WO2024040673A1

WO2024040673A1 - Harvesting and transplanting integrated device

Info

Publication number: WO2024040673A1
Application number: PCT/CN2022/120841
Authority: WO
Inventors: 高国华
Original assignee: 苏州新农益科技有限公司
Priority date: 2022-08-23
Filing date: 2022-09-23
Publication date: 2024-02-29
Also published as: CN115428724A

Abstract

The present application relates to the technical field of hydroponic crop planting and harvesting, provides a harvesting and transplanting integrated device, and is designed to solve the problem of low efficiency of existing hydroponic crop harvesting and transplanting processes. The harvesting and transplanting integrated device comprises a frame, a planting plate, a harvesting apparatus, and a transplanting apparatus. The planting plate is movably arranged on the frame, the harvesting apparatus and the transplanting apparatus are sequentially arranged in a moving direction of the planting plate, and the harvesting apparatus and the transplanting apparatus are both mounted on the frame; the planting plate is provided with a plurality of planting holes, and the planting plate comprises a harvesting position passing through the harvesting apparatus and a transplanting position passing through the transplanting apparatus; mature crops are planted in the planting holes in the harvesting position, and the harvesting apparatus is configured to pick the mature crops; and the transplanting apparatus is configured to plant crop seedlings into the planting holes in the transplanting position. The present application can effectively improve the harvesting and transplanting efficiency of hydroponic crops.

Description

An integrated harvesting and transplanting equipment

Cross-references to related applications

This application claims priority to the Chinese patent application with application number 202211012925.9 and titled "Integrated Harvesting and Transplanting Equipment" submitted to the China Patent Office on August 23, 2022, the entire content of which is incorporated into this application by reference.

Technical field

The present application relates to the technical field of hydroponic crop planting and harvesting, specifically to an integrated harvesting and transplanting equipment.

Background technique

Hydroponics is a new method of soilless plant cultivation, also known as nutrient hydroponics. Its core is to directly immerse the roots of plants in nutrient solution. This nutrient solution can replace soil and provide water, nutrients, oxygen, etc. to plants. Growth factors enable plants to grow normally.

After the hydroponic crops are harvested, new hydroponic crop seedlings need to be transplanted to the planting plates. However, the existing hydroponic crop harvesting and transplanting processes are inefficient.

Application content

The purpose of this application is to provide an integrated harvesting and transplanting equipment to solve the existing technical problem of low efficiency in the harvesting and transplanting process of hydroponic crops.

The integrated harvesting and transplanting equipment provided by this application includes a frame, a planting plate, a harvesting device and a transplanting device. The planting plate is movably arranged on the frame. Along the moving direction of the planting plate, the harvesting device The device and the transplanting device are arranged in sequence, and the harvesting device and the transplanting device are installed on the frame; the colonization plate is provided with a number of colonization holes, and the colonization plate has a hole passing through the harvesting device. a harvesting position, and a transplanting position through the transplanting device, wherein the planting hole in the harvesting position is colonized with mature crops, and the harvesting device is configured to harvest the mature crops; the transplanting The planting device is configured to plant the crop seedlings into the planting holes in the transplanting position.

Further, the harvesting device includes a root cutting component and a collection component that are arranged in sequence along the movement direction of the colonization plate. The root cutting component is configured to cut off the root system of the mature crop, and the collection component is configured to The mature crops whose root systems have been severed are collected.

Further, the colonization board is a flexible board. Along the moving direction of the colonization board, the colonization board has a first horizontal section, a transition section and a second horizontal section arranged in sequence, and the first horizontal section is higher than the The second horizontal section, wherein the first horizontal section forms an angle with the transition section and forms a first accommodation space, and the root cutting assembly is arranged in the first accommodation space; the transition section and the third accommodation space The two horizontal sections are angled and form a second accommodation space, and the collection assembly is disposed in the second accommodation space. The collection assembly has a receiving portion configured to receive the mature crop with its root system cut off, and the receiving portion is low on the first horizontal section.

Further, the root cutting assembly includes a support plate and a root cutting blade rotatably disposed on the support plate, the support plate is configured to support the colonization plate, and the root cutting blade is installed on the support plate. On a side away from the colonization plate and in a direction opposite to the moving direction of the colonization plate, the root cutting blade protrudes from the edge of the support plate.

Further, a plurality of root cutting grooves are provided on the edge of the support plate away from the collection assembly. The root cutting grooves extend along the moving direction of the colonization plate. The plurality of root cutting grooves are arranged along the edge of the colonization plate. The moving direction is spaced apart in a direction perpendicular to the direction of movement, and the root cutting blade protrudes from the bottom of the root cutting groove; the colonization plate is provided with multiple sets of colonization holes, and the multiple sets of colonization holes are arranged along the edges of the colonization plate. The moving direction is arranged at intervals in a direction perpendicular to the moving direction, and multiple groups of the planting holes are respectively provided in one-to-one correspondence with a plurality of the root cutting grooves.

