CN112273059A - Harvesting device for hydroponic plants and using method thereof - Google Patents
Harvesting device for hydroponic plants and using method thereof Download PDFInfo
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- CN112273059A CN112273059A CN202011345082.5A CN202011345082A CN112273059A CN 112273059 A CN112273059 A CN 112273059A CN 202011345082 A CN202011345082 A CN 202011345082A CN 112273059 A CN112273059 A CN 112273059A
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- 238000003306 harvesting Methods 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000005520 cutting process Methods 0.000 claims abstract description 89
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 27
- 239000002699 waste material Substances 0.000 claims description 16
- 239000003501 hydroponics Substances 0.000 claims description 12
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 241000196324 Embryophyta Species 0.000 description 142
- 238000000926 separation method Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 7
- 235000015097 nutrients Nutrition 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 235000013311 vegetables Nutrition 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000003102 growth factor Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000005191 phase separation Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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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
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/04—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a linearly-movable cutting member
- B26D1/06—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a linearly-movable cutting member wherein the cutting member reciprocates
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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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- Engineering & Computer Science (AREA)
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- Robotics (AREA)
- Environmental Sciences (AREA)
- Forests & Forestry (AREA)
- Mechanical Engineering (AREA)
- Hydroponics (AREA)
Abstract
The invention relates to the field of harvesting of plant cultivation, in particular to a harvesting device for hydroponic plants, which comprises a cultivation disc conveying unit, a harvesting and cutting unit and a harvesting and conveying unit, wherein the cultivation disc conveying unit comprises a cultivation disc conveying line and a positioning device, the positioning device is fixed on the cultivation disc conveying line, the harvesting and cutting unit comprises a fixed table, a harvesting robot, a cup-removing rotating table and a root cutting device, the harvesting robot is used for grabbing the hydroponic plants on the cultivation disc conveying line on the cultivation disc, a planting cup clamping jaw is fixed on the cup-removing rotating table and used for clamping a planting cup, and the root cutting device is used for cutting a root and stem base of the hydroponic plants; the harvesting and conveying unit comprises a harvesting conveying line and a collecting station, the harvesting conveying line conveys the cut hydroponic plants to the collecting station, and the invention further discloses a use method of the harvesting device.
Description
Technical Field
The invention relates to the field of harvesting of plant cultivation, in particular to a harvesting device for hydroponic plants and a using method thereof.
Background
Hydroponics is a novel soilless cultivation mode of plants, also called nutrient solution cultivation, and the core of the hydroponics is that the root and stem base parts of the plants are directly soaked in nutrient solution, and the nutrient solution can replace soil and provide growth factors such as water, nutrients, oxygen and the like for the plants, so that the plants can normally grow. On current plant water planting cultivation dish, generally be equipped with the field planting board, be equipped with the field planting hole on the field planting board, and the water planting plant is fixed downtheholely at the field planting through the field planting cup, and the bottom of field planting cup is hollow out construction, and the nutrient solution flows through from the bottom of field planting cup, and during the water planting, the rhizome basal portion of plant can pierce through field planting cup bottom, soaks in the nutrient solution completely, therefore the comparatively flourishing of water planting plant rhizome basal portion, the water planting is accomplished the back, and plant root and stem basal portion will be in the same place with the winding of field planting cup bottom.
The rhizome basal portion that needs to cut off the hydroponic plant when plant water planting is accomplished to gather can further pack, collects. At present, most harvesting steps adopt manual root shearing, which wastes time and labor and greatly increases the production cost; however, in the existing mechanical automatic harvesting device, a robot generally grabs the hydroponic plants, the root cutting device directly cuts the root and stem bases of the plants, and when the hydroponic plants are grabbed from the cultivation tray, the root and stem bases are generally separated from the cultivation tray with the planting cup, if the mechanical device is used for forcibly separating the hydroponic plants and the planting cup, the plants are damaged, and if manual separation is used, the process steps are increased in the harvesting step, and the production cost of enterprises is increased.
Disclosure of Invention
Therefore, it is desirable to provide a harvesting device for hydroponic plants and a method for using the same, so that the hydroponic plants can be harvested efficiently and quickly, and the planting cups can be recycled.
