A chrysanthemum morifolium harvesting device and harvesting method with high efficiency and low damage

Abstract

This invention belongs to the field of Hangzhou white chrysanthemum harvesting technology, and discloses a high-efficiency and low-damage Hangzhou white chrysanthemum harvesting device, including a mobile harvesting platform, and further including: a harvesting mechanism installed in the middle of the mobile harvesting platform for harvesting Hangzhou white chrysanthemum; a collection component installed on the side of the harvesting mechanism for collecting the Hangzhou white chrysanthemum harvested by the harvesting mechanism; and a high-efficiency and low-damage Hangzhou white chrysanthemum harvesting method, including the following steps: S1, initializing all hardware devices: pushing the mobile harvesting platform to the harvesting position, controlling the drive linkage to return to zero, resetting the end, and then reading the camera data stream, mainly including the color image information and depth information of Hangzhou white chrysanthemum, detecting the target area on the Hangzhou white chrysanthemum color image by loading a trained Hangzhou white chrysanthemum occlusion detection model, and outputting all Hangzhou white chrysanthemum targets and corresponding target detection box information in the current image.

Description

Technical Field

[0001] This invention belongs to the field of Hangzhou white chrysanthemum harvesting technology, specifically a highly efficient and low-damage Hangzhou white chrysanthemum harvesting equipment and method. Background Technology

[0002] Hangzhou white chrysanthemum is a perennial herbaceous plant belonging to the genus Chrysanthemum in the family Asteraceae. It is one of the "Eight Treasures of Zhejiang" in traditional Chinese medicine and a famous chrysanthemum variety for tea. The plant is upright, later becoming semi-prostrate. The leaves are small, slightly wrinkled, and pale in color, with a slight purple tinge at the leaf axils. The flowers are small but have thick petals, short and numerous, with golden-yellow stamens. After brewing, they unfurl like exquisite jade carvings and have a rich aroma.

[0003] Hangzhou white chrysanthemum has a low unit economic value and is planted on a large scale, making traditional serial robotic arm harvesting methods inefficient. While existing mechanized harvesting devices with comb-like teeth can improve harvesting efficiency through batch operations, their rigid, bottom-up combing trajectory can easily damage plants, making it difficult to meet the requirements of selective harvesting for operational integrity.

[0004] Currently, most chrysanthemums are harvested manually, which is the mainstream method. This involves manually using a hand-held comb to harvest the chrysanthemums, following a specific trajectory and completing the harvest in four steps. The complete harvesting cycle, from "entering the canopy → picking → leaving the canopy → dumping and collecting," mainly includes four key harvesting actions: "combing → pulling → lifting → dumping." However, manual harvesting is too inefficient. Therefore, this paper proposes a highly efficient and low-damage harvesting device and method for Hangzhou white chrysanthemums. Summary of the Invention

[0005] To address the problems mentioned in the background section, this invention provides a highly efficient and low-damage harvesting device and method for Hangzhou white chrysanthemum.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a highly efficient and low-damage harvesting device for Hangzhou white chrysanthemum, comprising a mobile harvesting platform, and further comprising:

[0007] The harvesting mechanism, installed in the middle of the mobile harvesting platform, is used for harvesting Hangzhou white chrysanthemums;

[0008] A collection component, installed on the side of the harvesting mechanism, is used to collect the Hangzhou white chrysanthemums harvested by the harvesting mechanism.

[0009] The harvesting mechanism includes three sets of drive components and three sets of harvesting components, and the drive components and harvesting components are arranged in a triangular pattern inside the mobile harvesting platform.

[0010] The collection component includes a conveyor belt installed inside the mobile harvesting platform, and a collection basket is provided on the lower side of one end of the conveyor belt.

[0011] Preferably, the drive assembly includes a lead screw fixedly connected to the mobile harvesting platform, a lifting platform is installed on one side of the lead screw, a drive linkage is installed on the side of the lifting platform facing the center, and a first motor fixedly connected to the lifting platform is provided on the side of the lead screw.

[0012] Preferably, the drive assembly corresponds to the harvesting assembly, and a group of harvesting assemblies is located in the middle of a group of drive assemblies.

