped with a make-up air inlet 222, which is directly connected to the outside atmosphere. When the exhaust pipe 31 draws gas from the collecting chamber 221, the second end of the collecting chamber 221 naturally forms the lowest negative pressure area because it is furthest from the exhaust pipe 31. At this time, outside air is drawn into the second end of the collecting chamber 221 through the make-up air inlet 222, forming a local supplementary airflow. This supplementary airflow increases the local wind speed at the second end of the collecting chamber 221, enhancing its ability to carry chrysanthemums that have just fallen into this area; on the other hand, the supplementary airflow flows along the collecting chamber 221 towards the first end, superimposing with the main suction airflow, effectively improving the uniformity of the airflow distribution along the path within the collecting chamber 221, and avoiding the retention and accumulation of chrysanthemums in the end area due to excessively low wind speed.

[0114] Since the air inlet 222 requires no additional power source and can automatically introduce outside air solely through the negative pressure inside the collection chamber 221, it significantly alleviates the end-point blockage problem in long-distance conveying without increasing the fan power or changing the overall system energy consumption. Simultaneously, the chrysanthemums are always in a flowing airflow within the collection chamber 221, reducing static friction and compression time with the cylinder wall, lowering the risk of petal damage, and improving the integrity of the flowers. Furthermore, this structure is simple and reliable, requiring only an opening 224 at the end of the long collection cylinder 22 or the addition of a flow guide, resulting in low manufacturing costs and convenient maintenance.

[0115] Therefore, by setting an air inlet 222 at the second end of the long collecting cylinder 22 to connect with the outside, the picking device effectively optimizes the airflow distribution in the collecting chamber 221, solves the technical problems of insufficient negative pressure at the end and material accumulation in the traditional single-end suction structure, and ensures smooth conveying while taking into account energy efficiency, reliability and product quality.

[0116] In some examples, the air inlet 222 is a circular, strip-shaped or grid-shaped opening 224 opened on the second end side wall or end face of the long collection cylinder 22; the air inlet 222 is provided with a dustproof net or adjustable damper to adjust the air intake and prevent a large amount of impurities from entering; the exhaust pipe 31 can be connected to a centrifugal fan.

[0117] In some embodiments, the air inlet 222 extends along the axial direction of the aggregate cylinder 22.

[0118] Understandably, the second end of the long collecting cylinder 22 is provided with an air inlet 222, which extends along the axial direction of the long collecting cylinder 22 to form an elongated opening 224. This air inlet 222 communicates with the outside environment and is used to introduce outside air when the exhaust pipe 31 draws gas from the collecting chamber 221, thereby improving the airflow distribution in the end region of the collecting chamber 221. Since the air inlet 222 extends axially, its length direction is consistent with the conveying direction of the chrysanthemum within the collecting chamber 221. The opening 224 has a relatively small width, while its length covers a localized axial region at the end of the long collecting cylinder 22.

[0119] When the chrysanthemum falls into the second end of the collection chamber 221, it mainly sinks downwards under the influence of gravity and moves towards the first end of the collection chamber 221 under the influence of airflow. Since the air supply port 222 is a narrow axial opening 224, the size of the chrysanthemum is usually much larger than the width of the opening 224, making it difficult for it to detach laterally from the air supply port 222. At the same time, the outside air introduced into the collection chamber 221 along the axial direction quickly merges into the direction of the main airflow, forming a forward guiding wind field, further confining the chrysanthemum inside the collection chamber 221 and preventing it from approaching or getting stuck at the edge of the air supply port 222. Thus, while achieving effective air supply and increasing the terminal wind speed, the risk of the chrysanthemum accidentally falling from the air supply port 222 is significantly reduced.

[0120] Furthermore, the axially extending air inlets 222 can be evenly distributed on one or more sides of the second end of the long collecting cylinder 22, ensuring both the air intake area and avoiding structural strength reduction or material leakage problems caused by opening large-area radial openings 224. This design achieves the dual goals of airflow optimization and material containment while maintaining the basic sealing of the collecting chamber 221.

