CN112544211B - Intelligent unmanned harvesting system and method for hydroponic vegetables in facility modern agriculture - Google Patents
Intelligent unmanned harvesting system and method for hydroponic vegetables in facility modern agriculture Download PDFInfo
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- CN112544211B CN112544211B CN202011443481.5A CN202011443481A CN112544211B CN 112544211 B CN112544211 B CN 112544211B CN 202011443481 A CN202011443481 A CN 202011443481A CN 112544211 B CN112544211 B CN 112544211B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
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Abstract
The invention discloses an intelligent unmanned harvesting system and method for hydroponic vegetables in modern agriculture of facilities, which comprises a field planting plate conveying device, wherein the field planting plate conveying device comprises a rack and two field planting plate conveying belts which are arranged on two sides of the rack in parallel, a plurality of side-by-side ground limiting assemblies are fixedly arranged on two sides of the rack, each side limiting assembly comprises a plurality of side-by-side ground rolling wheels, a harvesting device is erected above the middle part of the field planting plate conveying device and comprises an inclined plane conveying device and a vegetable conveying belt driven by a motor, a seedling shifting assembly is arranged at the input end of the inclined plane conveying device and consists of a plurality of side-by-side seedling shifting wheels, and a cutting knife assembly is arranged below the seedling shifting assembly. The harvesting equipment can automatically complete continuous conveying of the planting plate, and can harvest vegetables on the planting plate in the conveying process, so that the vegetable harvesting efficiency is improved.
Description
Technical Field
The invention relates to the technical field of ecological facility modern agriculture, in particular to an intelligent unmanned harvesting system and method for hydroponic vegetables in facility modern agriculture.
Background
The facility agriculture is a modern agriculture mode for carrying out high-efficiency production of animals and plants by adopting engineering technical means under the relatively controllable environment condition. The facility agriculture includes facility planting, facility cultivation, facility edible fungi and the like.
Hydroponic vegetables are different from vegetables cultivated in the traditional soil cultivation mode in that most root systems grow in a nutrient solution layer by layer and only the nutrient solution provides water, nutrients and oxygen for the hydroponic vegetables. The water culture vegetable has short growth period and is rich in vitamins and minerals essential for human body.
When vegetables such as celery, leafy vegetables and the like are hydroponically planted, the planting plates are used for cultivation and planting, and harvesting and picking are carried out in about 25 days. At present when vegetables are harvested, the field planting plate needs to be manually taken out of water and placed in a designated place, and the vegetables are manually cut and harvested along the upper surface of the field planting plate by using scissors.
Disclosure of Invention
The invention aims to provide an intelligent unmanned harvesting system and method for hydroponic vegetables in modern agriculture of facilities, which aim to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent unmanned harvesting system for hydroponic vegetables in modern agriculture of facilities comprises a field planting plate conveying device, wherein the field planting plate conveying device comprises a rack and two field planting plate conveying belts which are arranged on two sides of the rack in parallel, an equal-interval gap is formed between the two field planting plate conveying belts, the two field planting plate conveying belts share the same transmission shaft, and the end part of the transmission shaft is fixedly connected with a first motor driving shaft arranged on one side of the rack;
a plurality of side limiting assemblies which are arranged side by side are fixedly arranged on two sides of the rack, each side limiting assembly comprises a plurality of rolling wheels which are arranged side by side and are positioned on the outer side of the planting plate conveying belt in parallel;
a harvesting device is erected above the middle of the field planting plate conveying device and comprises an inclined plane conveying device and a vegetable conveying belt driven by a motor, the vegetable conveying belt is transversely erected above the field planting plate conveying device, a vegetable collecting box is installed at the output end of the vegetable conveying belt, the inclined plane conveying device is fixedly installed on a side frame body of the vegetable conveying belt, and the inclined plane conveying device faces the direction of the input end of the field planting plate conveying device and inclines downwards;
the input end of the inclined plane conveying device is provided with a reel assembly, the reel assembly consists of a plurality of reel wheels which are arranged side by side, each reel wheel comprises an installation block and reel blades which are rotatably positioned on the installation block, the reel blades on two adjacent reel wheels are arranged in a staggered manner, and the reel blades are driven by a motor arranged on the installation block;
a cutting knife assembly is arranged below the reel assembly, the cutting knife assembly is arranged on a frame body of the inclined plane conveying device, the cutting knife assembly comprises a fixed saw disc and a movable saw disc which are arranged in parallel, and the movable saw disc reciprocates relative to the fixed saw disc;
a root system conveying belt is transversely arranged at the output end of the field planting plate conveying device, a root system collecting box is arranged below the output end of the root system conveying belt, and a cutting knife assembly is arranged on a frame body of the root system conveying belt;
a plurality of field planting plate positioning devices arranged in parallel are mounted on one side, facing the field planting plate conveying device, of a frame body of the root system conveying belt, the field planting plate positioning devices correspond to any seed planting holes in the field planting plates in a one-to-one mode, each field planting plate positioning device comprises a second air cylinder and a positioning cap which is elastically mounted at the driving end of the second air cylinder, the positioning caps can be movably clamped in the field planting holes, an arc-shaped protruding portion is arranged at the bottom of each positioning cap, contact switches are mounted on the side portion and the edge of each positioning cap, the contact switches are connected to a power supply circuit of a delay relay in series, and the delay relay controls the field planting plate conveying belt to be started after being paused;
the top of the root system conveyer belt is provided with a clamping and moving device.
