CN116114465B - Device and method for harvesting hydroponic leafy vegetables with roots - Google Patents
Device and method for harvesting hydroponic leafy vegetables with roots Download PDFInfo
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- CN116114465B CN116114465B CN202310337472.5A CN202310337472A CN116114465B CN 116114465 B CN116114465 B CN 116114465B CN 202310337472 A CN202310337472 A CN 202310337472A CN 116114465 B CN116114465 B CN 116114465B
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- 238000003306 harvesting Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 8
- 235000013311 vegetables Nutrition 0.000 title abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 100
- 238000004804 winding Methods 0.000 claims abstract description 67
- 235000021384 green leafy vegetables Nutrition 0.000 claims description 56
- 210000004209 hair Anatomy 0.000 claims description 25
- 230000007306 turnover Effects 0.000 claims description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 20
- 241000208822 Lactuca Species 0.000 claims description 3
- 235000003228 Lactuca sativa Nutrition 0.000 claims description 3
- 230000009471 action Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000005012 migration Effects 0.000 description 4
- 238000013508 migration Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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- Hydroponics (AREA)
Abstract
本发明涉及一种水培叶菜缠根采收装置及方法，包括：机架，机架的横梁上设有移动夹持翻转机构和缠根机构，横梁下方设有用于放置并输送待缠根水培叶菜的输送机构，移动夹持翻转机构能够水平和竖直移动、用于夹持并翻转待缠根水培叶菜、使待缠根水培叶菜根部朝向缠根机构，缠根机构用于对夹持的水培叶菜进行缠根处理。本发明能够机械化对水培叶菜进行缠根采收，不仅减少人工工作量，也避免了去根采收降低其商品价值。
The present invention relates to a device and method for harvesting hydroponic leafy vegetables by root winding, comprising: a frame, a mobile clamping and flipping mechanism and a root winding mechanism are arranged on the crossbeam of the frame, a conveying mechanism for placing and conveying hydroponic leafy vegetables to be wound with roots is arranged under the crossbeam, the mobile clamping and flipping mechanism can move horizontally and vertically, and is used to clamp and flip the hydroponic leafy vegetables to be wound with roots, so that the roots of the hydroponic leafy vegetables to be wound with roots face the root winding mechanism, and the root winding mechanism is used to perform root winding treatment on the clamped hydroponic leafy vegetables. The present invention can mechanizedly harvest hydroponic leafy vegetables by root winding, which not only reduces the manual workload, but also avoids the reduction of their commodity value by harvesting by removing roots.
Description
Technical Field
The invention relates to the technical field of agricultural mechanical equipment, in particular to a hydroponic leaf vegetable root winding harvesting device and method.
Background
The water planting leaf vegetables have two harvesting modes of stem cutting and root winding, some water planting leaf vegetables harvesting machines which have been developed abroad are mostly stem cutting and harvesting, the rootstock of the water planting leaf vegetables is cut off in a shearing mode in the harvesting process, so that the links such as subsequent leaf peeling and packaging are not interfered by root hairs, the timely sales of the water planting leaf vegetables are avoided due to overlong storage time, meanwhile, the water planting leaf vegetables lose water planting characteristics due to the root removing harvesting mode, the commodity value of the water planting leaf vegetables is reduced, and at present, the root winding harvesting mode mostly adopts a manual root winding mode, the labor amount is large, and related automatic devices are urgently needed to be developed.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a hydroponic leaf vegetable root winding harvesting device and method, which are used for solving the problem of large labor capacity of manual root winding and avoiding reducing commodity value of root removing harvesting.
The technical scheme adopted by the invention for solving the technical problems is as follows: a hydroponic leaf vegetable root winding harvesting device, comprising: the machine frame comprises a cross beam, wherein the cross beam of the machine frame is provided with a movable clamping turnover mechanism and a root winding mechanism, and a conveying mechanism for placing and conveying the hydroponic leaf vegetables to be wound is arranged below the cross beam;
Remove centre gripping tilting mechanism can horizontal and vertical removal, be used for the centre gripping and upset wait to twine root water planting leaf dish, make wait to twine root water planting leaf dish root towards twining a root mechanism, twine a root mechanism and be used for twining the root to the water planting leaf dish of centre gripping and handle.
