CN117223495A

CN117223495A - Flower cutting device and method for cutting flowers by adopting flower cutting device

Info

Publication number: CN117223495A
Application number: CN202311313183.8A
Authority: CN
Inventors: 阙煜; 赖庆辉; 苏微; 杨湛威; 宛渊; 闫闯; 周生武
Original assignee: Kunming University of Science and Technology
Current assignee: Kunming University of Science and Technology
Priority date: 2023-10-11
Filing date: 2023-10-11
Publication date: 2023-12-15

Abstract

The invention discloses a flower cutting device and a method for cutting flowers by adopting the flower cutting device, belonging to the technical field of agricultural mechanical equipment, and comprising a mechanical arm and a seedling taking mechanism for picking up flower seedlings; the seedling taking mechanism is arranged at the front end of the rack; the orientation mechanism is used for inverting the flower seedlings from the seedling taking mechanism and orienting the flower seedlings, and is arranged at the rear end of the rack; the driving mechanism is used for driving the orientation mechanism to reverse flower seedlings from the seedling taking mechanism, is arranged on the frame and is connected with one end of the orientation mechanism. The beneficial effects of the invention are as follows: according to the invention, the double-claw flower cutting device which is similar to the manual flower seedling exchange and positioning is adopted to cut the flower seedling, so that the problem of cutting failure caused by the fact that the angle adjustment is not finished is avoided, the working efficiency is further improved, and the damage to the flower seedling is avoided.

Description

Flower cutting device and method for cutting flowers by adopting flower cutting device

Technical Field

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

Background

Yunnan is the most suitable area for the production of few fresh flowers in China, and the main fresh flowers in the world can be produced in large scale. In recent years, under the support of related policies, the flower industry is accelerated to develop, and the level of production facilities in emerging production areas and the planting area of single households are obviously improved. However, the lack of specialized equipment remains a major bottleneck in the fresh flower industry, and the use of automated equipment such as flower cutting transplants has not been widespread.

According to statistics, the popularization rate of domestic cutting equipment is only about 5%, and the popularization and use rate is extremely low. In the planting and production process of fresh flower seedlings, cutting is an extremely critical link, and most of existing cutting adopts manual cutting work. However, manual operations tend to be time consuming, laborious, and susceptible to environmental conditions and artifacts, resulting in low production efficiency, limiting the throughput and production scale.

In the prior art, although some corresponding flower cutting seedling raising devices appear to perform cutting on flowers and the like to replace traditional manual cutting operation, the angle of the driving equipment for clamping flower seedlings to reach the vertical state is related to the initial angle when the flowers are clamped, the equipment loads itself, the rotation of the equipment does work necessarily, and the higher the rotation lifting is, the more the work is, and the lower the efficacy is.

The application publication number is as follows: CN 114145141A, application publication date: 2022.03.08 a rotary woody branch cutting mechanism, which discloses that cutting claws are adopted to clamp cutting slips and the direction of the cutting claws is adjusted to rotate 90 degrees through a rotary electric cylinder so as to achieve the purpose of adjusting the cutting slips in a horizontal state to a vertical state, thereby replacing manual clamping of flower seedlings and improving the working efficiency. However, the equipment and the flower seedlings bear load, the flower seedlings are lifted by rotating the electric cylinder, and the higher the lifting speed is, the larger the acting power is, and the lower the efficacy is.

Another example is the application publication No.: CN 116439043A, application publication date: 2023.07.18 an automatic flower seedling cuttage robot, it discloses an end actuating mechanism and accomplishes the action from clamping flowers seedling to accomplishing the cuttage, can alleviate workman's intensity of labour, improves flowers seedling cuttage's work efficiency, and degree of automation is high. The end actuating mechanism enables the end actuating mechanism to clamp flower seedlings to rotate through a movable joint so as to achieve the purpose of adjusting the cutting slips in a horizontal state to a vertical state. Likewise, the end effector still needs to be lifted from the bottom to the horizontal, the higher the work turn lifting performed during this time, the more work is done, and the lower the efficacy.

In the prior art, although clamping jaws are used for replacing manual clamping seeds and are inserted into soil after rotating, in the prior art, when the clamping jaws or an end actuating mechanism are used for adjusting flower seedlings from a horizontal state to a vertical state, the equipment efficiency is the efficiency of doing work on a bottom-to-horizontal stroke, the rotating angle is related to an initial angle, the rotating angle is not in place, the flower seedlings cannot be adjusted to be vertical, and when the clamped flower seedlings are not placed horizontally, particularly when the rotating angle is required to be larger than 90 degrees, the flower seedlings are adjusted to be vertical, multiple adjusting angles are required, the lifting height is higher, and the more doing work, the lower the equipment efficiency is.

Disclosure of Invention

The invention aims to overcome the defects of the prior art in flower cutting work and provides a flower cutting device. The aim of the invention is achieved by the following technical scheme: a flower cutting device comprises a mechanical arm and a seedling taking mechanism for picking up flower seedlings; the seedling taking mechanism is arranged at the front end of the rack; the orientation mechanism is used for inverting the flower seedlings from the seedling taking mechanism and orienting the flower seedlings, and is arranged at the rear end of the rack; the driving mechanism is used for driving the orientation mechanism to reverse flower seedlings from the seedling taking mechanism, is arranged on the frame and is connected with one end of the orientation mechanism, and the orientation mechanism is rotatably arranged at the rear end of the frame; the driving mechanism is arranged on the frame to drive the orientation mechanism to rotate on the frame; the action end head of the driving mechanism is rotationally connected with the orientation mechanism, and the connection point of the action end head is positioned above or below the rotation point of the orientation mechanism and the frame; the orientation mechanism and the driving mechanism form a sliding block rocker mechanism.

Preferably, the orientation mechanism is rotatably connected with the frame through a cantilever, the orientation mechanism is arranged at the lower end of the cantilever, and the cantilever is rotatably arranged on the frame and is rotatably connected with the end head of the action end of the driving mechanism.

Preferably, the driving mechanism acts to adjust the rotation angle of the cantilever, and is a rigid displacement mechanism.

Preferably, the rigid displacement mechanism is a stroke telescopic mechanism or a sliding block mechanism.

Preferably, the stroke telescoping mechanism is a pneumatic telescoping mechanism, an electric telescoping mechanism or a hydraulic telescoping mechanism, and a connector is arranged at the end head of a telescoping end of the stroke telescoping mechanism; the sliding block mechanism is a crank sliding block mechanism, a screw sliding block mechanism or a gear rack sliding block mechanism.

Preferably, the pneumatic telescopic mechanism is a stroke pneumatic telescopic device, and the pneumatic telescopic device is rotationally connected with the frame through a connecting piece. Preferably, the connecting piece is a movable cylinder seat, the pneumatic telescopic device is nested in the movable cylinder seat, and the movable cylinder seat is connected with the frame through a bearing.

Preferably, an inclined supporting beam is arranged at the joint of the frame and the movable cylinder seat, and the movable cylinder seat is arranged in the middle of the inclined supporting beam. Preferably, the cantilever is arranged in the middle of the frame, a cantilever bearing is arranged at the joint of the frame and the cantilever, and the cantilever is arranged on the positioning cantilever bearing at the right lower end of the frame through a dead axle.

Preferably, the frame and the cantilever are arranged as a box or fork frame part for supporting, and the cantilever, the seedling taking mechanism and the orientation mechanism are positioned at the inner side of the cantilever.

Preferably, the seedling taking mechanism comprises a first displacement mechanism for adjusting the distance, and one end of the first displacement mechanism is fixedly arranged at the front end of the frame; the first opening and closing mechanism is used for fixing flower seedlings, and one end of the first opening and closing mechanism is arranged at the bottom of the displacement mechanism and is positioned below the frame.

Preferably, the orientation mechanism comprises a second displacement mechanism for adjusting the distance, and the second displacement mechanism is rotatably arranged at the rear end of the frame; the second opening and closing mechanism is used for fixing flower seedlings, and one end of the second opening and closing mechanism is arranged at the bottom of the second displacement mechanism and is positioned below the frame.

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

Preferably, the rigid displacement mechanism is a telescopic mechanism or a sliding block mechanism; the flexible displacement mechanism is a retractable pull rope. Preferably, the second displacement mechanism adjusts the interval between the second opening and closing mechanism and the frame, and is a rigid displacement mechanism.

Preferably, the rigid displacement mechanism is a telescopic mechanism or a sliding block mechanism.

Preferably, the telescopic mechanism is an electric telescopic mechanism, a pneumatic telescopic mechanism or a hydraulic telescopic mechanism, and the first opening and closing mechanism and the second opening and closing mechanism are respectively arranged at the telescopic ends of the telescopic mechanism.

Preferably, the sliding block mechanism is a screw rod sliding block mechanism, a gear rack sliding block mechanism or a crank sliding block mechanism; the first opening and closing mechanism and the second opening and closing mechanism are arranged on the sliding block.

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

Preferably, the first opening and closing mechanism and the second opening and closing mechanism fix flower seedlings through opening and closing of the mechanisms, and the first opening and closing mechanism and the second opening and closing mechanism are clamps or claws.

Preferably, the pneumatic telescopic mechanism is a double-rod pneumatic telescopic device, the telescopic cylinder is arranged on the frame, and the telescopic shaft is suspended below the frame; the clamping jaw sliding table air claw is arranged below the telescopic shaft.