[0013] Preferably, the harvesting assembly includes a side baffle that is rotatably connected to a drive linkage, and a bottom baffle is fixedly installed on one side of the side baffle. The side baffle is C-shaped in general, and the bottom baffle is located at the opening of the side baffle. The bottom baffle is bent in general.

[0014] Preferably, a comb tooth is fixedly connected to one end of the bottom baffle, and a limiting block is installed at the connection between the comb tooth and the bottom baffle. The limiting block is in a converging shape toward the end of the comb tooth, so that the gap between a pair of limiting blocks converges toward the bottom baffle. A straight groove with both sides is opened in the middle of the limiting block.

[0015] Preferably, a pair of movable blade holders are slidably connected inside the bottom baffle. The movable blade holders are fixedly connected to the side facing the comb teeth with one less shearing blade than the number of comb teeth. The shearing blade is slidably connected inside the straight groove in the middle of the limiting block and moves between the pair of limiting blocks.

[0016] Preferably, the movable tool holder is hinged to a transmission rod on one side inside the bottom baffle, and a transmission wheel is hinged to one end of the transmission rod. The pair of transmission wheels are connected by a synchronous belt, and a second motor is connected to the middle of one of the transmission wheels by a synchronous belt.

[0017] Preferably, the transmission wheel is rotatably connected inside the bottom baffle, and the second motor is fixedly connected to the bottom baffle.

[0018] Preferably, when the second motor drives the transmission wheel to rotate, the pair of transmission wheels rotate synchronously via a timing belt, which in turn drives the movable blade holder to reciprocate laterally inside the bottom baffle via a transmission rod, so that the shearing blade moves between the limit blocks.

[0019] A highly efficient and low-damage harvesting method for Hangzhou white chrysanthemum includes the following steps:

[0020] S1. Initialize all hardware devices: Move the mobile harvesting platform to the harvesting position and control the drive linkage to return to zero, so that the end is reset. Then, read the camera data stream and acquire the data stream of Hangzhou white chrysanthemum through the camera. The data mainly includes the color image information and depth information of Hangzhou white chrysanthemum. On the color image of Hangzhou white chrysanthemum, the target area is detected by loading the trained Hangzhou white chrysanthemum occlusion detection model and outputting all Hangzhou white chrysanthemum targets in the current image and the corresponding target detection box information. Based on the detection box information, the corresponding depth map target area pixels are obtained from the aligned depth map and RGB map and converted into the target area RGB point cloud. The point cloud is processed and the point cloud positioning method that integrates the growth characteristics of Hangzhou white chrysanthemum is used to perform 3D positioning of the picking point. The optimal harvesting plane is dynamically generated by using the optimal harvesting plane calculation method of chrysanthemum.

[0021] S2. Control the lead screw to drive the lifting platform to a certain position, start the drive linkage to adjust the position of the harvesting component, drive the harvesting component to move through the preset tilting posture, so that the harvesting component is adjusted to the shed state, and inserts into the lower side of the chrysanthemum to complete P1 shed entry.

[0022] S3. The drive linkage drives the side baffle to adjust its position so that the bottom baffle is adjusted to a horizontal state. Then the drive linkage drives the bottom baffle to move through the side baffle. At the same time, the second motor inside the bottom baffle starts synchronously to harvest the chrysanthemums in P2.

[0023] After the comb teeth at the end of the bottom baffle are inserted under the chrysanthemum flower, the chrysanthemum stem will be guided by the comb teeth to approach the limiting block. The chrysanthemum stem will eventually be stuck inside a pair of limiting blocks. When the stem enters the middle of the pair of limiting blocks, the second motor inside the bottom baffle will drive the transmission wheel to rotate, so that the transmission wheel drives a pair of movable blade holders to move back and forth alternately through the transmission rod. The movable blade holders drive the cutting blades to cut the chrysanthemum stem, so that the chrysanthemum can be picked without lifting.