Further, the collection assembly includes a transmission mechanism and a guide plate. The transmission direction of the transmission mechanism is at an angle to the moving direction of the colonization plate. The guide plate connects the transition section and the transmission mechanism. The guide plate connects the transition section and the transmission mechanism. The plate is configured to guide the mature crop with its root system severed to the transfer mechanism.

Further, the harvesting and transplanting integrated equipment also includes a cleaning device, the cleaning device is installed on the frame, and the cleaning device is located between the harvesting device and the transplanting device, and the cleaning device is Configure to rinse the colonization plate.

Furthermore, the harvesting device further includes several sets of conveying rollers, which are arranged at intervals along the moving direction of the planting plate, and each group of conveying rollers clamps the planting plate.

Further, the rack has an upper space and a lower space that are connected to each other, and a temporary storage box is pullably provided in the lower space. The temporary storage box has an opening that is opposite and connected to the upper space, so Debris produced in the upper space can enter the temporary storage box through the opening.

Further, the transplanting device includes a transplanting robot and a tray, the tray is fixedly arranged relative to the frame, the tray is located above the planting plate, and the tray is configured to support the crop. Seedlings, the transplanting robot is installed on the frame, and the transplanting robot is configured to transplant the crop seedlings in the tray into the planting holes in the transplanting position.

The beneficial effects brought by the integrated harvesting and transplanting equipment of this application are:

By setting up an integrated harvesting and transplanting equipment mainly composed of a frame, a planting plate, a harvesting device and a transplanting device, when the integrated harvesting and transplanting equipment is working, the planting plate moves on the frame, so that the planting plate has the ability to pass through the harvesting device. Harvesting position and transplanting position through the transplanting device.

When the crops planted in the planting holes are mature crops, as the planting plate moves relative to the frame, when the planting plate drives the mature crops on it to move to the harvesting position, the harvesting device will harvest the mature crops, so that the mature crops are picked from the planting holes of the planting plate. At this time, the planting holes with mature crops will be in an idle state, and as the planting plate continues to move forward, subsequent mature crops will also be picked by the harvesting device. , so that the planting holes planted with these mature crops are also in an idle state; when the above-mentioned idle planting holes move to the transplanting position, the transplanting device will implant the crop seedlings into these idle planting holes to achieve the goal of crop seedlings. The purpose of colonization.

This integrated harvesting and transplanting equipment can not only harvest mature crops, but also colonize crop seedlings. Harvesting and transplanting are continuous processes, that is, during the process of forward transportation of the colonization board, it can complete the transplantation of the planting board. After harvesting mature crops, the crop seedlings can be transplanted into the same planting board used to complete the crop harvesting, which greatly improves the efficiency of the harvesting and transplanting process of hydroponic crops.

Description of drawings

In order to explain the embodiments of the present application or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only This is an embodiment of the present application. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of the integrated harvesting and transplanting equipment provided by the embodiment of the present application;

Figure 2 is a schematic top view of the integrated harvesting and transplanting equipment provided by the embodiment of the present application after hiding the top plate;

Figure 3 is a cross-sectional view along line A-A in Figure 2;

Figure 4 is a schematic structural diagram of the harvesting and transplanting integrated equipment provided by the embodiment of the present application from another perspective;

Figure 5 is an enlarged view of the partial structure at B in Figure 4.

Explanation of reference symbols:

010-mature crops; 011-root system; 020-crop seedlings;

100-rack; 200-planting plate; 300-harvesting device; 400-transplanting device; 500-temporary storage box;

110-upper space; 120-lower space; 130-top plate; 140-side door;

210-colonization hole; 220-first horizontal section; 230-transition section; 240-second horizontal section;

310-root cutting component; 320-collection component; 330-conveying roller;

311-support plate; 312-root cutting blade; 313-root cutting groove;

321-transmission mechanism; 322-guide plate;

410-Transplanting manipulator; 420-Tray; 430-Linear feed mechanism; 440-Bracket.