Preferably, the double-rod pneumatic telescopic device is vertically and reversely arranged at the front end of the frame through a fixing frame; the sliding table air claw is in threaded connection with the head of the telescopic shaft of the double-rod pneumatic telescopic device.

Preferably, the frame is provided with a mechanical arm joint connected with the mechanical arm.

Preferably, the frame is fixedly connected with the mechanical arm through a mechanical arm joint.

A method for cutting flowers by using a flower cutting device, comprising the following steps:

s1, preparing a flower seedling stack which is horizontally placed;

s2, moving the flower cutting device to the position above the flower seedling stack through a mechanical arm;

s3, suspending a seedling taking mechanism above the flower seedling stack, and opening the seedling taking mechanism at the same time;

s3-1, controlling the seedling taking mechanism to extend downwards and pick up flower seedlings;

s3-2, controlling the seedling taking mechanism to retract, and simultaneously controlling the directional mechanism to rotate to reverse the seedling taking mechanism to exchange flower seedlings;

s3-3, controlling the orientation mechanism to clamp the flower seedlings and controlling the driving mechanism to adjust the rotation direction of the orientation mechanism to enable the flower seedlings to vertically downwards;

s4, controlling the mechanical arm to act downwards to insert flower seedlings into the plug tray;

and S5, returning the equipment to continue the next cycle.

The invention has the following advantages: according to the invention, the double-claw flower cutting device which is similar to the manual flower seedling exchange and positioning is adopted to cut the flower seedlings, the seedling taking mechanism stably picks up or clamps the flower seedlings, the orientation mechanism adjusts the angle while exchanging the flower seedlings, so that the angle direction of the flower seedlings can be adjusted, meanwhile, the seedling taking mechanism picks up or clamps the flower seedlings again by utilizing the time period of orientation and downward cutting after the exchange, and the rotation angle is compensated and adjusted in advance by adopting the slider rocker, so that the rotation angle does not work for a period of time after the flower seedlings are clamped, and the final lifting height is reduced, so that the time length and power for overcoming gravitational potential energy of equipment are reduced, and the efficacy of the equipment is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is an isometric view of the present invention.

Fig. 3 is a schematic view of a seedling picking state according to the present invention.

Fig. 4 is a schematic diagram of the cutting state of the present invention.

Figure 5 is a schematic diagram of the motion of the mechanism of the present invention.

Fig. 6 is a schematic view of the structure of the electric telescopic device of the present invention.

Fig. 7 is a schematic view of a screw slider mechanism according to the present invention.

Fig. 8 is a schematic view of a rack and pinion slider mechanism of the present invention.

FIG. 9 is a schematic diagram of a slider-crank mechanism of the present invention.

Fig. 10 is a schematic view of the clip structure of the present invention.

Fig. 11 is a schematic view of the pawl structure of the present invention.

FIG. 12 is a timing diagram comparing the present invention with the prior art.

Fig. 13 is a diagram showing the comparison of different angle rotations of the device.

Fig. 14 is a diagram showing the comparison of different angle rotations of the device.

Fig. 15 is a third comparison diagram of the device rotated at different angles.

In the figure, a rack (1), a cantilever (2), a driving mechanism (3), a stroke cylinder (31), a seedling taking mechanism (4), a directional mechanism (5), a movable cylinder seat (6), a movable shaft (7), a fixed shaft (8), a connector (9), a fixing frame (10), a stroke cylinder bearing seat (11), a shaft seat (12) cylinder seat bearing (13), a cantilever bearing I (14), a cantilever bearing II (15), a mechanical arm connector (16), a double-rod cylinder I (17), a double-rod cylinder II (18), a sliding table pneumatic claw I (19), a sliding table pneumatic claw II (20), a flower seedling (21), a hole tray (22), a polyester rubber mat (23), a fixed cylinder (32), a rotary telescopic cylinder (33), a driving motor (34), a driving sliding rail (35), a screw (36), a sliding block (37), a plate rack (38), a rack groove (39), a gear (310), a rack (311), a crank (312), a connecting rod (313), a clamping sliding rail (41), a clamping motor (42), a clamping jaw (43), a double-head screw (44), a jaw piece (45), a fixing piece (46), a connecting shaft (47), a jaw motor (48), a jaw (48) and a spring (49), A claw shaft (410).

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.

In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

The terms involved in the present invention are explained as follows:

seedling taking mechanism: and the independent movement unit is used for picking up or clamping flower seedlings.

A frame: the supporting frame is generally called.

Orientation mechanism: an independent movement unit for adjusting and fixing a certain direction.

A driving mechanism: an independent motion unit for power output or a transmission part in a mechanical structure.

Inversion: the left-right position is changed upside down.

And the action end: one end of the motion is realized and is different from the fixed end.

Slider rocker mechanism: the rocking link mechanism which is used for realizing the mutual conversion of movement and rocking is realized by a sliding block and a rocking rod.

Rigid displacement mechanism: the position of the independent movement unit is changed without deformation.

Travel telescopic mechanism: and realizing an independent motion unit with a back-and-forth path change.

The sliding block mechanism comprises: the sliding block is used for realizing the moving plane link mechanism.

Crank slide block mechanism: the crank and the sliding block are used for realizing a plane connecting rod mechanism with the rotation and movement mutually converted.

Screw slider mechanism: the screw and the sliding block are used for realizing the interconversion of the change of the rotation angle and the movement of the screw.

Gear rack sliding block mechanism: the gear rack and the sliding block are used for realizing the interconversion of the rotation angle and the movement of the gear.

And (3) a connecting piece: means for effecting the connection of soft or hard parts.

Oblique supporting beam: and a beam for supporting obliquely.

A displacement mechanism: an independent movement unit that can realize position movement only in one direction.

A flower cutting device as shown in fig. 1, comprising a mechanical arm and a seedling picking mechanism 4 for picking up flower seedlings; the seedling taking mechanism 4 is arranged at the front end of the frame 1. In this case, the frame 1 is connected to the robot arm, and the robot arm drives the entire frame 1 and other components of the frame 1 to move together with the robot arm. The device also comprises a directional mechanism 5 for inverting the flower seedlings from the seedling taking mechanism 4 and directional the flower seedlings, wherein the directional mechanism 5 is arranged at the rear end of the frame 1. The device also comprises a driving mechanism 3 for driving the orientation mechanism 5 to reverse flower seedlings from the seedling taking mechanism 4, wherein the driving mechanism 3 is arranged on the frame 1, and one end of the driving mechanism is connected with one end of the orientation mechanism 5. In the device, two independent moving parts are adopted to take the seedling mechanism 4 and the directional mechanism 5, the directional mechanism 5 is driven by the driving mechanism 3 to realize that the stacked flower seedlings are clamped, the direction of the flower seedlings is adjusted and then fixed, and then the flower seedlings are integrally and downwards cut under the driving of the mechanical arm. In the rotation adjustment process, as the two independently moving parts are matched, the adjustment angle can be adjusted from the vertical position without reaching 90 degrees, the adjustment is more convenient, the rotation angle of work doing adjustment is smaller, the lifting height is lower, the work doing is less, the seedling taking mechanism 4 and the orientation mechanism 5 can act simultaneously in a stroke without mutual influence, the middle work doing time is reduced, the time is saved, and the working efficiency of equipment is improved.

In the whole device, get seedling mechanism 4 and realize pressing from both sides from the flowers that pile up or pick up the flowers seedling, get seedling mechanism 4 at this moment and can adopt conventional seedling mechanism's the same structure to realize pressing from both sides and get, but if just like prior art alone set up rotary electric jar etc. rotary mechanism on getting seedling mechanism 4 and adjust the cuttage angle of its flowers, can have three kinds of situations, the angle of flowers seedling 21 and slip table gas claw II 20 equals 90 degrees or is being greater than 90 degrees or is less than 90 degrees.

When the angle between the flower seedling 21 and the sliding table air jaw II 20 is equal to 90 degrees, as shown in FIG. 13, the flower seedling is adjusted to be in a vertical state in the prior art, and the lifting height difference is delta H ₃ The invention adjusts the flower seedling to a vertical state, and the lifting height difference is delta H ₄ As can be seen from a comparison of the figures, deltaH ₄ Far less than DeltaH ₃ 。

When flowers seedling 21 and slipwayWhen the angle of the air claw II 20 is smaller than 90 degrees, as shown in fig. 14, the flower seedling is adjusted to be in a vertical state in the prior art, and the lifting height difference is delta H ₁ The invention adjusts the flower seedling to a vertical state, and the lifting height difference is delta H ₂ As can be seen from a comparison of the figures, deltaH ₂ Is also much smaller than DeltaH ₁ 。

When the angle between the flower seedling 21 and the sliding table air jaw II 20 is larger than 90 degrees, as shown in FIG. 15, the flower seedling is adjusted to be in a vertical state in the prior art, and the lifting height difference is delta H ₅ The invention adjusts the flower seedling to a vertical state, and the lifting height difference is delta H ₆ As can be seen from a comparison of the figures, deltaH ₆ Is also much smaller than DeltaH ₅ 。

