Industrial hemp flower intelligent picking device

Abstract

This invention relates to the field of intelligent agricultural harvesting equipment, specifically an intelligent harvesting device for industrial hemp flowers. The device includes a frame, a horizontal translation component, a turntable, a gripper, a vertical movement component, a harvesting arm, a camera, and a cutting component. The horizontal translation component is located at the top of the frame and is used to horizontally move the plant to the harvesting area. The turntable is installed below the horizontal translation component and drives the gripper and the plant to rotate around a vertical axis; the gripper is used to hold the plant stem. The vertical movement component is located on one side of the frame and drives the harvesting arm to move vertically. The harvesting arm is a multi-degree-of-freedom articulated robotic arm with a cutting component at its end, and a camera installed at at least one node for visually identifying the flower's position. This invention, through the coordinated action of the horizontal movement and vertical rotation of the horizontal translation component and the multi-degree-of-freedom harvesting arm, can actively adjust the harvesting angle, achieving precise and omnidirectional harvesting of industrial hemp flowers.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural harvesting equipment technology, specifically to an intelligent harvesting device for industrial hemp flowers. Background Technology

[0002] Currently, the harvesting of industrial hemp flowers mainly relies on manual labor, which results in high labor costs and low harvesting efficiency. Furthermore, the large size and scattered distribution of flowers on the branches of industrial hemp flowers make automated harvesting difficult.

[0003] To address the aforementioned problems, attempts have been made to develop automated harvesting equipment. For example, Chinese patent document CN201980093567.9 discloses a stripping device for removing leaves and / or flowers from stems. This device inserts the stem laterally into an area defined by a winding mechanism, ensuring that most of the stem is wound around the mechanism; this defined area gradually decreases in size. However, due to the uneven thickness and irregular surface of plant stems, and the varying attachment angles of leaves and pedicels, the device's gradually increasing defined area cannot accommodate the irregular distribution of leaves and flowers, making precise separation of flowers and leaves impossible. Another Chinese patent document, CN202220192146.0, discloses an industrial hemp flower stem separation device. This device places one end of the industrial hemp stem in a placement groove, clamps the stem, and places the other end on a separation roller. A drive device rotates the separation roller, separating the flowers and leaves from the outer top of the stem. The force generated by the rotating separating roller acts on the entire contact area on the outside of the stem, which can easily cause the branches and leaves of the hemp flower to be peeled off at the same time when separating the flowers, resulting in low harvesting accuracy and efficiency. Therefore, to solve the above problems, this invention provides an intelligent industrial hemp flower harvesting device that can achieve multi-directional positioning of the plant through the indexing rotation of the turntable, and combined with the active adjustment of the end effector angle and position by a multi-degree-of-freedom robotic arm, thereby achieving precise separation and efficient harvesting of flowers, leaves, and flower stalks. Summary of the Invention

[0004] This invention aims to provide an intelligent harvesting device for industrial hemp flowers. To address the problems of low harvesting accuracy and difficulty in separating flowers and leaves during harvesting in existing technologies, this invention achieves multi-directional plant positioning through a rotary table with indexing rotation, combined with a multi-degree-of-freedom robotic arm actively adjusting the angle and position of the end effector, enabling multi-directional harvesting of scattered flowers. The technical solution provided by this invention is as follows: An intelligent harvesting device for industrial hemp flowers includes a frame, a horizontal translation component at the top of the frame, and a turntable fixedly installed at the bottom of the horizontal translation component; a gripper is provided at the bottom of the turntable, and the gripper is rotatably connected to the turntable. The frame is provided with a vertical moving component on one side, and a picking arm is provided on the vertical moving component. The picking arm is a multi-degree-of-freedom robotic arm with multiple joints. At least one joint is equipped with a camera for determining the position of the hemp flower. The end of the picking arm is equipped with a cutting component.

[0005] Furthermore, the turntable is rotatably connected to the clamp via a steering connector.

[0006] Furthermore, the gripper includes grippers, a connector, and a gripper stepper motor. The output shaft of the gripper stepper motor is provided with a screw, and the screw is provided with a nut slider. The nut slider is movably connected to the grippers through the connector.

[0007] Furthermore, the robotic arm includes five rotary joints connected in series from the base to the end; Furthermore, the cutting component includes a cutting blade and a cutting component motor. The cutting component motor is fixedly mounted on the end of the wrist linkage, and the output shaft of the cutting component motor is connected to the cutting blade.