Detailed ways

In order to make the above objects, features and advantages of the present application more obvious and understandable, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

Figure 1 is a schematic structural diagram of the integrated harvesting and transplanting equipment provided in this embodiment. Figure 2 is a schematic top view of the integrated harvesting and transplanting equipment provided in this embodiment after the top plate 130 is hidden. As shown in Figures 1 and 2, this embodiment provides an integrated harvesting and transplanting equipment, including a frame 100, a planting plate 200, a harvesting device 300 and a transplanting device 400. Specifically, the planting plate 200 is movably arranged. On the frame 100, along the moving direction of the planting plate 200, the harvesting device 300 and the transplanting device 400 are arranged in sequence, and the harvesting device 300 and the transplanting device 400 are both installed on the frame 100; the planting plate 200 is provided with a number of planting holes 210. The planting plate 200 has a harvesting position passing through the harvesting device 300, and a transplanting position passing through the transplanting device 400, wherein the planting holes 210 in the harvesting position are planted with mature crops 010, and the harvesting device 300 is configured to harvest the mature crops 010. ; The transplanting device 400 is configured to implant the crop seedlings 020 into the planting holes 210 in the transplanting position.

When the harvesting and transplanting integrated equipment is working, the planting plate 200 moves on the frame 100 so that the planting plate 200 has a harvesting position passing through the harvesting device 300 and a transplanting position passing through the transplanting device 400 .

When the crops planted in the planting holes 210 are mature crops 010, as the planting plate 200 moves relative to the frame 100, when the planting plate 200 drives the mature crops 010 on it to move to the harvesting position, the harvesting device 300 will The mature crops 010 are harvested, so that the mature crops 010 are picked from the planting holes 210 of the planting plate 200. At this time, the above-mentioned planting holes 210 with the mature crops 010 will be in an idle state, and as the planting plate 200 continues to move toward Moving forward, subsequent mature crops 010 will also be harvested by the harvesting device 300, so that the planting holes 210 planted with these mature crops 010 are also in an idle state; when the idle planting holes 210 move to the transplanting position, the transplanting device 400 will implant the crop seedlings 020 into these vacant planting holes 210 to achieve the purpose of colonizing the crop seedlings 020.

The integrated harvesting and transplanting equipment can not only harvest mature crops 010, but also colonize crop seedlings 020, and harvesting and colonization are continuous processes, that is, during the process of the colonization plate 200 being transported forward, both The mature crops 010 on the planting plate 200 can be harvested, and the crop seedlings 020 can be transplanted into the same planting plate 200 that completes the crop harvesting, so that the efficiency of the hydroponic crop harvesting and transplanting process is greatly improved.

It should be noted that in FIG. 1 , the direction pointed by arrow S indicates the moving direction of the colonization plate 200 .

In this embodiment, the hydroponic crops can be any hydroponic crops such as leafy vegetables, flowers, Chinese herbal medicines, fruits and vegetables.

Figure 3 is a cross-sectional view along line A-A in Figure 2 . Please continue to refer to Figures 1 and 2, combined with Figure 3. In this embodiment, the harvesting device 300 includes a root cutting assembly 310 and a collection assembly 320 that are sequentially arranged along the moving direction of the colonization plate 200. Specifically, the root cutting assembly 310 is Configured to cut off the root system 011 of the mature crop 010 , the collecting component 320 is configured to collect the mature crop 010 with the cut off root system 011 .

When the part where the mature crop 010 is planted on the colonization plate 200 moves to the position of the root cutting assembly 310, the root cutting assembly 310 will cut off the root system 011 of the mature crop 010, so that the mature crop 010 can be separated from the corresponding planting hole 210; after that, As the planting board 200 continues to be transported forward, the collection assembly 320 collects the mature crops 010 whose root systems 011 have been cut off to prevent the mature crops 010 from being scattered into the surrounding environment.

This arrangement of the harvesting device 300, on the one hand, separates the mature crops 010 and their root systems 011 from the planting holes 210 from above and below the planting plate 200, instead of separating the mature crops 010 and their root systems 011 from the same side of the planting holes 210. Taking it out reduces the damage to the planting hole 210 and reduces the damage to the mature crop 010 itself. On the other hand, the removal of the root system 011 of the crop is completed before the crop is collected, eliminating the subsequent root removal process, and also The functions of the integrated harvesting and transplanting equipment of this embodiment are enriched.

Please continue to refer to Figure 3. In this embodiment, the colonization plate 200 is a flexible plate. Along the moving direction of the colonization plate 200, the colonization plate 200 has a first horizontal section 220, a transition section 230 and a second horizontal section 240 arranged in sequence. Specifically, Ground, the first horizontal section 220 is higher than the second horizontal section 240, the first horizontal section 220 forms an angle with the transition section 230 and forms a first accommodation space, and the root cutting assembly 310 is disposed in the first accommodation space; the transition section 230 and the second The horizontal section 240 is angled and forms a second receiving space, and the collecting assembly 320 is disposed in the second receiving space. The collecting assembly 320 has a receiving portion configured to receive the mature crop 010 with the root system 011 cut off, wherein the receiving portion is lower than the first level. Paragraph 220.