[0121] Therefore, by setting the air inlet 222 as a narrow structure extending along the axial direction of the material collection cylinder 22, the harvesting device can improve airflow distribution and prevent end blockage, while effectively preventing chrysanthemums from falling from the air inlet 222, thus ensuring the complete collection and reliable transportation of the harvested materials.

[0122] In some embodiments, such as Figure 7 As shown, the cross-sectional area of ​​the long collecting cylinder 22 gradually increases along the direction from the second end of the long collecting cylinder 22 to one end of the long collecting cylinder 22.

[0123] Understandably, the long collecting cylinder 22 is a variable cross-section pipe, with its second end (the end furthest from the exhaust pipe 31) having the smallest cross-sectional area and its first end (the end connected to the exhaust pipe 31) having the largest cross-sectional area. Along the material conveying direction (i.e., from the second end to the first end), the cross-sectional area gradually increases continuously or in segments. The collecting chamber 221 forms a gradually expanding channel from small to large. As the material moves from the second end to the first end under the influence of negative pressure airflow, the flow cross-section it occupies gradually expands.

[0124] Since the exhaust pipe 31 is connected to the first end of the long collecting cylinder 22, the airflow forms a negative pressure gradient from the first end to the second end within the collecting chamber 221. However, traditional long cylinders with uniform cross-sections tend to have insufficient air velocity at the end. By adopting a structure with gradually increasing cross-sectional area, according to the principle of fluid dynamics continuity, the airflow velocity tends to become more uniform in the opposite direction of flow (i.e., from the first end to the second end) while maintaining a constant total air volume. Specifically, although the suction effect of the fan is strongest at the first end, the local flow velocity is moderately reduced due to the larger cross-section there. At the second end, although it is furthest from the fan, the airflow velocity is maintained at a higher level due to the smaller cross-section. As a result, the airflow velocity distribution within the entire collecting chamber 221 is more balanced, effectively alleviating the problem of stagnant and accumulated air at the end due to excessively low air velocity.

[0125] Furthermore, the gradually expanding structure allows for a more rational distribution of the airflow lifting force on the chrysanthemums during transport. The smaller cross-section at the inlet end (second end) helps concentrate the airflow and enhance initial carrying capacity; as the cross-section expands, the impact force of the airflow on the chrysanthemums gradually decreases, reducing petal damage caused by high-speed collisions. At the same time, the larger cross-section at the outlet end also reduces the flow resistance of the chrysanthemums as they approach the exhaust pipe 31, preventing blockages caused by local congestion.

[0126] Therefore, by designing the long collecting cylinder 22 as a variable diameter structure with a gradually increasing cross-sectional area from the second end to the first end, the picking device significantly improves the uniformity of the airflow field in the collecting chamber 221 without increasing the fan power, enhances the smoothness and integrity of chrysanthemum conveying, and effectively suppresses the risk of blockage.

[0127] In some embodiments, such as Figure 7 As shown, along the direction from the second end of the long collecting cylinder 22 to one end of the long collecting cylinder 22, the accommodating volume of the collecting chamber 221 gradually increases.

[0128] It is understandable that the collection cavity 221 formed inside the long collection cylinder 22 is a variable volume channel. The local volume near the second end (i.e., the end away from the exhaust pipe 31) is smaller, while the local volume near the first end (i.e., the end connected to the exhaust pipe 31) is larger. Overall, the volume gradually increases along the chrysanthemum conveying direction (from the second end to the first end). This volume change can be achieved by expanding the outer diameter of the long collection cylinder 22, designing the inclined inner wall, or gradually changing the internal structure, so that the collection cavity 221 has different cross-sectional areas or internal space dimensions at different axial positions.

[0129] After the chrysanthemums are separated by the harvesting roller 21 and fall into the second end of the collection chamber 221, they move towards the first end under the influence of negative pressure airflow. Because the volume of the collection chamber 221 gradually increases along the conveying direction, the space occupied by the chrysanthemums gradually expands during their movement, effectively reducing the material density per unit volume and preventing multiple chrysanthemums from accumulating in narrow areas. Especially during peak harvesting periods or in areas with dense flowering plants, this structure provides a larger instantaneous buffer space, preventing channel blockage caused by short-term overload. Simultaneously, the larger outlet volume also helps the chrysanthemums adjust their posture and disperse before approaching the exhaust pipe 31, reducing agglomeration and improving the smoothness of entry into the conveying pipeline.