[0008] Furthermore, the horizontal translation component includes a plant transport slide rail and a top moving plate. The top of the frame is provided with a plant transport slide rail, the top moving plate is slidably mounted on the plant transport slide rail, and the bottom of the top moving plate is provided with a turntable.

[0009] Furthermore, the vertical moving component includes a picking slide rail and a picking slide. The picking slide is provided on one side of the frame, and the picking slide is slidably installed on the picking slide rail. A connecting base is provided on the picking slide, and the picking slide is connected to the picking arm through the connecting base.

[0010] Furthermore, the plant transport slide rail is equipped with a top moving plate drag chain, and the picking slide rail is equipped with a picking slide drag chain.

[0011] Furthermore, the plant transport slide rail is provided with an initial limiting block and an end limiting block, which are respectively located at the start and end points of the travel of the plant transport slide rail to limit the range of motion.

[0012] Furthermore, it also includes a controller, which is electrically connected to the horizontal translation component, the vertical movement component, the turntable, the gripper, the picking arm, the camera, and the cutting component, and is used to control each component.

[0013] The advantages of this invention are: 1. This invention uses a turntable that can rotate 360° to rotate the clamped plant, so that the picking device can cover the entire circumference of the plant without moving the whole plant, realizing multi-directional and all-angle picking of scattered flowers and expanding the coverage of single-point operation.

[0014] 2. This invention employs a highly flexible multi-degree-of-freedom joint robotic arm, which can precisely adjust the posture and position of the cutting end in three-dimensional space, effectively avoid branches and leaves, and achieve fixed-point, selective cutting below the flower bud, ensuring the integrity of the flower and the accuracy of harvesting.

[0015] 3. This invention constructs a three-dimensional macroscopic positioning system through the coordinated operation of a horizontal translation component and a vertical movement component. The former is responsible for transporting the plant to the harvesting station, while the latter drives a robotic arm to cover different height layers of the plant. This enables automated layered and segmented operation of the entire plant, enhancing systemic efficiency and achieving precise separation and efficient harvesting of flowers, leaves, and pedicels. Attached Figure Description

[0016] Figure 1 This is an overall structural diagram of an intelligent industrial hemp flower harvesting device in Example 1.

[0017] Figure 2 This is a bottom view of the horizontal translation component of an intelligent industrial hemp flower harvesting device.

[0018] Figure 3 This is a side view of the horizontal translation component of an intelligent harvesting device for industrial hemp flowers.

[0019] Figure 4 This is a partial structural diagram of the horizontal translation component of an intelligent industrial hemp flower harvesting device.

[0020] Figure 5 This is a front view of the harvesting arm of an intelligent harvesting device for industrial hemp flowers.

[0021] Figure 6 This is a side view of the harvesting arm of an intelligent harvesting device for industrial hemp flowers.

[0022] Figure 7 This is an overall structural diagram of the vertical moving component of an intelligent industrial hemp flower harvesting device.

[0023] Figure 8 This is a partial structural diagram of the vertical moving component of an intelligent industrial hemp flower harvesting device.

[0024] Figure 9 This is a partial view of the first section of the picking slide rail of an intelligent industrial hemp flower picking device.

[0025] Figure 10 This is a second partial view of the picking slide rail of an intelligent industrial hemp flower picking device.

[0026] The diagram shows: 1. Frame, 2. Horizontal translation assembly, 3. Turntable, 4. Gripper, 5. Turntable drive motor, 6. Steering connector, 7. Gripper, 8. Connector, 9. Gripper stepper motor, 10. Screw, 11. Nut slider, 12. Up-down movement assembly, 13. Harvesting arm, 14. Camera, 15. Cutting component, 16. First joint, 17. Upper arm link, 18. Second joint, 19. First intermediate link, 20. Third joint, 21. Second intermediate link, 22. Fourth joint, 23. Forearm link, 24. Fifth joint, 25. Wrist link, 26. Cutting component motor, 27. Cutting tool. 28. Plant transport slide rail; 29. ​​Top moving plate; 30a. First guide rail; 30b. Second guide rail; 31. Horizontal slider; 32. Long rack; 33. Horizontal drive motor; 34. Drive gear; 35. Harvesting slide rail; 36. Up and down slider; 37. Harvesting slide; 38. Optical shaft; 39a. First synchronous pulley fixing component; 39b. Second synchronous pulley fixing component; 40a. First lifting drive sprocket; 40b. Second lifting drive sprocket; 41. Chain; 42. Up and down drive motor; 43. Top moving plate drag chain; 44. Harvesting slide drag chain; 45. Initial limit block; 46. End limit block. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] An intelligent harvesting device for industrial hemp flowers, such as Figure 1 As shown, the device includes a frame 1, with a horizontal translation component 2 at the top for moving plants horizontally and transporting them to the harvesting area. A turntable 3 is fixedly installed at the bottom of the horizontal translation component 2, and a gripper 4 is provided at the bottom of the turntable. The gripper 4 is rotatably connected to the turntable 3, and the turntable 3 drives the gripper 4 and the plant to rotate around a vertical axis, causing flowers at different positions on the plant to rotate toward the harvesting arm.

