CN112166808B - Harvesting device and method for pipeline-cultivated leaf vegetables - Google Patents
Harvesting device and method for pipeline-cultivated leaf vegetables Download PDFInfo
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- CN112166808B CN112166808B CN202011144353.0A CN202011144353A CN112166808B CN 112166808 B CN112166808 B CN 112166808B CN 202011144353 A CN202011144353 A CN 202011144353A CN 112166808 B CN112166808 B CN 112166808B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
Abstract
The invention discloses a harvesting device and a harvesting method for leafy vegetables cultivated in a pipeline, wherein the harvesting device is provided with a pipeline conveyor and a bolting conveyor which are connected, the joint of a conveying platform of the pipeline conveyor and the conveying platform of the bolting conveyor is provided with at least one group of grabbing mechanical arms and at least one group of root cutting mechanisms, one side of each grabbing mechanical arm is provided with a root recoverer, a cultivation groove is conveyed by the pipeline conveyor, two guide positioning mechanisms for righting and positioning leafy vegetables are symmetrically arranged on two sides of the pipeline conveyor, and the guide positioning mechanisms are arranged in front of the grabbing mechanical arms along the conveying direction of the cultivation groove. The method comprises the steps that a cultivation groove with leaf vegetables is continuously conveyed by a pipeline conveyor, the leaf vegetables are firstly straightened and positioned by a guide positioning mechanism, then the leaf vegetables are clamped by a grabbing mechanical arm, the leaf vegetables are cut and separated by a root cutting mechanism, the separated flowering Chinese cabbage is sent out by a flowering Chinese cabbage conveyor, and roots fall into a root collector for collection. The invention can better realize the high-efficiency non-damage harvesting of the pipeline cultivated leafy vegetables.
Description
Technical Field
The invention relates to the technical field of water culture leaf vegetable harvesting, in particular to a device and a method for harvesting pipeline culture leaf vegetables.
Background
The daily diet of people in China has great consumption demand on leaf vegetables, and the yield of the leaf vegetables approximately accounts for 1/3 of the total yield of vegetables. The hydroponic leaf vegetables have the advantages of rich nutritive value, short production period, annual harvesting, cleanness, safety, high economic benefit and the like, and become the mainstream mode of leaf vegetable planting in developed countries such as Europe and America. With the increasing demand of consumers in China on high-quality green pollution-free vegetables, the scale development of hydroponic leaf vegetable production in China is rapid in recent years.
The overall dimension and the pose of each leaf vegetable growing in the cultivation groove are inconsistent, the direction of inclination or lodging relative to the cultivation groove hole is uncertain, the leaf vegetables are difficult to be taken out from the cultivation groove hole quickly and harmlessly by adopting a mechanical device, the roots are cut off, the edible flowering Chinese cabbage is partially output, and the harmlessness automatic harvesting is realized. Therefore, at present, the hydroponic leaf vegetable production at home and abroad only utilizes the conveying line to convey the cultivation tank, and the leaf vegetables still need to be harvested manually on the conveying line.
The existing automatic leaf vegetable harvesting device mainly comprises a leaf vegetable acquisition mechanism, a conveying mechanism and a root cutting mechanism, and the harvesting method is suitable for different leaf vegetable planting conditions. For example, in the 201420685297.5 application, a leaf vegetable harvesting device in the plant industry production is suitable for leaf vegetables planted in a hole tray, the leaf vegetables in the hole tray are ejected out together with a substrate by an ejector pin, the ejected leaf vegetables are guided into a clamping and conveying mechanism by a supporting divider, the leaf vegetables are clamped by conveying belts on two sides of the clamping and conveying mechanism to obliquely rise and be conveyed backwards, and the leaf vegetables conveyed to a root cutting device are subjected to root cutting under the action of a plain-edge disc rotary cutter. The application number is 202010286237.6 "a water planting leaf dish reaping apparatus", is suitable for water planting case cultivation leaf dish, presss from both sides the stem leaf at leaf dish middle part with the centre gripping pincers earlier, and rethread magnetic ring drives the centre gripping pincers and rises, and the closed root with the leaf dish of control cutting structure is got rid of, makes the rotatory 180 degrees leaf dishes after the butt root of reaping the mechanism at last collect. The application number is 201810762016.4 "a preceding position adjustable greenhouse leaf dish reaps disconnected root manipulator", is suitable for the leaf dish of planting in the greenhouse basin, and preceding motivation mechanical claw snatchs leaf dish stem portion, and rotatory arm makes it be in vertical state simultaneously the leaf dish is in the horizontality, starts cutting mechanism and amputates the leaf dish root after that, and the last contrarotation arm puts down the leaf dish after removing the root. The application number is 201921177635.3 "an automatic leaf dish reaps assembly line", is suitable for the water planting leaf dish that the field planting board was planted, carries the field planting dish that plants leaf dish earlier to the cutting device below, suppresses with the pinch roller and plants the board surely, stirs the dish leaf with dialling the dish brush after that, makes leaf dish to the side direction lodging of cyclic annular bandknife, and cyclic annular bandknife rotates under the effect of motor and cuts leaf dish, and the leaf dish after the cutting is carried away.