[0130] Furthermore, the gradually increasing volume design and airflow distribution create a synergistic effect: the small front-end region maintains a high airflow velocity to ensure initial carrying capacity, while the large rear-end region reduces the velocity gradient, resulting in smoother gas-solid two-phase flow, reducing collisions between petals and friction with the cavity walls, thus helping to protect the integrity of the petals. This structure also improves the system's adaptability to harvesting fluctuations without increasing fan power.

[0131] Thus, by gradually increasing the volume of the collection chamber 221 from the second end to the first end, the harvesting device enhances the dynamic capacity for chrysanthemum material to be contained and guided, significantly reduces the risk of instantaneous blockage during the conveying process, and improves the stability of gas-solid mixed flow, providing a reliable guarantee for continuous and efficient harvesting.

[0132] In some embodiments, such as Figure 7 As shown, the long collecting cylinder 22 has a conical structure, and the cross-sectional area at the first end of the long collecting cylinder 22 is greater than the cross-sectional area at the second end of the long collecting cylinder 22.

[0133] Understandably, the collecting cylinder 22 is generally conical, with its second end (the end furthest from the exhaust pipe 31) being the smaller diameter end and its first end (the end connected to the exhaust pipe 31) being the larger diameter end, forming an inner cavity channel that gradually widens from the second end to the first end. The collecting chamber 221 is this conical inner cavity, used to receive the chrysanthemums separated by the harvesting drum 21 and falling into it, and under the negative pressure generated by the exhaust pipe 31, to transport the chrysanthemums along the conical channel to the downstream collection system.

[0134] Because the collecting cylinder 22 has a conical structure, the flow cross-section gradually expands as the airflow moves from the second end to the first end. According to the principle of fluid continuity, under the condition that the total air volume drawn by the fan remains essentially constant, the airflow velocity gradually decreases along the flow direction (i.e., from the second end to the first end), while the pressure gradient tends to be gentler. This characteristic effectively alleviates the problem of a sudden drop in airflow velocity caused by the distance between the end and the exhaust port in traditional equal-diameter cylinders: in the small cross-section area at the second end, the airflow velocity is relatively high, sufficient to carry newly fallen material in time; in the large cross-section area at the first end, although the airflow velocity decreases somewhat, the negative pressure is sufficient due to proximity to the exhaust pipe 31, and the larger space can accommodate more material, preventing outlet blockage. Therefore, the gas-solid two-phase flow within the entire collecting chamber 221 is more uniform and stable.

[0135] Meanwhile, the conical structure gradually relaxes the constraints on the chrysanthemums during transport, helping to disperse the flower clusters and reduce mutual compression. The small-end inlet facilitates centralized guidance of the initial material drop, while the large-end outlet provides sufficient buffer space to prevent multiple chrysanthemums from accumulating and getting stuck at the outlet. In addition, the conical inner wall has a natural guiding effect on the chrysanthemums, allowing them to slide smoothly along the axis and reducing the risk of scratch damage from friction with the cavity wall.

[0136] Therefore, by adopting a conical material collection cylinder 22 with a cross-sectional area at the first end larger than that at the second end, the harvesting device achieves an organic unity between optimized airflow distribution and smooth material conveying in terms of structure. Without increasing the system power consumption, it significantly improves the continuity, integrity and anti-clogging performance of chrysanthemum harvesting.

[0137] In some embodiments, such as Figure 7 As shown, the long collecting cylinder 22 has a baffle strip 223, which is located on the inner wall of the collecting cavity 221.

[0138] Understandably, the collecting cylinder 22 forms a collecting cavity 221 inside to accommodate the chrysanthemums separated and falling into it by the harvesting drum 21. A baffle bar 223 is disposed on the inner wall of the collecting cavity 221, extending along the axial, circumferential, or spiral direction of the collecting cylinder 22, protruding from the inner wall surface. When the chrysanthemums move from the second end to the first end along the collecting cavity 221 under the influence of negative pressure airflow, the baffle bar 223 constrains the movement trajectory of the chrysanthemums.