[0029] like Figure 1 As shown, the turntable 3 integrates a turntable drive motor, such as... Figure 2 As shown, the turntable 3 is rotatably connected to the gripper 4 via the steering connector 6. The steering connector 6 is a disc with a through hole at its center. The output shaft of the turntable drive motor 5 passes through the through hole and is rotatably connected to the gripper 7, driving the gripper 7 to perform a 360° precise indexing rotation.

[0030] The gripper 4 includes grippers 7, connectors 8, and a gripper stepper motor 9. There are four grippers 7 and four connectors 8. The gripper stepper motor 9 is fixedly installed inside the gripper 4. A screw 10 is mounted on the output shaft of the gripper stepper motor 9, and the output shaft is coaxially connected to the screw 10. A nut slider 11 is fitted onto the screw 10, forming a helical transmission pair with the screw 10 via internal threads, and the two are connected by threaded engagement. Four hinge points are evenly distributed on the outer circumference of the nut slider 11, forming hinged connections with one end of four sets of inclined connectors 8 via pins. The other end of the connector 8 is hinged to a corresponding position on the inner side of one of the grippers 7 via pins. The gripper 4 is fixedly mounted on a steering connector 6 at the bottom of the turntable 3 via a base, and rotates synchronously with the steering connector 6.

[0031] When it is necessary to clamp the plant, the clamping stepper motor 9 is activated, driving the screw 10 to rotate forward. The rotational motion of the screw 10 is converted into the vertical upward linear motion of the nut slider 11. As the nut slider 11 rises, it pushes the four grippers 7 to synchronously retract towards the central axis through the inclined connector 8 until the plant stem is stably clamped.

[0032] When it is necessary to release the plant, the gripper stepper motor 9 rotates in the reverse direction, driving the screw 10 to reverse, which in turn causes the nut slider 11 to descend vertically. As the nut slider 11 descends, the guide mechanism pulls the four grippers 7 to simultaneously open radially away from the center, thereby releasing the plant.

[0033] In a preferred embodiment, the gripper 4 is equipped with a photoelectric sensor. When the cannabis plant stem is inserted and blocks the light beam, the sensor signal is triggered, and the controller instructs the gripper stepper motor 9 to move, causing the gripper 7 to automatically close and clamp the plant.

[0034] like Figure 1 As shown, a vertical moving component 12 is provided on one side of the frame 1 to drive the picking arm 13 to move vertically to cover different heights of the plant.

[0035] The vertical moving assembly 12 is equipped with a picking arm 13, which is a multi-degree-of-freedom robotic arm. The multi-degree-of-freedom robotic arm has multiple nodes, and at least one node is equipped with a camera 14 for determining the position of the hemp flower. The end of the picking arm 13 is equipped with a cutting component 15.

[0036] In a preferred embodiment, such as Figure 3 As shown, the harvesting arm 13 is a 5-degree-of-freedom articulated robotic arm, which is composed of 5 rigid links connected in series by rotary joints. From the base to the end, it consists of the first joint 16, the upper arm link 17, the second joint 18, the first intermediate link 19, the third joint 20, the second intermediate link 21, the fourth joint 22, the forearm link 23, the fifth joint 24, and the wrist link 25 connected in series, forming a kinematic chain from the base to the end.

[0037] The origin of the coordinate system is the center of the base mounting surface of the harvesting arm 13. For example... Figure 1 As shown, the following definitions apply: The X-axis is horizontal, pointing towards the plant. The Y-axis is horizontal, parallel to the direction of the plant transport rail 28. The Z-axis is vertical, perpendicular to the ground and pointing upwards.