By arranging the planting plate 200 as a flexible plate, the planting plate 200 can have a bending section during movement. On the one hand, it is convenient to spatially arrange other components in the harvesting and transplanting integrated equipment of this embodiment, so that the harvesting and transplanting integrated equipment The structure is more compact. On the other hand, the mature crop 010 after the root system 011 is cut off can automatically roll down to the collection assembly 320 by its own gravity as the planting plate 200 continues to move forward. The collection assembly 320 then Collection, that is, the movement of mature crops 010 from the planting plate 200 to the collection assembly 320 does not require the use of other power, thereby effectively reducing the cost of the harvesting device 300 and further reducing the cost of the integrated harvesting and transplanting equipment of this embodiment.

It should be noted that in this embodiment, the first horizontal section 220 and the second horizontal section 240 include both an absolutely horizontal state that is completely parallel to the horizontal plane, and a basically horizontal state that forms a small angle with the horizontal plane. The small angle includes The angle can be -10° to 10°, where negative numbers can be seen as being below the horizontal plane and at an angle to the horizontal plane, and positive numbers can be seen as being above the horizontal plane and at an angle to the horizontal plane.

In this embodiment, during the working process of the integrated harvesting and transplanting equipment, the planting hole 210 has three states: in the first horizontal section 220, the planting hole 210 is planted with mature crops 010; in the transition section 230, the mature crops 010 are harvested. , so that the planting hole 210 is in an idle state at this time; in the second horizontal section 240, the transplanting device 400 will transplant the crop seedlings 020 to the planting hole 210, so that the planting hole 210 is in a state of planting plant seedlings at this time.

Please continue to refer to FIG. 3 . In this embodiment, along the top-to-bottom direction, the transition section 230 extends obliquely toward the direction of the transplanting device 400 . This arrangement can prevent the colonization plate 200 from being damaged due to excessive folding angle at the bend.

In this embodiment, the material of the colonization board 200 is pearl cotton or black and white film. This arrangement of the material of the planting plate 200 not only makes the planting plate 200 flexible enough to bend it, but also makes the planting plate 200 rigid enough to smoothly plant crops (crops at various growth stages).

FIG. 4 is a schematic structural diagram of the integrated harvesting and transplanting equipment provided in this embodiment from another perspective, and FIG. 5 is an enlarged view of the partial structure at B in FIG. 4 . As shown in Figures 4 and 5, in this embodiment, the root cutting assembly 310 may include a support plate 311 and a root cutting blade 312 rotatably provided on the support plate 311. Specifically, the support plate 311 is configured to support the colonization plate. 200, the root cutting blade 312 is installed on the side of the support plate 311 away from the colonization plate 200, and in the direction opposite to the moving direction of the colonization plate 200, the root cutting blade 312 protrudes from the edge of the support plate 311.

When the harvesting and transplanting integrated equipment is working, the support plate 311 plays a certain supporting role for the planting plate 200. As the planting plate 200 moves forward, when the planting plate 200 moves to the position of the mature crop 010 in its planting hole 210, it is supported. When the edge of the plate 311 is reached, the root system 011 of the mature crop 010 will be in contact with the root cutting blade 312, and due to the continuous movement of the planting plate 200, there will be a squeezing force between the root system 011 and the root cutting blade 312, thereby utilizing the root cutting blade 312 The rotation will cut off the root system 011 and realize the separation of the fruit and the root system 011.

This arrangement of the root cutting assembly 310 can effectively separate the root system 011 of the mature crop 010 from its fruit without causing damage to the fruit.

In this embodiment, the rotation of the root cutting blade 312 can be realized by a root cutting motor. Specifically, the casing of the root cutting motor and the frame 100 are relatively fixedly arranged, and the motor shaft of the root cutting motor is fixedly connected to the root cutting blade 312. , so that when the motor shaft of the root cutting motor rotates, the root cutting blade 312 is driven to rotate.

Please continue to refer to Figures 4 and 5. A number of root cutting grooves 313 are provided on the edge of the support plate 311 away from the collection assembly 320. The root cutting grooves 313 extend along the moving direction of the colonization plate 200. The plurality of root cutting grooves 313 are connected to the colonization plate 200. The root cutting blades 312 protrude from the bottom of the root cutting groove 313; the colonization plate 200 is provided with multiple sets of colonization holes 210, and the multiple sets of colonization holes 210 are arranged in the same direction as the movement direction of the colonization plate 200. Arranged at intervals in the vertical direction, multiple groups of planting holes 210 are respectively provided in one-to-one correspondence with multiple root cutting grooves 313 . Among them, “the direction perpendicular to the moving direction of the colonization plate 200” is the width direction of the colonization plate 200.