[0139] During the transportation of chrysanthemums, they may roll over, slide along the wall, or even have local backflow due to air flow disturbance, irregular shape, or mutual collision. Especially in the area where the cross-section of the aggregate chamber 221 changes or in the section with a lower air flow velocity, it is easy to cause material accumulation or blockage. The presence of the baffle strip 223 can effectively prevent the chrysanthemums from sliding disorderly against the inner wall, forcing them to be more in the core area of the air flow, so that they can be carried forward more effectively. At the same time, the baffle strip 223 can break up the clumped chrysanthemums and prevent large-volume lumps formed by the entanglement of multiple flowers from getting stuck in the channel. In addition, in the conical aggregate long tube 22, the baffle strip 223 can also inhibit the chrysanthemums from gathering towards the lower inner wall due to gravity, promote their uniform distribution within the cross-section, and improve the transportation efficiency.

[0140] It should be noted that the height and shape of the baffle strip 223 are optimized. It can play the roles of blocking and guiding, and will not overly obstruct the air flow or scratch the petals. Its edges usually have a smooth transition, and the material is flexible engineering plastic or coated with elastic material, taking into account both functionality and protection.

[0141] Thus, by setting the baffle strip 223 on the inner wall surface of the aggregate chamber 221, the picking device effectively inhibits the disorderly movement and wall adhesion retention of chrysanthemums during transportation, enhances the air flow's control ability over the material, significantly reduces the risk of blockage, and improves the continuity and reliability of the whole machine's operation.

[0142] In some examples, the baffle strip 223 is multiple ribs arranged axially.

[0143] In some embodiments, as Figure 7 shown, the aggregate long tube 22 is formed with an opening 224 communicating with the aggregate chamber 221, and the aggregate long tube 22 is fixedly connected to the support plate 24 so that the aggregate long tube 22 maintains a state where the opening 224 faces upward.

[0144] It can be understood that an aggregate chamber 221 is formed inside the aggregate long tube 22, and an opening 224 is provided on its side wall or top. This opening 224 is directly connected to the aggregate chamber 221 and is used to receive the chrysanthemums separated by the harvesting drum 21. The aggregate long tube 22 is fixedly connected to the support plate 24 through fasteners, welding, or clamping structures. The support plate 24 serves as the rigid framework of the harvesting mechanism 2 and provides a stable installation reference for the aggregate long tube 22. By reasonably designing the connection orientation and angle between the aggregate long tube 22 and the support plate 24, it is ensured that the aggregate long tube 22 always maintains a posture where the opening 224 faces upward during operation.

[0145] Because the opening 224 faces upwards, after the harvesting drum 21 separates the chrysanthemums from the plant, the flowers fall naturally downwards under gravity and directly into the collection chamber 221 through the opening 224. This eliminates the need for complex guiding structures or strong airflow, improving the reliability and efficiency of the material falling. Simultaneously, the upward-facing layout of the opening 224 prevents chrysanthemums from spilling out or getting stuck at the edge of the opening 224 due to tilting or flipping of the collection cylinder 22. This ensures stable material collection performance, especially when the machine is moving bumpily or the harvesting angle is adjusted. Furthermore, the fixed connection between the collection cylinder 22 and the support plate 24 ensures its positional stability under field conditions such as vibration and impact, preventing the opening 224 from shifting due to loosening and affecting the harvesting effect.

[0146] Thus, by fixing the long collecting cylinder 22 to the support plate 24 and keeping its opening 224 facing upwards, the harvesting device achieves efficient and reliable material dropping of chrysanthemums, simplifies the material introduction path, and improves the stability and adaptability of the harvesting operation.

[0147] In some examples, opening 224 is a strip-shaped groove extending axially along the aggregate cylinder 22.

[0148] In some embodiments, the gap communicates with the opening 224; The harvesting roller 21 is rotatably disposed between the two support plates 24. The harvesting roller 21 is used to harvest chrysanthemums and allow the chrysanthemums to fall from the gap into the opening 224.

