CN110214542A - A kind of field planting plate vegetable soilless culture harvesting robot - Google Patents
A kind of field planting plate vegetable soilless culture harvesting robot Download PDFInfo
- Publication number
- CN110214542A CN110214542A CN201910339959.0A CN201910339959A CN110214542A CN 110214542 A CN110214542 A CN 110214542A CN 201910339959 A CN201910339959 A CN 201910339959A CN 110214542 A CN110214542 A CN 110214542A
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- China
- Prior art keywords
- vegetables
- conveyer belt
- field planting
- plate
- dish
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a kind of field planting plate vegetable soilless culture harvesting robots, belong to agricultural automation apparatus field.The machine includes transport establishment, embraces dish transfer device, vegetables root cutter structure, chopping board separate transport mechanism.The bar shaped field planting plate for planting mature vegetables is placed on conveyer belt, conveyer belt, which is transmitted to, to be embraced at dish transfer device, it embraces dish gripper to hold vegetables tightly, be fed forward simultaneously, vegetables root keeps vacant state, rotary cutter cuts off vegetable root system, vegetables continue to driving front, and chopping board separating mechanism makes to be colonized plate disengaging vegetables main body, fall on field planting plate transferring platform, and then slide to conveyer belt II, vegetables are then directly fallen on conveyer belt III by vegetables transferring platform.The present invention meets to the harvest of vegetable soilless culture, and then carries out disinfection packaging to the vegetables of harvest；Bar shaped field planting plate is cleaned, the processes such as stacking.The vegetables integrity degree that the present invention harvests is high, and the degree of automation is higher, reduces the labor intensity of worker, stable and reliable for performance.
Description
Technical field
The present invention relates to a kind of field planting plate vegetable soilless culture harvesting robots, belong to agricultural automation apparatus field.
Background technique
With the propulsion of China's agricultural modernization, the following vegetable cultivation forward direction batch production direction is developed, and water planting and mist training
Main body is accounted in batch production soilless cultivation planting patterns.Vegetable aquaculture refers to that most of root growth in nutrient solution, only passes through
Nutrient solution provides moisture, nutrient, oxygen for it, is different from the vegetables cultivated under conventional soil planting form；Mist training is benefit
By nutrient liquid atomizing be small droplet shape with spraying device, be directly injected to root system of plant with moisture needed for providing plant growth and
A kind of cultivation technique without soil of nutrient.The vegetable growth period planted through the above way is short, rich in necessary to a variety of human bodies
Vitamin and mineral.Although China is applied with regard to greenhouse soilless culture technology, since China is to batch production temperature
The research of room cultivation technique without soil and application starting evening, aggregate level is lower, at present mostly manual work；It is planted certainly in greenhouse vegetable
In dynamicization assembly line, vegetable harvesting machine device people is one of its core work component, therefore, to improve China's soilless cultivation plantation
The degree of automation and production efficiency, the highly desirable a set of greenhouse soilless culture vegetable harvesting machine device people of exploitation.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of field planting plate vegetable soilless culture harvesting robot devices, can receive
It obtains and is planted in mature vegetables on bar shaped field planting plate；The plant automation degree is high, and perfect in shape and function, performance is stablized, achievable vegetables
Complete harvest, reduces the use of manpower to a certain extent, effectively improves working efficiency.