As the preferable technical scheme, conveying mechanism includes field planting board, doubly quick chain and doubly quick chain support, is used for placing water planting leaf dish on the field planting board, and the field planting board both sides are fixed on doubly quick chain and are carried along its length direction by doubly quick chain, doubly quick chain is supported by doubly quick chain support and is set up in ground.
As the preferable technical scheme, remove centre gripping tilting mechanism includes the arm and sets up the upset motor on the arm, and the arm is used for driving the upset motor and removes along level and vertical direction, is equipped with the pneumatic finger that is used for the centre gripping to wait to twine root hydroponic leaf dish on the output shaft of upset motor, and the upset motor is used for driving pneumatic finger upset.
As the preferable technical scheme, the mechanical arm is a two-degree-of-freedom mechanical arm and comprises a transverse moving module and a longitudinal moving module, wherein the transverse moving module is arranged along the length direction of a beam of the frame, and the longitudinal moving module is arranged along the direction perpendicular to the beam of the frame.
As the preferable technical scheme, twine root mechanism and include horizontal migration module and set up the double-layered root winding mechanism on the horizontal migration module, the horizontal migration module is used for driving double-layered root winding mechanism horizontal migration, and double-layered root winding mechanism is used for centre gripping, winding hydroponic leaf dish root must.
As the preferable technical scheme, press from both sides root winding mechanism and include the rotation motor, be equipped with from the carousel on the output shaft of rotation motor, follow it on the carousel and be equipped with radial movement module, be equipped with the root must fixture that is used for the centre of a circle from the carousel along it on the radial movement module, radial movement module is used for driving root must fixture along the radial approach of rotation carousel or keep away from the carousel centre of a circle.
As the preferable technical scheme, radial movement module includes reducing motor, lead screw and sets up the nut seat on the lead screw, and the reducing motor is used for driving the lead screw rotation, is equipped with on the self carousel with nut seat sliding fit and with the parallel arrangement's of lead screw slide rail, root must fixture setting on the nut seat.
As the preferable technical scheme, root must fixture includes the mounting bracket and sets up the cylinder on the mounting bracket, and the articulated a plurality of clamp that is equipped with on the mounting bracket indicates, and the tip of cylinder piston rod is equipped with the connecting plate, and the connecting plate passes through link assembly and presss from both sides to indicate the linkage to be connected, and the cylinder is used for driving the connecting plate and is close to or keep away from the mounting bracket, through link assembly in order to realize a plurality of clamp and indicate to hug or open.
As the preferable technical scheme, the two clamping fingers are oppositely arranged, the clamping fingers are hinged with the mounting frame through the first connecting rod and the second connecting rod, the connecting rod assembly comprises two third connecting rods hinged with the end parts of the connecting plates respectively, the other ends of the third connecting rods are hinged with the middle parts of the second connecting rods, and the second connecting rods are positioned between the first connecting rods and the third connecting rods.
The invention also provides a harvesting method of the hydroponic leaf vegetable winding root harvesting device, which comprises the following steps:
(1) Conveying the root-to-be-wound hydroponic leaf vegetables placed on the conveying mechanism to the movable clamping and overturning mechanism through the conveying mechanism;
(2) The lettuce to be root-wrapped on the conveying mechanism is clamped and placed by moving the movable clamping turnover mechanism;
(3) The root of the clamped hydroponic leaf vegetable faces the root winding mechanism through the movement and the turnover of the movable clamping turnover mechanism;
(4) The root winding mechanism carries out root winding treatment on the clamped hydroponic leaf vegetables.
The beneficial effects of the application are as follows: 1. the application can realize mechanization of root winding treatment of the hydroponic leaf vegetables, has simple integral structure and low processing cost, and maintains the hydroponic property and commodity value of the hydroponic leaf vegetables while avoiding adverse effects of the root of the hydroponic leaf vegetables on activities such as leaf peeling and packaging in the harvesting process.
2. According to the invention, the root hair clamping mechanism of the root winding mechanism is used for grabbing the hydroponic leaf vegetable roots, the root hair clamping mechanism connected with the root hair clamping mechanism is driven by the self-rotating disc in a synchronous manner by the diameter-changing motor and the rotating motor to do circular motion with gradually reduced radius, and meanwhile, the horizontal moving module drives the whole root clamping winding mechanism to horizontally move, so that the root winding treatment of the hydroponic leaf vegetable roots can be rapidly realized under the synchronous cooperation of the diameter-changing motor, the rotating motor and the horizontal moving module.