[0149] Understandably, the two support plates 24 are arranged opposite each other, and the two ends of the harvesting drum 21 are rotatably mounted between the two support plates 24 via bearings or shafts. The harvesting drum 21 has a hollow cylindrical structure with slits in its wall, which extend axially, circumferentially, or helically. The collecting cylinder 22 is fixedly connected to the support plates 24 and is located inside or directly below the harvesting drum 21. Its top has an opening 224, which communicates with the collecting chamber 221 inside the collecting cylinder 22. Crucially, the slits on the harvesting drum 21 and the opening 224 of the collecting cylinder 22 are spatially aligned and directly connected, forming a continuous material channel.

[0150] When the harvesting drum 21 is driven to rotate by the drive assembly, its outer comb teeth 213 or blades contact the chrysanthemum plants, completing the flower separation operation. The separated chrysanthemums, under the assistance of centrifugal force, gravity, and airflow, pass through the gaps in the wall of the harvesting drum 21 and fall directly into the opening 224 of the lower collecting cylinder 22, thus entering the collecting chamber 221. Because the gaps and opening 224 are connected and precisely aligned, the chrysanthemums, after detaching from the plants, do not need to pass through external transition areas or complex flow guide structures, allowing them to quickly and smoothly enter the collecting system, significantly shortening the material transfer path.

[0151] This design effectively avoids the problems of chrysanthemum scattering, jamming, or secondary collisions caused by misalignment between the gap and the collection opening in traditional structures. Simultaneously, because the entire material feeding process is conducted within a controlled closed or semi-closed space, external wind disturbance and impurity contamination are reduced, improving harvesting cleanliness. Furthermore, both the harvesting drum 21 and the long collection cylinder 22 are fixed by support plates 24, ensuring stable relative positions. Even when the machine is moving bumpily or the harvesting angle is adjusted, the alignment of the gap and opening 224 remains intact, guaranteeing reliable material feeding.

[0152] Thus, by connecting the gap with the opening 224 and rotating the harvesting roller 21 between the two support plates 24, the harvesting device achieves a seamless connection between harvesting and material collection functions, which improves material transfer efficiency while effectively protecting the integrity and quality of the chrysanthemums.

[0153] In some examples, the gap width is slightly larger than the diameter of the chrysanthemum corolla; the long collection cylinder 22 is embedded inside the harvesting drum 21, with the opening 224 located directly above it and the gap located at the bottom of the harvesting drum 21.

[0154] In some embodiments, the harvesting roller is composed of three or more roller units connected sequentially via universal joints, with adjacent roller units capable of relative deflection of ±15°. Each roller unit has elastic comb teeth fixedly connected to its outer periphery. Multiple roller units are rotatably mounted between two support plates and driven synchronously by a first rotation drive assembly via a flexible transmission shaft. When the harvesting device encounters uneven chrysanthemum canopies during its movement, each roller unit can adaptively undulate with the plant's contour, ensuring the elastic comb teeth remain in contact with the flower stem surface, preventing stem breakage or flower drop due to hard collisions between the rigid structure and the plant. This multi-segment articulated structure significantly improves the harvesting mechanism's adaptability to uneven canopies, making it particularly suitable for hilly areas or chrysanthemum fields with significant differences in natural growth patterns.

[0155] In some embodiments, a spiral airflow guide vane is fixedly installed axially inside the collection cylinder of the harvesting device. This vane is connected to the inner wall of the collection cylinder, with a helix angle of 20° to 40° and a pitch of 1.5 to 2.5 times the inner diameter of the collection cylinder. When a negative pressure airflow is formed in the collection chamber by the exhaust pipe, the airflow flows along the curved surface of the spiral airflow guide vane, generating a swirling component around the axis of the collection cylinder. This swirling flow causes the chrysanthemums to travel in a spiral trajectory during transport, effectively dispersing the contact density between the flowers and preventing clumping and blockage. Simultaneously, the centrifugal effect throws heavier impurities towards the cylinder wall and retains them in a specific area, while lighter flowers remain in the core area of ​​the airflow and are efficiently transported, achieving preliminary gas-solid separation. This structure simultaneously improves the smoothness of transport and the cleanliness of the material without increasing the fan power.