For single adjustment, each flower is not in a standard horizontal position in the stacking process, so that flower seedlings placed at various angles are necessary, factors which need to be considered and controlled in the clamping adjustment process are necessarily increased, the whole working efficiency and mechanical efficiency are affected, and even cutting failure and flower seedling loss are caused when the angle adjustment is not finished. And the angle is larger than 90 degrees, more time is needed to be spent when the flower cutting machine is adjusted to the vertical cutting position, and the lifting height is larger, so that another mechanism is needed to clamp the flowers and plants for adjustment. Because the seedling taking mechanism 4 needs to keep continuously after clamping the flower seedlings, the adjustment of the seedling taking mechanism 4 can cause the falling of the flower seedlings when being realized on the seedling taking mechanism 4, so the seedling taking mechanism can only be adjusted after being put down, but the seedling taking mechanism can cause longer time after being directly placed on a horizontal position again, and the seedling taking mechanism does not need to be placed horizontally, therefore, an action structure like the hands of a person is adopted, one of the seedling taking mechanism stably picks up or clamps the flower seedlings, and the other seedling taking mechanism only carries out adjustment while exchanging the flower seedlings, and the mode structure is the optimal choice. Moreover, since the driving mechanism 3 works against the gravitational potential energy, which is only related to the height difference of the gravitational potential energy, the lower the height that needs to be lifted, the less the work, and the higher the efficacy. Therefore, not only can the angular direction adjustment of flower seedlings be completed, but also the seedling taking mechanism 4 can pick up or clamp the flower seedlings again by utilizing the time period of directional and downward cutting after exchange, continuous uninterrupted work is realized by utilizing the process, the middle working time is reduced, cutting failure caused by the condition that the angular adjustment is not finished can be avoided, the flower seedlings are prevented from being damaged, and the working efficiency and the efficacy are improved.

In the whole action process, the invention realizes the action or function by the driving mechanism 3, which is important to realize that the flower seedlings are reversely exchanged from the seedling taking mechanism 4 to the orientation mechanism 5 and are simultaneously oriented. A specific implementation structure is that an orientation mechanism 5 is rotatably arranged at the rear end of a frame 1, a driving mechanism 3 is arranged on the frame 1 to drive the orientation mechanism 5 to rotate on the frame 1. Meanwhile, the action end head of the driving mechanism 3 is rotationally connected with the orientation mechanism 5, and the connection point of the action end head is positioned above or below the rotation point of the orientation mechanism 5 and the frame 1, so that the angle of the driving mechanism 3 can be flexibly adjusted, and dead points of the orientation mechanism 5 in the rotation process are avoided. Thus, the orientation mechanism 5 and the driving mechanism 3 form a slider rocker link mechanism which is formed by a slider and a rocker to realize the mutual conversion of movement and rocking, as shown in fig. 5, wherein the driving mechanism 3 realizes the back and forth movement of the slider, and the driving mechanism 3 is rotationally connected with the orientation mechanism 5 to convert the back and forth movement into the rocking of the orientation mechanism 5, thereby realizing the rocking of the orientation mechanism 5 to the seedling taking mechanism 4 to obtain flower seedlings.

In the whole device, in order to better realize the shaking, and simultaneously, in order to avoid inconvenient adjustment or installation of the orientation mechanism 5 caused by direct connection of the orientation mechanism 5, the orientation mechanism 5 of the device is rotationally connected with the frame 1 through the cantilever 2, the orientation mechanism 5 is arranged at the lower end of the cantilever 2, and the cantilever 2 is rotationally arranged on the frame 1 and rotationally connected with the action end of the driving mechanism 3. In this way, the orientation mechanism 5 can be mounted and adjusted arbitrarily on the cantilever 2 without affecting the rotational connection of the frame 1 to the cantilever 2.

The installation mode of the orientation mechanism 5 is that the orientation mechanism 5 is directly and vertically fixed at the lower end of the cantilever 2 in an inverted mode, the orientation mechanism 5 is not adjusted on the cantilever 2, and is directly fixed at one time according to the design. Meanwhile, the driving mechanism 3 acts to adjust the rotation angle of the cantilever 2, and is a rigid displacement mechanism. The swing is achieved by changing the stroke position of the driving mechanism 3 to the rotation angle of the cantilever 2. Wherein, the rigid displacement mechanism is a mechanism which can realize stroke position change, such as a stroke telescopic mechanism or a sliding block mechanism. The stroke telescoping mechanism is one of a pneumatic telescoping mechanism, an electric telescoping mechanism and a hydraulic telescoping mechanism. More specifically, the sliding block mechanism is one of a crank sliding block mechanism, a screw sliding block mechanism and a gear-rack sliding block mechanism, and the optimal pneumatic telescopic mechanism is a pneumatic telescopic device.

Preferably, when the pneumatic telescopic is selected by the driving mechanism 3, the telescopic end of the pneumatic telescopic corresponds to a slider for realizing stroke displacement, and the cantilever 2 is a rocker, and the telescopic movement of the pneumatic telescopic is finally converted into the rocking of the cantilever 2. In order to facilitate the rotation and installation of the pneumatic telescopic device on the frame 1 while the pneumatic telescopic device stretches out and draws back, the pneumatic telescopic device is connected with the frame 1 in a rotating way through a connecting piece, the connecting piece is a movable cylinder seat 6, the pneumatic telescopic device is nested in the movable cylinder seat 6, and the movable cylinder seat 6 is connected with the frame 1 through a cylinder seat bearing 13.

Preferably, in order to facilitate the installation of the movable cylinder block 6, a diagonal support beam is disposed at the connection between the frame 1 and the movable cylinder block 6, and the movable cylinder block 6 is disposed in the middle of the diagonal support beam.

Preferably, in order to facilitate the installation of the cantilever 2, the cantilever 2 is arranged in the middle of the frame 1, a cantilever bearing 14 is arranged at the joint of the frame 1 and the cantilever 2, the cantilever 2 is installed on the positioning cantilever bearing 14 at the right lower end of the frame 1 through a dead axle 8, and meanwhile, a connector 9 is arranged at the end head of the telescopic end of the stroke telescopic mechanism.

Preferably, the frame 1 can be provided as a box or fork-like part for supporting, the cantilever 2, the seedling taking mechanism 4 and the orientation mechanism 5 being located inside.

In the device, when the pneumatic telescopic device is selected as the driving mechanism 3, and the pneumatic telescopic device is connected with the cantilever 2 to form a sliding block rocker mechanism, as the pneumatic telescopic device is a driving part in the application, the cantilever 2 is used as a driven part in the mechanism, and the time of the whole stroke can be reduced due to the speed change characteristic of a rocker sliding block or a crank sliding block, so that the cutting efficiency is improved. The cantilever 2 rotates in a variable speed, and the second opening and closing mechanism end of the direction mechanism 5 can be quickly rocked to the seedling taking mechanism 4, which cannot be achieved by the two common rotating seedling taking mechanisms 4, and can be achieved only by a speed-changing four-bar mechanism such as a sliding block rocker or a crank rocker. The same speed output control to achieve the shifting effect is never seen in the art. The requirement for the orientation mechanism 5 is simpler, the orientation mechanism 5 comprises a second displacement mechanism for adjusting the distance, and the second displacement mechanism is rotatably arranged at the rear end of the frame 1; the second opening and closing mechanism is used for fixing flower seedlings, and one end of the second opening and closing mechanism is arranged at the bottom of the second displacement mechanism and is positioned below the frame 1.

Preferably, the second displacement mechanism adjusts the interval between the second opening and closing mechanism and the frame 1, and is a rigid displacement mechanism, and the rigid displacement mechanism is convenient to adjust and control.

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

Preferably, the telescopic mechanism is an electric telescopic mechanism, a pneumatic telescopic mechanism or a hydraulic telescopic mechanism, and the first opening and closing mechanism and the second opening and closing mechanism are arranged at the telescopic end of the telescopic mechanism.

In this device, when the driving mechanism 3 is adopted as the driving mechanism to realize the left-right inversion of the flower seedling, the selection of the seedling taking mechanism 4 can also be varied, specifically, the seedling taking mechanism 4 includes a first displacement mechanism for adjusting the spacing: one end of the first displacement mechanism is fixedly arranged at the front end of the frame 1; first opening and closing mechanism for fixing flower seedlings: one end of the first opening and closing mechanism is arranged at the bottom of the displacement mechanism and is positioned below the frame 1.

Preferably, the first displacement mechanism adjusts the distance between the first opening and closing mechanism and the frame 1, and is a rigid displacement mechanism or a flexible displacement mechanism. Because the seedling taking mechanism 4 only acts on the upper and lower straight lines, a flexible displacement mechanism can be selected as the first displacement mechanism, and the flexible displacement mechanism can avoid direct hard impact on flowers caused by the downward movement of the seedling taking mechanism 4.

Preferably, the rigid displacement mechanism is a telescopic mechanism or a sliding block mechanism; the flexible displacement mechanism is a retractable pull rope.

Preferably, the pneumatic telescopic mechanism is a double-rod pneumatic telescopic device, a telescopic cylinder is arranged on the frame 1, and a telescopic shaft is suspended below the frame 1; the clamp is a sliding table air claw which is arranged below the telescopic shaft.

Preferably, the double-rod pneumatic telescopic device is vertically and reversely arranged at the front end of the frame 1 through a fixing frame 10; the sliding table air claw is in threaded connection with the head of the telescopic shaft of the double-rod pneumatic telescopic device.