However, the leaf vegetable harvesting devices disclosed in the above publications have the following problems in common during actual use: the edible stems and stems of the leaf vegetables are usually clamped, so that the external stems and leaves of the leaf vegetables are easily damaged, and the economic value of the leaf vegetables is reduced; the actions of taking out and root cutting of the leaf vegetables are complex, and the harvesting efficiency is low; the harvesting operation conditions and action requirements are different from those of leaf vegetables harvested from the cultivation pipeline, and the leaf vegetables with different shapes, sizes and poses in the cultivation pipeline are difficult to adapt.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a pipeline-cultivated leaf vegetable harvesting device which can better realize efficient and nondestructive harvesting of pipeline-cultivated leaf vegetables.
The invention also aims to provide a harvesting method of the pipeline-cultivated leaf vegetables, which is realized by the device.
The technical scheme of the invention is as follows: the utility model provides a pipeline cultivation leaf dish harvesting device, including snatching the manipulator, the pipe conveyor, guiding orientation mechanism, the root-cutting mechanism, carex conveyer and root recoverer, pipe conveyor's conveying platform and carex conveyer's conveying platform meet, pipe conveyor's conveying platform and carex conveyer's conveying platform's department of meeting is equipped with at least a set of manipulator and at least a set of root-cutting mechanism of snatching, the one side of snatching the manipulator is equipped with the root recoverer, the cultivation groove is carried by pipe conveyor, pipe conveyor bilateral symmetry is equipped with two guiding orientation mechanisms of righting location leaf dish usefulness, along the direction of delivery in cultivation groove, guiding orientation mechanism locates the place ahead of snatching the manipulator. The pipeline conveyor is mainly used for continuously conveying cultivation grooves, the cultivation grooves are cultivation pipelines with a plurality of slotted holes in the surfaces, and leafy vegetables are planted in the slotted holes. The guide positioning mechanism is mainly used for righting, adjusting and positioning the leaf vegetables with inconsistent alignment postures, separating the leaves covering the surfaces of the cultivation grooves, facilitating subsequent operation, and providing a triggering effect for actions of the grabbing manipulator to further ensure timely response of the grabbing manipulator. The grabbing manipulator is mainly used as a transition mechanism between the pipeline conveyor and the bolting conveyor to complete the actions of clamping, rotary conveying, cutting and separating by matching with a root cutting mechanism, sending out the separated rootstocks and vegetable roots and the like of the leaf vegetables. The root cutting mechanism is mainly used for cutting and separating the leaf vegetables. The flowering stalk conveyor is mainly used for carrying and conveying the parts of the flowering stalks after leaf and vegetable separation. The vegetable root recoverer is mainly used for collecting rhizomes and vegetable root parts after leaf and vegetable separation.
The bolting machine is vertically or obliquely arranged on one side of the pipeline conveyor, the grabbing manipulator rotates between a conveying platform of the pipeline conveyor and a conveying platform of the bolting machine, the root cutting mechanism is arranged above the conveying platform of the bolting machine, and the opening height of the root recoverer is lower than the height of the grabbing manipulator. The installation included angle between bolt conveyer and the pipe conveyer can set up according to actual need or the equipment fixing place condition, and equipment fixing is comparatively nimble.
The guide positioning mechanism comprises a lifting guide plate and a photoelectric sensor, the lifting guide plate is fixed on a rack of the pipeline conveyor, and the photoelectric sensor is arranged on the lifting guide plate; the top surface of the lifting guide plate is inclined and is positioned above the cultivation groove.
In the guiding and positioning mechanism, the whole lifting guide plate is Z-shaped, and the shape of the inner side surface of the lifting guide plate is matched with the shape of the outer surface of the cultivation groove; along the conveying direction of the cultivation groove, the height of the top surface of the lifting guide plate gradually rises.
When each guiding and positioning mechanism is installed, one side of the lifting guide plate is fixedly connected with the rack on one side of the pipeline conveyor, the upper surface is an inclined profile, the lower surface is in the same shape as the upper surface of the cultivation groove and is installed in a fitting mode, the upper surface of the lifting guide plate can gradually lift the leaves conveyed by the lifting guide plate and unfold the leaves on the surface of the cultivation groove, the profile on the other side of the slotted hole of the lifting guide plate close to the cultivation groove can restrain the leaves to be kept in the central connecting line direction of the slotted holes in the conveying process (namely, the leaves are righted and adjusted and positioned), the tail end of the lifting guide plate is provided with a photoelectric sensor, the rhizome can be identified and sent into a signal, and the grabbing manipulator is triggered to stretch out the clamping jaw to implement positioning and grabbing actions.
The grabbing manipulator comprises a lifting assembly, a rotary assembly, a telescopic assembly and a clamping jaw assembly, the telescopic assembly is installed at the bottom of the clamping jaw assembly, the rotary assembly is installed at the bottom of the telescopic assembly, and the lifting assembly is installed at the bottom of the rotary assembly.
The clamping jaw assembly comprises an opening and closing driving portion and two clamping fingers, the two clamping fingers are symmetrically arranged, one end of each clamping finger is connected with the opening and closing driving portion, and elastic patches are arranged at the connecting positions of the tail ends of the clamping fingers and the leaf vegetables. Wherein, the elastic paster made of materials such as silica gel is pasted on the clamping face (namely the clamping finger tail end) of the clamping finger, so that the impact of instantaneous clamping on the leafy vegetables is avoided, and the clamping stability is improved.