In this embodiment, multiple colonization holes 210 arranged along the same straight line in the moving direction of the colonization plate 200 can be regarded as a group of colonization holes 210 . During the movement of the planting plate 200, each group of planting holes 210 will pass through the corresponding root cutting groove 313. When the mature crop 010 in the planting hole 210 moves to the bottom of the root cutting groove 313, its root system 011 It will come into contact with the root cutting blade 312 to achieve the cutting of the root system 011.

Through the above arrangement, the support of the planting plate 200 can be achieved, so that even if the planting plate 200 is deformed and drooped, its deformed part is still at a certain distance from the root cutting blade 312, thereby preventing the planting plate 200 from deforming and drooping and being cut by the root cutting blade 312. scratched.

Please continue to refer to Figure 3. The collection assembly 320 includes a transmission mechanism 321 and a guide plate 322. Specifically, the transmission direction of the transmission mechanism 321 is at an angle to the moving direction of the colonization plate 200, and the guide plate 322 connects the transition section 230 and the transmission mechanism 321, where , the guide plate 322 is configured to guide the mature crop 010 with the root system 011 cut off to the conveying mechanism 321 .

When the root system 011 of the mature crop 010 is cut by the root cutting blade 312, as the colonization plate 200 continues to move, the mature crop 010 with the cut root system 011 will enter the transition section 230 from the first horizontal section 220. Due to the inclined setting of the transition section 230 , will cause the mature crops 010 to detach from the planting holes 210 under the action of their own gravity, and further roll down to the guide plate 322, thereby being guided to the transmission mechanism 321 by the guide plate 322, and then using the transmission mechanism 321 to transmit the mature crops 010 to the equipment. Collect at a specific location.

This arrangement of the collection assembly 320 can, on the one hand, smoothly guide the mature crops 010 whose roots 011 have been cut off to the conveying mechanism 321 for transportation, thereby achieving the purpose of collecting the mature crops 010. On the other hand, it can also collect the mature crops 010 in the transition section 230 A transfer bridge is formed between the transition section 230 and the transmission mechanism 321 to avoid the mature crop 010 being damaged due to an excessive height difference between the transition section 230 and the transmission mechanism 321 .

In this embodiment, the transmission direction of the transmission mechanism 321 is perpendicular to the moving direction of the colonization plate 200 , that is, the transmission direction of the transmission mechanism 321 is along the width direction of the colonization plate 200 .

In this embodiment, the transmission mechanism 321 may be a belt transmission mechanism. Specifically, the belt transmission mechanism includes a driving wheel, a driven wheel and a conveyor belt sleeved on the driving wheel and the driven wheel. The driving wheel and the driven wheel are both rotatably arranged on the machine. The rack 100, the upper surface of the conveyor belt forms the receiving part of the collection assembly 320, and the conveyor belt is used to receive the mature crops 010 guided by the guide plate 322, so that under the transmission effect of the conveyor belt, the mature crops 010 are transported to the end of the conveying mechanism 321, To achieve the purpose of centralized collection.

This arrangement of the transfer mechanism 321 can continuously transfer the mature crops 010 to places outside the equipment, avoiding the mature crops 010 from staying in the equipment for a long time, thereby reducing the occupation of the internal space of the equipment by the mature crops 010.

In other embodiments, the collection assembly 320 may also be provided in the form of a collection box. Specifically, the collection box is provided with an opening toward the transition section 230 so that the mature crops 010 falling through the transition section 230 can enter the collection box through the opening. .

Please continue to refer to Figure 3. In this embodiment, the harvesting device 300 also includes several sets of conveying rollers 330. Several sets of conveying rollers 330 are arranged at intervals along the moving direction of the planting plate 200. Each set of conveying rollers 330 clamps the planting Plate 200.

By arranging several sets of conveying rollers 330 for clamping the planting plate 200 between the root cutting assembly 310 and the transplanting device 400, the planting plate 200 can be moved and driven without causing interference to the crops planted by the planting plate 200. , so that the colonization plate 200 can be transported forward smoothly. In addition, this arrangement of the conveying rollers 330 can also support the planting plate 200 in this area, preventing the planting plate 200 from being unable to smoothly enter the transplanting device 400 due to drooping and deformation for transplanting the crop seedlings 020 .

In this embodiment, the conveying rollers 330 are evenly distributed in the first horizontal section 220 , the transition section 230 and the second horizontal section 240 . Among them, the conveying rollers 330 provided in the first horizontal section 220 are short rollers, which only clamp the edges of the planting plate 200 to avoid interference with the mature crops 010 in the planting holes 210; they are provided in the transition section 230 and the second The conveying rollers of the horizontal section 240 are long rollers that extend along the width direction of the colonization plate 200 and clamp the colonization plate 200 at various positions along the width direction. Moreover, the conveying rollers provided at the transition section 230 and the second horizontal section 240 can It is only used as a support roller and a guide roller, and only the conveying roller 330 provided in the first horizontal section 220 provides conveying power.