The present invention mainly adopts the following technical scheme that realize:
A kind of field planting plate vegetable soilless culture harvesting robot, including transport establishment, armful dish transfer device, vegetables root cutter
Structure and chopping board separate transport mechanism；
Transport establishment includes rack 1, retarder 2, motor I3, conveyer belt I4, conveyer belt I rib 12 and L shape connecting plate
I13；Rack 1 plays a supportive role, and gear-box 27 is located at the lower part of transport establishment；Retarder 2, motor I3 are installed in conveyer belt I4
On, conveyer belt I4 is fixed in rack 1 by L shape connecting plate I13, and conveyer belt I rib 12 is mounted on the two sides conveyer belt I4；
Vegetables transfer device 6 is embraced dish gripper I28 and is embraced dish gripper II29 composition by upper end belt 14, lower end belt 15；On
End belt 14 and lower end belt 15 are installed by dislocation, and the distance of dislocation is the distance embraced between dish gripper or more elongation bar；
It embraces dish gripper I28 and belt 14 outside in upper end is fixed on by upper end elongated portion, lower end skin is fixed on by lower end elongated portion
On the outside of band 15, armful dish gripper II29 mounting means is identical as dish gripper I28 is embraced, and embraces dish gripper I28 and armful dish gripper II29 is symmetrical
It is arranged in the two sides of conveyer belt I4；
Vegetables root cutter structure 7 is by motor II21, isolation board 22, rotary cutter 23, gear-box protective cover 24 and gear-box 27
Composition；Gear-box 27 is mounted in rack 1, and rotary cutter 23 stretches out driven axis connection, motor by shaft coupling and gear-box 27
II21 installation is installed on the driving shaft of gear-box 27 by shaft coupling, and gear-box protective cover 24 is installed on the outer of gear-box 27
Side, isolation board 22 are mounted in rack 1；Chopping board separate transport mechanism 8 is colonized plate and is accepted by conveyer belt II9, conveyer belt III10
Platform 16, vegetables transferring platform 17 are colonized plate transferring platform 18, conveyer belt II rib 19, conveyer belt III rib 20, chopping board point
Off member 25, L shape connecting plate II26 composition；Chopping board separation member 25 is connect with L shape connecting plate II26, and L shape connecting plate II26 passes through spiral shell
Bolt is fixed in rack 1, and field planting plate bearing platform 16 is mounted between vegetables root cutter structure 7 and chopping board separating mechanism 8, and vegetables turn
Fortune platform 17 is mounted on the body of vegetables transfer device, and field planting plate transferring platform 18 is bolted in rack 1；Conveying
Band II rib 19 is mounted on the side conveyer belt II9, and the two sides conveyer belt III10 are mounted on conveyer belt II rib 19；
Vegetables harvest starts, and has the bar shaped field planting plate 11 of vegetables 5 to be placed on conveyer belt I4 field planting, motor I3 driving conveying
Band I4 starts to work, and conveyer belt I rib 12 prevents from toppling over during transportation；Field planting has the bar shaped field planting plate 11 of vegetables 5
After leaving transport establishment, continue to move at vegetables transfer device 6, bar shaped be colonized plate 11 on vegetables 5 by embrace dish gripper I28 and
It embraces dish gripper II29 to embrace one by one, embraces dish gripper I28, embraces dish gripper II29 under the drive of upper end belt 14 and lower end belt 15
It embraces vegetables 5 to travel forward, vegetables 5 keep vacant state by vegetables transfer device 6；
Motor II21 driving rotary cutter 23 makes rotating motion, and 5 root system of vegetables being exposed to outside bar shaped field planting plate 11 is cut
It removes；
The removed vegetables 5 of root system still stay on bar shaped field planting plate 11, vegetables 5 vegetables transfer device 6 be fed forward to
At chopping board separating mechanism 8, vegetables 5 separate with bar shaped field planting plate 11, and bar shaped is colonized plate 11 in 25 moved beneath of chopping board separation member, vegetable
Dish 5 then keeps former motion state to travel forward, and bar shaped field planting plate 11 completely disengages vegetables 5 and falls by field planting plate bearing platform 16
It is final to slide to conveyer belt III10 at field planting plate transferring platform 18, it is delivered to field planting plate cleaning machine；Vegetables leave vegetable
Dish transfer device 6 is fallen on conveyer belt II9, is delivered to packing shop.
Conveyer belt I rib 12 in transport establishment is rubber material close to 6 one end of vegetables transfer device, embraces dish gripper I28
It is first contacted with rubber end with armful dish gripper II29, as vegetables 5 move, embraces dish gripper I28 and armful dish gripper II29 is complete again
Vegetables 5 are embraced, 12 end rubber of conveyer belt I rib ensure that vegetables 5 in transfer process, and the dish leaf of vegetables 5 is not damaged.
Upper end belt 14 need to keep synchronous with 15 motion state of lower end belt, and the biography of upper end belt 14 and lower end belt 15
Send speed consistent with conveyer belt I4.
Planting patterns on bar shaped field planting plate 11 can be applied to water planting, mist is trained in vegetable three-dimensional planting mode.
The present invention can obtain it is following the utility model has the advantages that
The efficiency of crop of vegetables is improved, and can be reduced labor's quantity, saved cost；
Vegetable harvesting machine device people's cutter working method is rotary motion, and number of cutters is more, can reduce replacement cutter number,
Improve reliability.