According to the invention, the double-claw flower cutting device which is similar to the manual flower seedling exchange and positioning is adopted to cut the flower seedling, one claw is used for stably picking up or clamping the flower seedling, and the other claw is used for adjusting the angle direction of the flower seedling while the flower seedling is exchanged, so that the angle direction adjustment of the flower seedling can be completed, meanwhile, the seedling picking mechanism is used for picking up or clamping the flower seedling again in the time period of directional and downward cutting after the exchange, continuous uninterrupted work is realized by using the process, the intermediate work time is reduced, cutting failure caused by the fact that the angle adjustment is not finished is avoided, the flower seedling is prevented from being damaged, and the work efficiency and the efficacy are improved.

The above embodiments have many alternatives, and examples of structures capable of achieving inversion and orientation of flower seedlings are specifically illustrated below.

First embodiment:

the flower cutting device shown in fig. 2 comprises a frame 1 connected with a mechanical arm, wherein the frame 1 is provided with a fork frame type frame, the fork frame type frame can reduce the overall material of components, so that the overall quality is reduced, one end of the upper part of the frame 1 is fixedly connected with a mechanical arm joint 16 through threads, and the frame 1 is fixedly connected with the mechanical arm through the mechanical arm joint 16 through threads. Cantilever bearing II 15 that the location was used is inlayed to frame 1 right lower extreme, connects on cantilever bearing II 15 to set up dead axle 8, sets up cantilever 2 through cantilever bearing I14 switching on the dead axle 8, and cantilever 2 sets up to the cantilever of a fork frame class, can reduce the bulk material of part to alleviate holistic quality. The bottom of the cantilever 2 is vertically and fixedly provided with a double-rod cylinder II 18, the telescopic end part of the double-rod cylinder II 18 is fixedly connected with a sliding table air claw II 20 through threads, and the inner side of the sliding table air claw II 20 is provided with a polyester rubber mat 23. An inclined support beam is fixedly connected to one end of the middle part of the frame 1, a travel cylinder bearing seat 11 is embedded on the inclined support beam, a cylinder seat bearing 13 is embedded in the travel cylinder bearing seat 11, a movable cylinder seat 6 is connected to the inside of the cylinder seat bearing 13, and a travel cylinder 31 of a pneumatic expansion device is embedded in the movable cylinder seat 6. The telescopic end of the pneumatic telescopic device is connected to the moving shaft 7 through the connector 9, the moving shaft 7 is fixedly arranged on the shaft seat 12, and the shaft seat 12 is fixedly arranged at the top of the cantilever 2. The front end bottom of the frame 1 is provided with a fixing frame 10, a double-rod air cylinder I17 is vertically installed on the fixing frame 10 in an inverted mode, the telescopic end head of the double-rod air cylinder I17 is in threaded connection with a sliding table air claw I19, and the inner side of the sliding table air claw I19 is provided with a polyester rubber pad 23.

In the device, the double-rod air cylinder I17 drives the sliding table air claw I19 to extend out, the claw of the sliding table air claw I19 is in an open state when the sliding table air claw I19 extends into the flower to be piled, the sliding table air claw I19 acts to clamp the flower seedling 21, the double-rod air cylinder I17 acts to drive the sliding table air claw I19 to retract, meanwhile, the telescopic end of the movable air cylinder seat 6 upstroke air cylinder 31 acts to drive the cantilever 2 to rotate in the cantilever bearing I14 or the cantilever bearing II 15, and the sliding table air claw II 20 is rotated to the sliding table air claw I19, as shown in fig. 3. At this time, the double-rod cylinder II 18 acts to drive the sliding table gas claw II 20 to extend, the sliding table gas claw II 20 clamps the flower seedling 21, then the sliding table gas claw I19 is released, and the stroke cylinder 31 acts again to drive the cantilever 2 to rotate along with the whole sliding table gas claw II 20 to turn and fix the direction of the flower seedling 21, as shown in fig. 4. At this time, the double-rod air cylinder I17 and the sliding table air claw I19 return, and the mechanical arm drives the whole frame 1 to move downwards to cut flower seedlings 21 into the plug 22.

In the whole process, because the angle between the flower seedling 21 and the sliding table gas claw II 20 is not vertical but three states when the sliding table gas claw II 20 exchanges the flower seedling 21 with the sliding table gas claw I, when the direction of turning the flower seedling 21 is fixed downwards, the rotation angle of the cantilever 2 at the vertical position below the fixed shaft 8 is necessarily smaller than 90 degrees, so that even if the sliding table gas claw I19 clamps the flower seedling 21 which is not horizontal, namely, the angle between the sliding table gas claw I19 and the sliding table gas claw I19 is larger than 90 degrees, the sliding table gas claw II 20 can still turn the flower seedling 21 into the vertical downwards under the premise of rotating by not more than 90 degrees, and of course, the premise is that the angle between the flower seedling 21 and the sliding table gas claw II 20 is not larger than 90 degrees when the flower seedling 21 is turned over onto the sliding table gas claw II 20. When the angle between the flower seedling 21 and the sliding table gas claw II 20 is larger than 90 degrees when the flower seedling 21 is inverted to the sliding table gas claw II 20, the conventional seedling taking mechanism 4 is inevitably larger than 90 degrees when the single rotating shaft is adopted to rotate and adjust the direction, the rotating angle of the sliding table gas claw II 20 in the technical scheme of the invention is also larger than 90 degrees, but is inevitably smaller than the rotating angle of the seedling taking mechanism 4 in the prior art, the difference of the angles is the key that the technical scheme of the invention keeps the flower seedling 21 not damaged, and is the path saved by starting the work of the flower seedling from clamping, meanwhile, more space capable of adjusting the angle is reserved, the adjustable space is larger than 180 degrees, and the comparison is carried out by a chart.

As can be seen from the above table, in the prior art, when the flower seedling is to be adjusted to be vertical, the angle difference of the seedling taking mechanism 4 when the seedling is taken initially must be compensated, so that the seedling taking mechanism is in a vertical state, when the angle difference is smaller than 90 degrees with the inserting end of the flower seedling, the angle difference is smaller than the compensating angle in the process of rotation adjustment, and when the angle difference is larger than 90 degrees, the angle difference is smaller than the compensating angle difference. Assuming that the height from the bottom to the horizontal is 1m, the sum of the mass of the flowers and the holding mechanism (namely the orientation mechanism 5) is 1kg, the work done by the compensated angle gravity is positive work from the beginning of the clamping of the flowers from the orientation mechanism 5, and the gravity can drive the flowers to rotate to the lowest point without the work driving of the driving mechanism 3. When the driving mechanism 3 drives the orientation mechanism 5 from the lowest point to lift the flowers to the state that the flower seedlings are vertical, the angle from the lowest point to the specified point is small because the previous compensation is carried out, the lifting height is lower than that in the prior art, therefore, the work of the driving mechanism against the gravity is only related to the height difference, the work of the device is much less, and the equipment efficiency is high.

In the whole process, because the angles of the flower seedlings 21 and the sliding table gas claws II 20 are not vertical when the sliding table gas claws II 20 exchange the flower seedlings 21 with the sliding table gas claws I, when the angles of the flower seedlings 21 and the sliding table gas claws II 20 are equal to 90 degrees, as shown in fig. 13, the length of the sliding table gas claws II 20 is 10 units, the mass of the sliding table gas claws II and the flower seedlings is 10 units, the precompensation angle is 20 degrees, and the height difference delta H in the prior art ₃ =10 units, the height difference Δh of the present invention ₄ =10-10×sin20=10-10×0.34=6.6 units, then the work required to overcome gravity is: w=mg ΔH, work W performed by the prior art ₃ 10 x 10 = 1000 units, work W performed by the present invention ₄ ＝10*10*66=660 units. Obviously W ₄ Less than W ₃ The invention has higher efficacy.

When the angle between the flower seedling 21 and the sliding table air jaw II 20 is smaller than 90 degrees, the angle is 80 degrees, as shown in fig. 14, the length of the sliding table air jaw II 20 is 10 units, the mass of the sliding table air jaw II and the flower seedling is 10 units, the precompensation angle is 20 degrees, and the height difference delta H in the prior art ₁ 10-10 sin10=8.3 units, the height difference Δh of the present invention ₂ =10-10×sin30=10-10×0.5=5 units, then the work required to overcome gravity is: w=mg ΔH, work W performed by the prior art ₁ Work W performed by the present application is =10x10x8.3=830 units ₂ =10×10×5=600 units. Obviously W ₂ Less than W ₁ The application has higher efficacy.

When the angle between the flower seedling 21 and the sliding table air claw II 20 is larger than 90 degrees, if the angle is 100 degrees, as shown in fig. 15, the length of the sliding table air claw II 20 is 10 units, the mass of the sliding table air claw II and the flower seedling is 10 units, the precompensation angle is 20 degrees, and the height difference delta H in the prior art ₅ =10+10 sin10=11.7 units, the height difference Δh of the present application ₆ =10-10×sin30=10-10×1.7=8.3 units, then the work required to overcome gravity is: w=mg ΔH, work W performed by the prior art ₅ 10×10×11.7=1170 units, work W performed by the present application ₆ =10×10×8.3=830 units. Obviously W ₆ Less than W ₅ The application has higher efficacy.

