CN113330906A - Linear driving type full-automatic harvesting vehicle for hydroponic leaf vegetables - Google Patents
Linear driving type full-automatic harvesting vehicle for hydroponic leaf vegetables Download PDFInfo
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- CN113330906A CN113330906A CN202110498624.0A CN202110498624A CN113330906A CN 113330906 A CN113330906 A CN 113330906A CN 202110498624 A CN202110498624 A CN 202110498624A CN 113330906 A CN113330906 A CN 113330906A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
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Abstract
The invention relates to a water culture leaf vegetable harvesting device. The technical scheme is as follows: the utility model provides a full-automatic collection vehicle of linear drive formula water planting leaf dish which characterized in that: the harvesting machine comprises a gantry-shaped main frame consisting of a plurality of cross beams and stand columns, two groups of moving assemblies symmetrically arranged at the lower parts of the left side and the right side of the main frame to drive the harvesting vehicle to move integrally, harvesting assemblies movably positioned at the upper parts of the frame to harvest leaf vegetables along the front-back direction and the up-down direction, driving assemblies arranged on the main frame to drive the harvesting assemblies to move, a plurality of vegetable baskets fixed on the main frame and positioned below the harvesting assemblies to receive the leaf vegetables, an image sensor arranged at the front side of the main frame to collect image signals of the leaf vegetables, a storage battery used for providing a power supply and an electric cabinet used for controlling the overall coordination operation of the harvesting vehicle. The device can carry out pinpointing and realize full-automatic operation of gathering to water planting leaf dish in warmhouse booth, and it is effectual to gather, is favorable to improving the efficiency of gathering of water planting leaf dish, reduces the cost of gathering.
Description
Technical Field
The invention relates to a water culture leaf vegetable harvesting device, in particular to a linear driving type full-automatic water culture leaf vegetable harvesting vehicle.
Background
China is a big agricultural country, the vegetable production amount is the first world and accounts for about 60% of the annual production amount of the vegetables, and the leaf vegetable production amount accounts for about 30% of the annual production amount of the vegetables. In order to meet the diversification of the demand of people on vegetables, the greenhouse technology is rapidly developed, water culture leaf vegetables are used as the main stream seed direction, the yield of the leaf vegetables is improved, and the problem of seasonal leaf vegetable planting is solved. But the humidity in the greenhouse is high, the temperature is high, the manual harvesting efficiency is low, and the labor cost for harvesting the leaf vegetables is greatly increased. Therefore, research on the full-automatic hydroponic leaf vegetable harvesting vehicle is necessary for improving the leaf vegetable harvesting efficiency and reducing the labor cost.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide a linear driving type full-automatic harvesting device for hydroponic leafy vegetables; the device can carry out pinpointing and realize full-automatic operation of gathering to water planting leaf dish in warmhouse booth, and it is effectual to gather, is favorable to improving the efficiency of gathering of water planting leaf dish, reduces the cost of gathering.
The technical scheme provided by the invention is as follows:
the utility model provides a full-automatic collection vehicle of linear drive formula water planting leaf dish which characterized in that: the harvesting machine comprises a gantry-shaped main frame consisting of a plurality of cross beams and stand columns, two groups of moving assemblies symmetrically arranged at the lower parts of the left side and the right side of the main frame to drive the harvesting vehicle to move integrally, harvesting assemblies movably positioned at the upper parts of the frame to harvest leaf vegetables along the front-back direction and the up-down direction, driving assemblies arranged on the main frame to drive the harvesting assemblies to move, a plurality of vegetable baskets fixed on the main frame and positioned below the harvesting assemblies to receive the leaf vegetables, an image sensor arranged at the front side of the main frame to collect image signals of the leaf vegetables, a storage battery used for providing a power supply and an electric cabinet used for controlling the overall coordination operation of the harvesting vehicle.
The moving assembly comprises a trolley frame fixed on the main frame, a driving wheel and a plurality of driven wheels which are rotatably positioned at the bottom of the trolley frame, and a plurality of ground feet which are arranged at the bottom of the trolley frame and can be vertically adjusted to stop the mining and collecting vehicle.
The driving assembly comprises a push-pull transverse plate which can be horizontally and slidably positioned on the upper portion of the outer frame along the front-back direction, a linear module which is installed on the outer frame and used for driving the push-pull transverse plate to move, two rodless cylinders which are vertically fixed at the left end and the right end of the push-pull transverse plate, and two synchronizers which are horizontally installed on the main frame along the front-back direction and used for respectively supporting and guiding the two rodless cylinders.