[0038] The first joint 16 is mounted on the robotic arm base, with a large arm link 17 at its other end, which is rotatably connected to the base. The rotation axis of the first joint 16 is parallel to the Z-axis of the coordinate system, and is used to drive all subsequent links and end effectors above it as a whole to rotate around the center of the base in the horizontal plane, covering the left and right sides of the target plant. A motor is mounted on the base, and the output shaft of the motor is coaxially connected to the first joint 16.

[0039] The second joint 18 is located at the end of the upper arm link 17, and the other end is provided with a first intermediate link 19. The upper arm link 17 and the first intermediate link 19 are rotatably connected. The rotation axis of the second joint 18 is parallel to the Z-axis of the coordinate system, enabling the front part of the robotic arm to swing in the horizontal plane, and is responsible for the large-scale position adjustment of the end effector in the horizontal direction. A motor is provided at the end of the upper arm link 17, and the output shaft of the motor is coaxially connected to the second joint 18.

[0040] The third joint 20 is located at the end of the first intermediate link 19, and the other end is provided with a first direction conversion base. A second intermediate link 21 is provided on the first direction conversion base, and the first intermediate link 19 and the second intermediate link 21 are rotatably connected. The rotation axis of the third joint 20 is parallel to the X-axis of the coordinate system and is precisely matched with the second joint 18 to realize the linear motion of the front end of the robotic arm, similar to a telescopic mechanism, for fine adjustment of the distance between the end effector and the target. A motor is provided at the bottom of the first direction conversion base, and the output shaft of the motor is coaxially connected to the third joint 20.

[0041] The fourth joint 22 is located at the end of the second intermediate connecting rod 21, and the other end is provided with a second direction conversion base. A forearm connecting rod 23 is mounted on the second direction conversion base, and the second intermediate connecting rod 21 is rotatably connected to the forearm connecting rod 23. The rotation axis of the fourth joint 22 is parallel to the mechanical axis of the forearm connecting rod 23, and is used to adjust the orientation of the cutting piece 15 around its own central axis to ensure that the cutting edge is aligned with the target. A motor is located at the bottom of the second direction conversion base, and the motor output shaft is coaxially connected to the fourth joint 22.

[0042] The fifth joint 24 is located at the end of the forearm link 23, such as Figure 4As shown, the other end is equipped with a wrist link 25, and the forearm link 23 is rotatably connected to the wrist link 25. The rotation axis of the fifth joint 24 is perpendicular to the axis of the fourth joint 22, and is used to make final fine adjustments to the end tool's yaw, precisely aligning the tool's working plane to ensure that the plane of the high-speed rotating cutting blade 27 is perpendicular to the axis of the flower handle. A motor is provided at the end of the forearm link 23, and the motor output shaft is coaxially connected to the fifth joint 24.

[0043] like Figure 1 As shown, camera 14 is fixedly mounted at the fourth joint 22, and the field of view of camera 14 can completely cover the front of the current plant area.

[0044] In a preferred embodiment, camera 14 employs a global shutter CMOS sensor, which avoids distortion when photographing moving objects. It is equipped with a fixed-focus industrial lens with a focal length selectable from 12mm to 16mm depending on the working distance, ensuring a suitable field of view and minimal image distortion, which is beneficial for determining the precise position of flowers and stems.

[0045] like Figure 4 As shown, the harvesting arm 13 has a cutting component 15 at its end, which includes a cutting blade 27 and a cutting motor 26. The cutting motor 26 is fixedly installed at the end of the wrist link 25 of the robotic arm, and its output shaft is screwed to the cutting blade 27.

[0046] In a preferred embodiment, the cutting motor 26 is a high-speed drive motor with a rated speed of not less than 20,000 RPM. The cutting blade 27 is made of diamond-coated or special ceramic material with a thickness of 0.5 mm. When cutting, the motor accelerates to the operating speed, and at the same time, the picking arm 13 drives the high-speed rotating cutting blade 27 to quickly pass along a predetermined trajectory and cut the flower stem. Due to the extremely high linear speed and sharp edge of the cutting blade 27, the contact time with the flower stem is extremely short, and the cut can be completed within milliseconds, achieving a fast and clean cutting effect with a smooth cut and no disturbance to the flower.

