Picking and cutting device for rose picking

Abstract

The utility model relates to the technical field of agricultural picking equipment, and particularly discloses a cutting device for rose picking. Comprising a moving trolley carrying laser navigation and four-wheel-drive moving wheels, and a grabbing mechanism with four-degree-of-freedom movement. The grabbing mechanism is hinged through a first supporting arm, a second supporting arm and a third supporting arm to be matched with multi-motor driving, and the grabbing angle can be flexibly adjusted; and the grabbing claw adopts a hinged grabbing finger with a zigzag grabbing surface and transmission of a screw rod and a thread bushing, so that accurate clamping is realized. The device is accurately positioned through laser navigation, and automatic control is combined, so that automation of the whole process of moving, grabbing and cutting is achieved. The cutting device effectively solves the problems that manual picking is low in efficiency, and traditional mechanical picking is high in damage and poor in adaptability, the picking efficiency and the raw material integrity rate are greatly improved, the labor cost is reduced, the cutting device is suitable for large-scale raw material collection in the rose essential oil extraction industry, and the efficiency and practicability of operation are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of agricultural harvesting equipment technology, and in particular to a rose picking and trimming device. Background Technology

[0002] In the rose essential oil extraction industry, rose petals are the core raw material, and their extraction efficiency and quality play a decisive role in the yield of essential oil. Currently, manual rose picking has many drawbacks. For example, the utility model patent "CN201922022796.1, A Novel and Efficient Rose Picking Device" points out that many still rely on manual picking. Pickers must wear gloves and use scissors, and when facing roses deep in the flower bushes, they must bend over to reach their tools and baskets into the flowers. This not only makes them extremely vulnerable to thorns but is also highly inefficient, and prolonged labor can lead to physical and mental exhaustion. Furthermore, manual picking makes it difficult to ensure the integrity of the petals, easily damaging them during the picking process and affecting the quality and yield of the subsequent essential oil extraction.

[0003] While some existing mechanical harvesting devices attempt to address the problems of manual harvesting to some extent, they also face challenges. On the one hand, some harvesting devices, such as those mentioned in the utility model patent "CN202420274375.6, a rose harvesting device," can harvest from a certain distance, but still require frequent manual handling of the cut flowers and placement into collection bags, increasing labor intensity and making it difficult to improve harvesting efficiency.

[0004] On the other hand, rose blossoms grow at various angles, making it difficult for many mechanical devices to flexibly adapt to the harvesting needs of blossoms facing different directions. This limits the harvesting coverage, and improper control of force and angle during the grasping and cutting process can easily damage petals or stems, resulting in material waste. Given the low efficiency, high damage, and poor adaptability of manual and existing mechanical harvesting methods in the rose petal harvesting stage, there is an urgent need to develop a new type of highly efficient, low-damage harvester that can adapt to complex harvesting environments to meet the demand of the rose essential oil extraction industry for high-quality and sufficient raw materials. Utility Model Content

[0005] In view of this, this utility model provides a rose picking and trimming device to solve the problem that existing mechanical picking devices are difficult to flexibly adapt to flowers at different angles and are prone to damaging petals or stems during picking, making it impossible to collect raw materials efficiently and with low damage.

[0006] This utility model provides a rose picking and trimming device, comprising: a mobile trolley, including a driving body, four-wheel drive wheels disposed at the bottom of the driving body, and a laser navigation system disposed in the direction of movement of the driving body; a gripping mechanism, including a rotating base disposed on the mobile trolley and a gripping part connected to the rotating base, wherein the end of the gripping part is provided with a gripping claw; wherein the gripping claw, through the gripping part, includes at least four degrees of freedom of movement to achieve gripping actions at different angles and directions; wherein the gripping claw includes a plurality of gripping fingers, a gripping space is provided between the plurality of gripping fingers, and the end of the gripping fingers is provided with a serrated gripping surface.