3. The root hair clamping mechanism adopts the mechanical claw with larger grabbing area, and the mechanical claw adopted by the design uses the air cylinder as the driving force to control the clamping fingers to be clasped or opened, so that the vegetable root grabbing operation is realized faster.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the root winding mechanism of the present invention;
FIG. 3 is a schematic diagram of a radial movement module according to the present invention;
FIG. 4 is a schematic view of a root hair holding mechanism;
FIG. 5 is a schematic diagram of the structure of the flipping motor and pneumatic fingers of the present invention;
fig. 6 is a partial enlarged view at a in bitmap 4.
The marks in the figure: 1. the device comprises a root winding mechanism, 2, a frame, 3, a mechanical arm, 4, a supporting connection plate, 5, a turnover motor, 6, an L-shaped connection plate, 7, a pneumatic finger, 8, a conveying mechanism, 11, a U-shaped frame, 12, a rotating disc, 13, a root hair clamping mechanism, 14, a module, 15, a support plate, 16, a rotating motor, 17, an L-shaped base, 121, a reducing motor, 122, an inverted concave plate, 123, a connection shaft, 124, a nut seat, 125, a screw rod, 131, a mounting rack, 132, a cylinder, 133, a connection plate, 134, a clamping finger, 135, a first connection rod, 136, a second connection rod, 137, a third connection rod, 138 and a tooth slot.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1-6, an embodiment of the present invention provides a harvesting device for root winding of hydroponic leaf vegetables, including: the machine frame 2 is provided with a movable clamping turnover mechanism and a root winding mechanism 1 on a cross beam of the machine frame 2, the machine frame 2 comprises a support frame and a cross beam arranged on the support frame, a conveying mechanism 8 for placing and conveying the water planting leaf vegetables to be wound is arranged below the cross beam, the movable clamping turnover mechanism can horizontally and vertically move and is used for clamping and turning the water planting leaf vegetables to be wound, the root of the water planting leaf vegetables to be wound is enabled to face the root winding mechanism 1, and the root winding mechanism 1 is used for winding root to the water planting leaf vegetables to be clamped.
Specifically, the conveying mechanism 8 comprises a planting plate, a double-speed chain and a double-speed chain support, the planting plate is used for placing hydroponic leaf vegetables, two sides of the planting plate are fixed on the double-speed chain and conveyed by the double-speed chain along the length direction of the planting plate, and the double-speed chain is supported by the double-speed chain support and arranged on the ground.
The mechanical arm 3 comprises a mechanical arm 3 and a turnover motor 5 arranged on the mechanical arm 3, the mechanical arm 3 is used for driving the turnover motor 5 to move along the horizontal direction and the vertical direction, a pneumatic finger 7 used for clamping the hydroponic leaf vegetables to be wound is arranged on an output shaft of the turnover motor 5, the turnover motor 5 is used for driving the pneumatic finger 7 to turn over, as shown in fig. 1, the mechanical arm 3 is a mechanical arm with two degrees of freedom, the mechanical arm comprises a transverse moving module and a longitudinal moving module, the transverse moving module is arranged along the length direction of a cross beam of the frame 2, the longitudinal moving module is arranged along the direction of the cross beam of the vertical frame 2, the turnover motor 5 is arranged on the longitudinal moving module through a supporting connecting plate 4, an L-shaped connecting plate 6 is arranged at the end of the output shaft of the turnover motor 5, the L-shaped connecting plate 6 comprises a vertical end and a horizontal end, the vertical end of the L-shaped connecting plate 6 is fixedly connected with the output shaft of the turnover motor 5, the pneumatic finger 7 is arranged at the bottom of the horizontal end of the L-shaped connecting plate 6, the mechanical arm 3 is driven to move horizontally and in the displacement direction during operation, the mechanical arm 3 can be understood to move horizontally and in the displacement direction, the mechanical arm 3 can adopt any existing two degrees of freedom to move, for example, the mechanical arm can move along the horizontal sliding rail can be arranged on a sliding rail, and can extend on a sliding rail by a sliding rail.