Preferably, the side limiting assembly further comprises a fixed seat fixedly connected with the side face of the rack, a sliding seat is slidably mounted on the fixed seat, the outer end of the fixed seat is connected with the sliding seat through a first air cylinder, the first air cylinder pushes or pulls the sliding seat to reciprocate in the direction perpendicular to the direction of the field planting plate conveying belt, and a plurality of rolling wheels are rotatably mounted on the sliding seat towards one side of the field planting plate conveying belt;
the top of the sliding seat is provided with a horizontally arranged ground limiting plate, and two ends of the limiting plate are provided with arc-shaped edges which are bent upwards.
Preferably, the bottom of the sliding seat is fixedly provided with a dovetail block, and the top of the fixed seat is provided with a dovetail groove matched with the dovetail block.
Preferably, the inclined plane conveying device comprises an inclined conveying belt and a second motor for driving the inclined conveying belt to move from bottom to top, the output end of the inclined conveying belt is located above the vegetable conveying belt, and a plurality of spaced soft plates which are parallel to each other and have equal intervals are fixedly arranged on the surface of the inclined conveying belt along the conveying direction of the inclined conveying belt.
Preferably, the reel wheels correspond to the spacing soft boards one by one in number and position, and the reel wheels are right opposite to the lower end parts of the spacing soft boards.
Preferably, the installation block is provided with a through installation cavity, the top and the bottom in the installation cavity are respectively provided with one reel blade, the two reel blades are respectively driven by two independent motors, and the two reel blades are arranged in a staggered manner.
Preferably, the cutting knife subassembly still includes the mounting bracket, decide saw set fixed mounting in the mounting bracket, still be equipped with a saw set slide rail in the mounting bracket, move saw set slip joint in saw set slide rail, one of them tip fixed mounting of mounting bracket has the side grudging post, a third motor of side grudging post top hoist and mount, the drive shaft downwardly extending of third motor and a carousel of fixed connection, the eccentric tip of connecting the push rod that rotates on the carousel, another tip of push rod with move saw set one end and rotate and be connected.
Preferably, the field planting board positioner still includes the connecting plate of fixed connection at the second cylinder drive end, the outer guide bar of outer end fixed connection of connecting plate, outer guide bar internalization is pegged graft and is had interior guide bar, the inner and interior guide bar tip rigid coupling of position cap, the spring has been cup jointed simultaneously on outer guide bar and the interior guide bar, the both ends of spring are connected with connecting plate and position cap respectively.
Preferably, the clamping and moving device comprises an equipment top frame, an upper sliding guide rail and a lower sliding guide rail which are arranged in a mutually perpendicular and crossed mode, the lower sliding guide rail is fixedly connected with an upper cylinder sliding block of the upper sliding guide rail, a plurality of third cylinders are installed on a lower cylinder sliding block of the lower sliding guide rail, a driving end of each third cylinder is connected with a pneumatic clamp, and the pneumatic clamps correspond to any seed planting holes in the planting plate one to one.