[0007] Preferably, the bottom of the active body is provided with a support leg adapted to the four-wheel drive wheels; each of the wheels can rotate based on the support leg; each of the wheels is provided with a drive motor.

[0008] Preferably, the gripping part includes a first arm, a second arm, and a third arm; the first arm, the second arm, and the third arm are hinged to each other and rotated by gripping motors.

[0009] Preferably, the gripping motor includes a first motor and a second motor respectively disposed on both sides of the first support arm; the first motor is fixedly connected to the first support arm, and the second motor is connected to the first support arm through a bearing.

[0010] Preferably, the second motor is further provided with a transmission block for transmission connection, and the other end of the transmission block is provided with a transmission arm through transmission connection, and the other end of the transmission arm is connected to the third support arm for transmission connection.

[0011] Preferably, the gripper is connected to the third arm via a first transmission part; the other end of the third arm is hinged to the second arm via a second transmission part; the third arm is provided with a nested arm cylinder, a first shaft, and a second shaft, and the first shaft can rotate freely within the arm cylinder, and the second shaft can rotate freely within the first shaft; the arm cylinder, the first shaft, and the second shaft are driven by a third motor, a fourth motor, and a fifth motor respectively disposed in the second transmission part; the first shaft and the second shaft, through their connection with the first transmission part, respectively drive the first transmission part to rotate based on the third arm and the gripper to rotate based on the first transmission part.

[0012] Preferably, the gripper includes a control head and a plurality of gripping fingers disposed on the control head; the control head includes a control motor and a screw fixedly connected to the output shaft of the control motor, and a threaded sleeve is provided inside the control head on the screw.

[0013] Preferably, the gripper is mounted by a first mounting component fixed inside the control head; the screw is also provided with a second mounting component that can move based on the screw.

[0014] Preferably, the gripping finger includes a first hinge rod, a second hinge rod, a third hinge rod, and a fourth hinge rod disposed on both sides of the main rod; the other end of the first hinge rod, the second hinge rod, the third hinge rod, and the fourth hinge rod is hinged to the second mounting component.

[0015] Preferably, the first mounting component is further provided with a connecting rod that is hinged to the first hinge rod and the second hinge rod.

[0016] The rose picking and trimming tool provided by this utility model has the following beneficial effects:

[0017] In this invention, the rose picking and trimming device achieves accurate positioning and autonomous movement across all terrains through laser navigation and four-wheel drive wheels. Combined with a four-degree-of-freedom gripping mechanism featuring multiple arms and multi-motor drive, the gripping claw angle can be flexibly adjusted to adapt to flowers facing different directions. The serrated gripping surface, combined with the articulated gripping fingers driven by screws and threaded sleeves, controls the clamping force, reducing damage to petals and stems. The fully automated process replaces manual operation, significantly improving picking efficiency, reducing labor costs, and ensuring the integrity and quality of raw materials. It effectively solves the technical problems of low efficiency in manual picking, poor adaptability of traditional machinery, and high damage rates, significantly enhancing the large-scale operation capability for rose essential oil raw material collection. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments of this utility model will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, and these are all within the protection scope of this utility model.

[0019] Figure 1 This is a schematic diagram of a rose-picking and trimming tool.

[0020] Figure 2 This is a cross-sectional structural diagram of the gripping mechanism;

[0021] Figure 3 This is a schematic diagram of the transmission structure between the third arm and the gripper.