The lifting assembly is a linear cylinder or an electric sliding table, the rotary assembly is a rotary cylinder or an electric rotary table, and the telescopic assembly is a pneumatic sliding table or an electric sliding table; the lifting assembly is internally provided with a lifting rod, the upper end of the lifting rod is fixedly connected with the bottom of the rotary assembly, the rotary assembly is internally provided with a rotary rod, the upper end of the rotary rod is connected with the bottom of the telescopic assembly, the telescopic assembly is internally provided with a sliding block and a sliding rail, the clamping jaw assembly is arranged on one side of the sliding block, and the sliding block drives the clamping jaw assembly to perform telescopic motion along the sliding rail in the horizontal direction. The power driving mechanism of the telescopic assembly is an air cylinder or a motor and is the same as a universal telescopic device, the lifting assembly is fixed on the ground, the upper end of a lifting rod of the lifting assembly is fixedly connected with a rack of the rotary assembly, the rotary rod of the rotary assembly is fixedly connected with the rack of the telescopic assembly, and a rack of the clamping jaw assembly is fixedly connected with a sliding block on the telescopic assembly, so that the clamping jaw assembly has the functions of lifting, rotating, stretching and clamping and loosening.
When the grabbing manipulator moves, the lower surface of the clamping finger is flush with the upper surface of the cultivation groove, so that the clamping finger clamps the rhizome part of the leaf vegetable, and then the lifting assembly and the rotating assembly synchronously move to enable the leaf vegetable to be lifted out of the groove hole and rotate in the conveying process, and the root part of the leaf vegetable in the cultivation groove is prevented from interfering with the cultivation groove in the taking-out process.
The root cutting mechanism comprises a cutter and a cutter frame which are connected, the cutter frame is arranged on a rack of the bolting conveyor, and the cutter is positioned above a conveying platform of the bolting conveyor. When the root cutting mechanism is installed, the cutter can rotate relative to the cutter frame, and after the cutting angle of the cutter relative to the cut leaf vegetables is adjusted, the cutter is fixedly connected with the cutter frame; the cutter frame is fixedly connected with a rack on the upper portion of the screen conveyor through a sliding groove, the relative position of the cutter relative to the upper surface of the clamp finger in the clamping jaw assembly can be adjusted during installation, the height of the lower surface of the cutter is aligned with the height of the upper surface of the clamp finger after the leaf vegetable is taken out of the cultivation groove and falls off the cultivation groove by the grabbing manipulator during root cutting, roots of the leaf vegetable are cut off at the upper surface of the clamp finger, the screen on the upper portion falls onto the screen conveyor, and the roots on the lower portion are clamped by the clamping jaws and are conveyed to the root recoverer.
The pipeline conveyor is a belt conveyor or a chain conveyor (a conveyor with a general structure can be adopted), a conveying platform of the pipeline conveyor is a planar conveying belt, a driving motor is provided with a speed regulator, and the conveying speed of the leaf vegetables can be adjusted; the young Chinese flowering stalk conveyor is also a belt conveyor or a chain conveyor (a conveyor with a general structure can be adopted), a conveying platform of the young Chinese flowering stalk conveyor is a planar conveying belt, a driving motor is provided with a speed regulator, and the output speed of the harvested young Chinese flowering stalks can be regulated; the vegetable root recoverer is a recovery bucket or a recovery box with an upward opening, and the opening of the vegetable root recoverer is positioned below a clamping jaw component of the grabbing manipulator.
The invention realizes a harvesting method of pipeline-cultivated leaf vegetables by the device, which comprises the following steps:
(1) the cultivation tank with the leaf vegetables is continuously conveyed by a pipeline conveyor, the leaf vegetables are gradually lifted by a guide positioning mechanism to cover the leaves on the surface of the cultivation tank before reaching the corresponding position of the grabbing mechanical arm, and meanwhile, the guide positioning mechanism is used for righting and positioning the fallen leaf vegetables deviated from the center;
(2) the leaf vegetables enter the corresponding position of the grabbing manipulator, the grabbing manipulator extends out and clamps the roots and stems of the leaf vegetables, and then the grabbing manipulator simultaneously carries out lifting action and rotation action to enable the roots of the leaf vegetables to be separated from the cultivation groove;
(3) the grabbing manipulator drives the leaf vegetables to rotate to the position above a conveying platform of the bolting conveyor, the root cutting mechanism is started at the moment, the leaf vegetables are cut and separated from the root and stem by the root cutting mechanism, the separated bolting falls onto the conveying platform of the bolting conveyor, and the root and stem of the leaf vegetables are clamped by the grabbing manipulator;
(4) the grabbing manipulator shrinks and rotates to the upper part of the vegetable root recoverer, then the grabbing manipulator loosens, and the roots and the rhizomes of the leaf vegetables fall into the vegetable root collector for collection.
In the step (2), when the grabbing mechanical arm clamps the leaf vegetables, the lower surface of the clamping tail end in the grabbing mechanical arm is close to the upper surface of the cultivation groove; in the step (3), when the root cutting mechanism cuts and separates the leaf vegetables, the lower surface of the tail end of the cutter in the root cutting mechanism is close to the upper surface of the clamping tail end in the grabbing manipulator.