An intelligent unmanned harvesting method for hydroponic vegetables in modern agriculture of facilities comprises the following steps:
placing the planting plates planted with vegetables on the planting plate conveying devices through mechanical arms, wherein two sides of each planting plate are positioned on two planting plate conveying belts, and planting holes planted with vegetables are positioned in gaps between the two planting plate conveying belts;
the length of the outward extending rolling wheels on the two sides is adjusted through the first air cylinder, so that the rolling wheels are rolled and extruded on the two sides of the planting plate, and meanwhile, the top of the planting plate is in contact with the limiting plate;
the fixed planting plate moves towards the harvesting device under the driving of the fixed planting plate conveying belt, the roots and the stems of vegetables passing through are cut off by the cutting knife assembly, the vegetables are overturned on the inclined conveying belt under the action of the reel blades on two sides when passing through the reel assembly, and the vegetables with the roots and the stems cut off are conveyed to the vegetable conveying belt under the driving of the inclined conveying belt and are subjected to centralized processing in the vegetable collecting box;
conveying the field planting plate after the vegetables are harvested to the direction of the root system conveying belt by a field planting plate conveying device, and leaving rootstocks in planting holes of the field planting plate after the vegetables are harvested; when the front end face of the planting plate touches a contact switch on the side of the positioning cap, the conveying device of the planting plate is controlled by a time delay relay to stop moving for a period of time and then move, the pneumatic clamp is driven by an upper cylinder and a lower cylinder to move to the position above a first row of planting holes in the planting plate in the period of stopping moving of the planting plate, and a third cylinder connected with the pneumatic clamp extends out at the moment, so that the pneumatic clamp clamps residual rhizomes in the planting holes;
after pneumatic clamp had been pressed from both sides the rhizome, on moving its rhizome bottom to the cutting knife subassembly under the drive of centre gripping mobile device, cut the root hair of field planting basket bottom, the root hair after cutting was collected in carrying the root system collecting box through the root system conveyer belt is concentrated.
Compared with the prior art, the invention has the beneficial effects that:
according to the vegetable harvesting device, continuous conveying of the planting plate can be automatically completed, vegetables on the planting plate are harvested in the conveying process, labor is saved, the production cost of the vegetables is reduced, and the vegetable harvesting efficiency is improved.
Set up the wheel that rolls at field planting board conveyor's lateral part, to the field planting board spacing in, can also carry the field planting board, the limiting plate at seat top that slides is spacing to field planting board upper and lower direction, and it can avoid scraping bad field planting board to go up the limiting plate both sides and set to the arc limit.
The vegetables fall down towards a fixed direction through the reel blades, and the vegetables in the vegetable collecting box are placed in order in the same direction.
Drawings
FIG. 1 is a schematic perspective view of the apparatus of the present invention after removing the top frame;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic view of a partial structure according to the present invention;
FIG. 4 is a perspective view of a field planting plate conveying device according to the present invention;
FIG. 5 is a side view of a planting plate delivery device of the present invention;
FIG. 6 is a schematic view of a lateral stop assembly of the present invention;
FIG. 7 is a cross-sectional view of a side stop assembly according to the present invention;
FIG. 8 is a perspective view of the harvesting apparatus of the present invention;
FIG. 9 is a side view of the harvesting apparatus of the present invention;
FIG. 10 is a schematic representation of the construction of the inclined belt of the present invention;
FIG. 11 is a schematic view of a cutting blade assembly according to the present invention;
FIG. 12 is a schematic view of a cutting blade assembly according to the present invention;
FIG. 13 is a schematic view of the structure of a reel of the present invention;
fig. 14 is a cross-sectional view of a reel of the present invention;
FIG. 15 is a schematic view of a positioning device for field planting plates according to the present invention;
fig. 16 is a front view of a field planting plate positioning device of the present invention;
FIG. 17 is a perspective view of the clamping and moving device of the present invention;
FIG. 18 is a front view of the clamp moving device of the present invention;
fig. 19 is a schematic view of the pneumatic clamp of the present invention.
In the figure: 1 field planting board conveyor: 11 frames, 12 planting plate conveyer belts, 13 transmission shafts and 14 first motors;
15 side limiting component: 151 fixing seat, 151a dovetail groove, 152 sliding seat, 152a dovetail block, 153 rolling wheel, 154 first cylinder, 155 limit plate, 155a arc edge;
2, harvesting device:
21 inclined plane conveying device: 211 an inclined conveyor belt, 212 a second motor and 213 an interval soft board;
22 cutter assembly: 221 a movable saw disc, 222 a fixed saw disc, 223a mounting frame, 223a saw disc sliding rail, 224 a side stand frame, 225 a third motor, 226 a rotary disc and 227 push rod;
23 reel assembly: 230 reel: 231 mounting blocks, 231a mounting cavities, 232 reel blades and 234 motors;
24 vegetable conveyer belts and 25 vegetable collecting boxes;
3 root system conveyer belt, 301 root system collecting box;
302 fixed planting board positioning device: 3021 second cylinder, 3022 connecting plate, 3023 positioning cap, 3024 arc-shaped protrusion, 3025 outer guide rod, 3026 inner guide rod, 3027 spring, 3028 contact switch;
4, clamping the moving device: 41 equipment top frame, 42 upper sliding guide rail, 42a upper cylinder slide block, 42b upper air cylinder, 43 lower sliding guide rail, 43a lower air cylinder slide block, 43b lower air cylinder, 44 pneumatic clamp and 45 third air cylinder.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-14, the present invention provides a technical solution: the utility model provides an unmanned harvest system of modern agriculture water planting vegetables intelligence of facility, includes field planting board conveyor 1, field planting board conveyor 1 includes frame 11 and two field planting board conveyer belts 12 of mutual parallel mount in frame 11 both sides, has equidistant space between two field planting board conveyer belts 12, and same transmission shaft 13 of two field planting board conveyer belts 12 shares, 13 tip of transmission shaft and the 14 drive shaft rigid couplings of first motor of installing in frame 11 one side.