[0022] Figure 4 This is a schematic diagram of the gripper's structure;

[0023] Parts and component numbers in the diagram:

[0024] 110-Drive unit, 111-Support leg, 112-Drive motor, 113-Moving wheel, 120-Laser navigation;

[0025] 210-Rotating seat, 220-Gripping part, 221-First arm, 222-Second arm, 223-Third arm, 224-Arm cylinder, 225-First shaft, 226-Second shaft, 227-First motor, 228-Second motor, 229-Third motor, 231-Fourth motor, 232-Fifth motor, 233-Transmission block, 234-Transmission arm, 230-First transmission part, 240-Second Transmission unit, 250-gripping claw, 251-gripping space, 260-control head, 261-control motor, 262-screw, 263-threaded sleeve, 264-first mounting part, 265-connecting rod, 266-second mounting part, 270-gripping finger, 271-gripping surface, 272-main rod, 273-first hinge rod, 274-second hinge rod, 275-third hinge rod, 276-fourth hinge rod. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, in this document, relational terms such as "first" and "second" are merely used 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. In the description of this utility model, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. 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 a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Unless otherwise specified, embodiments of the present invention and the various features thereof can be combined with each other, all within the protection scope of the present invention.

[0027] Example 1

[0028] Please see Figure 1 This utility model provides a rose picking cutter; in the process of making rose essential oil, petals are a crucial raw material, therefore, picking these rose petals is an essential step.

[0029] However, traditional hand-picking methods have many problems, such as low efficiency, high labor intensity, and potential unnecessary damage to the flowers.

[0030] In rose cultivation, roses are typically planted in rows, with spaces between them to allow for easy passage during harvesting and watering. Based on these pathways, a novel solution has been designed: an automated harvesting and pruning device using a mobile cart. This device moves along the paths between the rows, automatically harvesting the roses, significantly improving harvesting efficiency and quality while reducing manual labor and minimizing damage to the flowers.

[0031] In this embodiment, please refer to Figure 1 The rose picking and trimming device includes a mobile trolley and a gripping mechanism. The mobile trolley includes a drive body 110, four-wheel drive wheels 113 at the bottom of the drive body 110, and a laser navigation system 120 in the direction of movement of the drive body 110. The gripping mechanism includes a rotating base 210 on the mobile trolley and a gripping part 220 connected to the rotating base 210. The end of the gripping part 220 is provided with a gripping claw 250. The gripping claw 250 can achieve gripping actions at different angles and directions by moving through the gripping part 220 with at least four degrees of freedom. The gripping claw 250 includes a plurality of gripping fingers 270, a gripping space 251 between the plurality of gripping fingers 270, and a serrated gripping surface 271 at the end of the gripping fingers 270.

[0032] In use, the mobile cart moves along the path between the rows of roses, with laser navigation 120 precisely guiding the direction of movement and the picking target. When it reaches the appropriate position, the rotating base 210 drives the gripping part 220 to rotate, aligning the gripping claw 250 with the rose petal. The gripping part 220, with its four degrees of freedom, flexibly adjusts the gripping angle and direction, allowing the gripping space 251 of the gripping claw 250 to envelop the flower. Subsequently, several gripping fingers 270 close, and the serrated gripping surfaces 271 at their ends firmly hold the flower, plucking the rose from the stem with just the right amount of force. The entire process is efficient, precise, and stable, effectively ensuring the integrity of the rose and providing high-quality petal raw materials for subsequent rose essential oil production.

[0033] Furthermore, flower placement baskets are provided at the front and / or rear of the mobile trolley, and these baskets move with the trolley. After the gripper 250 picks a rose, it can directly place the flower into the basket. The basket has a certain capacity, capable of holding a large number of roses, reducing the inconvenience of frequently changing containers. The basket also has a large opening, facilitating accurate placement of the flowers by the gripper 250. The basket is made of a lightweight yet sturdy material, ensuring stability during movement without excessively burdening the mobile trolley, preventing damage to the flowers from shaking. In addition, the basket is detachably connected to the mobile trolley; when full, it can be easily removed and replaced with an empty basket to continue harvesting, greatly improving the continuity and overall efficiency of the harvesting process.

[0034] Further, please see Figure 1 The bottom of the drive body 110 is provided with a support leg 111 that is adapted to the four-wheel drive moving wheel 113; each moving wheel 113 can rotate based on the support leg 111; each moving wheel 113 is provided with a drive motor 112.