In this embodiment, in each set of conveying rollers 330, one conveying roller can be a driving roller and the other conveying roller can be a driven roller. The colonization plate 200 is clamped by the driving roller at multiple positions in its moving direction. and between the driven roller. When the colonization plate 200 needs to be moved, the driving roller rotates. Under the action of friction between the driving roller and one surface of the colonization plate 200 and between the driven roller and the other surface of the colonization plate 200, the movement of the colonization plate 200 is realized. 200 mobile process driver. Among them, the driving roller can be driven by a motor.

In this embodiment, the outer peripheral surfaces of the driving roller and the driven roller can be provided with matching embossed structures. This arrangement enables the planting plate 200 to be clamped between the driving roller and the driven roller. A certain deformation is produced in the matching embossed parts to increase the adhesion of the planting plate 200 between the driving roller and the driven roller, thereby increasing the friction between the planting plate 200 and the driving roller and the driven roller to ensure Smooth delivery of the colonization plate 200.

In this embodiment, the integrated harvesting and transplanting equipment may also include a cleaning device (not shown in the figure). Specifically, the cleaning device is installed on the frame 100, and the cleaning device is located between the harvesting device 300 and the transplanting device 400. The cleaning device is configured to rinse the colonization plate 200 .

The setting of the above-mentioned cleaning device makes it possible that during the movement of the planting plate 200, the mature crops 010 of the planting plate 200 will have their root systems 011 cut off when passing through the root cutting assembly 310, and then enter the collection assembly 320 for collection, thus causing the original planting The planting holes 210 with mature crops 010 are in an idle state; as the planting plate 200 continues to be transported forward, this part of the planting holes 210 will gradually pass through the cleaning device, and the cleaning device will clean and carry this part of the planting holes 210 The planting plate 200 is cleaned so that dust and impurities attached to the planting plate 200 are removed to ensure the cleaning of the planting hole 210 and its surroundings, thereby facilitating the transplanting device 400 to transplant the crop seedlings 020 to the above-mentioned planting hole 210.

By setting up a cleaning device, the harvested planting plate 200 can be cleaned to ensure the subsequent transplanting operation of the planting plate 200. This setting makes crop harvesting, cleaning of the planting plate 200, and crop transplanting a continuous process without stopping the machine in between. This further improves the harvesting and transplanting efficiency of hydroponic crops.

In this embodiment, the cleaning device is located below the collection assembly 320 . This arrangement can shorten the length of the integrated harvesting and transplanting equipment of this embodiment (the size along the moving direction of the planting plate 200), which is conducive to the compact structure of the integrated harvesting and transplanting equipment, so as to reduce the trouble during use of the integrated harvesting and transplanting equipment. Space occupied.

Please continue to refer to Figure 3. In this embodiment, the rack 100 has an upper space 110 and a lower space 120 that are connected to each other. Specifically, the lower space 120 is provided with a temporary storage box 500 that can be pulled out. The temporary storage box 500 has an upper space connected to the upper space. The space 110 has an opposite and connected opening, and debris generated in the upper space 110 can enter the temporary storage box 500 through the opening.

After the harvesting and transplanting integrated equipment has been working for a period of time, the staff can take out the temporary storage box 500 from the lower space 120, dump the temporary debris in the temporary storage box 500, and reinstall the temporary storage box 500 into the rack. 100. The provision of the temporary storage box 500 can temporarily store debris generated during the operation of the integrated harvesting and transplanting equipment, and prevent excessive generation of debris from adversely affecting the normal operation of the equipment.

In this embodiment, the number of temporary storage boxes 500 is two, among which one temporary storage box 500 is provided below the root cutting assembly 310 and is configured to temporarily store the root system 011 of the mature crop 010 cut off by the root cutting assembly 310; the other is A temporary storage box 500 is provided below the cleaning device, configured to receive dust and impurities washed off by the cleaning device, and to receive the cleaning liquid after completing the cleaning operation.

Specifically, the cleaning device may include a cleaning nozzle, the nozzle of the cleaning nozzle faces the colonization plate 200, the cleaning nozzle supplies cleaning liquid from the outside, or a container containing cleaning liquid is installed on the frame 100 and the cleaning nozzle is connected to the container.

Please continue to refer to Figures 2 and 3. In this embodiment, the transplanting device 400 may include a transplanting manipulator 410 and a tray 420. Specifically, the tray 420 is fixedly arranged relative to the frame 100, and the tray 420 is located above the colonization plate 200. , the tray 420 is configured to support the crop seedlings 020, the transplanting robot 410 is installed on the frame 100, and the transplanting robot 410 is configured to transplant the crop seedlings 020 in the tray 420 into the planting hole 210 in the transplanting position.