[0156] In some embodiments, the harvesting mechanism of the harvesting device adds a biomimetic clamping component in front of the harvesting drum. This biomimetic clamping component includes two symmetrically arranged flexible grippers, each driven by a shape memory alloy wire and having a micro-suction cup array on its surface. When the chrysanthemum enters the harvesting area, the biomimetic clamping component first gently closes, adhering to the edge of the corolla through the micro-suction cups. Then, the shape memory alloy wire slowly contracts to apply a uniform clamping force, stabilizing and fixing the flower. Subsequently, the harvesting drum starts, and its comb teeth cut into the base of the flower stem to complete the separation. This process simulates the action logic of a human hand "first stabilize, then cut," greatly reducing the risk of petal tearing and flower deformation. The shape memory alloy wire heats up and deforms when energized, and naturally cools and resets after power is cut off, eliminating the need for a complex transmission mechanism.

[0157] In some embodiments, the bottom of the harvesting device frame is equipped with floating wheels, which are slidably connected to the frame via vertical guide rails and pre-tensioned upwards by tension springs. The frame also features a height adaptive adjustment mechanism, which includes a displacement sensor and an electric push rod. The displacement sensor monitors the vertical position of the floating wheels relative to the frame in real time and transmits the signal to the control module. The control module drives the electric push rod to extend or retract based on the displacement signal, thereby adjusting the height of the entire harvesting mechanism relative to the ground. When the field terrain is undulating, the floating wheels rise and fall with the ground, the displacement sensor detects the change, and the electric push rod responds instantly, ensuring that the harvesting mechanism maintains a constant distance of approximately 5 to 10 centimeters from the top of the chrysanthemum canopy. This structure avoids the problem of missed harvesting due to an excessively high cutting platform or damage to the plants due to an excessively low platform, achieving all-terrain adaptive operation.

[0158] In some embodiments, the harvesting device further includes a control component configured to perform the following steps: Step C1: The current moving speed is detected by the moving speed sensor of the chrysanthemum picking device to obtain the real-time moving speed value; Step C2: Based on the real-time travel speed value and the preset chrysanthemum plant spacing, calculate the time required from the current moment until the next chrysanthemum plant enters the harvesting area, and obtain the estimated arrival time; Step C3: Based on the expected arrival time, set a harvesting start delay period so that the operation of the second harvesting mechanism avoids the peak period of frame vibration; Based on historical vibration test data, the central controller determined that after the adjustment mechanism completes its rotation, the frame experiences mechanical vibration lasting approximately 0.4 seconds due to transmission impact, with the peak occurring between 0.1 and 0.3 seconds after the operation ends. To avoid this vibration peak, the controller sets a harvesting start delay period of 0.5 seconds. This delay ensures that the harvesting operation only begins after the structure is fully stable, preventing cutting deviations or branch tearing caused by vibration.

[0159] Step C4: Control the left second harvesting mechanism to rotate to the target tilt angle, and put the left second harvesting mechanism into the left standby state; Step C5: Control the second harvesting mechanism on the right to rotate to the target tilt angle, and put the second harvesting mechanism on the right into the right standby state; Step C6: Generate a harvesting pre-trigger signal based on the estimated arrival time minus the harvesting start delay period; Step C7: Based on the harvesting pre-trigger signal, confirm that both the left and right standby states are valid; Step C8: Based on the confirmation results, when the chrysanthemum plants have completely entered the harvesting area, the second harvesting mechanism on the left and the second harvesting mechanism on the right are simultaneously activated to perform the harvesting action.

[0160] Understandably, the chrysanthemum harvesting device obtains its real-time speed value in step C1 by detecting the current speed using a speed sensor. Based on this real-time speed value and the preset chrysanthemum plant spacing, the estimated arrival time is calculated in step C2. Based on the estimated arrival time, a harvesting start delay period is set in step C3 to avoid peak vibration periods of the machine frame. When the second harvesting mechanism on the left reaches the target tilt angle, it is placed in the left standby state; when the second harvesting mechanism on the right reaches the target tilt angle, it is placed in the right standby state. Based on the expected arrival time minus the harvest start delay period, a harvest pre-trigger signal is generated in step C6. Based on the harvest pre-trigger signal, it is confirmed in step C7 that both the left and right standby states are valid. Finally, based on the confirmation result, in step C8, when the chrysanthemum plants have completely entered the harvest area, the second harvesting mechanisms on both sides are simultaneously started to perform the harvesting action. Through the coordinated execution of the above eight sub-steps, the central controller achieves precise timing connection from attitude readiness to harvest execution. On the basis of ensuring sufficient stability of the mechanical structure, combined with travel speed prediction and dual-side state interlocking, it effectively solves the problems of cutting deviation, flower tearing or harvesting asynchrony caused by improper harvesting timing (such as starting during unstable adjustment or vibration) in the background technology, and significantly improves the consistency, integrity and plant protection level of chrysanthemum harvesting operations.