Compared with the prior art, the invention has the following beneficial effects:
the harvesting device and method for the pipeline-cultivated leaf vegetables realize rhizome grabbing and cutting of the continuously-conveyed leaf vegetables, can adapt to harvesting of leaf vegetables with different growth positions and postures in the cultivation tank, accurately identify and position the leaf vegetables to be harvested, avoid hand grabbing collision or clamping of partial leaves of edible flowering stems of the leaf vegetables, guarantee the economic value of the leaf vegetables, and can simultaneously arrange a plurality of grabbing mechanical arms and root cutting mechanisms to realize efficient nondestructive harvesting of the pipeline-cultivated leaf vegetables.
The pipeline cultivation leaf vegetable harvesting device is provided with the guiding and positioning mechanism, leaves which are spread on the upper surface of the cultivation groove can be gradually lifted and unfolded in leaf vegetable conveying, the leaf vegetables are restrained to be kept in the central connecting line direction of each cultivation groove hole in the conveying process, the pipeline cultivation leaf vegetable harvesting device is suitable for leaf vegetables with different growth positions and postures in the cultivation groove, misjudgment of a photoelectric sensor on leaf vegetable input signals due to blocking of the leaves is avoided, the rhizome sending signals are accurately identified, and a grabbing mechanical arm is triggered to stretch into the root and stem positions of the leaf vegetables on the upper surface of the cultivation groove to implement positioning and grabbing.
This pipeline cultivation leaf dish harvesting device can be at a plurality of manipulators and the root-cutting mechanism of snatching of cultivation groove both sides overall arrangement, carries out to snatch and root-cutting high-speed continuous input leaf dish, has the efficient advantage of gathering.
According to the harvesting device and method for the pipeline-cultivated leaf vegetables, after the root and stem regions of the leaf vegetables are clamped by the clamping jaw assemblies, the leaf vegetables are taken out of the cultivation groove in the conveying process, the taken-out leaf vegetables rotate towards the direction of the fixed root cutting mechanism to cut the leaf vegetables in the root and stem regions, the leaf vegetables can be prevented from being clamped or collided with the edible flowering stalk portions in the grabbing and root cutting processes, mechanical damage can be effectively avoided, and the economic value of the leaf vegetables is guaranteed.
Drawings
Fig. 1 is a schematic overall structure diagram of the harvesting device for the pipeline cultivated leafy vegetables in the embodiment 1.
FIG. 2 is a schematic structural view of a grabbing manipulator in the pipeline cultivation leaf vegetable harvesting device.
Fig. 3 is a schematic structural diagram of a guiding and positioning mechanism in the harvesting device for the pipeline cultivated leafy vegetables.
Fig. 4 is a schematic structural diagram of a root cutting mechanism in the harvesting device for the pipeline cultivated leafy vegetables.
FIG. 5 is a schematic diagram of leaf vegetables.
Fig. 6-1 is a schematic diagram of the principle of the guide positioning mechanism for righting and positioning the leaf vegetables in the pipeline cultivation leaf vegetable harvesting method.
Fig. 6-2 is a schematic diagram of the principle of the grasping manipulator clamping the leaf vegetables in the pipeline cultivation leaf vegetable harvesting method.
Fig. 6-3 are schematic diagrams of the principle of the pipeline cultivation leaf vegetable harvesting method when the grabbing manipulator clamps the leaf vegetables to perform lifting and rotating actions.
Fig. 6-4 are schematic diagrams illustrating the principle of the root cutting mechanism for cutting and separating the leaf vegetables in the pipeline cultivation leaf vegetable harvesting method.
Fig. 6-5 are schematic diagrams illustrating the principle of the harvesting method of the pipeline cultivated leaf vegetables when the flower shoots fall into a flower shoot conveyor and are sent out after the leaf vegetables are separated.
Fig. 6-6 are schematic diagrams illustrating the principle of the pipeline-cultivated leaf vegetable harvesting method when the mechanical hand is grabbed to drive the rhizome and the root to retract after the leaf vegetable is separated.
Fig. 6-7 are schematic diagrams illustrating the principle that in the pipeline cultivation leaf vegetable harvesting method, the grabbing mechanical arm loosens, and the rootstocks and roots fall into the vegetable root collector.
Fig. 6-8 are schematic diagrams of the principle of recovery of each mechanism after harvesting of a leaf vegetable in the pipeline cultivation leaf vegetable harvesting method.