[0024] S4. After the bottom baffle completes the picking at P2, the drive linkage will drive the side baffle to tilt the bottom baffle upward to complete the opening at P3. Finally, the drive linkage will move the side baffle and the bottom baffle to the upper side of the conveyor belt and pour the collected chrysanthemums at P4 onto the conveyor belt, which will then transport them to the inside of the collection basket, thus completing one collection cycle.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] This invention, through the coordinated arrangement of a drive assembly and a harvesting assembly, facilitates the movement of the side and bottom baffles via a drive linkage by adjusting the bottom and side baffles, thereby allowing the side and bottom baffles to move in an adjacent manner. Figure 9The movement trajectory enables changes in the four steps of picking to conform to the steps of manually picking chrysanthemums, thereby increasing the efficiency of picking while ensuring the quality of the chrysanthemums.

[0027] This invention utilizes a combination of comb teeth and shearing blades. The comb teeth insert under the chrysanthemum flower to guide the chrysanthemum stem into the limiting and concentrating block. A second motor drives a transmission wheel to rotate, which in turn drives a pair of movable blade holders to move back and forth alternately via a transmission rod. The movable blade holders then drive the shearing blades to cut the chrysanthemum stem, eliminating the need to lift the chrysanthemum and avoiding damage to the flower during the lifting process, thus ensuring harvest quality. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 This is a top view of the present invention;

[0030] Figure 3 This is an enlarged schematic diagram of the harvesting mechanism of the present invention;

[0031] Figure 4 This is a schematic diagram of the overall invention;

[0032] Figure 5 This is a schematic diagram of the bottom baffle of the present invention;

[0033] Figure 6 This is a bottom cross-sectional view of the bottom baffle of the present invention;

[0034] Figure 7 This is a side sectional view of the movable tool holder of the present invention;

[0035] Figure 8 This is a schematic diagram showing the disassembled harvesting components of the present invention;

[0036] Figure 9 This is a motion trajectory diagram of the harvesting component of the present invention.

[0037] In the picture:

[0038] 100. Mobile harvesting platform;

[0039] 200. Harvesting mechanism; 210. Drive assembly; 211. Lead screw; 212. Lifting platform; 213. Drive linkage; 214. First motor;

[0040] 220. Harvesting assembly; 221. Bottom baffle; 222. Comb teeth; 223. Limiting and concentrating block; 224. Movable blade holder; 225. Shearing blade; 226. Transmission rod; 227. Transmission wheel; 228. Second motor; 229. Side baffle;

[0041] 300. Collection component; 301. Conveyor belt; 302. Collection basket. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] like Figures 1 to 9 As shown, the present invention provides a highly efficient and low-damage harvesting device for Hangzhou white chrysanthemum, including a mobile harvesting platform 100, and further comprising:

[0044] Harvesting mechanism 200, which is installed in the middle of mobile harvesting platform 100, is used for harvesting Hangzhou white chrysanthemum;

[0045] The collecting component 300 is installed on the side of the harvesting mechanism 200 and is used to collect the Hangzhou white chrysanthemums harvested by the harvesting mechanism 200.

[0046] The harvesting mechanism 200 includes three sets of drive components 210 and three sets of harvesting components 220, and the drive components 210 and harvesting components 220 are arranged in a triangular pattern inside the mobile harvesting platform 100.

[0047] The collection component 300 includes a conveyor belt 301 installed inside the mobile harvesting platform 100, and a collection basket 302 is provided on the lower side of one end of the conveyor belt 301.

[0048] like Figures 2 to 4 As shown, the drive assembly 210 includes a lead screw 211 fixedly connected to the mobile harvesting platform 100, a lifting platform 212 installed on one side of the lead screw 211, a drive linkage 213 installed on the side of the lifting platform 212 facing the middle, and a first motor 214 fixedly connected to the lifting platform 212 on the side of the lead screw 211.

[0049] The drive assembly 210 corresponds to the harvesting assembly 220, and a set of harvesting assemblies 220 is located in the middle of a set of drive assemblies 210.

[0050] The above solution allows for easier control of the harvesting component 220 during the steps of entering, picking, exiting, and dumping the chrysanthemums by setting the drive component 210, thereby reducing damage to the chrysanthemums during harvesting.

[0051] like Figure 4 and Figure 5As shown, the harvesting assembly 220 includes a side baffle 229 rotatably connected to the drive linkage 213. A bottom baffle 221 is fixedly installed on one side of the side baffle 229. The side baffle 229 is C-shaped in general, and the bottom baffle 221 is located at the opening of the side baffle 229. The bottom baffle 221 is bent in general.