When the double-claw seedling taking cuttage is adopted, the orientation mechanism 5 has compensation of a certain angle in advance, so that when flower seedlings with different angles are adjusted, the angle difference of the seedling taking mechanism 4 is within the compensation range when the seedlings are initially taken, the angle of the seedling taking mechanism is not required to rotate by 90 degrees from the vertical position, more importantly, the angle of the time rotation adjustment of the flowers is larger than 180 degrees due to the compensation, the adjustment allowance is larger, and the flower seedlings are more convenient to protect. The orientation mechanism 5 is ready when the seedling picking mechanism 4 picks up the seedlings, and the whole process is carried out continuously, so that the overlapping time is omitted, namely the time for optimizing and improving the mechanical efficiency is omitted, the time is the air machine operation, the work of the seedling gravitational potential energy for adjusting the distance is omitted under the condition of large clamping quality, and the equipment efficiency is higher. As shown in fig. 12, where the a section is a time of taking seedlings extending downward, the b section is a rotation angle compensation time, and the c section is a rotation adjustment time. As can be seen from the comparison of the two time sequences, the time sequence 1 is the time of single-claw cutting in the prior art, each step of the time sequence is needed to be carried out, the time sequence 2 is the time of double-claw cutting, wherein the time of b-section rotation angle compensation is carried out simultaneously when the a-section downwards extends out for taking seedlings, the time of c-section rotation adjustment is reduced because the rotation angle is small, two comparison diagrams can intuitively show that the cutting efficiency time is greatly reduced and the efficiency is improved because the margin of angle adjustment is large when the cutting efficiency is carried out by adopting the application.

Moreover, this device is through adopting the action structure like people's both hands, one stably picks up or presss from both sides and gets flowers seedling 21, another adjusts in exchange flowers seedling 21, this kind of mode structure not only can accomplish the angular direction adjustment of flowers seedling, the angle of adjustment is bigger moreover, avoid flowers seedling 21 because the loss of cuttage failure, simultaneously, utilize directional and this time quantum of downward cuttage after exchanging, get flowers seedling 21 that seedling mechanism 4 picked up or pressed from both sides again, utilize this process to realize continuous incessant work, reduce the intermediate time, avoid causing the cuttage failure when angular adjustment is not coming, and then improve mechanical work efficiency. The device adopts the slider rocker to carry out compensation adjustment on the rotation angle in advance, so that the device does not apply work for a period of time after clamping flower seedlings, and the final lifting height is reduced, thereby reducing the working time and power of the device against gravitational potential energy, and further improving the mechanical efficiency of the device.

Specific embodiment II:

the flower cutting device shown in fig. 2 and 6 comprises a frame 1 connected with a mechanical arm, wherein the frame 1 is arranged as a box frame, and the box frame can protect the parts inside the box frame and avoid damage caused by external impact. The frame 1 upper portion one end is through magnetic force absorption or adjustable mode setting that connects such as adhesion and is in order to conveniently adjust, and frame 1 is connected or the adhesion with the arm magnetic force absorption through arm joint 16. The embodiment is a specific embodiment in which the corresponding whole of the driving mechanism 3, the seedling taking mechanism 4 and the orientation mechanism 5 is replaced on the basis of the above embodiment. Specifically, cantilever bearing II 15 that the location was used is inlayed to frame 1 right side lower extreme, connects on cantilever bearing II 15 to set up dead axle 8, sets up cantilever 2 through cantilever bearing I14 switching on the dead axle 8, and cantilever 2 sets up to the cantilever of a box class, and the frame of box class can protect its inside part, avoids the outside to strike to damage, specifically can set up to half open box as shown in figure 2 to set up corresponding switching tie point on the box. In the previous embodiment, the pneumatic telescopic device is used as the displacement mechanism of the driving mechanism 3, the seedling taking mechanism 4 and the orientation mechanism 5, and the pneumatic telescopic device has unique advantages and disadvantages and can be replaced by other displacement mechanisms according to actual requirements, such as an electric telescopic device for convenience in control. Specifically, the bottom of the cantilever 2 is inverted and vertically fixed with an electric telescopic device, the electric telescopic device comprises a fixed cylinder 32, a rotary telescopic cylinder 33 and a driving motor 34, the rotary telescopic cylinder 33 is arranged in the fixed cylinder 32 in a sliding manner, the rotary telescopic cylinder 33 is internally connected with a screw rod in a threaded manner, the screw rod is connected with an output shaft of the driving motor 34, the driving motor 34 is arranged at one end of the fixed cylinder 32, and the electric telescopic device is fixedly arranged on the frame 1 through the fixing frame 10. When the electric telescopic device is used as the displacement mechanism of the sliding table gas claw II 20 and the sliding table gas claw I19, the sliding table gas claw II 20 and the sliding table gas claw are connected with the rotary telescopic cylinder 33 through a connector capable of being detached, then the connector is connected with the sliding table gas claw II 20 and the sliding table gas claw I19, and meanwhile, when the electric telescopic device is single-cylinder, the sliding table gas claw II 20 and the sliding table gas claw I19 cannot avoid rotation offset, so that a guide sliding shaft is required to be arranged between the electric telescopic device and the sliding table gas claw II 20 and the sliding table gas claw I19 to serve as guide and limit, and the defect is overcome by double rods or single cylinders. The inner side of the sliding table pneumatic claw II 20 is provided with a polyester rubber pad 23. The middle part one end fixed connection at frame 1 sets up oblique supporting beam, inlays on the oblique supporting beam and establishes stroke cylinder bearing frame 11, and stroke cylinder bearing frame 11 is inlayed and is established cylinder block bearing 13, and cylinder block bearing 13 interconnect sets up movable cylinder block 6, and movable cylinder block 6 embeds establishes electric telescopic, electric telescopic includes fixed cylinder 32, rotatory telescopic cylinder 33, driving motor 34, and the internal slip joint of fixed cylinder 32 sets up rotatory telescopic cylinder 33, and rotatory telescopic cylinder 33 internal thread connection sets up the screw rod, and the output shaft of screw rod and driving motor 34 is connected, and driving motor 34 sets up the one end at fixed cylinder 32. When an electric telescopic device is used as the rigid displacement mechanism for operation, since the rotary telescopic tube 33 rotates in association with the expansion and contraction, the connector 9 needs to be coupled to the telescopic tube 33 by a bearing to be removed from rotation. The connector 9 is connected to the moving shaft 7 in a switching way, the moving shaft 7 is fixedly arranged on the shaft seat 12, and the shaft seat 12 is fixedly arranged on the top of the cantilever 2. The front end bottom of the frame 1 is provided with a fixing frame 10, an electric telescopic device is vertically installed on the fixing frame 10 in an inverted mode, the telescopic end head of the electric telescopic device is in threaded connection with a sliding table air claw I19, and the inner side of the sliding table air claw I19 is provided with a polyester rubber pad 23.

In this device, electric telescopic drives slip table gas claw I19 to stretch out, when stretching out, the claw of slip table gas claw I19 presents the open state, when slip table gas claw I19 stretches into the flowers be put on the heap, slip table gas claw I19 action cliies flowers seedling 21, electric telescopic action drives slip table gas claw I19 and withdraws, simultaneously, the flexible end action of movable cylinder block 6 upstroke cylinder 31 drives cantilever 2 and rotates in cantilever bearing I14 or cantilever bearing II 15, rotate slip table gas claw II 20 to slip table gas claw I19 department, as shown in FIG. 3. At this time, the electric telescopic device acts to drive the sliding table gas claw II 20 to extend, the sliding table gas claw II 20 clamps the flower seedling 21, then the sliding table gas claw I19 is released, and the electric telescopic device acts again to drive the cantilever 2 to rotate along with the whole sliding table gas claw II 20 to turn and fix the direction of the flower seedling 21, as shown in fig. 4. At this time, the electric telescopic device and the sliding table air claw I19 return, and the mechanical arm drives the whole frame 1 to move downwards to cut flower seedlings 21 into the plug 22.

In the whole process, because the angle between the flower seedling 21 and the sliding table gas claw II 20 is not vertical but is larger than 90 degrees when the sliding table gas claw II 20 exchanges the flower seedling 21 with the sliding table gas claw I, when the direction of turning the flower seedling 21 is fixed downwards, the rotation angle of the cantilever 2 at the vertical position below the fixed shaft 8 is necessarily smaller than 90 degrees, so that even if the sliding table gas claw I19 clamps the flower seedling 21 which is not horizontal, namely, the angle between the sliding table gas claw I19 and the sliding table gas claw I19 is larger than 90 degrees, the sliding table gas claw II 20 can still turn the flower seedling 21 into the vertical downwards under the premise of rotating the flower seedling 21 by not more than 90 degrees, and of course, the premise is that the angle between the flower seedling 21 and the sliding table gas claw II 20 is not larger than 90 degrees when the flower seedling 21 is turned over onto the sliding table gas claw II 20. When the angle between the flower seedling 21 and the sliding table gas claw II 20 is larger than 90 degrees when the flower seedling 21 is inverted to the sliding table gas claw II 20, the conventional seedling taking mechanism 4 is inevitably larger than 90 degrees when the single rotating shaft is adopted to rotate and adjust the direction, the rotating angle of the sliding table gas claw II 20 in the technical scheme of the invention is also larger than 90 degrees, but is inevitably smaller than the rotating angle of the seedling taking mechanism 4 in the prior art, the difference of the angles is the key that the technical scheme of the invention keeps the flower seedling 21 not damaged, and is the path saved by starting the work of the flower seedling from clamping, meanwhile, more space capable of adjusting the angle is reserved, the adjustable space is larger than 180 degrees, and the comparison is carried out by a chart.