In the above figures, the components indicated by the respective reference numerals are as follows: the device comprises a pipeline conveyor 1, a flowering Chinese cabbage conveyor 2, a grabbing manipulator 3, a vegetable root recoverer 4, a root cutting mechanism 5, a cultivation groove 6, a guiding and positioning mechanism 7, a lifting assembly 8, a lifting rod 9, a rotating assembly 10, a rotating rod 11, a telescopic assembly 12, a sliding table 13, a clamping jaw assembly 14, clamping fingers 15, elastic patches 15-1, a lifting guide plate 16, a photoelectric sensor 17, a cutter 18, a cutter frame 19, a frame 20, a leaf vegetable 21, a flowering Chinese cabbage 21-1, a rhizome 21-2 and a root 21-3.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Example 1
The utility model provides a pipeline cultivation leaf dish harvesting device, as shown in figure 1, including snatching manipulator 3, pipe conveyor 1, guiding orientation mechanism 7, root-cutting mechanism 5, rape seed conveyor 2 and vegetable root recoverer 4, pipe conveyor's conveying platform and the conveying platform of rape seed conveyor meet, pipe conveyor's conveying platform and the conveying platform of rape seed conveyor's department of meeting are equipped with a set of manipulator and a set of root-cutting mechanism of snatching, one side of snatching the manipulator is equipped with the vegetable root recoverer, cultivation groove 6 is carried by pipe conveyor, pipe conveyor bilateral symmetry is equipped with two guiding orientation mechanisms that right location leaf dish usefulness, along the direction of delivery in cultivation groove, guiding orientation mechanism locates the place ahead of snatching the manipulator. The pipeline conveyer's one side is located perpendicularly to the rape stalk conveyer, snatchs the manipulator and rotates between pipeline conveyer's conveying platform and the conveying platform of rape stalk conveyer, and the transport platform top of rape stalk conveyer is located to the undercut mechanism, and the opening height of rape root recoverer is less than the height of snatching the manipulator. The installation included angle between bolt conveyer and the pipe conveyer can set up according to actual need or the equipment fixing place condition, and equipment fixing is comparatively nimble. The pipeline conveyor is mainly used for continuously conveying cultivation grooves, the cultivation grooves are cultivation pipelines with a plurality of slotted holes in the surfaces, and leafy vegetables are planted in the slotted holes. The guide positioning mechanism is mainly used for righting, adjusting and positioning the leaf vegetables with inconsistent alignment postures, separating the leaves covering the surfaces of the cultivation grooves, facilitating subsequent operation, and providing a triggering effect for actions of the grabbing manipulator to further ensure timely response of the grabbing manipulator. The grabbing manipulator is mainly used as a transition mechanism between the pipeline conveyor and the bolting conveyor to complete the actions of clamping, rotary conveying, cutting and separating by matching with a root cutting mechanism, sending out the separated rootstocks and vegetable roots and the like of the leaf vegetables. The root cutting mechanism is mainly used for cutting and separating the leaf vegetables. The flowering stalk conveyor is mainly used for carrying and conveying the parts of the flowering stalks after leaf and vegetable separation. The vegetable root recoverer is mainly used for collecting rhizomes and vegetable root parts after leaf and vegetable separation.
The concrete structure of each component mechanism is as follows:
as shown in fig. 2, the grabbing manipulator comprises a lifting assembly 8, a rotating assembly 10, a telescopic assembly 12 and a clamping jaw assembly 14, wherein the telescopic assembly is mounted at the bottom of the clamping jaw assembly, the rotating assembly is mounted at the bottom of the telescopic assembly, and the lifting assembly is mounted at the bottom of the rotating assembly. The clamping jaw assembly comprises an opening and closing driving portion and two clamping fingers 15, the two clamping fingers are symmetrically arranged, one end of each clamping finger is connected with the opening and closing driving portion, and elastic patches are arranged at the connecting positions of the tail ends of the clamping fingers and the leaf vegetables. Wherein, the clamping face of the clamping finger (namely the tail end of the clamping finger) is stuck with an elastic patch 15-1 made of materials such as silica gel, so that the instant collision impact on the leaf vegetables during clamping is avoided, and the clamping stability is improved. The lifting assembly is a linear cylinder or an electric sliding table, the rotary assembly is a rotary cylinder or an electric rotary table, and the telescopic assembly is a pneumatic sliding table or an electric sliding table; the lifting assembly is internally provided with a lifting rod 9, the upper end of the lifting rod is fixedly connected with the bottom of the rotary assembly, the rotary assembly is internally provided with a rotary rod 11, the upper end of the rotary rod is connected with the bottom of the telescopic assembly, the telescopic assembly is internally provided with a sliding block 13 and a sliding rail (not shown in the figure), the clamping jaw assembly is arranged on one side of the sliding block, and the sliding block drives the clamping jaw assembly to perform telescopic motion along the sliding rail in the horizontal direction. The power driving mechanism of the telescopic assembly is an air cylinder or a motor and is the same as a universal telescopic device, the lifting assembly is fixed on the ground, the upper end of a lifting rod of the lifting assembly is fixedly connected with a rack of the rotary assembly, the rotary rod of the rotary assembly is fixedly connected with the rack of the telescopic assembly, and a rack of the clamping jaw assembly is fixedly connected with a sliding block on the telescopic assembly, so that the clamping jaw assembly has the functions of lifting, rotating, stretching and clamping and loosening. When the grabbing manipulator moves, the lower surface of the clamping finger is flush with the upper surface of the cultivation groove, so that the clamping finger clamps the rhizome part of the leaf vegetable, and then the lifting assembly and the rotating assembly synchronously move to enable the leaf vegetable to be lifted out of the groove hole and rotate in the conveying process, and the root part of the leaf vegetable in the cultivation groove is prevented from interfering with the cultivation groove in the taking-out process.