[0035] The drive motor 112 is mounted on the support leg 111 and is connected to the support leg 111 in a transmission manner.

[0036] During use, the drive motor 112 provides stable power to the moving wheels 113, allowing the drive unit 110 to move flexibly within the planting area. By controlling the speed and direction of the drive motor 112, the direction and speed of the moving trolley can be precisely adjusted to adapt to the terrain and rose distribution of different planting areas.

[0037] Furthermore, the independent control of multiple drive motors 112 enables special movement modes, such as turning on the spot and making U-turns, allowing the mobile cart to move freely in complex environments and ensuring the smooth progress of harvesting work.

[0038] Further, please see Figure 1 The gripping part 220 includes a first arm 221, a second arm 222, and a third arm 223; the first arm 221, the second arm 222, and the third arm 223 are hinged to each other and rotated by gripping motors.

[0039] In this embodiment, by setting the first arm 221, the second arm 222 and the third arm 223, the gripping part 220 can move more flexibly and can grip the rose at different angles and positions.

[0040] Further, please see Figure 1 and Figure 2 The gripping motor includes a first motor 227 and a second motor 228 respectively disposed on both sides of the first support arm 221; the first motor 227 is fixedly connected to the first support arm 221, and the second motor 228 is connected to the first support arm 221 through bearings, so that when the first motor 227 is started, it can drive the second support arm 222 and allow the second support arm 222 to rotate smoothly; and when the second motor 228 is started, it will not drive the second support arm 222.

[0041] Please see Figure 1 The gripping motor ensures the precision and stability of the arm rotation, allowing for accurate positioning of the target flower. The first arm 221 serves as a basic support, used to adjust the overall orientation of the gripping part 220. The second arm 222 can rotate on the first arm 221, raising or lowering the overall height of the gripping part 220. The third arm 223, hinged to the second arm 222, can further adjust the picking height. Flexible rotation through height and angle adjustments adapts to different rose growth postures, ensuring successful gripping and significantly improving the success rate and efficiency, meeting complex and varied harvesting needs.

[0042] The first arm 221 is adjusted via a rotating base 210. The rotating base 210 contains a worm gear adjustment structure, with the worm gear connected to a motor drive and the worm wheels themselves connected. A rotating shaft is fixed to the worm wheel, and the first arm 221 is fixedly connected to this shaft to achieve rotation. The worm gear drive achieves a large transmission ratio, allowing the first arm 221 to rotate with a smaller power input, reducing energy consumption. Simultaneously, the worm gear drive has self-locking properties, ensuring that the first arm 221 remains stable after being adjusted to a suitable position, preventing it from changing position due to slight external disturbances. This further ensures the stability and accuracy of the gripping part 220 during rose picking, improving harvesting quality and reducing damage to the roses. Furthermore, this transmission method has the advantages of compact structure, smooth operation, and low noise, minimizing interference with the rose growing environment and meeting the requirements for operations in flower-growing areas.

[0043] Further, please see Figure 2 The second motor 228 is also provided with a transmission block 233 for transmission connection. The other end of the transmission block 233 is provided with a transmission arm 234 through transmission connection. The other end of the transmission arm 234 is connected to the third support arm 223 for transmission.

[0044] In this embodiment, when it is necessary to adjust the extension height of the third arm 223, that is, the angle between it and the second arm 222, the second motor 228 is started first. Through the connection between the second motor 228 and the transmission block 233, the transmission block 233 is driven to rotate, thereby driving the transmission arm 234 to move, so that the transmission ratio can drive the third arm 223 to unfold or retract.