More specifically, the root winding mechanism 1 shown in fig. 1 and 2 includes a horizontal moving module 14 and a root clamping winding mechanism disposed on the horizontal moving module 14, the horizontal moving module 14 is mounted on the frame 2 through a U-shaped frame 11, a support plate 15 is disposed on the U-shaped frame 11, the horizontal moving module 14 is disposed on the support plate 15, the horizontal moving module 14 is used for driving the root clamping winding mechanism to horizontally move, and the root clamping winding mechanism is used for clamping and winding the hydroponic leaf root whiskers, it is understood that the horizontal moving module 14 can adopt any existing displacement mechanism capable of horizontally moving, for example, the horizontal moving module 14 generally includes a sliding rail extending along a horizontal direction, and a sliding seat driven by a motor is mounted on the sliding rail.
Further, as shown in fig. 2 and 3, the root winding mechanism includes a rotation motor 16, an L-shaped stand 17 is disposed on a sliding seat of the horizontal moving module 14, the rotation motor 16 is mounted on the L-shaped stand 17, a self-rotating disc 12 is disposed on an output shaft of the rotation motor 16, a radial moving module is radially disposed on the self-rotating disc 12, a root hair clamping mechanism 13 for clamping root hair is disposed on the radial moving module, the radial moving module is used for driving the root hair clamping mechanism 13 to radially approach or separate from a center of the self-rotating disc 12 along the self-rotating disc 12, as shown in fig. 3, the radial moving module includes a reducing motor 121, a screw 125 and a nut seat disposed on the screw 125, the radial moving module further includes an inverted U-shaped plate 122, the inverted U-shaped plate 122 is fixed on the self-rotating disc 12 and includes two vertical portions and a horizontal portion disposed between the two vertical portions, the screw 125 is disposed between the two vertical portions, one end of a screw rod 125 is rotationally connected with one vertical part, a variable diameter motor 121 is fixed on the other vertical part, an output shaft of the variable diameter motor 121 penetrates through the other vertical part, the end part of the variable diameter motor 121 is fixedly connected with the other end of the screw rod 125, the output shaft of the variable diameter motor 121 is rotationally connected with the other vertical part and is axially free from displacement, the variable diameter motor 121 is used for driving the screw rod 125 to rotate, a radial sliding rail which is in sliding fit with a nut seat 124 and is arranged in parallel with the screw rod 125 is arranged on a self-rotating disc 12, the bottom of the nut seat 124 is in sliding fit with the radial sliding rail, a root hair clamping mechanism 13 is arranged on the nut seat 124, a connecting shaft 123 is arranged on the nut seat 124, a kidney-shaped through hole for the connecting shaft 123 to radially move along the self-rotating disc 12 is arranged on the horizontal part, the connecting shaft 123 penetrates through the kidney-shaped through hole to be connected with the root hair clamping mechanism 13, the radial movement module may be any conventional displacement mechanism capable of horizontal movement, for example, the horizontal movement module 14 generally includes a horizontally extending rail on which a motor-driven slide is mounted.
As shown in fig. 4, the root hair clamping mechanism 13 includes a mounting bracket 131 and a cylinder 132 disposed on the mounting bracket 131, the mounting bracket 131 is disposed at an end of the connecting shaft 123, a plurality of clamping fingers 134 are hinged on the mounting bracket 131, a connecting plate 133 is disposed at an end of a piston rod of the cylinder 132, the connecting plate 133 is connected with the clamping fingers 134 in a linkage manner through a connecting rod assembly, the cylinder 132 is used for driving the connecting plate 133 to approach or depart from the mounting bracket 131, the clamping fingers 134 controlled by the cylinder 132 as a driving force are used for being engaged or opened, so that vegetable roots can be quickly grasped, as shown in fig. 6, tooth grooves 138 are disposed at inner sides of tail ends of the clamping fingers 134, friction force between a gripper and the vegetable roots can be increased, and thus the phenomenon that the vegetable roots slide off due to hydroponic leaves is not easy to be produced when the vegetable roots are grasped.
Further, as shown in fig. 4, two clamping fingers 134 are oppositely arranged, the clamping fingers 134 are hinged to the mounting frame 131 through a first connecting rod 135 and a second connecting rod 136, the connecting rod assembly comprises two third connecting rods 137 respectively hinged to the end portions of the connecting plates 133, the other ends of the third connecting rods 137 are hinged to the middle portions of the second connecting rods 136, and the second connecting rods 136 are located between the first connecting rods 135 and the third connecting rods 137.