In order to achieve the above object, the present invention provides a harvesting device for hydroponic plants, comprising:
the cultivation disc conveying unit comprises a cultivation disc conveying line and a positioning device, the positioning device is fixed on the cultivation disc conveying line, the cultivation disc conveying line is used for conveying cultivation discs, and hydroponic plants are planted on the cultivation discs;
the harvesting and cutting unit comprises a fixed table, a harvesting robot, a cup-off rotating table and a root cutting device, wherein the harvesting robot, the cup-off rotating table and the root cutting device are arranged on the fixed table, the harvesting robot is used for grabbing hydroponics plants on the cultivation disc, a horizontally-arranged planting cup clamping jaw is fixed on the cup-off rotating table and used for clamping a planting cup on a root and stem base of the hydroponics plants, the root cutting device is positioned below the planting cup clamping jaw, and the root cutting device is used for cutting the root and stem base of the hydroponics plants;
and the harvesting and conveying unit comprises a harvesting conveying line and a collecting station, wherein the harvesting conveying line and the harvesting robot are matched with each other to convey the water-cultured plants after the root stems are cut to the collecting station.
Further, it is constructed to rotate between the root cutting position and the position of taking off the cup revolving stage to take off the cup, the position of harvesting robot and root cutting device is corresponding with the root cutting position, take off the cup revolving stage when this root cutting position, the plant cup clamping jaw is got and is located the plant cup of planting on the root stock base on the hydroponics plant, the root cutting device excision protrusion in the rhizome stock base of the hydroponics plant of planting bottom of the cup portion later, the robot that gathers moves upwards to cooperation plant cup clamping jaw makes the remaining rhizome stock of hydroponics plant and plant cup phase separation, take off the cup revolving stage and drive the plant cup and rotate to taking off the cup position, the robot that gathers moves downwards and cut the remaining rhizome stock of root cutting device cooperation excision hydroponics plant.
Further, be equipped with useless root on the fixed station and collect mouthful and plant the cup and collect mouthful, useless root is collected mouthful and plant the cup and is collected mouthful respectively with the root cutting position of fixed revolving stage with take off cup position corresponding, the below that mouthful and plant the cup and collect mouthful is collected mouthful to useless root is equipped with useless root respectively and collects frame and plant the cup and collect the frame, take off the vertical connecting plate that is equipped with on the cup revolving stage, the fixed top that sets up at the connecting plate of plant the cup clamping jaw, plant the cup clamping jaw and bulge the plane at connecting plate place and collect mouthful position corresponding with useless root. The mouth is collected to useless root and the planting cup is collected the mouth and is used for collecting useless root and planting cup respectively, takes off the top that the cup revolving stage drove planting cup clamping jaw and circulates through useless root and collect mouth and planting cup and collect the mouth, and when planting cup clamping jaw was located the top that the mouth was collected to useless root, presss from both sides the planting cup on the tight water planting plant, and the water planting plant breaks away from the back with the planting cup, and planting cup clamping jaw cliies the planting cup and rotates to planting cup and collect mouthful top to the release.
Further, the root cutting device includes fixed section, activity section and root cutting cylinder, fixed section and root cutting cylinder are fixed in the top that the mouth was collected to useless root, the activity section is fixed on the root cutting cylinder, root cutting cylinder drive activity section cooperates the rhizome basal portion of cutting the water planting plant with fixed section, movable blade is located planting cup below bottom, the distance less than or equal to 5mm of activity section and planting cup bottom. Can will pierce through the rhizome basal portion of planting cup bottom when activity section cuts with fixed section for planting cup can separate smoothly with the water planting plant.
Further, the robot of gathering includes robot main part, flexible clamping jaw and two vision device, the robot main part is fixed on the fixed station, the flexible clamping jaw sets up in the robot main part, the flexible clamping jaw cover of robot main part drive is pressed from both sides and is got the water planting plant, and two vision device fix respectively on the robot main part with on the side of useless root collection mouth, the vision device is connected with the robot main part electricity. The method comprises the steps of firstly taking a picture before clamping the plants to be clamped, analyzing the size of the canopy width through an image, setting a proper allowance parameter, sending the data to a flexible clamping jaw controller, controlling the opening degree of a flexible clamping jaw to enable the flexible clamping jaw to be suitable for the clamped plants, and preventing the phenomenon that the plants beside are clamped and injured on the whole plate due to the fact that the opening degree is too large; the phenomenon that the opening degree is too small and is not suitable for the clamped plants, so that unclamped vegetable leaves are broken and damaged is prevented; simultaneously, every plant presss from both sides and gets the position nonconformity, need the vision device to shoot the position, calculate the relative position of rhizome basal portion and the root cutting device of the plant that current robot main part pressed from both sides and get through computer program algorithm, guide robot main part descends, remaining rhizome basal portion carries out accurate cutting through the root cutting position, when flexible clamping jaw can effectually avoid grabbing, the stem leaf of damage plant, the vision device is used for detecting the robot main part and drives the position of the decline of the hydroponic plant that flexible clamping jaw pressed from both sides for the accurate rhizome basal portion of excising the hydroponic plant of root cutting device.