[0045] Further, please see Figure 2 and Figure 3 The gripper 250 is connected to the third arm 223 via a first transmission part 230; the other end of the third arm 223 is hinged to the second arm 222 via a second transmission part 240; the third arm 223 is nested with an arm cylinder 224, a first shaft 225, and a second shaft 226, and the first shaft 225 can rotate freely within the arm cylinder 224, and the second shaft 226 can rotate freely within the first shaft 225; the arm cylinder 224, the first shaft 225, and the second shaft 226 are driven by a third motor 229, a fourth motor 231, and a fifth motor 232 respectively disposed in the second transmission part 240; the first shaft 225 and the second shaft 226, through their connection with the first transmission part 230, respectively drive the first transmission part 230 to rotate based on the rotation of the third arm 223 and the gripper 250 to rotate based on the rotation of the first transmission part 230.

[0046] Further, please see Figure 3 The third motor 229, the fourth motor 231, and the fifth motor 232 drive the arm cylinder 224, the first shaft 225, and the second shaft 226 respectively through gear transmission with the second transmission unit 240, so that the arm cylinder 224 can rotate based on the second transmission unit 240. The first shaft 225 is mounted inside the arm cylinder 224 through bearings, and the second shaft 226 is mounted inside the first shaft 225 through bearings. The ends of the first shaft 225 and the second shaft 226 are connected to the first transmission unit 230 through gear transmission, so that when the first shaft 225 is driven, the first transmission unit 230 can rotate with one degree of freedom within a preset angle based on the end of the third arm 223. When the second shaft 226 is driven, the gripper 250 is driven to rotate with one degree of freedom within a preset angle based on the first transmission unit 230.

[0047] Further, please see Figure 2 and Figure 4The gripper 250 includes a control head 260 and a plurality of gripping fingers 270 disposed on the control head 260; the control head 260 includes a control motor 261 and a screw 262 fixedly connected to the output shaft of the control motor 261, and a threaded sleeve 263 is provided inside the control head 260 on the screw 262.

[0048] The gripper 250 is mounted by a first mounting member 264 fixedly disposed inside the control head 260; the screw 262 is also provided with a second mounting member 266 that can move based on the screw 262.

[0049] The gripping finger 270 includes a first hinge rod 273, a second hinge rod 274, a third hinge rod 275, and a fourth hinge rod 276 disposed on both sides of the main rod 272; the other end of the first hinge rod 273, the second hinge rod 274, the third hinge rod 275, and the fourth hinge rod 276 is hinged to the second mounting member 266.

[0050] The first mounting component 264 is also provided with a connecting rod 265 that is hinged to the first hinge rod 273 and the second hinge rod 274.

[0051] In use, by activating the control motor 261, the screw 262 rotates based on its threaded sleeve 263, causing the second mounting member 266 to move based on the screw 262. This causes the connecting rod 265 to drive the first hinge rod 273, the second hinge rod 274, the third hinge rod 275, and the fourth hinge rod 276 to bend or straighten, thereby driving the gripping claw 250 to open or close, thus achieving the gripping operation of the flower.

[0052] In use, the laser navigation 120 guides the mobile trolley along the path between the rows of roses and identifies the position of the flowers. The drive motor 112 provides power to the four-wheel drive wheels 113, allowing the mobile trolley to move flexibly through the planting area. When it reaches the expected position, the turntable 210 drives the gripping part 220 to rotate, and the gripping motor drives the first arm 221, the second arm 222, and the third arm 223 to flexibly adjust the gripping angle and height. At the same time, the third motor 229, the fourth motor 231, and the fifth motor 232 control the arm cylinder 224, the first shaft 225, and the second shaft 226 through gear transmission, thereby allowing the gripping claw 250 to rotate in different degrees of freedom and accurately align with the flower. At this time, the control motor 261 is activated, and the screw 262 rotates, driving the second mounting part 266 to move. Through the connecting rod 265, the gripping fingers 270 open or close, completing the gripping of the flower. After being picked, the flowers are placed directly into the placement baskets at the front and / or rear of the mobile cart. The placement baskets can be removed and replaced when full, ensuring that the picking work is efficient and continuous.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A rose-picking and trimming tool, characterized in that, include: The mobile vehicle includes a drive body (110), four-wheel drive wheels (113) disposed at the bottom of the drive body (110), and a laser navigation system (120) disposed in the direction of movement of the drive body (110). The gripping mechanism includes a rotating base (210) disposed on the mobile trolley and a gripping part (220) connected to the rotating base (210), wherein the end of the gripping part (220) is provided with a gripping claw (250). The gripper (250) has at least four degrees of freedom of movement through the gripping part (220) to achieve gripping actions at different angles and directions; The gripper (250) includes a plurality of gripping fingers (270), a gripping space (251) is provided between the plurality of gripping fingers (270), and the ends of the gripping fingers (270) are provided with serrated gripping surfaces (271).