Before the colonization plate 200 moves to the transplanting position, the colonization holes 210 of the colonization plate 200 are in an idle state. When the planting plate 200 moves to the transplanting position, the transplanting robot 410 will grab the crop seedlings 020 from the tray 420 and transplant the crop seedlings 020 into the planting holes 210 at this position to complete the transplanting of the crop seedlings 020 operate.

This arrangement of the transplanting device 400 can not only use the tray 420 to store the crop seedlings 020, but also use the transplanting robot 410 to automatically grab and transplant the crop seedlings 020, with a high degree of automation.

In this embodiment, the transplanting manipulator 410 is a multi-degree-of-freedom manipulator, which can complete the grasping and lowering operations of the crop seedlings 020 so that the crop seedlings 020 can be inserted into the planting holes 210 to complete transplanting.

It should be noted that the specific structure of the transplanting robot 410 and how to realize the grabbing and lowering operations of the crop seedlings 020 can be obtained by those skilled in the art based on the existing technology, and this embodiment does not improve it. Therefore no further details will be given.

Please continue to refer to FIGS. 2 and 3 . In this embodiment, along the moving direction of the planting plate 200 , the crop seedlings 020 are stored in multiple rows on the tray 420 . The transplanting device 400 also includes a linear feed mechanism 430 and a bracket 440. The linear feed mechanism 430 is installed on the frame 100 and is located below the transplanting plate 200. The power output end of the linear feed mechanism 430 is fixedly connected to the bracket 440. The configuration The driving bracket 440 moves toward the harvesting device 300 to push the crop seedlings 020 in the tray 420 forward, so that after the transplanting robot 410 grabs the row of crop seedlings 020 closest to the harvesting device 300, the tray 420 The crop seedlings 020 in the row of crop seedlings 020 can continue to be fed to the position of a row of crop seedlings 020 under the push of the bracket 440, so that the transplanting robot 410 can complete the grabbing operation at the same position.

Specifically, the linear feed mechanism 430 can be a linear module. In this case, the shell of the linear module is fixedly installed on the frame 100, and the power output end of the linear module is fixedly connected to the bracket 440; of course, the linear feed module is also It can be the belt transmission mechanism shown in the figure. The conveyor belt of the belt transmission mechanism is fixedly connected to the bracket 440 through the connecting structure. When the conveyor belt moves under the action of the transmission wheel, the bracket 440 connected to it will be driven to move, thereby realizing Feeding of crop seedlings 020.

In this application, the frame 100 is formed by splicing and fixing several profiles, and a top plate 130 is provided on the top of the frame 100 to seal the top of the integrated harvesting and transplanting equipment. At the same time, an openable and closable side door 140 is also provided on the side of the rack 100 to facilitate the staff to observe the situation inside the equipment in a timely manner.

It should be noted that in this embodiment, the integrated harvesting and transplanting equipment can be used in greenhouses, open air, containers, warehouses and other places. Moreover, the integrated harvesting and transplanting equipment can be used in single-layer flat planting. It can also be used in multi-layered three-dimensional planting.

Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application shall be subject to the scope defined by the claims.

Finally, it should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or any such actual relationship or sequence between operations. Furthermore, the term "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus including a list of elements includes not only those elements but also other elements not expressly listed, Or it also includes elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element.

In the above embodiments, descriptions of directions such as “upper”, “lower”, “side”, etc. are based on those shown in the accompanying drawings.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be practiced in other embodiments without departing from the spirit or scope of the application. Therefore, the present application is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Industrial applicability

The integrated harvesting and transplanting equipment provided by this application can not only harvest mature crops, but also colonize crop seedlings, and harvesting and colonization are continuous processes, that is, during the process of forward transportation of the colonization board, both The harvesting of mature crops on the planting board is completed, and the crop seedlings can be transplanted into the same planting board where the crop harvesting is completed, which greatly improves the efficiency of the harvesting and transplanting process of hydroponic crops.