As shown in fig. 3, two sets of guiding and positioning mechanisms are symmetrically arranged on two sides of the pipeline conveyor, each guiding and positioning mechanism comprises a lifting guide plate 16 and a photoelectric sensor 17, the lifting guide plate is fixed on a frame of the pipeline conveyor, and the photoelectric sensors are mounted on the lifting guide plate; the top surface of the lifting guide plate is inclined and is positioned above the cultivation groove. The lifting guide plate is integrally Z-shaped, and the shape of the inner side surface of the lifting guide plate is matched with the shape of the outer surface of the cultivation groove; along the conveying direction of the cultivation groove, the height of the top surface of the lifting guide plate gradually rises. When each guiding and positioning mechanism is installed, one side of the lifting guide plate is fixedly connected with the rack on one side of the pipeline conveyor, the upper surface is an inclined profile, the lower surface is in the same shape as the upper surface of the cultivation groove and is installed in a fitting manner, the inclined upper surface of the lifting guide plate can gradually lift the leaves of the conveyed leafy vegetables spread on the surface of the cultivation groove, and meanwhile, the photoelectric sensor can avoid interference of the leaf surfaces and accurately identify and position the root and stem parts of the leafy vegetables; the profile of the other side of the slotted hole of the lifting guide plate close to the cultivation groove can restrain the leaf vegetables to be kept in the central connecting line direction of each slotted hole in the conveying process (namely, the leaf vegetables are righted, adjusted and positioned), the tail end of the lifting guide plate is provided with a photoelectric sensor which can identify rootstock feeding signals and trigger a grabbing manipulator to stretch out of a clamping jaw to perform positioning grabbing action.
As shown in fig. 4, the undercut mechanism includes a cutter 18 and a cutter holder 19 connected to each other, the cutter holder is mounted on the frame of the bolting conveyor, and the cutter is located above the conveying platform of the bolting conveyor. When the root cutting mechanism is installed, the cutter can rotate relative to the cutter frame, and after the cutting angle of the cutter relative to the cut leaf vegetables is adjusted, the cutter is fixedly connected with the cutter frame; the cutter frame is fixedly connected with a rack 20 at the upper part of the bolting conveyor through a sliding chute, the relative position of the cutter relative to the upper surface of the clamp finger in the clamping jaw assembly can be adjusted during installation, the height of the lower surface of the cutter is aligned with the height of the upper surface of the clamp finger after the leaf vegetable is taken out of the cultivation groove and falls off the cultivation groove by the grabbing manipulator during root cutting, the root and the stem of the leaf vegetable are cut off at the upper surface of the clamp finger, the bolting at the upper part falls on the bolting conveyor, and the root and the stem of the lower part are clamped by the clamping jaws and are sent to a root recoverer.
In the device, the pipeline conveyor is a belt conveyor or a chain conveyor (a conveyor with a general structure can be adopted), the conveying platform is a planar conveying belt, and the driving motor is provided with a speed regulator to adjust the conveying speed of the leaf vegetables; the young Chinese flowering stalk conveyor is also a belt conveyor or a chain conveyor (a conveyor with a general structure can be adopted), a conveying platform of the young Chinese flowering stalk conveyor is a planar conveying belt, a driving motor is provided with a speed regulator, and the output speed of the harvested young Chinese flowering stalks can be regulated; the vegetable root recoverer is a recovery bucket or a recovery box with an upward opening, and the opening of the vegetable root recoverer is positioned below a clamping jaw component of the grabbing manipulator.
When above-mentioned pipeline cultivation leaf dish harvesting device used, its principle was:
(1) the cultivation tank with the leaf vegetables is continuously conveyed by a pipeline conveyor, the leaf vegetables are gradually lifted by a guide positioning mechanism to cover the leaves on the surface of the cultivation tank before reaching the corresponding position of the grabbing mechanical arm, and meanwhile, the guide positioning mechanism is used for righting and positioning the fallen leaf vegetables deviated from the center;
(2) the leaf vegetables enter the corresponding position of the grabbing manipulator, the grabbing manipulator extends out and clamps the roots and stems of the leaf vegetables, and then the grabbing manipulator simultaneously carries out lifting action and rotation action to enable the roots of the leaf vegetables to be separated from the cultivation groove; when the grabbing mechanical arm clamps the leaf vegetables, the lower surface of the clamping tail end in the grabbing mechanical arm is close to the upper surface of the cultivation groove;
(3) the grabbing manipulator drives the leaf vegetables to rotate to the position above a conveying platform of the bolting conveyor, the root cutting mechanism is started at the moment, the leaf vegetables are cut and separated from the root and stem by the root cutting mechanism, the separated bolting falls onto the conveying platform of the bolting conveyor, and the root and stem of the leaf vegetables are clamped by the grabbing manipulator; when the root cutting mechanism cuts and separates the leaf vegetables, the lower surface of the tail end of a cutter in the root cutting mechanism is close to the upper surface of a clamping tail end in a grabbing manipulator;
(4) the grabbing manipulator shrinks and rotates to the upper part of the vegetable root recoverer, then the grabbing manipulator loosens, and the roots and the rhizomes of the leaf vegetables fall into the vegetable root collector for collection.
Example 2
This embodiment a pipeline cultivation leaf dish harvesting device compares with embodiment 1, and its difference lies in, and pipeline conveyor's one side is located in the slope of the bolt of a chinese cabbage conveyer, and its inclination can set up according to actual need or the equipment fixing place circumstances, and equipment fixing is comparatively nimble.