[0047] like Figure 5 As shown, the horizontal translation component 2 includes a plant transport slide rail 28 and a top moving plate 29. The plant transport slide rail 28 can be fixedly installed on the top of the frame 1 by welding or screwing, and its length is greater than the length of the frame 1. It faces the harvesting area and is used to provide horizontal guidance and drive for the top moving plate 29. The plant transport slide rail 28 includes two rigid guide rails, the first guide rail 30a and the second guide rail 30b are parallel to each other, and also includes a horizontal slider 31 that slides in cooperation with the guide rails.

[0048] In a preferred embodiment, the guide rail surface is machined with ball grooves to accommodate balls and provide a rolling path. The top of the horizontal slider 31 is provided with corresponding reverse ball grooves. The guide rail and the horizontal slider 31 slide through small steel balls clamped between the grooves of the guide rail and the horizontal slider 31, thereby realizing the horizontal movement of the horizontal slider 31.

[0049] In a preferred embodiment, such as Figure 6 As shown, a long rack 32 is provided on one side of the second guide rail 30b, with the tooth surface of the rack 32 facing the harvesting area. A horizontal drive motor 33 is provided at the bottom of the slider facing the long rack 32, and a drive gear 34 is provided at the output end of the horizontal drive motor 33. The horizontal drive motor 33 drives the drive gear 34 to mesh with the long rack 32, forming a gear and rack transmission pair. Through the meshing transmission between the drive gear 34 and the long rack 32 at the bottom of the guide rail, high-precision and high-rigidity horizontal linear motion along the length of the plant transport slide rail 28 is achieved.

[0050] The top movable plate 29 is fixedly installed at the bottom of the slider of the plant transport slide rail 28, and the turntable 3 is fixed at the bottom of the top movable plate 29, so that the turntable 3 and the clamp 4 can be suspended above the internal space of the harvesting table frame 1. The top movable plate 29 adopts a rigid plate base.

[0051] like Figure 7 As shown, the vertical moving assembly 12 includes a picking slide rail 35 and a picking slide 37. The picking slide rail 35 can be fixedly installed on one side of the frame 1 by welding or screwing, and is perpendicular to the spatial direction of the plant transport slide rail 28, forming a two-dimensional motion plane to provide vertical guidance and drive for the picking slide 37. A base is connected to the picking slide 37, and the picking slide is connected to the picking arm 13 through the connecting base.

[0052] The picking slide rail 35 includes two rigid guide rails that are parallel to each other, and also includes upper and lower sliders 36 that slide in cooperation with the guide rails. The picking slide 37 is fixedly installed at the bottom of the upper and lower sliders 36. The picking arm 13 is fixedly installed on the picking slide 37, which has a rigid plate base.

[0053] In a preferred embodiment, the guide rail surface is machined with ball grooves to accommodate the balls and provide a rolling path. The tops of the upper and lower sliders 36 are provided with corresponding reverse ball grooves. The guide rail and the upper and lower sliders 36 slide via small steel balls clamped between the grooves of the guide rail and the upper and lower sliders 36, thus realizing the up-and-down movement of the upper and lower sliders 36. In a preferred embodiment, such as Figure 8 As shown, the picking slide rail 35 also includes an optical shaft 38, bearings, two synchronous pulley fixing parts, an up-and-down drive motor 42, a lifting drive sprocket, and a chain 41. Figure 9As shown, the first synchronous pulley fixing member 39a and the second synchronous pulley fixing member 39b are fixedly installed on the top crossbeam of the frame 1, and are arranged parallel to each other. Each fixing member has a central through hole, and the optical shaft 38 passes horizontally through the central through holes of the two fixing members in sequence, and is fixed by a bearing sleeve, so that the axial direction of the optical shaft 38 is fixed, and it can rotate freely around its own axis. The first lifting drive sprocket 40a is sleeved on the optical shaft 38 and is located between the two synchronous pulley fixing members to achieve a rotational connection. Figure 10 As shown, the up-and-down drive motor 42 is fixedly installed at the bottom of the frame 1, and a second lifting drive sprocket 40b is provided on the output shaft of the motor. The chain 41 is wound around the teeth of the lifting drive sprockets at the top and bottom, forming a closed loop for vertical transmission. The picking slide 37 is screwed onto the chain 41, driving the picking slide 37 to move up and down.

[0054] In a preferred embodiment, such as Figure 1 As shown, it also includes a top moving plate cable chain 43 and a picking slide cable chain 44. The cable chains use flexible link conduits with hollow interiors for threading.