In the whole process, because the angles of the flower seedlings 21 and the sliding table gas claws II 20 are not vertical when the sliding table gas claws II 20 exchange the flower seedlings 21 with the sliding table gas claws I, when the angles of the flower seedlings 21 and the sliding table gas claws II 20 are equal to 90 degrees, as shown in fig. 13, the length of the sliding table gas claws II 20 is 10 units, the mass of the sliding table gas claws II and the flower seedlings is 10 units, the precompensation angle is 20 degrees, and the height difference delta H in the prior art ₃ =10 units, the height difference Δh of the present invention ₄ =10-10×sin20=10-10×0.34=6.6 units, then the work required to overcome gravity is: w=mg ΔH, work W performed by the prior art ₃ 10 x 10 = 1000 units, work W performed by the present invention ₄ =10×10×6.6=660 units. Obviously W ₄ Less than W ₃ The invention has higher efficacy.

When the angle between the flower seedling 21 and the sliding table air claw II 20 is more than 90 degrees,if the angle is 100 degrees, as shown in fig. 15, the length of the sliding table gas claw II 20 is 10 units, the mass of the sliding table gas claw II and the flower seedling is 10 units, the precompensation angle is 20 degrees, and the height difference delta H in the prior art ₅ =10+10 sin10=11.7 units, the height difference Δh of the present application ₆ =10-10×sin30=10-10×1.7=8.3 units, then the work required to overcome gravity is: w=mg ΔH, work W performed by the prior art ₅ 10×10×11.7=1170 units, work W performed by the present application ₆ =10×10×8.3=830 units. Obviously W ₆ Less than W ₅ The application has higher efficacy.

Moreover, this device is through adopting the action structure like people's both hands, one stably picks up or presss from both sides and gets flowers seedling 21, another adjusts when exchanging flowers seedling 21, this kind of mode structure not only can accomplish the angular direction adjustment of flowers seedling, avoid flowers seedling 21 because the loss of cuttage failure, simultaneously, utilize directional and this time quantum of downward cuttage after exchanging, get flowers seedling 21 that seedling mechanism 4 picked up or pressed from both sides again, utilize this process to realize continuous uninterrupted work, reduce the intermediate time, avoid causing the cuttage failure when angular adjustment is not coming, and then improve work efficiency. The sliding block rocker is adopted in the loading, and the rotation angle is compensated and adjusted in advance, so that the sliding block rocker does not apply work for a period of time after the flower seedlings are clamped, and the final lifting height is reduced, so that the working time and the power of the equipment for overcoming gravitational potential energy are reduced, and the mechanical efficiency of the equipment is further improved.

Third embodiment:

the flower cutting device shown in fig. 2 and 7 comprises a frame 1 connected with a mechanical arm, wherein the frame 1 is a fork frame type frame, one end of the upper part of the frame 1 is fixedly connected through threads or is magnetically adsorbed or is adhesively provided with a mechanical arm joint 16, and the frame 1 can be quickly replaced through the magnetic adsorption and attachment of the mechanical arm joint 16 and the mechanical arm. Cantilever bearing II 15 that the location was used is inlayed to frame 1 right lower extreme, connects on cantilever bearing II 15 to set up dead axle 8, and cantilever 2 is set up through cantilever bearing I14 switching on the dead axle 8, and cantilever 2 sets up to a fork or box type cantilever. In the two embodiments, the pneumatic telescopic device and the electric telescopic device are respectively adopted as the displacement mechanisms of the driving mechanism 3, the seedling taking mechanism 4 and the orientation mechanism 5, and the telescopic mechanisms such as the pneumatic telescopic device and the electric telescopic device have unique advantages and disadvantages and can be replaced by other displacement mechanisms according to actual requirements, for example, a sliding block mechanism is adopted to realize stroke and the like for conveniently controlling back and forth stroke. Specifically, a sliding block mechanism is vertically and fixedly arranged at the bottom of the cantilever 2 in an inverted mode and is used as a displacement mechanism of the sliding table air claw II 20 and the sliding table air claw I19. When the slide block mechanism is the screw rod slide block mechanism of fig. 7, the slide block mechanism comprises a driving motor 34, a driving slide rail 35, a screw rod 36 and a slide block 37, and when the slide block mechanism is used as the driving mechanism 3, the driving slide rail 35 is embedded on the movable cylinder seat 6, the slide block 37 is arranged in the driving slide rail 35 in a sliding manner, and the slide block 37 is rotationally connected with the cantilever 2 through the connector 9. Of course, the slider 37 may be directly used as the joint 9 and directly connected to the fixed shaft 8 of the cantilever 2. And when the screw rod sliding block mechanism is used as a displacement mechanism of the sliding table air jaw II 20 and the sliding table air jaw I19, the sliding block 37 is connected with the sliding table air jaw II 20 and the sliding table air jaw I19, and the polyester rubber pad 23 is arranged on the inner side of the sliding table air jaw II 20. An inclined support beam is fixedly connected to one end of the middle part of the frame 1, a travel cylinder bearing seat 11 is embedded on the inclined support beam, a cylinder seat bearing 13 is embedded in the travel cylinder bearing seat 11, a movable cylinder seat 6 is connected and arranged in the cylinder seat bearing 13, and a screw slider mechanism is embedded in the movable cylinder seat 6. The front end bottom of the frame 1 is provided with a fixing frame 10, a screw rod sliding block mechanism is vertically installed on the fixing frame 10 in an inverted mode, a sliding table air claw I19 is arranged in a threaded connection mode of a sliding block 27 of the screw rod sliding block mechanism, and a polyester rubber pad 23 is arranged on the inner side of the sliding table air claw I19.

In this device, screw rod slider mechanism drives slip table gas claw I19 and stretches out, and when stretching out, the claw of slip table gas claw I19 presents the open state, and when slip table gas claw I19 stretched into the flowers be put to pile, slip table gas claw I19 action cliies flowers seedling 21, and screw rod slider mechanism action drives slip table gas claw I19 and withdraws, simultaneously, the action of screw rod slider mechanism on movable cylinder block 6 drives cantilever 2 and rotates in cantilever bearing I14 or cantilever bearing II 15, rotates slip table gas claw II 20 to slip table gas claw I19 department, as shown in FIG. 3. At this time, the screw rod sliding block mechanism acts to drive the sliding table gas claw II 20 to extend, the sliding table gas claw II 20 clamps the flower seedling 21, then the sliding table gas claw I19 is released, and the electric telescopic device acts again to drive the cantilever 2 to rotate along with the whole sliding table gas claw II 20 to turn and fix the direction of the flower seedling 21, as shown in fig. 4. At this time, the screw rod sliding block mechanism and the sliding table air claw I19 return, and the mechanical arm drives the whole frame 1 to move downwards to cut flower seedlings 21 into the plug 22.

In the whole process, because the angle between the flower seedling 21 and the sliding table gas claw II 20 is not vertical but is larger than 90 degrees when the sliding table gas claw II 20 exchanges the flower seedling 21 with the sliding table gas claw I, when the direction of turning the flower seedling 21 is fixed downwards, the rotation angle of the cantilever 2 under the fixed shaft 8 is necessarily smaller than 90 degrees, so that even if the sliding table gas claw I19 clamps the flower seedling 21 which is not horizontal, namely, the angle between the sliding table gas claw I19 and the sliding table gas claw I19 is larger than 90 degrees, the sliding table gas claw II 20 still can turn the flower seedling 21 into vertical downwards on the premise of not exceeding 90 degrees in rotation, and of course, the premise of not exceeding 90 degrees between the flower seedling 21 and the sliding table gas claw II 20 when the flower seedling 21 is turned over onto the sliding table gas claw II 20. When the angle between the flower seedling 21 and the sliding table gas claw II 20 is larger than 90 degrees when the flower seedling 21 is inverted to the sliding table gas claw II 20, the conventional seedling taking mechanism 4 is inevitably larger than 90 degrees when the single rotating shaft is adopted to rotate and adjust the direction, the rotating angle of the sliding table gas claw II 20 in the technical scheme of the invention is also larger than 90 degrees, but is inevitably smaller than the rotating angle of the seedling taking mechanism 4 in the prior art, the difference of the angles is the key that the technical scheme of the invention keeps the flower seedling 21 not damaged, and is the path saved by starting the work of the flower seedling from clamping, meanwhile, more space capable of adjusting the angle is reserved, the adjustable space is larger than 180 degrees, and the comparison is carried out by a chart.

When the angle between the flower seedling 21 and the sliding table air claw II 20 is more than 90 degrees, the angle is set to be 100 degrees, as shown in figure 15The length of the sliding table air claw II 20 is 10 units, the mass of the sliding table air claw II and the flower seedling is 10 units, and the precompensation angle is 20 degrees, so that the height difference delta H in the prior art ₅ =10+10 sin10=11.7 units, the height difference Δh of the present application ₆ =10-10×sin30=10-10×1.7=8.3 units, then the work required to overcome gravity is: w=mg ΔH, work W performed by the prior art ₅ 10×10×11.7=1170 units, work W performed by the present application ₆ =10×10×8.3=830 units. Obviously W ₆ Less than W ₅ The application has higher efficacy.