The field planting board that has planted vegetables is placed on two field planting board conveyer belts 12, and the root system of vegetables passes the planting hole on the field planting board and stretches out downwards to guarantee that the root system is in the space department of two field planting board conveyer belts 12, be convenient for concentrate the cutting to the root system on the field planting board.
Referring to fig. 4-7, a plurality of side-by-side position-limiting assemblies 15 are further fixedly mounted on two sides of the frame 11, each side-limiting assembly 15 includes a fixed seat 151 fixedly connected to a side of the frame 11, a sliding seat 152 is slidably mounted on the fixed seat 151, an outer end of the fixed seat 151 is connected to the sliding seat 152 through a first cylinder 154, the first cylinder 154 pushes or pulls the sliding seat 152 to reciprocate in a direction perpendicular to the direction of the field planting plate conveyor belt 12, a plurality of rolling wheels 153 are rotatably mounted on the sliding seat 152 toward one side of the field planting plate conveyor belt 12, the plurality of rolling wheels 153 are located outside the field planting plate conveyor belt 12 in parallel, and the first cylinder 154 can adjust a distance between the rolling wheel 153 and the side of the field planting plate, so as to ensure that the rolling wheels 153 contact the side of the field planting plate, and limit the field planting plate.
Furthermore, in order to facilitate the sliding of the sliding seat 152 on the fixed seat 151, a dovetail block 152a is fixedly installed at the bottom of the sliding seat 152, and a dovetail groove 151a matched with the dovetail block 152a is arranged at the top of the fixed seat 151.
The horizontal ground limiting plate 155 is installed at the top of the sliding seat 152, the arc-shaped edges 155a bent upwards are arranged at two ends of the limiting plate 155, the top of the planting plate is in contact with the limiting plate 155, and the shaking of the planting plate in the conveying and vegetable cutting processes can be reduced through the limiting plate 155.
Referring to fig. 3 and 8, a harvesting device 2 is erected above the middle of the field planting plate conveying device 1, the harvesting device 2 comprises an inclined plane conveying device 21 and a vegetable conveying belt 24 driven by a motor, the vegetable conveying belt 24 is transversely erected above the field planting plate conveying device 1, a vegetable collecting box 25 is installed at the output end of the vegetable conveying belt 24, the inclined plane conveying device 21 is fixedly installed on a frame body on the side face of the vegetable conveying belt 24, and the inclined plane conveying device 21 inclines downwards towards the direction of the input end of the field planting plate conveying device 1.
The inclined plane conveying device 21 comprises an inclined conveying belt 211 and a second motor 212 for driving the inclined conveying belt 211 to move from bottom to top, wherein the output end of the inclined conveying belt 211 is positioned above the vegetable conveying belt 24, and a plurality of spaced soft plates 213 which are parallel to each other and have equal intervals are fixedly arranged on the surface of the inclined conveying belt 211 along the conveying direction of the inclined conveying belt 211.
Referring to fig. 13-14, a reel assembly 23 is mounted at the input end of the inclined plane conveying device 21, the reel assembly 23 is composed of a plurality of reel wheels 230 mounted in parallel, each reel wheel 230 includes a mounting block 231 and reel blades 232 rotatably positioned on the mounting block 231, the reel blades 232 on two adjacent reel wheels 230 are staggered, and the reel blades 232 are driven by a motor 233 mounted on the mounting block 231.
As shown in fig. 13, a through installation cavity 231a is provided on the installation block 231, a reel blade 232 is installed at both the top and the bottom of the installation cavity 231a, the two reel blades 232 are driven by two independent motors 233 respectively, and the two reel blades 232 are arranged in a staggered manner.