The harvesting assembly comprises a cross rod, a slide rail fixing plate, a first pushing cylinder, a plurality of first harvesting plates, a sliding chute, a harvesting connecting plate, a second pushing cylinder, a plurality of second harvesting plates and a plurality of harvesting cylinders, wherein two ends of the cross rod are respectively fixedly connected with sliding blocks of two rodless cylinders; each first collecting plate and each second collecting plate are alternately arranged; the harvesting cylinders are arranged at equal intervals, and push rods of the harvesting cylinders extend into the space between the first harvesting plate and the second harvesting plate; the tail end of the push rod of each harvesting cylinder is fixed with a vegetable pushing plate so as to push the leaf vegetables into the vegetable basket.
And the side surface of the main frame is provided with an opposite-emitting sensor to detect the integral moving position of the mining and collecting vehicle.
The synchronizer consists of a guide rail and a guide block; the guide rails are horizontally arranged along the front-back direction, and two ends of the guide rails are fixed on the main frame through shaft seats; the guide block is in sliding fit with the guide rail and is fixedly connected with the corresponding rodless cylinder body
The image sensor, the storage battery, the linear module, the two rodless cylinders, the pushing cylinder, the harvesting cylinders and the correlation sensor are respectively and electrically connected with the electric cabinet.
The invention has the beneficial effects that:
according to the full-automatic harvesting vehicle for hydroponic leaf vegetables, the moving assembly moves above the cultivation groove, the position of the leaf vegetables is located through the image sensor, the leaf vegetables are accurately harvested through the driving assembly and the harvesting assembly, high efficiency, intelligence and manual removal of greenhouse hydroponic leaf vegetable harvesting are achieved, harvesting efficiency is greatly improved, and harvesting cost is reduced.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of the driving assembly of the present invention.
Fig. 3 is a schematic perspective view of a moving assembly according to the present invention.
Fig. 4 is a second perspective view of the moving assembly of the present invention.
Figure 5 is a schematic perspective view of a recovery assembly of the present invention.
Figure 6 is a second schematic perspective view of the recovery assembly of the present invention.
Reference numerals:
1. a main frame; 1-1, a cross beam; 1-2, upright columns; 2. a moving assembly; 2-1, a trolley frame; 2-2, driving wheels; 2-3, driven wheel; 2-4, ground feet; 3. a drive assembly; 3-1, pushing and pulling the transverse plate; 3-2, a linear module; 3-3, a rodless cylinder; 3-4, a guide rail; 3-5, a guide block; 3-6, axle seats; 4. a harvesting assembly; 4-1, a cross bar; 4-2, fixing a sliding rail plate; 4-3, a first pushing cylinder; 4-4, a first collecting plate; 4-5, a chute; 4-6, collecting a connecting plate; 4-7, a second pushing cylinder; 4-8, a second collecting plate; 4-9, connecting blocks; 4-10, a harvesting cylinder; 4-11, pushing the chopping board; 5. a vegetable basket; 6. an image sensor; 6-1, a sensor connecting rod; 7. a storage battery; 8. an electric cabinet.
Detailed Description
The following further description is made with reference to the embodiments shown in the drawings.
The linear driving type full-automatic harvesting vehicle for hydroponic leaf vegetables shown in fig. 1 comprises a main frame 1, two groups of moving assemblies 2, a driving assembly 3, a harvesting assembly 4, a plurality of (four in the figure) vegetable baskets 5, an image sensor 6, a correlation sensor (not shown in the figure), a storage battery 7 and an electric cabinet 8. The main frame is composed of a plurality of cross beams and upright columns and is arranged in a gantry shape, so that a harvesting vehicle can conveniently cross over a cultivation groove (filled with a substrate or nutrient solution for cultivating leaf vegetables, not shown in the figure) to harvest the leaf vegetables. The image sensor is arranged on the front side of the main frame through a sensor connecting rod 6-1 and used for collecting image signals of the leaf vegetables and positioning the positions of the leaf vegetables. The four vegetable baskets are fixed on the main frame and are arranged below the harvesting component in parallel to receive the leaf vegetables picked by the harvesting component. The storage battery is used for providing a working power supply.