Example 3
The embodiment provides a pipeline cultivation leaf dish harvesting device, compares with embodiment 1, and its difference lies in, and the both sides of pipe conveyor respectively are equipped with a bolt conveyer, and the joint both sides of each bolt conveyer and pipe conveyor are equipped with a set of manipulator and a set of root cutting mechanism of snatching respectively, and one side of each manipulator of snatching is equipped with the root recoverer respectively.
Example 4
The pipeline cultivation leaf vegetable harvesting method is realized by the pipeline cultivation leaf vegetable harvesting device in the embodiment 1, and the specific process is as follows:
(1) when the device is in an initial state, a clamping jaw assembly of the grabbing manipulator is positioned on the outer side of a cultivation groove on the pipeline conveyor and is in a retracting and opening state, and the bottom surface of a clamping finger in the clamping jaw assembly is consistent with the height of the upper surface of the cultivation groove;
(2) starting the pipeline conveyor, conveying the leafy vegetables 21 to be harvested to the guide positioning mechanism along with the cultivation groove, as shown in fig. 6-1, gradually supporting the leaves unfolded on the surface of the cultivation groove by the upper surface of the supporting guide plate, and constraining the leafy vegetables with the centers deviating from the connection line direction of the slotted holes of the cultivation groove to the connection line direction of the centers of the slotted holes of the cultivation groove under the action of the side surface of the supporting guide plate, so that the inclined leafy vegetables are gradually constrained by the supporting guide plate to have more uniform postures and are continuously conveyed forwards;
(3) when the leaf vegetables are conveyed to the photoelectric sensor in the lifting guide plate, a clamping jaw assembly of the grabbing manipulator is triggered to extend out, as shown in fig. 6-2, a clamping finger of the grabbing manipulator clamps a rhizome 21-2 part of the leaf vegetables, then the clamping jaw is rotated while being lifted, so that the leaf vegetables are separated from the cultivation groove in the clamping and rotating processes, as shown in fig. 6-3;
(4) as shown in fig. 6-4, when the leaf vegetables are clamped and rotated to the root cutting mechanism, the heights of the upper surfaces of the clamping jaws are consistent with the lower surfaces of the cutters, the leaf vegetables are cut off at the root and stem parts by the cutters, and the parts 21-1 of the bolts fall onto a bolt conveyor (as shown in fig. 6-5) and are sent out to a packaging position along with the bolt conveyor;
(5) the root 21-2 and the root 21-3 of the leaf vegetable are continuously clamped and rotated to the end point of the rotation stroke by the clamping jaws, the clamping jaws are opened after the grabbing manipulator retracts into the clamping jaw assembly (as shown in figures 6-6 and 6-7), and the root of the leaf vegetable is put into a vegetable root recoverer;
(6) the grasping robot is lowered while the jaws are pivoted to return the jaws to the initial retracted open position (as shown in fig. 6-8).
As mentioned above, the present invention can be better realized, and the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all equivalent changes and modifications made according to the present disclosure are intended to be covered by the scope of the claims of the present invention.
Claims (8)
1. A pipeline cultivation leaf vegetable harvesting device is characterized by comprising a grabbing mechanical arm, a pipeline conveyor, a guiding and positioning mechanism, an undercut mechanism, a bolting conveyor and a root recoverer, wherein a conveying platform of the pipeline conveyor is connected with a conveying platform of the bolting conveyor, at least one group of grabbing mechanical arm and at least one group of undercut mechanism are arranged at the joint of the conveying platform of the pipeline conveyor and the conveying platform of the bolting conveyor, the root recoverer is arranged on one side of the grabbing mechanical arm, a cultivation groove is conveyed by the pipeline conveyor, two guiding and positioning mechanisms for righting and positioning leaf vegetables are symmetrically arranged on two sides of the pipeline conveyor, and the guiding and positioning mechanisms are arranged in front of the grabbing mechanical arm along the conveying direction of the cultivation groove;
the guide positioning mechanism comprises a lifting guide plate and a photoelectric sensor, the lifting guide plate is fixed on a rack of the pipeline conveyor, and the photoelectric sensor is arranged on the lifting guide plate; the top surface of the lifting guide plate is inclined and is positioned above the cultivation groove;
the grabbing manipulator comprises a lifting assembly, a rotary assembly, a telescopic assembly and a clamping jaw assembly, the telescopic assembly is installed at the bottom of the clamping jaw assembly, the rotary assembly is installed at the bottom of the telescopic assembly, and the lifting assembly is installed at the bottom of the rotary assembly.
2. The harvesting device for harvesting pipeline-cultivated leafy vegetables according to claim 1, wherein the bolting conveyor is vertically or obliquely arranged at one side of the pipe conveyor, the grabbing manipulator rotates between a conveying platform of the pipe conveyor and a conveying platform of the bolting conveyor, the root cutting mechanism is arranged above the conveying platform of the bolting conveyor, and the opening height of the root recoverer is lower than the height of the grabbing manipulator.
3. The harvesting device for the pipeline cultivation leafy vegetables as claimed in claim 1, wherein in the guiding and positioning mechanism, the whole of the lifting guide plate is Z-shaped, and the shape of the inner side surface of the lifting guide plate is matched with the shape of the outer surface of the cultivation groove; along the conveying direction of the cultivation groove, the height of the top surface of the lifting guide plate gradually rises.