[0052] The above solution is adopted: the side baffle 229 can control the orientation of the bottom baffle 221 by driving the side baffle 229 through the drive linkage 213, so that the orientation of the bottom baffle 221 can be easily adjusted during the steps of entering and exiting the shed. At the same time, the side baffle 229 can block the chrysanthemums picked onto the bottom baffle 221, preventing them from falling off from both sides during picking.

[0053] For example, 5 to Figure 7 As shown, a comb tooth 222 is fixedly connected to one end of the bottom baffle 221. A limiting block 223 is installed at the connection between the comb tooth 222 and the bottom baffle 221. The limiting block 223 is in a shape that converges toward the end of the comb tooth 222, so that the gap between a pair of limiting blocks 223 converges toward the bottom baffle 221. A straight groove with two through sides is opened in the middle of the limiting block 223.

[0054] A pair of movable blade holders 224 are slidably connected inside the bottom baffle 221. A shearing blade 225, one less than the number of comb teeth 222, is fixedly connected to the side of the movable blade holder 224 facing the comb teeth 222. The shearing blade 225 is slidably connected inside the straight groove in the middle of the limiting block 223 and moves between the pair of limiting blocks 223.

[0055] The above solution involves setting comb teeth 222 and limiting and concentrating blocks 223. The comb teeth 222 are inserted into the lower side of the chrysanthemum flower to limit the flower. The limiting and concentrating blocks 223 gather the stem of the chrysanthemum flower, making it easier for the stem to be cut by the cutting blade 225 in the middle of the limiting and concentrating blocks 223 after being gathered. Compared with the traditional pulling and picking, this reduces damage to the chrysanthemum flower.

[0056] like Figures 6 to 8 As shown, the movable tool holder 224 is located inside the bottom baffle 221 and is hinged to a transmission rod 226. One end of the transmission rod 226 is hinged to a transmission wheel 227. A pair of transmission wheels 227 are connected by a synchronous belt drive. A second motor 228 is connected to the middle of one transmission wheel 227 by a synchronous belt drive.

[0057] The transmission wheel 227 is rotatably connected inside the bottom baffle 221, and the second motor 228 is fixedly connected to the bottom baffle 221.

[0058] When the second motor 228 drives the transmission wheel 227 to rotate, the pair of transmission wheels 227 rotate synchronously through the synchronous belt, and then drive the movable blade holder 224 to move laterally and reciprocally inside the bottom baffle 221 through the transmission rod 226, so that the shearing blade 225 moves between the limit concentration blocks 223.

[0059] The above solution is adopted: by setting up a transmission wheel 227, the second motor 228 drives the transmission wheel 227 to rotate, so that the transmission wheel 227 can pull the movable blade holder 224 to move back and forth within a certain range through the transmission rod 226. At the same time, the pair of transmission wheels 227 are connected by a synchronous belt, so that the pair of transmission wheels 227 will rotate synchronously, thereby maintaining the stability of the movable blade holder 224 when it drives the shearing blade 225 to cut the chrysanthemum stems.

[0060] A highly efficient and low-damage harvesting method for Hangzhou white chrysanthemum includes the following steps:

[0061] S1. Initialize all hardware devices: Move the mobile harvesting platform 100 to the harvesting position and control the drive linkage 213 to return to zero, so that the end is reset. Then, read the camera data stream and acquire the Hangzhou white chrysanthemum data stream through the camera. The data stream mainly includes the color image information and depth information of Hangzhou white chrysanthemum. On the color image of Hangzhou white chrysanthemum, the target area is detected by loading the trained Hangzhou white chrysanthemum occlusion detection model and outputting all Hangzhou white chrysanthemum targets and corresponding target detection box information in the current image. Based on the detection box information, the corresponding depth map target area pixels are obtained from the aligned depth map and RGB map and converted into target area RGB point cloud. The point cloud is processed and the point cloud positioning method that integrates the growth characteristics of Hangzhou white chrysanthemum is used to perform 3D positioning of the picking point. The optimal harvesting plane is dynamically generated by using the optimal harvesting plane calculation method of chrysanthemum.