2. The rose picking and trimming tool according to claim 1, characterized in that, The bottom of the drive body (110) is provided with a support leg (111) that is adapted to the four-wheel drive mobile wheel (113). Each of the aforementioned movable wheels (113) can rotate based on the supporting leg (111); Each of the moving wheels (113) is equipped with a drive motor (112).

3. A rose-picking and trimming tool according to claim 1, characterized in that, The gripping part (220) includes a first arm (221), a second arm (222) and a third arm (223); The first arm (221), the second arm (222), and the third arm (223) are hinged together and rotated by the gripping motor.

4. A rose-picking and trimming tool according to claim 3, characterized in that, The gripping motor includes a first motor (227) and a second motor (228) respectively disposed on both sides of the first support arm (221); The first motor (227) is fixedly connected to the first support arm (221), and the second motor (228) is connected to the first support arm (221) through a bearing.

5. A rose-picking and trimming tool according to claim 4, characterized in that, The second motor (228) is also provided with a transmission block (233) for transmission connection. The other end of the transmission block (233) is provided with a transmission arm (234) through transmission connection. The other end of the transmission arm (234) is connected to the third support arm (223) for transmission connection.

6. A rose-picking and trimming tool according to claim 3, characterized in that, The gripper (250) is connected to the third arm (223) via the first transmission part (230); The other end of the third arm (223) is hinged to the second arm (222) via the second transmission part (240); The third arm (223) is nested with an arm cylinder (224), a first shaft (225) and a second shaft (226), and the first shaft (225) can rotate freely within the arm cylinder (224), and the second shaft (226) can rotate freely within the first shaft (225); The boom (224), the first shaft (225), and the second shaft (226) are driven by the third motor (229), the fourth motor (231), and the fifth motor (232) respectively provided in the second transmission unit (240); The first shaft (225) and the second shaft (226) drive the first transmission unit (230) to rotate based on the third arm (223) and the gripper (250) to rotate based on the first transmission unit (230) respectively through their connection with the first transmission unit (230).

7. A rose-picking and trimming tool according to claim 1, characterized in that, The gripper (250) includes a control head (260) and a plurality of gripping fingers (270) disposed on the control head (260); The control head (260) includes a control motor (261) and a screw (262) fixedly connected to the output shaft of the control motor (261). The control head (260) has a threaded sleeve (263) on the screw (262).

8. A rose-picking and trimming tool according to claim 7, characterized in that, The gripper (250) is mounted by a first mounting member (264) fixedly disposed inside the control head (260); The screw (262) is also provided with a second mounting member (266) that can be moved based on the screw (262).

9. A rose-picking and trimming tool according to claim 8, characterized in that, The gripping finger (270) includes a first hinge rod (273), a second hinge rod (274), a third hinge rod (275), and a fourth hinge rod (276) disposed on both sides of the main rod (272). The other ends of the first hinge rod (273), the second hinge rod (274), the third hinge rod (275), and the fourth hinge rod (276) are hinged to the second mounting member (266).

10. A rose-picking and trimming tool according to claim 9, characterized in that, The first mounting component (264) is also provided with a connecting rod (265) that is hinged to the first hinge rod (273) and the second hinge rod (274).

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