[0055] One end of the top moving plate drag chain 43 is fixedly installed on the picking platform frame 1 near the end of the plant transport slide rail 28, and the other end is fixed on the base of the top moving plate 29. The drag chain body is located next to the plant transport slide rail 28 and is used to store and protect the cables and air pipes connecting the top moving plate 29, the turntable 3, and the clamp 4.

[0056] One end of the picking slide drag chain 44 is fixed to the bottom of the picking slide rail 35 on the picking slide frame 1, and the other end is fixed to the picking slide 37. The drag chain body is located next to the picking slide rail 35 and is used to store and protect the cables connecting the picking slide 37 and the picking arm 13 and camera 14 on it.

[0057] In a preferred embodiment, such as Figure 1 As shown, it also includes an initial limiting block 45 and an end limiting block 46. The limiting blocks are rectangular rigid mechanical stops made of metal or high-strength engineering plastics.

[0058] The initial limiting block 45 and the end limiting block 46 are respectively screwed to both ends of the guide rail of the plant transport slide rail 28. Located at the start and end points of the horizontal movement stroke of the top moving plate 29, they are used to physically intercept the base or connecting parts of the top moving plate 29, limiting its overtravel as a safety protection.

[0059] In a preferred embodiment, a controller is also included, electrically connected to all the electric and sensing components. The controller controls the slide camera 14 to receive image signals. It controls the drive motors of the plant transport slide rail 28 and the harvesting slide rail 35 to move horizontally and vertically. It controls the drive motor of the turntable 3 to rotate. It controls the sensors of the gripper 4 to clamp and release. It controls the joint motors of the harvesting arm 13 to control the movement of the robotic arm. It controls the start, stop, and speed of the high-speed cutting motor 26.

[0060] The operating steps of the intelligent industrial hemp flower harvesting device of the present invention are as follows: S1: Clamp the plant and move it to the harvesting area.

[0061] Workers insert the bottom end of the dried cannabis plant stems into the gripper 4 located below the top moving plate 29. A photoelectric sensor inside the gripper 4 detects the insertion and triggers a signal. The controller then instructs the gripper's stepper motor 9 to start, driving the screw 10 to rotate clockwise. This causes the nut slider 11 to rise, pushing the four grippers 7 towards the center via the connector 8, thus clamping the plant. After clamping, the top moving plate 29 moves horizontally along the plant transport rail 28 to the harvesting area.

[0062] S2: Acquire plant images through camera 14 to determine the picking order of flowers at the current workstation and the end trajectory of the picking arm 13.

[0063] The camera 14 on the picking slide 37 takes a picture of the plant at the current position to obtain an image of the plant surface. The controller runs a flower detection algorithm to identify the position, posture, and spatial distribution of the flowers and stems. Based on the identification results, the controller plans the picking path to determine the picking order of the flowers at the current workstation and the end trajectory of the picking arm 13.

[0064] S3: Harvesting arm 13 performs single-pass flower cutting and harvesting.

[0065] The controller controls the coordinated movement of the five joints of the picking arm 13, precisely moving the cutting blade 27 to the position of the flower stem to be picked. The cutting blade 27 is driven by a high-speed drive motor and rotates rapidly. The picking arm 13 drives the high-speed rotating cutting blade 27 to quickly sweep across the flower stem along the planned path, completing the cut. The cut flower falls freely into the collection box below.

[0066] S4: Turntable 3 rotates intermittently at the set angle, repeating steps S2 and S3 until a total of 360° has been rotated.

[0067] After all flowers at the current workstation have been harvested, the controller instructs the turntable drive motor 5 to start, causing the gripper 4 to rotate 5°. Repeat steps S2 and S3 to continue identifying and harvesting flowers at the new angle. Repeat this process until the gripper 4 rotates 360°, achieving harvesting from all angles at the current height of the plant.

[0068] S5: Move the picking slide 37 up and down and repeat the above steps to complete the whole plant picking.

[0069] After harvesting at the current height, the controller controls the harvesting slide 37 to move down one workstation height along the harvesting slide rail 35. Repeat steps S2 to S4 to harvest the new height area at all angles. Repeat this process until the harvesting slide 37 moves to the working boundary set by the end limit block 46, completing the harvesting of the entire plant.

[0070] S6: Unload the plant and reset the device.

[0071] After harvesting, the harvesting slide 37 returns to its initial height position. The top moving plate 29 moves horizontally along the plant transport slide 28 to the unloading area. The controller instructs the gripper stepper motor 9 to rotate in the opposite direction, driving the grippers 7 to open, releasing the plant stems, and the plants fall into the waste collection box. The top moving plate 29 returns to the loading area, ready for the next round of harvesting.