Further, the transfer chain of gathering is annular transfer chain, the fixed station is located the both sides of gathering the transfer chain respectively with the collection station, be fixed with a plurality of boards of placing on the transfer chain of gathering, a plurality of boards of placing set up along the direction of delivery interval of gathering the transfer chain, it is equipped with the hole of placing that is used for placing the water planting plant on the board to place. The water planting plant that the robot of gathering cuts the rhizome basal portion is put to placing on the hole, gathers the transfer chain and carries one by one through placing the board, conveniently collects the packing arrangement of station.
Further, place the board and be Z type structure, the bottom plate of placing the board is fixed with the transfer chain of gathering, the roof protrusion in the lateral surface of gathering the transfer chain of placing the board, place the hole and be located the roof of placing the board. Place hole position protrusion in the lateral surface of gathering the transfer chain, when gathering the plant that the robot will cut and place on the hole, prevent that stem leaf of plant or other impurity from dropping to and influencing its smooth operation in gathering the transfer chain.
Furthermore, a reinforcing rib is arranged between the vertical plate of the placing plate and the bottom plate.
Further, the cultivation dish transfer chain includes conveying cylinder and mounting bracket, conveying cylinder sets gradually on the mounting bracket, positioner includes a plurality of location cylinders, and the location cylinder is installed on the both sides of mounting bracket, the output direction of location cylinder is mutually perpendicular with conveying cylinder's direction of delivery. When the cultivation dish is carried to fixed position through carrying the cylinder, the location cylinder extends, plays the effect of location to the cultivation dish.
The use method of the harvesting device for the hydroponic plants comprises the following steps:
(1) the cultivation tray with the water planting plants is conveyed to a specified position through a cultivation tray conveying line and is fixed through a positioning device;
(2) the harvesting robot clamps the hydroponic plants planted on the cultivation disc and transfers the hydroponic plants to the fixed platform, and the planting cup clamping jaw on the cup-removing rotating platform clamps the planting cup of the hydroponic plants;
(3) the root cutting device cuts the root and stem base part of the hydroponic plant protruding out of the bottom of the planting cup;
(4) the harvesting robot clamps the hydroponic plants to be separated from the planting cup upwards, the cup-separating rotating platform drives the planting cup to rotate away from the plane where the root cutting device is located, the clamping jaw of the planting cup is loosened, and the planting cup is recovered;
(5) the harvesting robot clamps the hydroponic plant and descends to the plane where the root cutting device is located, and the root cutting device cuts the base of the residual rhizome of the hydroponic plant;
(6) the robot of gathering places the water planting plant that cuts the rhizome basal portion to the transfer chain of gathering, and the transfer chain of gathering carries the water planting plant to collection station.
The technical scheme has the following beneficial effects:
1. according to the invention, the separation of the hydroponic plants from the planting cup is integrated into the mechanical root cutting step, so that the manual separation from the planting cup is avoided, the labor cost is saved, and the harvesting efficiency of the hydroponic plants is further improved.
2. According to the invention, the flexible clamping jaw made of food-grade materials is used as a medium for clamping the hydroponic plants in direct contact, so that the device is safe and pollution-free, the clamping speed and the clamping tightness can be controlled by adjusting air pressure and air flow, the hydroponic plants can be better clamped, and the damage is reduced to the greatest extent.
3. According to the invention, the separation of the hydroponic plant and the planting cup is not realized by using a mechanical arm directly, but most of root stem base parts protruding from the bottom of the planting cup are cut off by the root cutting device, so that the separation barrier of the hydroponic plant and the planting cup is reduced, and when the hydroponic plant and the planting cup are separated from each other, the harvesting robot clamps the hydroponic plant stem and leaf and then drives the hydroponic plant to ascend to be separated from the planting cup by using small force, so that the hydroponic plant is prevented from being damaged.