[0161] According to an embodiment of the second aspect of this application, this application also provides a harvester. The harvester includes the harvesting device described above.

[0162] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A harvesting device, characterized in that, It includes a frame and multiple harvesting mechanisms, the harvesting mechanisms being connected to the frame, and the multiple harvesting mechanisms including a first harvesting mechanism and at least two second harvesting mechanisms; The first harvesting mechanism is located at the front end of the frame and is horizontally arranged. The first harvesting mechanism is used to harvest the top of the chrysanthemum. Two second harvesting mechanisms are located on both sides of the frame. The second harvesting mechanisms are inclined relative to the frame and are used to harvest the chrysanthemums from both sides respectively.

2. The harvesting device according to claim 1, characterized in that, The harvesting mechanism includes a harvesting drum and a long collecting cylinder. The harvesting drum has an installation space inside, and the long collecting cylinder is installed in the installation space. The long collecting cylinder has a collecting cavity. The harvesting drum is used to harvest chrysanthemums and cause the chrysanthemums to fall into the collecting cavity. The harvesting device also includes a transport component, which is connected to the collection chamber and is used to transport the chrysanthemums in the collection chamber to a designated location.

3. The harvesting device according to claim 2, characterized in that, The transport component includes an exhaust pipe that is connected to the collection chamber and is used to drive the flow of gas within the collection chamber.

4. The harvesting device according to claim 3, characterized in that, The exhaust pipe includes a first exhaust pipe and a second exhaust pipe. The first exhaust pipe is connected to the material collection chamber of the first harvesting mechanism. The first inlet of the second exhaust pipe is connected to the material collection chamber of one of the second harvesting mechanisms, and the second inlet of the exhaust pipe is connected to the material collection chamber of the other second harvesting mechanism.

5. The harvesting device according to claim 2, characterized in that, The harvesting roller has a slit, and the slit communicates with the material collection chamber; The harvesting drum can rotate relative to the frame to harvest chrysanthemums and allow them to fall from the gap into the collection chamber.

6. The harvesting device according to any one of claims 2 to 5, characterized in that, The harvesting drum includes a drum, comb teeth, and a deflector wheel. The comb teeth are fixedly connected to the drum, and the deflector wheel is rotatably connected to the drum. The harvesting mechanism further includes a first rotation drive assembly, which is used to drive the drum to rotate clockwise and the dial to rotate counterclockwise.

7. The harvesting device according to claim 6, characterized in that, The first rotation drive assembly includes a first rotation drive member, a first gear, and a second gear. The first rotation drive member is connected to the first gear. The first rotation drive member is used to drive the first gear to rotate clockwise. The first gear meshes with the second gear. The first gear is used to drive the second gear to rotate counterclockwise. The second gear is connected to the dial wheel to drive the dial wheel to rotate counterclockwise.

8. The harvesting device according to any one of claims 2 to 5, characterized in that, The harvesting mechanism also includes two support plates arranged opposite to each other. The harvesting drum is rotatably connected between the two support plates. At least one of the support plates is fixedly connected to the frame. The harvesting mechanism also includes a lever assembly located between the two support plates. The lever assembly is used to move the chrysanthemums to the harvesting drum.

9. The harvesting device according to claim 8, characterized in that, The lever assembly includes a second rotation drive, a first lever, a second lever, and a connecting rod. The second rotation drive is mounted on the support plate. The first lever and the second lever are respectively located on both sides of the harvesting drum. The connecting rod connects the first lever and the second lever. The second rotation drive is used to drive the first lever to rotate.

10. A harvester, characterized in that, Includes the harvesting device as described in any one of claims 1 to 9.

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