[0062] S2. Control screw 211 to drive lifting platform 212 to a certain position, start drive linkage 213 to adjust the position of harvesting component 220, drive harvesting component 220 to move through preset tilting posture, so that harvesting component 220 is adjusted to enter the shed, inserting into the lower side of the chrysanthemum to complete P1 entering the shed.

[0063] S3. The side baffle 229 is adjusted by the drive linkage 213 so that the bottom baffle 221 is adjusted to a horizontal state. Then the drive linkage 213 drives the bottom baffle 221 to move through the side baffle 229. At the same time, the second motor 228 inside the bottom baffle 221 starts synchronously to pick the chrysanthemums in P2.

[0064] After the comb teeth 222 at the end of the bottom baffle 221 are inserted into the lower side of the chrysanthemum flower, the chrysanthemum stem will be limited and guided by the comb teeth 222 to approach the limiting block 223. The chrysanthemum stem will eventually be stuck inside a pair of limiting blocks 223. When the stem enters the middle of a pair of limiting blocks 223, the second motor 228 inside the bottom baffle 221 will drive the transmission wheel 227 to rotate, so that the transmission wheel 227 drives a pair of movable blade holders 224 to move back and forth alternately through the transmission rod 226, so that the movable blade holders 224 drive the cutting blades 225 to cut the chrysanthemum stem, so that the chrysanthemum can be picked without lifting.

[0065] S4. After the bottom baffle 221 completes the picking of P2, the drive linkage 213 will drive the side baffle 229 to tilt the bottom baffle 221 upward to complete the opening of P3. Finally, the drive linkage 213 will drive the side baffle 229 and the bottom baffle 221 to move to the upper side of the conveyor belt 301 and pour the collected chrysanthemums P4 onto the conveyor belt 301, which will then transport them to the inside of the collection basket 302, thus completing one collection cycle.

[0066] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0067] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A highly efficient and low-damage harvesting device for Hangzhou white chrysanthemum, comprising a mobile harvesting platform, characterized in that: Also includes: The harvesting mechanism, installed in the middle of the mobile harvesting platform, is used for harvesting Hangzhou white chrysanthemums; A collection component, installed on the side of the harvesting mechanism, is used to collect the Hangzhou white chrysanthemums harvested by the harvesting mechanism. The harvesting mechanism includes three sets of drive components and three sets of harvesting components, and the drive components and harvesting components are arranged in a triangular pattern inside the mobile harvesting platform. The collection component includes a conveyor belt installed inside the mobile harvesting platform, and a collection basket is provided on the lower side of one end of the conveyor belt. The drive assembly includes a lead screw fixedly connected to the mobile harvesting platform, a lifting platform is installed on one side of the lead screw, a drive linkage is installed on the side of the lifting platform facing the middle, and a first motor fixedly connected to the lifting platform is provided on the side of the lead screw. The harvesting assembly includes a side baffle that is rotatably connected to a drive linkage. A bottom baffle is fixedly installed on one side of the side baffle. The side baffle is C-shaped in general, and the bottom baffle is located at the opening of the side baffle. The bottom baffle is bent in general. A pair of movable blade holders are slidably connected inside the bottom baffle. A shearing blade with one less number of comb teeth is fixedly connected to the side of the movable blade holder facing the comb teeth. The shearing blade is slidably connected inside the straight groove in the middle of the limiting block and moves between the pair of limiting blocks. The movable tool holder is hinged to a transmission rod on one side inside the bottom baffle. One end of the transmission rod is hinged to a transmission wheel. A pair of transmission wheels are connected by a synchronous belt. A second motor is connected to the middle of one of the transmission wheels by a synchronous belt. The control screw drives the lifting platform to a certain position, and the drive linkage is activated to adjust the position of the harvesting component. The harvesting component is moved by the preset tilting posture so that it is adjusted to the shed state and inserted under the chrysanthemum to complete P1 shed entry. The drive linkage moves the side baffle to adjust its position, so that the bottom baffle is adjusted to a horizontal state. Then the drive linkage moves the bottom baffle through the side baffle. At the same time, the second motor inside the bottom baffle starts synchronously to harvest the chrysanthemums in P2. After the bottom baffle completes the harvesting at P2, the drive linkage will drive the side baffle to tilt the bottom baffle upwards to complete the exit of the canopy at P3. Finally, the drive linkage will move the side baffle and the bottom baffle to the upper side of the conveyor belt and dump the harvested chrysanthemums at P4 onto the conveyor belt.