Furthermore, the reel 230 and the spacing soft board 213 are corresponding in number and position, and the reel 230 is opposite to the lower end of the spacing soft board 213,
referring to fig. 11-13, a cutter assembly 22 is disposed below the reel assembly 23, the cutter assembly 22 is mounted on the frame of the inclined plane conveying device 21, the cutter assembly 22 is located above the field planting plate, the field planting plate is driven by the field planting plate conveying device 1 to move towards the cutter assembly 22, when vegetables pass through the adjacent reel wheels 230, the vegetables are cut off by the cutter assembly 22, then under the action of the reel blades 232, one side of the vegetables are forwards pulled onto the inclined conveyor belt 211, the inclined conveyor belt 211 conveys the cut vegetables to the roots and stems of the vegetable conveyor belt 24, and the vegetables fall into the vegetable collection box 25, and the vegetables fall down towards the fixed direction due to the reel blades 232, and the vegetables in the vegetable collection box 25 are placed in the same direction.
The cutting knife assembly 22 comprises a fixed saw disc 222 and a movable saw disc 221 which are installed in parallel, the movable saw disc 221 reciprocates relative to the fixed saw disc 222, the fixed saw disc 222 is fixedly installed in an installation frame 223, a saw disc slide rail 223a is further arranged in the installation frame 223, the movable saw disc 221 is slidably clamped in the saw disc slide rail 223a, one end of the installation frame 223 is fixedly provided with a side stand 224, the top of the side stand 224 is provided with a third motor 225, a driving shaft of the third motor 225 extends downwards and is fixedly connected with a turntable 226, the turntable 226 is eccentrically and rotatably connected with the end of a push rod 227, the other end of the push rod 227 is rotatably connected with one end of the movable saw disc 221, when the third motor 225 is started, the turntable 226 is driven to rotate, so that the push rod 227 eccentrically installed on the turntable 226 follows the movement, wherein the movable saw disc 221 only makes a linear movement parallel to the fixed saw disc 222 under the restriction of the saw disc slide rail 223a, so that the saw teeth on the fixed saw disc 222 and the movable saw disc 221 move alternately to cut the vegetable roots. Further, the cutting knife assembly 22 may also employ an electric cutting knife device that is penetrative in the art.
As shown in fig. 1-2, a clamping and moving device 4 is disposed at the top of the equipment, the clamping and moving device 4 includes an equipment top frame 41, an upper sliding guide rail 42 and a lower sliding guide rail 43 which are disposed perpendicularly and crosswise, the lower sliding guide rail 43 is fixedly connected to an upper cylinder slide block 42a of the upper sliding guide rail 42, a plurality of third cylinders 45 are mounted on a lower cylinder slide block 43a of the lower sliding guide rail 43, a driving end of each third cylinder 45 is connected to a pneumatic clamp 44, the pneumatic clamp 44 corresponds to any seed planting hole on the planting plate one by one, the pneumatic clamp 44 clamps the roots remaining on the planting plate, and the pneumatic clamp 44 clamps a row of roots each time, and the planting plate is also intermittently conveyed under the effect of the positioning device 302 of the planting plate.
As shown in fig. 17 to 19, the upper sliding guide 42 and the lower sliding guide 43 are driven by an upper air cylinder 42b and a lower air cylinder 43b, respectively, a driving end of the upper air cylinder 42b is connected to the upper air cylinder slider 42a, a driving end of the lower air cylinder 43b is connected to the lower air cylinder slider 43a, a moving direction of the upper air cylinder slider 42a is parallel to a conveying direction of the customized board conveying belt 12, and a moving direction of the lower air cylinder slider 43a is perpendicular to the conveying direction of the customized board conveying belt 12.
Referring to fig. 1-3 and 6-7, a plurality of field planting plate positioning devices 302 arranged in parallel are installed on one side of a frame body of a root system conveying belt 3 facing a field planting plate conveying device 1, the field planting plate positioning devices 302 correspond to any seed planting holes on the field planting plates one by one, each field planting plate positioning device 302 comprises a second air cylinder 3021 and a positioning cap 3023 elastically installed at the driving end of the second air cylinder 3021, the positioning cap 3023 is movably clamped in the planting holes, an arc-shaped protruding portion 3024 is arranged at the bottom of the positioning cap 3023, the arc-shaped protruding portion 3024 can be inserted in the planting holes on the field planting plates, a contact switch 3028 is installed on the side portion and the edge of the positioning cap 3023, the contact switch 3028 is connected in series to a power supply circuit of a delay relay, and the delay relay controls the field planting plate conveying belt 12 to be started after being paused.