The root winding mechanism 1 can realize root winding treatment of hydroponic leaf vegetable roots, pneumatic fingers 7 grasp hydroponic leaf vegetable roots face the root winding mechanism 1 under the action of the overturning motor 5, then the root hairs of the hydroponic leaf vegetable to be wound are clamped by the root hair clamping mechanism 13, the root hair to be wound is synchronously driven by the rotation motor 16 and the reducing motor 121, and meanwhile, the root clamping winding mechanism integrally moves towards the hydroponic leaf vegetable roots under the driving of the horizontal moving module 14, and the hydroponic leaf vegetable roots are further guaranteed to be wound through the synchronous driving of the rotation motor 16, the reducing motor 121 and the horizontal moving module 14.
The embodiment of the invention also provides a harvesting method of the hydroponic leaf vegetable winding root harvesting device, which comprises the following steps: (1) The to-be-wound root hydroponic leaf vegetables placed on the conveying mechanism 8 are conveyed to the movable clamping and overturning mechanism through the conveying mechanism 8: the conveying mechanism 8 conveys the hydroponic leaf vegetables to be wound to the position right below the pneumatic finger 7.
(2) Through the removal of removal centre gripping tilting mechanism, the centre gripping is placed waiting on the conveying mechanism 8 and is twined root water planting lettuce: the pneumatic finger 7 moves to the position right above the hydroponic leaf vegetable under the action of the mechanical arm 3, negative air pressure is connected at the moment, the pneumatic finger 7 expands, then the pneumatic finger 3 is driven to descend, when the pneumatic finger 7 reaches a proper grabbing position, the pneumatic finger is connected with positive air pressure to grab the hydroponic leaf vegetable, and the mechanical arm 3 drives the pneumatic finger 7 to pull up the hydroponic leaf vegetable from the planting plate.
(3) The root of the clamped hydroponic leaf vegetable faces the root winding mechanism 1 by moving and overturning the clamping and overturning mechanism: after the pneumatic finger 7 lifts up the hydroponic leaf vegetables, the hydroponic leaf vegetables are driven to the root winding mechanism 1 through the mechanical arm 3, the overturning motor 5 is started, and the root of the hydroponic leaf vegetables faces the root winding mechanism 1 through rotation.
(4) The root winding mechanism 1 carries out root winding treatment on the clamped water planting leaf vegetables: the pneumatic finger 7 is fixed after reaching the root winding mechanism 1, the horizontal moving module 14 drives the root clamping winding mechanism to integrally move towards the root of the hydroponic leaf, the horizontal moving module 14 stops working when the root hair clamping mechanism 13 reaches a proper clamping position, meanwhile, the air pressure in the air cylinder 132 pushes the piston, the generated force pulls the clamping finger 134 to clamp the root of the hydroponic leaf root to be wound under the action of the connecting rod assembly, then the rotating motor 16 is started to enable the rotating disc 12 connected with the rotating finger to circularly move, meanwhile, the variable diameter motor 121 is started, the nut seat 124 moves along the radial direction under the action of the lead screw 125, the root hair clamping mechanism 13 integrally circularly moves with gradually reduced radius under the synchronous action of the rotating motor 16 and the variable diameter motor 121, and meanwhile, the horizontal moving module 14 drives the L-shaped base 17 to gradually move towards the root of the hydroponic leaf root to be wound, and can understand that the root hair clamping mechanism 13 clamps the root hair of the hydroponic leaf root of the hydroponic leaf, and then moves towards the root of the hydroponic leaf root while doing circular motion with gradually reduced radius.
It should be noted that the above embodiments are only for illustrating the present invention, but the present invention is not limited to the above embodiments, and any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention falls within the protection scope of the present invention.