Detailed description of the invention
Fig. 1 is two isogonism shaft side figure of complete machine of the present invention or so；
Fig. 2 is complete machine forward sight structure chart of the present invention；
Fig. 3 is that the present invention cuts root, chopping board separating mechanism structural schematic diagram；
Fig. 4 is vegetables transfer device structural schematic diagram of the present invention；
Fig. 5 is that the present invention embraces dish gripper structural schematic diagram；
In figure: 1 rack, 2 retarders, 3 motor I, 4 conveyer belt I, 5 vegetables, 6 vegetables transfer devices, 7 vegetables root cutter structures,
8 chopping board separating mechanisms, 9 conveyer belt II, 10 conveyer belt III, 11 bar shapeds are colonized plate, 12 conveyer belt I ribs, 13L shape connecting plate I,
14 upper end belts, 15 lower end belts, 16 field planting plate bearing platforms, 17 vegetables transferring platforms, 18 field planting plate transferring platforms, 19 conveyings
Band II rib, 20 conveyer belt III ribs, 21 motor II, 22 isolation boards, 23 rotary cuttves, 24 gear-box protective covers, 25 chopping boards point
Off member, 26L shape connecting plate II, 27 gear-boxes, 28 armfuls of dish grippers I, 29 armfuls of dish gripper II.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
As shown in Figure 1 and Figure 2, the invention patent is a kind of field planting plate vegetable soilless culture harvesting robot, and feature exists
In: including transport establishment, embrace dish transfer device, vegetables root cutter structure and chopping board separate transport mechanism；As shown in Figure 1,1 He of rack
Conveyer belt I4 is the main body in transport establishment；Retarder 2, motor I3 are mounted on conveyer belt I4, and conveyer belt I4 is connected by L shape
Plate I13 is fixed in rack 1, and conveyer belt I rib 12 is mounted on the two sides conveyer belt I4；It can prevent from inclining during transportation
?；Vegetables harvest starts, and has the bar shaped field planting plate 11 of vegetables 5 to be placed on conveyer belt I4 field planting, vegetables 5 are fed forward.
As Figure 1 and Figure 4, upper end belt 14 in 15 installation process of lower end belt, needs arranged in dislocation, and dislocation distance is to embrace
Dish gripper extends span up and down；It embraces dish gripper I28 and belt 14 outside in upper end is fixed on by upper end elongated portion, under
It holds elongated portion to be fixed on 15 outside of lower end belt, embraces dish gripper I28, armful dish gripper II29 knot composition mirror surface is symmetrical, embraces dish hand
Pawl II29 mounting means is identical as dish gripper I28 is embraced；Bar shaped field planting plate 11 leaves transport establishment, moves to vegetables transfer device 6
Place, bar shaped are colonized the vegetables 5 on plate 11 and are embraced dish gripper I28, embrace dish gripper II29 and embrace one by one, vegetables 5 can keep hanging shape
State；As shown in figure 3, motor II21 driving rotary cutter 23 makes rotating motion around its axis, vegetables 5 will be by that can will be exposed to bar shaped
The root system excision being colonized outside plate 11.
As shown in Figure 1, Figure 2, Figure 3 shows, chopping board separation member 25 is connect with L shape connecting plate II26, and L shape connecting plate II26 passes through spiral shell
Bolt is fixed in rack 1, and field planting plate bearing platform 16 is mounted between vegetables root cutter structure 7 and chopping board separating mechanism 8, and vegetables turn
Fortune platform 17 is mounted in vegetables transfer device rack, and field planting plate transferring platform 18 is bolted in rack 1.Root system quilt
The vegetables 5 of excision still stay on bar shaped field planting plate 11, and vegetables 5 are fed forward in vegetables transfer device 6 to chopping board separating mechanism 8
Place, vegetables 5 separate with bar shaped field planting plate 11, and bar shaped is colonized plate 11 in 25 moved beneath of chopping board separation member, and vegetables 5 then keep former fortune
Dynamic state travels forward, and bar shaped field planting plate 11 completely disengages vegetables 5 and falls by field planting plate bearing platform 16 in field planting plate transhipment
It is final to slide to conveyer belt III10 at platform 18, it is delivered to field planting plate cleaning machine；Vegetables leave vegetables transfer device 6 and fall
It falls on conveyer belt II9, is delivered to packing shop.