As shown in fig. 3 and 4, the two sets of moving assemblies are symmetrically arranged at the lower parts of the left side and the right side of the main frame and are used for driving the collecting vehicle to move integrally. Each group of moving components comprises a trolley frame 2-1, a driving wheel 2-2, a plurality of (two in the figure) driven wheels 2-3 and a plurality of (two in the figure) ground feet 2-4. The trolley frame is fixed on the main frame; the driving wheels and the driven wheels are rotatably positioned at the bottom of the trolley frame, wherein the driven wheels adopt track travelling wheels so that the collecting and collecting trolley integrally moves on a track (not shown in the figure); the driving wheel is used as a driving wheel and is powered by the storage battery to rotate; in this embodiment, the battery is mounted on the cart frame. The lower margin passes through the vice vertical installation in dolly frame bottom of screw, and when the collection vehicle was out of work, the accessible was adjusted the vertical position of lower margin and is stopped the system to the collection vehicle and deposit, avoids the collection vehicle because of receiving external force and remove.
As shown in fig. 2, the drive assembly is mounted on the main frame for driving movement of the recovery assembly (including horizontal movement in a fore-and-aft direction and vertical movement in an up-and-down direction). The driving assembly comprises a transverse push-pull plate 3-1, a linear module 3-2, two rodless cylinders 3-3 and two synchronizers. The push-pull transverse plates are arranged left and right and can be horizontally and slidably positioned at the upper part of the outer frame along the front-back direction through the sliding pair; the linear module is arranged on the outer frame to drive the push-pull transverse plate to move. Two rodless cylinders are vertically fixed at the left end and the right end of the push-pull transverse plate, and sliding blocks of the two rodless cylinders are fixedly connected with the harvesting assembly, so that the harvesting assembly is driven by the two rodless cylinders to move vertically. The two synchronizers are horizontally arranged on the main frame along the front-back direction to respectively support and guide the two rodless cylinders and ensure the upper end and the lower end of each rodless cylinder to synchronously and horizontally move. The synchronizer is composed of a guide rail 3-4 and a guide block 3-5; the guide rails are horizontally arranged along the front-back direction, and two ends of the guide rails are fixed on the main frame through shaft seats 3-6; the guide blocks are in sliding fit with the guide rails and are fixedly connected with the corresponding rodless cylinder bodies.
As shown in fig. 5 and 6, the harvesting assembly is mounted on the upper portion of the frame, and the harvesting assembly can move in the front-back direction and the up-down direction under the driving of the driving assembly, so that leaf vegetables can be harvested accurately, and the harvesting effect of the leaf vegetables can be guaranteed. The harvesting assembly comprises a cross rod 4-1, a sliding rail fixing plate 4-2, a first pushing cylinder 4-3, a plurality of first harvesting plates 4-4, a sliding chute 4-5, a harvesting connecting plate 4-6, a second pushing cylinder 4-7, a plurality of second harvesting plates 4-8 and a plurality of harvesting cylinders 4-10; wherein the number of the first collecting plate, the second collecting plate and the collecting air cylinders is the same (8 in the figure).
The two ends of the cross rod are respectively fixedly connected with the sliding blocks of the two rodless cylinders, and the two rodless cylinders synchronously move in the vertical direction during working, so that the whole vertical movement of the harvesting assembly is driven by the cross rod. The slide rail fixing plate can be horizontally and movably positioned on the cross rod along the left-right direction; the first pushing cylinder is fixed on the cross rod and connected with the slide rail fixing plate to drive the slide rail fixing plate to move left and right. All the first collecting plates are fixed on the slide rail fixing plate at equal intervals; the sliding groove is horizontally arranged on the sliding rail fixing plate along the left and right directions. The harvesting connecting plate is arranged above the sliding rail fixing plate and can horizontally move along the left and right directions; the second pushing cylinder is fixed on the cross rod and connected with the harvesting connecting plate so as to drive the harvesting connecting plate to move; in this embodiment, first promotion cylinder and second promote the cylinder and install both ends about the horizontal pole respectively. The second collecting plates are fixed on the collecting connecting plate at equal intervals, and the lower parts of the second collecting plates are in sliding fit with the sliding grooves through connecting blocks 4-9; the first collecting plates and the second collecting plates are alternately arranged. The harvesting cylinders are fixed on the sliding rail fixing plate along the front-back direction, in the embodiment, the harvesting cylinders are arranged at equal intervals, and push rods of the harvesting cylinders extend into the space between the first harvesting plate and the second harvesting plate; the tail end of the push rod of each harvesting cylinder is fixed with a chopping board 4-11. When the vegetable basket is in work, push rods of the first pushing air cylinder and the second pushing air cylinder extend simultaneously to drive the first harvesting plates and the second harvesting plates to approach each other, so that leaf vegetables are clamped, and the leaf vegetables are taken out of the cultivation groove and moved to the position above the vegetable basket under the driving of the driving assembly; and then, the push rod of the harvesting cylinder extends, and the leaf vegetables between the first harvesting plate and the second harvesting plate are pushed into the vegetable basket through the vegetable pushing plate to be collected.