Claims (5)
1. The utility model provides a hydroponic leaf dish twines root harvesting device which characterized in that includes:
The device comprises a frame (2), wherein a beam of the frame (2) is provided with a movable clamping turnover mechanism and a root winding mechanism (1), and a conveying mechanism (8) for placing and conveying the hydroponic leaf vegetables to be wound is arranged below the beam;
The movable clamping and overturning mechanism can move horizontally and vertically and is used for clamping and overturning the water planting leaf vegetables to be wound, enabling the roots of the water planting leaf vegetables to be wound to face the root winding mechanism (1), and the root winding mechanism (1) is used for conducting root winding treatment on the clamped water planting leaf vegetables;
The root winding mechanism (1) comprises a horizontal moving module (14) and a root clamping winding mechanism arranged on the horizontal moving module (14), the root clamping winding mechanism comprises a rotation motor (16), a self-rotating disc (12) is arranged on an output shaft of the rotation motor (16), a radial moving module is arranged on the rotation disc (12) along the rotation motor, a root hair clamping mechanism (13) for clamping root hair is arranged on the radial moving module, and the radial moving module is used for driving the root hair clamping mechanism (13) to be radially close to or far away from the center of the self-rotating disc (12) along the rotation disc (12);
The radial moving module comprises a reducing motor (121), a screw rod (125) and a nut seat arranged on the screw rod (125), wherein the reducing motor (121) is used for driving the screw rod (125) to rotate, a sliding rail which is in sliding fit with the nut seat (124) and is arranged in parallel with the screw rod (125) is arranged on the rotating disc (12), and the root hair clamping mechanism (13) is arranged on the nut seat;
The root hair clamping mechanism (13) comprises a mounting frame (131) and an air cylinder (132) arranged on the mounting frame (131), a plurality of clamping fingers (134) are hinged to the mounting frame (131), a connecting plate (133) is arranged at the end part of a piston rod of the air cylinder (132), the connecting plate (133) is connected with the clamping fingers (134) in a linkage way through a connecting rod assembly, and the air cylinder (132) is used for driving the connecting plate (133) to be close to or far away from the mounting frame (131) so as to realize cohesion or opening of the plurality of clamping fingers (134) through the connecting rod assembly;
The two clamping fingers (134) are oppositely arranged, the clamping fingers (134) are hinged to the mounting frame (131) through a first connecting rod (135) and a second connecting rod (136), the connecting rod assembly comprises two third connecting rods (137) hinged to the end portions of the connecting plates (133) respectively, the other ends of the third connecting rods (137) are hinged to the middle portions of the second connecting rods (136), and the second connecting rods (136) are located between the first connecting rods (135) and the third connecting rods (137).
2. The hydroponic leaf vegetable root winding harvesting device of claim 1, wherein: the conveying mechanism (8) comprises a field planting plate, a double-speed chain and a double-speed chain support, the field planting plate is used for placing hydroponic leaf vegetables, two sides of the field planting plate are fixed on the double-speed chain and conveyed by the double-speed chain along the length direction of the double-speed chain, and the double-speed chain is supported by the double-speed chain support and arranged on the ground.
3. The hydroponic leaf vegetable root winding harvesting device of claim 1, wherein: the movable clamping turnover mechanism comprises a mechanical arm (3) and a turnover motor (5) arranged on the mechanical arm (3), the mechanical arm (3) is used for driving the turnover motor (5) to move along the horizontal direction and the vertical direction, a pneumatic finger (7) used for clamping the hydroponic leaf vegetables to be wound is arranged on an output shaft of the turnover motor (5), and the turnover motor (5) is used for driving the pneumatic finger (7) to turn.
4. A hydroponic leaf vegetable root winding harvesting device according to claim 3, characterized in that: the mechanical arm (3) is a two-degree-of-freedom mechanical arm and comprises a transverse moving module and a longitudinal moving module, wherein the transverse moving module is arranged along the length direction of a beam of the frame (2), and the longitudinal moving module is arranged along the direction perpendicular to the beam of the frame (2).
5. A harvesting method of a hydroponic leaf vegetable root winding harvesting device according to any one of claims 1-4, comprising the steps of:
(1) Conveying the root-to-be-wound hydroponic leaf vegetables placed on the conveying mechanism (8) to the movable clamping turnover mechanism through the conveying mechanism (8);
(2) The lettuce to be wrapped on the conveying mechanism (8) is clamped and placed by the movement of the movable clamping turnover mechanism;
(3) The root of the clamped hydroponic leaf vegetable faces the root winding mechanism (1) through the movement and the turnover of the movable clamping turnover mechanism;
(4) The root winding mechanism (1) carries out root winding treatment on the clamped hydroponic leaf vegetables.
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| CN202310337472.5A CN116114465B (en) | 2023-03-31 | 2023-03-31 | Device and method for harvesting hydroponic leafy vegetables with roots |
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|---|---|---|---|---|
| CN107659084A (en) * | 2017-10-11 | 2018-02-02 | 六安江淮电机有限公司 | The adaptive reducing wind of enamel-covered wire |
| CN113317035A (en) * | 2021-05-25 | 2021-08-31 | 河南科技大学 | Low-suction-and-pull stem cutting and harvesting device for water-cultured lettuce |
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