When the double-claw seedling taking cuttage is adopted, the orientation mechanism 5 has compensation of a certain angle in advance, so that when flower seedlings with different angles are adjusted, the angle difference of the seedling taking mechanism 4 is within the compensation range when the seedlings are initially taken, the angle of the seedling taking mechanism is not required to rotate by 90 degrees from the vertical position, more importantly, the angle of the time rotation adjustment of the flowers is larger than 180 degrees due to the compensation, the adjustment allowance is larger, and the flower seedlings are more convenient to protect. The orientation mechanism 5 is ready when the seedling picking mechanism 4 picks up the seedlings, and the whole process is carried out continuously, so that the overlapping time is omitted, namely the time for optimizing and improving the mechanical efficiency is omitted, the time is the air machine operation, the work of the seedling gravitational potential energy for adjusting the distance is omitted under the condition of large clamping quality, and the equipment efficiency is higher. As shown in fig. 12, where the a section is a time of taking seedlings extending downward, the b section is a rotation angle compensation time, and the c section is a rotation adjustment time. As can be seen from the comparison of the two time sequences, the time sequence 1 is the time of single-claw cutting in the prior art, each step of the time sequence is needed to be carried out, the time sequence 2 is the time of double-claw cutting, wherein the time of b-section rotation angle compensation is carried out simultaneously when the a-section downwards extends out for taking seedlings, the time of c-section rotation adjustment is reduced because the rotation angle is small, two comparison diagrams can intuitively show that the cutting efficiency time is greatly reduced and the cutting efficiency is greatly improved because the margin of angle adjustment is large by adopting the application.

Moreover, this device is through adopting the action structure like people's both hands, one stably picks up or presss from both sides and gets flowers seedling 21, another adjusts when exchanging flowers seedling 21, this kind of mode structure not only can accomplish the angular direction adjustment of flowers seedling, avoid flowers seedling 21 because the loss of cuttage failure, simultaneously, utilize directional and this time quantum of downward cuttage after exchanging, get flowers seedling 21 that seedling mechanism 4 picked up or pressed from both sides again, utilize this process to realize continuous uninterrupted work, reduce the intermediate time, avoid causing the cuttage failure when angular adjustment is not coming, and then improve work efficiency. The device adopts the slider rocker to perform compensation adjustment on the rotation angle in advance, so that the device does not apply work for a period of time after clamping flower seedlings, and the final lifting height is reduced, thereby reducing the working time and power of the device for overcoming gravitational potential energy, and further improving the mechanical efficiency of the device

Fourth embodiment:

the flower cutting device as shown in fig. 2, 8 and 9 comprises a frame 1 connected with a mechanical arm, wherein the frame 1 is provided as a fork frame type frame, one end of the upper part of the frame 1 is fixedly connected with the mechanical arm through threads or is magnetically adsorbed to be connected with or is adhered to a mechanical arm joint 16, and the frame 1 is fixedly connected with the mechanical arm through the mechanical arm joint 16 through threads or is magnetically adsorbed to be connected with or adhered to the mechanical arm. Cantilever bearing II 15 that the location was used is inlayed to frame 1 right lower extreme, connects on cantilever bearing II 15 to set up dead axle 8, and cantilever 2 is set up through cantilever bearing I14 switching on the dead axle 8, and cantilever 2 sets up to a fork or box type cantilever. In the above two embodiments, the pneumatic telescopic device and the electric telescopic device are respectively adopted as the displacement mechanisms of the driving mechanism 3, the seedling taking mechanism 4 and the orientation mechanism 5, and the telescopic mechanisms such as the pneumatic telescopic device and the electric telescopic device have unique advantages and disadvantages and can be replaced by other displacement mechanisms according to actual requirements, for example, a sliding block mechanism is adopted to realize stroke and the like for the convenience of back and forth stroke control. Specifically, a sliding block mechanism is vertically and fixedly arranged at the bottom of the cantilever 2 in an inverted mode and is used as a displacement mechanism of the sliding table air claw II 20 and the sliding table air claw I19. On the basis of the third embodiment, the screw slider mechanism may be replaced with a crank slider mechanism as shown in fig. 8 or a rack-and-pinion slider mechanism or fig. 9. When the slider mechanism is the rack and pinion slider mechanism of fig. 8, it includes the drive motor 34, the slider 37, the rack 38, the rack slot 39, the pinion 310, and the rack 311. The rack 38 can be L-shaped according to the requirement, a rack groove 39 is arranged at the bottom of the rack 38, a rack 311 is arranged in the rack groove 39 by a naval force, the rack 311 is meshed with a gear 310, and the gear 310 is arranged on a vertical plate of the rack 38 in a switching way and is connected with an output shaft of the driving motor 34. When the slider mechanism is the slider-crank mechanism of fig. 9, it includes drive slide rail 35, slider 37, crank 312, connecting rod 313, and crank 312 is driven by driving motor 34 and is switched in the one end of drive slide rail 35, and drive slide rail 35 is gone up to slide and is set up slider 37, and slider 37 passes through connecting rod 313 and connects crank 312 and constitute slider-crank mechanism. Other components are the same as those of the third embodiment, and are not described in detail in this embodiment, and those skilled in the art may still modify the technical solutions described in the foregoing embodiments or substitute some of the technical features thereof.

Fifth embodiment:

the flower cutting device shown in fig. 2 comprises a frame 1 connected with a mechanical arm, wherein the frame 1 is arranged as a fork frame type frame, one end of the upper part of the frame 1 is fixedly connected with the mechanical arm through threads or is in magnetic adsorption connection or is in bonding connection with a mechanical arm joint 16, and the frame 1 is in threaded fastening connection with the mechanical arm through the mechanical arm joint 16 or is in magnetic adsorption connection or bonding. Cantilever bearing II 15 that the location was used is inlayed to frame 1 right lower extreme, connects on cantilever bearing II 15 to set up dead axle 8, and cantilever 2 is set up through cantilever bearing I14 switching on the dead axle 8, and cantilever 2 sets up to a fork or box type cantilever. In the above embodiments, the technical solutions disclose several corresponding rigid displacement mechanisms of the driving mechanism 3 and the seedling taking mechanism 4 and the orientation mechanism 5. In the invention, the displacement mechanism of the seedling taking mechanism 4 only needs to move downwards or upwards and carries a certain dead weight, so that the displacement mechanism can also select a telescopic rope driven by a winch or an electric hoist to drive the sliding table air claw I19 to move, the rope is only required to be fixed on the sliding table air claw I19, and the flexible displacement mechanism has the greatest advantage of avoiding that the sliding table air claw I19 directly sticks out a large number of flower seedlings due to overlong stretching in the process of stretching downwards, and the sliding table air claw I19 falls down under the dead weight when the electric hoist or the winch is used for hanging, so that no extra downward pressure is generated. Thus, a flexible displacement mechanism is also an alternative that can be selected as desired. Other components are the same as those of the fourth embodiment, and are not described in detail in this embodiment, and it is still possible for those skilled in the art to modify the technical solutions described in the foregoing embodiments or to replace some of the technical features thereof with others.

Specific embodiment six:

a flower cutting device as shown in fig. 2 and 10 or 11, comprising a frame 1 for connecting with a mechanical arm, wherein the frame 1 is configured as a fork frame type frame, one end of the upper portion of the frame 1 is fixedly connected with the mechanical arm through threads or is magnetically adsorbed to be connected with or is adhered to a mechanical arm joint 16, and the frame 1 is fixedly connected with the mechanical arm through the mechanical arm joint 16 through threads or is magnetically adsorbed to be connected with or adhered to the mechanical arm. Cantilever bearing II 15 that the location was used is inlayed to frame 1 right lower extreme, connects on cantilever bearing II 15 to set up dead axle 8, and cantilever 2 is set up through cantilever bearing I14 switching on the dead axle 8, and cantilever 2 sets up to a fork or box type cantilever. In the above embodiments, the technical solutions disclose several corresponding rigid displacement mechanisms of the driving mechanism 3 and the seedling taking mechanism 4, and rigid displacement mechanisms of the orientation mechanism 5 and flexible displacement mechanisms of the seedling taking mechanism 4. The invention discloses a sliding table gas claw I19 and a sliding table gas claw II 20 which are used as opening and closing mechanisms of a seedling taking mechanism 4 and a directional mechanism 5, and in essence, the technical scheme of the invention is adopted to achieve the purpose of reversing and exchanging flower seedlings from the seedling taking mechanism 4 to the directional mechanism 5 and simultaneously carrying out directional, so that the opening and closing mechanisms for clamping or picking up the flower seedlings by the seedling taking mechanism 4 and the directional mechanism 5 are more selected, and the sliding table gas claw opening and closing clamping mode is disclosed in the embodiments, and in fact, an electric mechanical clamp or an electric mechanical claw can be adopted according to the requirements. The electromechanical clamp shown in fig. 10 comprises a clamping slide rail 41, a clamping motor 42, clamping pieces 43 and a double-head screw 44, wherein the clamping slide rail 41 is connected with a double-rod cylinder and can move along with the action of the double-rod cylinder, two clamping pieces 43 are arranged in the clamping slide rail 41 in a sliding manner, the two clamping pieces 43 are in threaded connection with two ends of the double-head screw 44, the clamping motor 42 is arranged at one end of the clamping slide rail 41 and is connected with the double-head screw 44, and therefore the clamping motor 42 can be rotated forward or reversely to realize the opening and closing clamping of the two clamping pieces 43. Another alternative is a secondary electric gripper, such as the one shown in fig. 11, comprising a gripper blade 45, a fixing member 46, a connecting shaft 47, a gripper motor 48, a gripper spring 49, a gripper shaft 410. Two symmetrical claw sheets 45 are rotatably connected at two ends of a fixing piece 46, a claw shaft 410 is arranged in the middle of the fixing piece 46 in a threaded switching manner, the claw shaft 410 is connected to the input end of a claw motor 48, the claw motor 48 is fixedly connected to a displacement mechanism, one end of each claw sheet 45 is connected with a connecting shaft 47 in a switching manner, one end of each connecting shaft 47 is connected to a casing or a rack of the claw motor 48 in a switching manner, and a spring claw spring 49 is arranged between the claw motor 48 and the fixing piece 46. In this way, the claw motor 48 rotates to drive the claw shaft 410 to rotate and stretch in the fixing piece 46, so that the claw piece 45 is opened and closed under the driving of the connecting shaft 47, and of course, the claw motor 48 and the claw shaft 410 can be replaced by pneumatic retractors or other mechanical structures capable of realizing opening and closing. Other components are the same as those of the fourth embodiment, and are not described in detail in this embodiment, and it is still possible for those skilled in the art to modify the technical solutions described in the foregoing embodiments or to replace some of the technical features thereof with others.

Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.

Specific embodiment seven:

a cutting method for cutting flower seedlings by adopting the cutting device in the embodiment comprises the following steps:

s1, preparing a flower seedling stack which is horizontally placed; the flower seedlings are piled in a container or put in a specified position to be swung out.

S2, suspending a flower cutting device above the flower seedling stack; specifically, the seedling taking mechanism 4 is moved to the upper side of the flower seedling stack through the mechanical arm, so that the clamp or claw in the seedling taking mechanism 4 can downwards extend into the flower stack to clamp the flower seedlings after the telescopic device stretches out and draws back.

S3, clamping and inverting the flower seedlings by using the flower cutting device, and positioning the flower seedlings so that cutting ends of the flower seedlings are vertically downward; the method is realized by the following three steps:

s3-1, controlling the seedling taking mechanism 4 to extend downwards and pick up flower seedlings; in the step of controlling the seedling taking mechanism 4 to extend and pick up flower seedlings, the extending and retracting of the seedling taking mechanism 4 is controlled to enable the air claw to be in an open state firstly, meanwhile, the air cylinder is in a retracting state, in the working process, the air cylinder is inflated to enable the telescopic end to extend, the telescopic end is stopped when reaching a telescopic set value, meanwhile, the air claw is closed to clamp the flower seedlings and hold the flower seedlings, and then, the air cylinder is controlled to unload air to enable the telescopic end to retract. At the same time, the orientation mechanism 5 is operated at the same time in step S3-1.

S3-2, controlling the seedling taking mechanism to retract, and simultaneously controlling the directional mechanism to rotate to reverse the seedling taking mechanism to exchange flower seedlings; in the step, the cylinder is controlled to discharge air so that the telescopic end is retracted, the cylinder of the driving mechanism 3 is inflated and extended, the air claw on the orientation mechanism 5 is opened while the extension is performed, the whole orientation mechanism 5 is driven to shake to the seedling taking mechanism 4 by the cantilever 2 while the cylinder of the driving mechanism 3 is inflated and extended, the cylinder of the orientation mechanism 5 is controlled to be inflated and extended to the flower seedling after the shaking position is in the set position, and the next step is performed after the set position is reached.

S3-3, controlling the adding of the orientation mechanism to hold the flower seedlings and controlling the driving mechanism to adjust the rotation direction of the orientation mechanism to enable the flower seedlings to vertically downwards; in the step, after the air claw of the orientation mechanism 5 reaches the set position, the air claw is controlled to hold the flower seedlings and hold the flower seedlings, and meanwhile, the air claw of the seedling taking mechanism 4 is opened and returned. After holding the flower seedlings, the air cylinder of the driving mechanism 3 discharges air and retracts, the cantilever 2 is driven to drive the whole directional mechanism 5 to rotate the flower seedlings, so that the flower seedlings are adjusted to be in a state that the cutting ends are vertically downward and are held, and when the flower seedlings reach a set position, the next step is carried out.

S4, controlling the mechanical arm to act downwards to insert flower seedling skewers into the plug 22; after the above steps are completed, the flowers are adjusted to a state easy to cut, and at this time, the mechanical arm is controlled to act downwards to insert the flower seedling skewers into the plug 22, so that the cutting can be completed. And finally, returning all the steps to carry out the next step S5.

And S5, returning the equipment to continue the next cycle.

In the above steps, all steps are continuously synchronized, and of course, more specific optimization is required, although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the steps, and any modifications, equivalents, improvements and etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flower cutting device comprises a mechanical arm and a seedling taking mechanism (4) for picking up flower seedlings; the method is characterized in that: comprises a frame (1) connected with a mechanical arm, and a seedling taking mechanism (4) is arranged at the front end of the frame (1); the orientation mechanism (5) is used for inverting the flower seedlings from the seedling taking mechanism (4) and orienting the flower seedlings, and the orientation mechanism (5) is rotatably arranged at the rear end of the frame (1); the device comprises a driving mechanism (3) for driving an orientation mechanism (5) to reverse flower seedlings from a seedling taking mechanism (4), wherein the driving mechanism (3) is arranged on a frame (1) to drive the orientation mechanism (5) to rotate on the frame (1), the driving mechanism (3) is rotationally connected with one end of the orientation mechanism (5), and the orientation mechanism (5) and the driving mechanism (3) form a sliding block rocker mechanism.

2. A flower cutting apparatus according to claim 1, wherein: the directional mechanism (5) is rotationally connected with the frame (1) through the cantilever (2), the directional mechanism (5) is arranged at the lower end of the cantilever (2), and the cantilever (2) is rotationally arranged on the frame (1) and rotationally connected with the end head of the action end of the driving mechanism (3); the driving mechanism (3) is used for adjusting the rotation angle of the cantilever (2) and is a rigid displacement mechanism.

3. A flower cutting apparatus as set forth in claim 2, wherein: the rigid displacement mechanism is a travel telescopic mechanism or a sliding block mechanism and is rotationally connected with the frame (1) through a connecting piece.

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

5. A flower cutting apparatus as set forth in claim 4, wherein: the connection part of the frame (1) and the movable cylinder seat (6) is provided with an inclined supporting beam, and the movable cylinder seat (6) is arranged in the middle of the inclined supporting beam.

6. A flower cutting apparatus as set forth in claim 2, wherein: the cantilever (2) is arranged in the middle of the frame (1), a cantilever bearing (14) is arranged at the joint of the frame (1) and the cantilever (2), and the cantilever (2) is arranged on the positioning cantilever bearing (14) at the right lower end of the frame (1) through a dead axle (8).

7. A flower cutting apparatus as set forth in claim 6, wherein: the machine frame (1) and the cantilever (2) are arranged as a box or fork frame component for supporting, and the cantilever (2), the seedling taking mechanism (4) and the orientation mechanism (5) are positioned at the inner side of the machine frame (1).

8. A flower cutting apparatus as set forth in claim 7, wherein: the seedling taking mechanism (4) comprises a first displacement mechanism for adjusting the distance, and one end of the first displacement mechanism is fixedly arranged at the front end of the frame (1); the first opening and closing mechanism is used for fixing flower seedlings, and one end of the first opening and closing mechanism is arranged at the bottom of the displacement mechanism and is positioned below the frame (1);

the orientation mechanism (5) comprises a second displacement mechanism for adjusting the distance along, and the second displacement mechanism is rotatably arranged at the rear end of the frame (1); the second opening and closing mechanism is used for fixing flower seedlings, and one end of the second opening and closing mechanism is arranged at the bottom of the second displacement mechanism and is positioned below the frame (1).

9. A flower cutting apparatus as set forth in claim 8, wherein: the first displacement mechanism adjusts the distance between the first opening and closing mechanism and the frame (1) and is a rigid displacement mechanism or a flexible displacement mechanism; the second displacement mechanism adjusts the distance between the second opening and closing mechanism and the frame (1) and is a rigid displacement mechanism.

10. A method of cutting flowers using the flower cutting device according to any one of claims 1 to 9, characterized in that: the method comprises the following steps:

s1, preparing a flower seedling stack which is horizontally placed;

s3, suspending a seedling taking mechanism (4) above the flower seedling stack, and simultaneously opening the seedling taking mechanism (4);

s3-1, controlling the seedling taking mechanism (4) to extend downwards and pick up flower seedlings;

s3-2, controlling the seedling taking mechanism (4) to retract, and simultaneously controlling the directional mechanism (5) to rotate to the seedling taking mechanism (4) to reversely exchange flower seedlings;

s3-3, controlling the orientation mechanism (5) to clamp the flower seedlings and controlling the driving mechanism (3) to adjust the rotation direction of the orientation mechanism (5) so as to enable the flower seedlings to vertically downwards;

s4, controlling the mechanical arm to act downwards to insert flower seedlings into the plug tray (22);

and S5, returning the equipment to continue the next cycle.