4. The harvesting device for the leafy vegetables cultivated in the pipeline as claimed in claim 1, wherein the clamping jaw assembly comprises an opening and closing driving part and two clamping fingers, the two clamping fingers are symmetrically arranged, one end of each clamping finger is connected with the opening and closing driving part, and the joint of the tail end of each clamping finger and the leafy vegetables is provided with an elastic patch.
5. The harvesting device for leafy vegetables in pipeline cultivation according to claim 1, wherein the lifting assembly is a linear cylinder or an electric sliding table, the revolving assembly is a revolving cylinder or an electric revolving table, and the telescopic assembly is a pneumatic sliding table or an electric sliding table; the lifting assembly is internally provided with a lifting rod, the upper end of the lifting rod is fixedly connected with the bottom of the rotary assembly, the rotary assembly is internally provided with a rotary rod, the upper end of the rotary rod is connected with the bottom of the telescopic assembly, the telescopic assembly is internally provided with a sliding block and a sliding rail, the clamping jaw assembly is arranged on one side of the sliding block, and the sliding block drives the clamping jaw assembly to perform telescopic motion along the sliding rail in the horizontal direction.
6. The harvesting device for harvesting pipeline-cultivated leafy vegetables according to claim 1, wherein the undercut mechanism comprises a cutter and a cutter holder which are connected, the cutter holder is mounted on a frame of the bolting conveyor, and the cutter is positioned above a conveying platform of the bolting conveyor.
7. The method for harvesting the pipeline-cultivated leafy vegetables by using the device according to any one of claims 1 to 6 is characterized by comprising the following steps of:
(1) the cultivation tank with the leaf vegetables is continuously conveyed by a pipeline conveyor, the leaf vegetables are gradually lifted by a guide positioning mechanism to cover the leaves on the surface of the cultivation tank before reaching the corresponding position of the grabbing mechanical arm, and meanwhile, the guide positioning mechanism is used for righting and positioning the fallen leaf vegetables deviated from the center;
(2) the leaf vegetables enter the corresponding position of the grabbing manipulator, the grabbing manipulator extends out and clamps the roots and stems of the leaf vegetables, and then the grabbing manipulator simultaneously carries out lifting action and rotation action to enable the roots of the leaf vegetables to be separated from the cultivation groove;
(3) the grabbing manipulator drives the leaf vegetables to rotate to the position above a conveying platform of the bolting conveyor, the root cutting mechanism is started at the moment, the leaf vegetables are cut and separated from the root and stem by the root cutting mechanism, the separated bolting falls onto the conveying platform of the bolting conveyor, and the root and stem of the leaf vegetables are clamped by the grabbing manipulator;
(4) the grabbing manipulator shrinks and rotates to the upper part of the vegetable root recoverer, then the grabbing manipulator loosens, and the roots and the rhizomes of the leaf vegetables fall into the vegetable root collector for collection.
8. The harvesting method for the pipeline-cultivated leafy vegetables according to claim 7, wherein in the step (2), when the grabbing mechanical arm clamps the leafy vegetables, the lower surface of the clamping tail end of the grabbing mechanical arm is close to the upper surface of the cultivation tank; in the step (3), when the root cutting mechanism cuts and separates the leaf vegetables, the lower surface of the tail end of the cutter in the root cutting mechanism is close to the upper surface of the clamping tail end in the grabbing manipulator.
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| CN113330906A (en) * | 2021-05-08 | 2021-09-03 | 浙江理工大学 | Linear driving type full-automatic harvesting vehicle for hydroponic leaf vegetables |
| CN113317035B (en) * | 2021-05-25 | 2022-07-29 | 河南科技大学 | Low-suction-and-pull stem cutting and harvesting device for water-cultured lettuce |
| CN113412728B (en) * | 2021-06-23 | 2022-09-09 | 浙江阳田农业科技股份有限公司 | Automatic saffron crocus silk collecting machine and control method thereof |
| CN114342648B (en) * | 2022-01-07 | 2023-09-26 | 华中农业大学 | Planetary gear train type clamping end effector for brassica napus |
| CN114946395B (en) * | 2022-06-01 | 2023-04-14 | 华南农业大学 | Centering avoiding grabbing device and method for harvesting pipeline hydroponic leaf vegetables |
| CN116158259B (en) * | 2023-04-26 | 2023-06-30 | 泉州科源生态农业科技有限公司 | Soilless culture vegetable picking and transporting equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2423972A1 (en) * | 1978-04-24 | 1979-11-23 | Bonduelle Ets | MACHINE FOR MOWING AND COLLECTING VEGETABLES |
| JP2001016947A (en) * | 1999-07-12 | 2001-01-23 | Kobashi Kogyo Co Ltd | Small-sized cabbage harvester |
| CN105230236B (en) * | 2015-09-28 | 2017-04-12 | 江苏农林职业技术学院 | Orderly harvesting device and method for leaf vegetables based on mechanical arm |
| CN108040595A (en) * | 2018-01-15 | 2018-05-18 | 吴露露 | A kind of agricultural vegetable aquaculture intelligence harvest equipment |
| 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 |
| CN111328544B (en) * | 2020-04-13 | 2021-11-26 | 聊城市彩烁农业科技有限公司 | Water planting leaf dish reaping apparatus |
| CN111406637A (en) * | 2020-04-29 | 2020-07-14 | 中国农业科学院都市农业研究所 | Full-automatic harvesting production line for hydroponic vegetables |
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