2. The high-efficiency and low-damage harvesting equipment for Hangzhou white chrysanthemum according to claim 1, characterized in that: The drive components correspond to the harvesting components, and a set of harvesting components is located in the middle of a set of drive components.

3. The high-efficiency and low-damage harvesting equipment for Hangzhou white chrysanthemum according to claim 2, characterized in that: One end of the bottom baffle is fixedly connected to a comb tooth, and a limiting block is installed at the connection between the comb tooth and the bottom baffle. The limiting block is in a shape that converges toward the end of the comb tooth, so that the gap between a pair of limiting blocks converges toward the bottom baffle. A straight groove with both sides is opened in the middle of the limiting block.

4. The high-efficiency and low-damage harvesting equipment for Hangzhou white chrysanthemum according to claim 3, characterized in that: The transmission wheel is rotatably connected inside the bottom baffle, and the second motor is fixedly connected to the bottom baffle.

5. The high-efficiency and low-damage harvesting equipment for Hangzhou white chrysanthemum according to claim 4, characterized in that: When the second motor drives the transmission wheel to rotate, the pair of transmission wheels rotate synchronously through the synchronous belt, and then drive the movable blade holder to move laterally back and forth inside the bottom baffle through the transmission rod, so that the shearing blade moves between the limit blocks.

6. A method for harvesting Hangzhou white chrysanthemum with high efficiency and low damage, applied to the Hangzhou white chrysanthemum harvesting equipment with high efficiency and low damage as described in claim 5, characterized in that, Includes the following steps: S1. Initialize all hardware devices: Move the mobile harvesting platform to the harvesting position and control the drive linkage to return to zero, so that the end is reset. Then, read the camera data stream and acquire the data stream of Hangzhou white chrysanthemum through the camera. The data mainly includes the color image information and depth information of Hangzhou white chrysanthemum. On the color image of Hangzhou white chrysanthemum, the target area is detected by loading the trained Hangzhou white chrysanthemum occlusion detection model and outputting all Hangzhou white chrysanthemum targets in the current image and the corresponding target detection box information. Based on the detection box information, the corresponding depth map target area pixels are obtained from the aligned depth map and RGB map and converted into the target area RGB point cloud. The point cloud is processed and the point cloud positioning method that integrates the growth characteristics of Hangzhou white chrysanthemum is used to perform 3D positioning of the picking point. The optimal harvesting plane is dynamically generated by using the optimal harvesting plane calculation method of chrysanthemum. S2. Control the lead screw to drive the lifting platform to a certain position, start the drive linkage to adjust the position of the harvesting component, drive the harvesting component to move through the preset tilting posture, so that the harvesting component is adjusted to the shed state, and inserts into the lower side of the chrysanthemum to complete P1 shed entry. S3. The drive linkage drives the side baffle to adjust its position so that the bottom baffle is adjusted to a horizontal state. Then the drive linkage drives the bottom baffle to move through the side baffle. At the same time, the second motor inside the bottom baffle starts synchronously to harvest the chrysanthemums in P2. After the comb teeth at the end of the bottom baffle are inserted under the chrysanthemum flower, the chrysanthemum stem will be guided by the comb teeth to approach the limiting block. The chrysanthemum stem will eventually be stuck inside a pair of limiting blocks. When the stem enters the middle of the pair of limiting blocks, the second motor inside the bottom baffle will drive the transmission wheel to rotate, so that the transmission wheel drives a pair of movable blade holders to move back and forth alternately through the transmission rod. The movable blade holders drive the cutting blades to cut the chrysanthemum stem, so that the chrysanthemum can be picked without lifting. S4. After the bottom baffle completes the picking at P2, the drive linkage will drive the side baffle to tilt the bottom baffle upward to complete the opening at P3. Finally, the drive linkage will move the side baffle and the bottom baffle to the upper side of the conveyor belt and pour the collected chrysanthemums at P4 onto the conveyor belt, which will then transport them to the inside of the collection basket, thus completing one collection cycle.

Images