Further, as shown in fig. 15-16, the planting plate positioning device 302 further includes a connection plate 3022 fixedly connected to the driving end of the second cylinder 3021, an outer end of the connection plate 3022 is fixedly connected to the outer guide rod 3025, an inner guide rod 3026 is movably inserted into the outer guide rod 3025, an inner end of the positioning cap 3023 is fixedly connected to an end of the inner guide rod 3026, a spring 3027 is sleeved on the outer guide rod 3025 and the inner guide rod 3026, and two ends of the spring 3027 are respectively connected to the connection plate 3022 and the positioning cap 3023.
An intelligent unmanned harvesting method for hydroponic vegetables in modern agriculture of facilities comprises the following steps:
placing the planting plates planted with vegetables on the planting plate conveying device 1 through a mechanical arm, wherein two sides of each planting plate are positioned on two planting plate conveying belts 12, and planting holes planted with vegetables are positioned in gaps between the two planting plate conveying belts 12;
the length of the rolling wheels 153 at the two sides extending outwards is adjusted through the first air cylinder 154, so that the rolling wheels 153 roll and extrude at the two sides of the planting plate, and meanwhile, the top of the planting plate is in contact with the limiting plate 155;
the field planting plate moves towards the harvesting device 2 under the driving of the field planting plate conveying belt 12, the root and stems of vegetables passing through are cut off by the cutter assembly 22, the vegetables are poured onto the inclined conveying belt 211 under the action of the seedling shifting blades 232 on the two sides when passing through the seedling shifting assembly 23, and the vegetables with the cut root and stems are conveyed onto the vegetable conveying belt 24 under the driving of the inclined conveying belt 211 and are treated in the vegetable collecting box 25 in a centralized mode;
the field planting plate after the vegetables are harvested is conveyed to the root system conveying belt 3 direction by the field planting plate conveying device 1, and the roots and stems of the harvested vegetables are remained in the planting holes of the field planting plate;
when the front end face of the planting plate touches a contact switch 3028 on the side of a positioning cap 3023, the time delay relay controls the planting plate conveying device 1 to stop moving for a period of time and then move, in the period of stopping moving of the planting plate, the pneumatic clamp 44 moves to the position above the first row of planting holes on the planting plate under the driving of the upper cylinder 42b and the lower cylinder 43b, and at the moment, the third cylinder 45 connected with the pneumatic clamp 44 extends out, so that the pneumatic clamp 44 clamps the residual rootstocks in the planting holes;
after pneumatic clamp 44 had been pressed from both sides the rhizome, on moving its rhizome bottom to cutting knife subassembly 22 under the drive of centre gripping mobile device 4, cut the root hair of field planting basket bottom, the root hair after cutting is collected in carrying root system collecting box 301 through root system conveyer belt 3 is concentrated.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an unmanned results system of modern agriculture water planting vegetables intelligence of facility, includes field planting board conveyor (1), its characterized in that: the field planting plate conveying device (1) comprises a rack (11) and two field planting plate conveying belts (12) which are arranged on two sides of the rack (11) in parallel, wherein gaps with equal intervals are formed between the two field planting plate conveying belts (12), the two field planting plate conveying belts (12) share the same transmission shaft (13), and the end part of the transmission shaft (13) is fixedly connected with a driving shaft of a first motor (14) arranged on one side of the rack (11);
a plurality of side part limiting assemblies (15) arranged side by side are fixedly mounted on two sides of the rack (11), each side part limiting assembly (15) comprises a plurality of side-by-side ground rolling wheels (153), and the plurality of rolling wheels (153) are positioned on the outer side of the field planting plate conveying belt (12) in parallel;
the side limiting assembly (15) further comprises a fixed seat (151) fixedly connected with the side face of the rack (11), a sliding seat (152) is arranged on the fixed seat (151) in a sliding mode, the outer end of the fixed seat (151) is connected with the sliding seat (152) through a first air cylinder (154), the first air cylinder (154) pushes or pulls the sliding seat (152) to reciprocate in the direction perpendicular to the direction of the field planting plate conveying belt (12), and a plurality of rolling wheels (153) are rotatably arranged on the sliding seat (152) towards one side of the field planting plate conveying belt (12);
a horizontally arranged ground limiting plate (155) is installed at the top of the sliding seat (152), and two ends of the limiting plate (155) are provided with arc-shaped edges (155a) which are bent upwards;