Claims

An integrated harvesting and transplanting equipment, characterized by including a frame (100), a planting plate (200), a harvesting device (300) and a transplanting device (400). The planting plate (200) is movably arranged on In the frame (100), along the moving direction of the planting plate (200), the harvesting device (300) and the transplanting device (400) are arranged in sequence, and the harvesting device (300) and the transplanting device (400) are arranged in sequence. The transplanting devices (400) are all installed on the frame (100); the colonization plate (200) is provided with a number of colonization holes (210), and the colonization plate (200) has a path through the harvesting device (300). Harvesting position, and a transplanting position through the transplanting device (400), wherein the planting hole (210) in the harvesting position is colonized with mature crops (010), the harvesting device (300) is configured In order to harvest the mature crops (010); the transplanting device (400) is configured to implant the crop seedlings (020) into the planting holes (210) in the transplanting position.
The harvesting and transplanting integrated equipment according to claim 1, characterized in that the harvesting device (300) includes a root cutting assembly (310) and a collecting assembly (320) arranged sequentially along the moving direction of the colonization plate (200). ), the root cutting component (310) is configured to cut off the root system (011) of the mature crop (010), and the collecting component (320) is configured to collect the mature crop with the cut root system (011) (010).
The harvesting and transplanting integrated equipment according to claim 2, characterized in that the colonization plate (200) is a flexible plate, and along the moving direction of the colonization plate (200), the colonization plate (200) has a sequence of The first horizontal section (220), the transition section (230) and the second horizontal section (240), the first horizontal section (220) is higher than the second horizontal section (240), wherein the first horizontal section (220) is higher than the second horizontal section (240). The horizontal section (220) forms an angle with the transition section (230) and forms a first accommodation space, and the root cutting assembly (310) is arranged in the first accommodation space; the transition section (230) and the third accommodation space The two horizontal sections (240) are angled and form a second accommodation space, and the collection assembly (320) is disposed in the second accommodation space; the collection assembly (320) has all the cutoffs of the root system (011) configured to receive it. A receiving portion of said mature crop (010), said receiving portion being lower than said first horizontal section (220).
The harvesting and transplanting integrated equipment according to claim 3, characterized in that the root cutting assembly (310) includes a support plate (311) and a root cutting blade (312) rotatably provided on the support plate (311). ), the support plate (311) is configured to support the colonization plate (200), the root cutting blade (312) is installed on a side of the support plate (311) facing away from the colonization plate (200), and Along the direction opposite to the moving direction of the colonization plate (200), the root cutting blade (312) protrudes from the edge of the support plate (311).
The harvesting and transplanting integrated equipment according to claim 4, characterized in that a plurality of root cutting grooves (313) are provided on the edge of the support plate (311) away from the collection assembly (320), and the root cutting grooves (313) are 313) extends along the moving direction of the colonization plate (200), a plurality of the root cutting grooves (313) are spaced apart in a direction perpendicular to the moving direction of the colonization plate (200), and the root cutting blade (313) 312) protrudes from the bottom of the root cutting groove (313); the colonization plate (200) is provided with multiple sets of colonization holes (210), and the multiple sets of colonization holes (210) are along the edges of the colonization plate (200). 200) are spaced apart in a direction perpendicular to the moving direction, and multiple groups of the planting holes (210) are respectively provided in one-to-one correspondence with a plurality of the root cutting grooves (313).
The harvesting and transplanting integrated equipment according to claim 3, characterized in that the collection assembly (320) includes a conveying mechanism (321) and a guide plate (322), and the conveying direction of the conveying mechanism (321) is consistent with the The moving direction of the colonization plate (200) is at an angle, the guide plate (322) connects the transition section (230) and the transmission mechanism (321), and the guide plate (322) is configured to move the root system (011) The cut mature crops (010) are directed to the conveying mechanism (321).
The integrated harvesting and transplanting equipment according to any one of claims 1 to 6, characterized in that the integrated harvesting and transplanting equipment further includes a cleaning device, the cleaning device is installed on the frame (100), and the The cleaning device is located between the harvesting device (300) and the transplanting device (400), and the cleaning device is configured to rinse the colonization plate (200).
The harvesting and transplanting integrated equipment according to any one of claims 1 to 7, characterized in that the harvesting device (300) also includes several sets of conveying rollers (330), and several sets of the conveying rollers (330) They are arranged at intervals along the moving direction of the colonization plates (200), and each set of the conveying rollers (330) clamps the colonization plates (200).
The integrated harvesting and transplanting equipment according to any one of claims 1 to 8, characterized in that the frame (100) has an upper space (110) and a lower space (120) connected to each other, and the lower space (120) 120) A temporary storage box (500) is pullably provided. The temporary storage box (500) has an opening opposite and connected to the upper space (110). Debris generated in the upper space (110) The holding tank (500) is accessible through the opening.
The harvesting and transplanting integrated equipment according to any one of claims 1 to 9, characterized in that the transplanting device (400) includes a transplanting robot (410) and a tray (420), and the tray (420) and The frame (100) is relatively fixedly arranged, and the tray (420) is located above the planting plate (200). The tray (420) is configured to support the crop seedlings (020). A transplanting robot (410) is installed on the frame (100), and the transplanting robot (410) is configured to transplant the crop seedlings (020) in the tray (420) into the transplanting environment. The planting hole (210) at the planting position.