Claims (5)
1. a kind of field planting plate vegetable soilless culture harvesting robot, it is characterised in that: including transport establishment, embrace dish transfer device,
Vegetables root cutter structure and chopping board separate transport mechanism；
Transport establishment includes rack (1), and retarder (2), motor I (3), conveyer belt I (4), conveyer belt I rib (12) and L shape connect
Fishplate bar I (13)；Rack (1) plays a supportive role, and gear-box (27) is located at the lower part of transport establishment；Retarder (2), motor I (3) are equal
It is mounted on conveyer belt I (4), conveyer belt I (4) is fixed on rack (1) by L shape connecting plate I (13), conveyer belt I rib
(12) conveyer belt I (4) two sides are mounted on；
Vegetables transfer device (6) is embraced dish gripper I (28) and is embraced dish gripper II (29) by upper end belt (14), lower end belt (15)
Composition；Upper end belt (14) and lower end belt (15) are installed by dislocation, and the distance of dislocation is to embrace dish gripper to extend up and down
Distance between bar；It embraces dish gripper I (28) to be fixed on the outside of upper end belt (14) by upper end elongated portion, passes through lower end elongated portion
Divide and be fixed on the outside of lower end belt (15), armful dish gripper II (29) mounting means is identical as dish gripper I (28) are embraced, and embraces dish gripper I
(28) it and embraces dish gripper II (29) and is arranged symmetrically in the two sides of (4) conveyer belt I；
Vegetables root cutter structure (7) is by motor II (21), isolation board (22), rotary cutter (23), gear-box protective cover (24) and tooth
Roller box (27) composition；Gear-box (27) is mounted on rack (1), and rotary cutter (23) is stretched out by shaft coupling and gear-box (27)
Driven axis connection, motor II (21) installation are installed on the driving shaft of gear-box (27) by shaft coupling, gear-box protective cover
(24) it is installed on the outside of gear-box (27), isolation board (22) is mounted on rack (1)；Chopping board separate transport mechanism (8) is by defeated
Band II (9) is sent, conveyer belt III (10) is colonized plate bearing platform (16), vegetables transferring platform (17), is colonized plate transferring platform
(18), conveyer belt II rib (19), conveyer belt III rib (20), chopping board separation member (25), L shape connecting plate II (26) composition；Dish
Plate separation member (25) is connect with L shape connecting plate II (26), and L shape connecting plate II (26) is bolted on rack (1), field planting
Plate bearing platform (16) is mounted between vegetables root cutter structure (7) and chopping board separating mechanism (8), vegetables transferring platform (17) installation
On the body of vegetables transfer device, field planting plate transferring platform (18) is bolted on rack (1)；Conveyer belt II rib
(19) it is mounted on conveyer belt II (9) side, conveyer belt III (10) two sides are mounted on conveyer belt II rib (19).
2. a kind of field planting plate vegetable soilless culture harvesting robot according to claim 1, it is characterised in that: vegetables harvest
Start, there is bar shaped field planting plate (11) of vegetables (5) to be placed on conveyer belt I (4) field planting, motor I (3) driving conveyer belt I (4) is opened
Beginning work, conveyer belt I rib (12) prevent from toppling over during transportation；Field planting has bar shaped field planting plate (11) of vegetables (5)
After leaving transport establishment, continue to move at vegetables transfer device (6), bar shaped is colonized the vegetables (5) on plate (11) and is embraced dish hand
Pawl I (28) and embrace a dish gripper II (29) and embrace one by one, embrace dish gripper I (28), embrace dish gripper II (29) in upper end belt (14) and
It embraces vegetables (5) under the drive of lower end belt (15) to travel forward, vegetables (5) keep hanging shape by vegetables transfer device (6)
State；
Motor II (21) driving rotary cutter (23) makes rotating motion, and will be exposed to vegetables (5) root of bar shaped field planting plate (11) outside
System's excision；
The removed vegetables (5) of root system still stay in bar shaped field planting plate (11), and vegetables (5) are defeated forward in vegetables transfer device (6)
It send at chopping board separating mechanism (8), vegetables (5) separate with bar shaped field planting plate (11), and bar shaped is colonized plate (11) in chopping board separation member
(25) moved beneath, vegetables (5) then keep former motion state to travel forward, and bar shaped field planting plate (11) completely disengages vegetables (5) warp
It crosses field planting plate bearing platform (16) to fall at field planting plate transferring platform (18), final to slide on conveyer belt III (10), conveying
Machine is cleared up to field planting plate；Vegetables leave vegetables transfer device (6) and fall on conveyer belt II (9), are delivered to packing shop.