the field planting plate conveying device is characterized in that a harvesting device (2) is erected above the middle of the field planting plate conveying device (1), the harvesting device (2) comprises an inclined plane conveying device (21) and a vegetable conveying belt (24) driven by a motor, the vegetable conveying belt (24) is transversely erected above the field planting plate conveying device (1), a vegetable collecting box (25) is installed at the output end of the vegetable conveying belt (24), the inclined plane conveying device (21) is fixedly installed on a side frame body of the vegetable conveying belt (24), and the inclined plane conveying device (21) faces towards the direction of the input end of the field planting plate conveying device (1) and inclines downwards;
the input end of the inclined plane conveying device (21) is provided with a reel assembly (23), the reel assembly (23) is composed of a plurality of reel wheels (230) which are installed in parallel, each reel wheel (230) comprises an installation block (231) and reel blades (232) which are rotatably positioned on the installation blocks (231), the reel blades (232) on two adjacent reel wheels (230) are arranged in a staggered mode, and the reel blades (232) are driven by a motor (233) installed on the installation blocks (231);
a cutting knife assembly (22) is arranged below the reel assembly (23), the cutting knife assembly (22) is installed on a frame body of the inclined plane conveying device (21), the cutting knife assembly (22) comprises a fixed saw disc (222) and a movable saw disc (221) which are installed in parallel, and the movable saw disc (221) reciprocates relative to the fixed saw disc (222);
a root system conveying belt (3) is transversely arranged at the output end of the planting plate conveying device (1), a root system collecting box (301) is arranged below the output end of the root system conveying belt (3), and a cutting knife assembly (22) is arranged on a frame body of the root system conveying belt (3);
a plurality of field planting plate positioning devices (302) arranged in parallel are mounted on one side, facing a field planting plate conveying device (1), of a frame body of the root system conveying belt (3), the field planting plate positioning devices (302) correspond to any seed planting holes in the field planting plates in a one-to-one mode, each field planting plate positioning device (302) comprises a second air cylinder (3021) and a positioning cap (3023) installed at the driving end of the second air cylinder (3021) in an elastic mode, the positioning caps (3023) can be movably clamped into the planting holes, an arc-shaped protruding portion (3024) is arranged at the bottom of each positioning cap (3023), a contact switch (3028) is mounted on the side portion and the edge of each positioning cap (3023), the contact field planting switches (3028) are connected to a power supply circuit of a delay relay in series, and the delay relay controls the field planting plate conveying belt (12) to be started after being in pause motion;
the field planting plate positioning device (302) further comprises a connecting plate (3022) fixedly connected to the driving end of the second cylinder (3021), the outer end of the connecting plate (3022) is fixedly connected with an outer guide rod (3025), an inner guide rod (3026) is movably inserted into the outer guide rod (3025), the inner end of the positioning cap (3023) is fixedly connected with the end of the inner guide rod (3026), the outer guide rod (3025) and the inner guide rod (3026) are simultaneously sleeved with a spring (3027), and two ends of the spring (3027) are respectively connected with the connecting plate (3022) and the positioning cap (3023);
the top of the root system conveyer belt (3) is provided with a clamping and moving device (4).
2. The intelligent unmanned harvesting system for hydroponic vegetables in facility modern agriculture according to claim 1 is characterized in that: the bottom of the sliding seat (152) is fixedly provided with a dovetail block (152a), and the top of the fixed seat (151) is provided with a dovetail groove (151a) matched with the dovetail block (152 a).
3. The intelligent unmanned harvesting system for hydroponic vegetables in facility modern agriculture according to claim 1, characterized in that: inclined plane conveyor (21) are including oblique conveyer belt (211) and drive oblique conveyer belt (211) second motor (212) of upward movement from bottom to top, and the output of oblique conveyer belt (211) is located the top of vegetables conveyer belt (24), oblique conveyer belt (211) are on the surface along its direction of delivery fixed mounting have a plurality of be parallel to each other, and interval equal interval soft board (213).
4. The intelligent unmanned harvesting system for hydroponic vegetables in protected modern agriculture according to claim 3, characterized in that: the reel wheels (230) correspond to the spacing soft plates (213) in number and position one by one, and the reel wheels (230) are right opposite to the lower end parts of the spacing soft plates (213).