[0072] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent harvesting device for industrial hemp flowers, comprising a frame, characterized in that, The top of the frame is provided with a horizontal translation component, and a turntable is fixedly installed at the bottom of the horizontal translation component; a clamp is provided at the bottom of the turntable, and the clamp is rotatably connected to the turntable. The frame is provided with a vertical moving component on one side, and a picking arm is provided on the vertical moving component. The picking arm is a multi-degree-of-freedom robotic arm with multiple joints. At least one joint is equipped with a camera for determining the position of the hemp flower. The end of the picking arm is equipped with a cutting component.

2. The intelligent harvesting device for industrial hemp flowers according to claim 1, characterized in that, The turntable is rotatably connected to the clamp via a steering connector.

3. The intelligent harvesting device for industrial hemp flowers according to claim 1, characterized in that, The gripper includes grippers, a connector, and a gripper stepper motor. The output shaft of the gripper stepper motor is provided with a screw, and the screw is provided with a nut slider. The nut slider is movably connected to the grippers through the connector.

4. The intelligent harvesting device for industrial hemp flowers according to claim 1, characterized in that, The robotic arm includes five rotary joints connected in series from the base to the end; The robotic arm base is provided with a first joint, and the other end of the first joint is provided with a large arm connecting rod, which is rotatably connected to the base; the base is provided with a motor, and the output shaft of the motor is coaxially connected to the first joint; The second joint is located at the end of the boom link, and the other end of the second joint is provided with a first intermediate link. The boom link is rotatably connected to the first intermediate link. A motor is provided at the end of the boom link, and the output shaft of the motor is coaxially connected to the second joint. The third joint is located at the end of the first intermediate link, and the other end of the third joint is provided with a first direction conversion base. The first direction conversion base is provided with a second intermediate link, and the first intermediate link and the second intermediate link are rotatably connected. A motor is provided at the bottom of the base, and the output shaft of the motor is coaxially connected to the third joint. The fourth joint is located at the end of the second intermediate link, and the other end of the third joint is provided with a second direction conversion base. The second direction conversion base is provided with a forearm link, and the second intermediate link is rotatably connected to the forearm link. A motor is provided at the bottom of the second direction conversion base, and the output shaft of the motor is coaxially connected to the fourth joint. The fifth joint is located at the end of the forearm link, and the other end of the fifth joint is provided with a wrist link. The forearm link and the wrist link are rotatably connected. The axis of the fifth joint is perpendicular to the axis of the fourth joint. A motor is provided at the end of the forearm link, and the output shaft of the motor is coaxially connected to the fifth joint.

5. The intelligent harvesting device for industrial hemp flowers according to claim 4, characterized in that, The cutting component includes a cutting blade and a cutting component motor. The cutting component motor is fixedly installed at the end of the wrist linkage, and the output shaft of the cutting component motor is connected to the cutting blade.

6. The intelligent harvesting device for industrial hemp flowers according to claim 1, characterized in that, The horizontal translation component includes a plant transport slide rail and a top moving plate. The top of the frame is provided with a plant transport slide rail, and the top moving plate is slidably installed on the plant transport slide rail. The bottom of the top moving plate is provided with a turntable.

7. The intelligent harvesting device for industrial hemp flowers according to claim 1, characterized in that, The vertical moving component includes a picking slide rail and a picking slide. The picking slide is provided on one side of the frame. The picking slide is slidably installed on the picking slide rail. A connecting base is provided on the picking slide. The picking slide is connected to the picking arm through the connecting base.

8. An intelligent harvesting device for industrial hemp flowers according to claim 6 or 7, characterized in that, The plant transport slide rail is equipped with a top moving plate drag chain, and the picking slide rail is equipped with a picking slide drag chain.

9. The intelligent harvesting device for industrial hemp flowers according to claim 6, characterized in that, The plant transport slide rail is equipped with an initial limiting block and an end limiting block. The initial limiting block and the end limiting block are respectively located at the start and end points of the travel of the plant transport slide rail to limit the range of movement.

10. The intelligent harvesting device for industrial hemp flowers according to claim 1, characterized in that, It also includes a controller, which is electrically connected to the horizontal translation component, the vertical movement component, the turntable, the gripper, the picking arm, the camera, and the cutting component, and is used to control each component.

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