The side surface of the main frame is provided with the correlation sensor to detect the overall moving position of the mining and collecting vehicle. In this embodiment, a start reflector (not shown) is attached to the cultivation trough at the start position, and a stop reflector (not shown) is attached to the cultivation trough at the end position. In the moving and harvesting process of the harvesting vehicle, if the correlation sensor scans the stop reflecting plate, the leaf vegetables on the cultivation groove are completely harvested, the electric cabinet controls the harvesting vehicle to return until the correlation sensor scans the start reflecting plate, the harvesting vehicle stops moving, and the harvesting vehicle returns to the initial position. The sensing method between the correlation sensor and the start reflector or the end reflector is the prior art and will not be described in detail.
The automatic leaf vegetable harvesting machine is characterized in that the image sensor, the storage battery, the linear module, the two rodless cylinders, the pushing cylinder, the harvesting cylinders and the correlation sensor are respectively electrically connected with the electric cabinet, so that the electric cabinet is used for controlling the whole coordination of the harvesting vehicle, and the full-automatic harvesting operation of leaf vegetables is realized. The electronic devices and the air cylinder can be obtained by outsourcing.
The working steps of the invention are as follows:
step one, the electric control box powers on the driving wheel through the storage battery and controls the harvesting vehicle to move to the position near the cultivation groove.
Step two, when the image sensor detects the leaf vegetables, transmit signals to the electric cabinet, the electric cabinet controls the harvesting vehicle to stop moving, and simultaneously the linear module and the two rodless cylinders drive the whole forward and downward movement of the harvesting assembly, so that the adjacent first harvesting plate and the second harvesting plate respectively extend into the left side and the right side of the stem of the leaf vegetables.
Driving each first collecting plate to approach to an adjacent second collecting plate by two pushing cylinders so as to clamp the leaf vegetables; then the linear module and the rodless cylinder reset, the leaf vegetables are taken out to the upper part of the vegetable basket from the cultivation groove, and the automatic picking of the leaf vegetables is realized.
Step four, extending a push rod of each harvesting cylinder, pushing the leaf vegetables into the vegetable basket through a vegetable pushing plate, and completing automatic collection of the leaf vegetables; and then each recovery cylinder resets.
And fifthly, repeating the steps until the fifth step, realizing continuous harvesting operation of the leaf vegetables, scanning the opposite-emitting sensor on the side surface of the trolley to the stop reflecting plate until all the leaf vegetables are harvested, and controlling the harvesting trolley to move reversely by the electric cabinet.
And sixthly, when the trolley moves to the initial position, the opposite-emitting sensor on the side surface of the trolley scans the initial reflector, the harvesting vehicle stops moving, and the full-automatic harvesting operation of the leaf vegetables is completed.
In addition, the electric cabinet is also provided with a manual mode, and the harvesting assembly can be manually controlled to harvest leaf vegetables and realize the functions of forward movement, backward movement, speed change and the like of the trolley through corresponding working buttons arranged on the electric cabinet.
Finally, it should be noted that the above-mentioned list is only a specific embodiment of the present invention. It is obvious that the present invention is not limited to the above embodiments, but many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (7)
1. The utility model provides a full-automatic collection vehicle of linear drive formula water planting leaf dish which characterized in that: the harvesting machine comprises a gantry-shaped main frame (1) consisting of a plurality of cross beams (1-1) and upright posts (1-2), two groups of moving assemblies (2) symmetrically arranged at the lower parts of the left side and the right side of the main frame to drive the harvesting vehicle to move integrally, a harvesting assembly (4) movably positioned at the upper part of the frame along the front-back direction and the up-down direction to pick leaf vegetables, a driving assembly (3) arranged on the main frame to drive the harvesting assembly to move, a plurality of vegetable baskets (5) fixed on the main frame and positioned below the harvesting assembly to receive the leaf vegetables, an image sensor (6) arranged at the front side of the main frame to collect image signals of the leaf vegetables, a storage battery (7) used for providing a power supply and an electric cabinet (8) used for controlling the harvesting vehicle to operate integrally and coordinately.