3. a kind of field planting plate vegetable soilless culture harvesting robot according to claim 1, it is characterised in that: transport establishment
On conveyer belt I rib (12) close to vegetables transfer device (6) one end be rubber material, embrace dish gripper I (28) and armful dish gripper
II (29) is first contacted with rubber end, as vegetables (5) move, is embraced dish gripper I (28) and is embraced dish gripper II (29) complete hold again
Firmly vegetables (5), conveyer belt I rib (12) end rubber ensure that vegetables (5) in transfer process, the dish leaf of vegetables (5) not by
Damage.
4. a kind of field planting plate vegetable soilless culture harvesting robot according to claim 1, it is characterised in that: upper end belt
(14) need to keep synchronous with lower end belt (15) motion state, and the transmission speed of upper end belt (14) and lower end belt (15) with
Conveyer belt I (4) is consistent.
5. a kind of field planting plate vegetable soilless culture harvesting robot according to claim 1, it is characterised in that: bar shaped field planting
Planting patterns on plate (11) can be applied to water planting, mist is trained in vegetable three-dimensional planting mode.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810646123.0A CN108834547A (en) | 2018-06-21 | 2018-06-21 | A kind of field planting plate vegetable soilless culture harvesting robot |
| CN2018106461230 | 2018-06-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110214542A true CN110214542A (en) | 2019-09-10 |
| CN110214542B CN110214542B (en) | 2021-08-17 |
Family
ID=64203629
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810646123.0A Withdrawn CN108834547A (en) | 2018-06-21 | 2018-06-21 | A kind of field planting plate vegetable soilless culture harvesting robot |
| CN201910339959.0A Expired - Fee Related CN110214542B (en) | 2018-06-21 | 2019-04-25 | Vegetable harvesting robot for soilless culture of field planting plate |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810646123.0A Withdrawn CN108834547A (en) | 2018-06-21 | 2018-06-21 | A kind of field planting plate vegetable soilless culture harvesting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108834547A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110140513A (en) * | 2019-04-25 | 2019-08-20 | 北京城农科工科技发展有限公司 | A kind of planting groove field planting vegetables autonomous harvesting machine |
| CN110301220B (en) * | 2019-08-06 | 2023-06-13 | 重庆市农业科学院 | Pot leaf vegetable harvesting system and method |
| CN111329086B (en) * | 2020-04-10 | 2022-07-12 | 宋丹 | Harvesting device for hydroponic vegetables |
| CN115428724A (en) * | 2022-08-23 | 2022-12-06 | 苏州新农益科技有限公司 | Harvesting and transplanting integrated equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2005100413A4 (en) * | 2004-12-15 | 2005-06-23 | Withcott Group Pty Ltd | Harvesting method and apparatus for leafy vegetables or legumes |
| CN103563551A (en) * | 2013-10-10 | 2014-02-12 | 上海交通大学 | Device for automatically harvesting plug seedling vegetables |
| CN104025801A (en) * | 2014-05-23 | 2014-09-10 | 北京工业大学 | Greenhouse aeroponic culture vegetable harvesting machine |
| CN104303699A (en) * | 2014-11-14 | 2015-01-28 | 山东农业大学 | Harvesting device and method of potted leaf vegetables |
| CN104365279A (en) * | 2014-11-24 | 2015-02-25 | 北京工业大学 | Field planting plate vegetable harvesting mechanism |
-
2018
- 2018-06-21 CN CN201810646123.0A patent/CN108834547A/en not_active Withdrawn
-
2019
- 2019-04-25 CN CN201910339959.0A patent/CN110214542B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2005100413A4 (en) * | 2004-12-15 | 2005-06-23 | Withcott Group Pty Ltd | Harvesting method and apparatus for leafy vegetables or legumes |
| CN103563551A (en) * | 2013-10-10 | 2014-02-12 | 上海交通大学 | Device for automatically harvesting plug seedling vegetables |
| CN104025801A (en) * | 2014-05-23 | 2014-09-10 | 北京工业大学 | Greenhouse aeroponic culture vegetable harvesting machine |
| CN104303699A (en) * | 2014-11-14 | 2015-01-28 | 山东农业大学 | Harvesting device and method of potted leaf vegetables |
| CN104365279A (en) * | 2014-11-24 | 2015-02-25 | 北京工业大学 | Field planting plate vegetable harvesting mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108834547A (en) | 2018-11-20 |
| CN110214542B (en) | 2021-08-17 |
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