5. The intelligent unmanned harvesting system for hydroponic vegetables in protected modern agriculture according to claim 1, characterized in that: the rice seedling pulling device is characterized in that a penetrating installation cavity (231a) is formed in the installation block (231), the top and the bottom of the installation cavity (231a) are respectively provided with one rice seedling pulling blade (232), the two rice seedling pulling blades (232) are respectively driven by two independent motors (233), and the two rice seedling pulling blades (232) are arranged in a staggered mode.
6. The intelligent unmanned harvesting system for hydroponic vegetables in protected modern agriculture according to claim 1, characterized in that: cutting knife tackle spare (22) still includes mounting bracket (223), decide saw disc (222) fixed mounting in mounting bracket (223), mounting bracket (223) and inclined plane conveyor (21) the support body rigid coupling, still be equipped with one saw disc slide rail (223a) in mounting bracket (223), move saw disc (221) slip joint in saw disc slide rail (223a), one of them tip fixed mounting of mounting bracket (223) has side grudging post (224), third motor (225) of side grudging post (224) top hoist and mount, the drive shaft of third motor (225) extends downwards and carousel (226) of fixed connection, the tip of connecting push rod (227) is gone up the eccentric rotation in carousel (226), another tip of push rod (227) with move saw disc (221) one end and rotate and be connected.
7. The intelligent unmanned harvesting system for hydroponic vegetables in facility modern agriculture according to claim 1, characterized in that: centre gripping mobile device (4) are including equipment roof-rack (41) and the last sliding guide (42) and lower sliding guide (43) that mutually perpendicular cross set up, sliding guide (43) and last cylinder slider (42a) rigid coupling of last sliding guide (42) down, a plurality of third cylinders (45) of installation on lower cylinder slider (43a) of sliding guide (43) down, pneumatic clamp (44) is connected to the drive end of third cylinder (45), pneumatic clamp (44) and planting any seed metering hole one-to-one on the planting board.
8. A harvesting method using the unmanned harvesting system of any one of claims 1-7, comprising the steps of:
s1: placing the planting plates planted with vegetables on the planting plate conveying device (1) through a mechanical arm, wherein two sides of each planting plate are positioned on two planting plate conveying belts (12), and planting holes planted with vegetables are positioned in a gap between the two planting plate conveying belts (12);
s2: the length of the rolling wheels (153) at the two sides extending outwards is adjusted through the first air cylinder (154), so that the rolling wheels (153) are rolled and extruded at the two sides of the planting plate, and meanwhile, the top of the planting plate is in contact with the limiting plate (155);
s3: the field planting plate is driven by a field planting plate conveying belt (12) to move towards the direction of the harvesting device (2), roots and stems of vegetables passing through are cut off by a cutting knife assembly (22), the vegetables are poured on an inclined conveying belt (211) under the action of reel blades (232) on two sides when passing through a reel assembly (23), the vegetables are conveyed to a vegetable conveying belt (24) under the drive of the inclined conveying belt (211), and the vegetables with the cut roots and stems are subjected to centralized treatment in a vegetable collecting box (25);
s4: the planting plate after the vegetables are harvested is conveyed to the root system conveying belt (3) direction by the planting plate conveying device (1), and rhizomes remain in planting holes of the planting plate after the vegetables are harvested; when the front end face of the planting plate touches a contact switch (3028) on the side of a positioning cap (3023), a delay relay controls a planting plate conveying device (1) to stop moving for a period of time and then move, a pneumatic clamp (44) moves to the position above a first row of planting holes in the planting plate under the driving of an upper air cylinder (42b) and a lower air cylinder (43b) within the period of the stop moving of the planting plate, and a third air cylinder (45) connected with the pneumatic clamp (44) extends out at the moment so that the pneumatic clamp (44) clamps the residual rootstocks in the planting holes;
s5: after pneumatic clamp (44) had been pressed from both sides the rhizome, on moving its rhizome bottom to cutting knife tackle spare (22) under centre gripping mobile device (4) drive, cut the root hair of field planting basket bottom, the root hair after cutting is collected in carrying root system collecting box (301) through root system conveyer belt (3) is concentrated.
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| CN114798642B (en) * | 2022-04-14 | 2023-09-01 | 北京金晟达生物电子科技有限公司 | Planting disc overturning and cleaning system of pasture rotary tower |
| CN115413482A (en) * | 2022-08-23 | 2022-12-02 | 苏州新农益科技有限公司 | Water planting crop harvesting equipment |
| CN115633576A (en) * | 2022-10-25 | 2023-01-24 | 吉林大学 | Automatic lettuce conveying, harvesting, cleaning and recycling integrated device for plant factory |
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