2. The linear driving type full-automatic hydroponic leaf vegetable harvesting vehicle according to claim 1, characterized in that: the moving assembly comprises a trolley frame (2-1) fixed on the main frame, a driving wheel (2-2) and a plurality of driven wheels (2-3) which are rotatably positioned at the bottom of the trolley frame, and a plurality of ground feet (2-4) which are arranged at the bottom of the trolley frame and can be vertically adjusted to stop the mining and collecting vehicle.
3. The linear driving type full-automatic hydroponic leaf vegetable harvesting vehicle according to claim 2, characterized in that: the driving assembly comprises a push-pull transverse plate (3-1) which can be horizontally positioned at the upper part of the outer frame in a sliding manner along the front-back direction, a linear module (3-2) which is arranged on the outer frame and used for driving the push-pull transverse plate to move, two rodless cylinders (3-3) which are vertically fixed at the left end and the right end of the push-pull transverse plate, and two synchronizers which are horizontally arranged on the main frame along the front-back direction and used for respectively supporting and guiding the two rodless cylinders.
4. The linear driving type full-automatic hydroponic leaf vegetable harvesting vehicle according to claim 3, characterized in that: the harvesting component comprises a cross bar (4-1) with two ends respectively fixedly connected with the sliding blocks of the two rodless cylinders, a slide rail fixing plate (4-2) which can be horizontally and movably positioned on the cross bar along the left-right direction, a first pushing cylinder (4-3) which is fixed on the cross bar to drive the slide rail fixing plate to move, and a plurality of first harvesting plates (4-4) which are fixed on the slide rail fixing plate at equal intervals, the harvesting machine comprises a sliding chute (4-5) horizontally arranged on a sliding rail fixing plate along the left-right direction, a harvesting connecting plate (4-6) arranged above the sliding rail fixing plate and capable of horizontally moving along the left-right direction, a second pushing cylinder (4-7) fixed on a cross rod to drive the harvesting connecting plate to move, a plurality of second harvesting plates (4-8) fixed on the harvesting connecting plate at equal intervals and in sliding fit with the sliding chute, and a plurality of harvesting cylinders (4-10) fixed on the sliding rail fixing plate along the front-back direction; each first collecting plate and each second collecting plate are alternately arranged; the harvesting cylinders are arranged at equal intervals, and push rods of the harvesting cylinders extend into the space between the first harvesting plate and the second harvesting plate; the tail end of the push rod of each harvesting cylinder is fixed with a vegetable pushing plate (4-11) so as to push the leaf vegetables into the vegetable basket.
5. The linear-drive full-automatic hydroponic leaf vegetable harvesting vehicle according to claim 4, characterized in that: and the side surface of the main frame is provided with an opposite-emitting sensor to detect the integral moving position of the mining and collecting vehicle.
6. The linear driving type full-automatic hydroponic leaf vegetable harvesting vehicle according to claim 5, characterized in that: the synchronizer is composed of a guide rail (3-4) and a guide block (3-5); the guide rails are horizontally arranged along the front-back direction, and two ends of the guide rails are fixed on the main frame through shaft seats (3-6); the guide blocks are in sliding fit with the guide rails and are fixedly connected with the corresponding rodless cylinder bodies.
7. The linear-drive full-automatic hydroponic leaf vegetable harvesting vehicle according to claim 6, characterized in that: the image sensor, the storage battery, the linear module, the two rodless cylinders, the pushing cylinder, the harvesting cylinders and the correlation sensor are respectively and electrically connected with the electric cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110498624.0A CN113330906A (en) | 2021-05-08 | 2021-05-08 | Linear driving type full-automatic harvesting vehicle for hydroponic leaf vegetables |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110498624.0A CN113330906A (en) | 2021-05-08 | 2021-05-08 | Linear driving type full-automatic harvesting vehicle for hydroponic leaf vegetables |
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| CN113330906A true CN113330906A (en) | 2021-09-03 |
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| CN202110498624.0A Pending CN113330906A (en) | 2021-05-08 | 2021-05-08 | Linear driving type full-automatic harvesting vehicle for hydroponic leaf vegetables |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116158259A (en) * | 2023-04-26 | 2023-05-26 | 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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Application publication date: 20210903 |