4. According to the invention, the root and stem base parts of the hydroponic plants are cut twice, the first cutting can facilitate the separation of the planting cup and the hydroponic plants, the planting cup is not obstructed after being separated from the hydroponic plants, the second cutting can thoroughly remove the root and stem base parts of the plants, and the condition of the harvested hydroponic plants is improved.
Drawings
Fig. 1 is a block diagram of a harvesting device according to an embodiment.
Fig. 2 is a structural view of a cultivation tray transfer unit according to an embodiment.
Fig. 3 is a structural diagram of a harvesting and cutting unit according to an embodiment.
Fig. 4 is a block diagram of a recovery delivery unit according to an embodiment.
Description of reference numerals:
1. a cultivation tray conveying unit; 11. a mounting frame; 12. a conveying roller; 13. positioning the air cylinder;
2. a harvesting and cutting unit; 21. a fixed table; 211. a waste root collecting port; 212. a planting cup collecting opening; 213. a waste root collection frame; 214. a planting cup collecting frame; 22. a harvesting robot; 221. a robot main body; 222. a flexible jaw; 223. a vision device; 23. a cup-off rotating table; 231. planting a cup clamping jaw; 232. a connecting plate; 24. a root cutting device; 241. fixing the slices; 242. movably slicing; 243. a root cutting cylinder;
3. a harvesting and conveying unit; 31. a harvesting and conveying line; 32. placing the plate; 33. placing holes; 34. and a collection station.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1-4, the harvesting device for hydroponic plants in this embodiment includes a cultivation tray conveying unit 1, a harvesting and cutting unit 2, and a harvesting and conveying unit 3, where the cultivation tray conveying unit 1 includes a cultivation tray conveying line and a positioning device, the positioning device is fixed on the cultivation tray conveying line, and the cultivation tray conveying line is used for conveying cultivation trays on which hydroponic plants are planted. The cultivation dish transfer chain includes conveying cylinder 12 and mounting bracket 11, and conveying cylinder 12 sets gradually on mounting bracket 11, and positioner includes four location cylinders 13, and four two bisymmetry installations of location cylinders 13 are on mounting bracket 11's both sides, and the direction of output of location cylinders 13 is mutually perpendicular with conveying cylinder 12's direction of delivery. When the cultivation dish is conveyed to the fixed position through the conveying roller 12, the positioning cylinder 13 extends to position the cultivation dish. A planting plate is arranged on a common planting plate, planting holes are formed in the planting plate, planting cups are movably arranged on the planting holes, and water planting plants are arranged in the planting holes. Harvesting and cutting unit 2 includes fixed station 21, harvesting robot 22, take off a cup revolving stage 23 and cut root device 24 and set up on fixed station 21, harvesting robot 22 is used for snatching the hydroponic plant on the cultivation dish, take off and be fixed with the plant cup clamping jaw 231 of level setting on the cup revolving stage 23, plant cup clamping jaw 231 is used for pressing from both sides the plant cup of getting on the base of hydroponic plant rhizome, cut root device 24 and be located the below of plant cup clamping jaw 231, cut root device 24 is used for cutting the rhizome base of hydroponic. In this embodiment, take off cup revolving stage 23 and be constructed to rotate between the root cutting position and take off the cup position, the position of harvesting robot 22 and root cutting device 24 is corresponding with the root cutting position, take off cup revolving stage 23 when this root cutting position, and planting cup clamping jaw 231 presss from both sides the planting cup on getting the hydroponic plant, and root cutting device 24 cuts off the rhizome basal portion of the hydroponic plant that protrudes in the planting cup bottom, later the harvesting robot 22 upwards moves to cooperation planting cup clamping jaw 231 makes the remaining rhizome basal portion of hydroponic plant separate with the planting cup, takes off cup revolving stage 23 and drives the planting cup and rotates to taking off the cup position, and harvesting robot 22 moves down and cuts off the remaining rhizome basal portion of hydroponic plant with root cutting device 24 cooperation.
Further, be equipped with useless root on fixed station 21 and collect mouth 211 and planting cup and collect mouth 212, useless root is collected mouth 211 and planting cup and is collected mouth 212 and respectively with take off the root position of cup revolving stage 23 and take off the cup position corresponding, take off and vertically be equipped with a connecting plate 232 on the cup revolving stage 23, the fixed setting in the top of connecting plate 232 of planting cup clamping jaw 231, planting cup clamping jaw 231 bulges the plane that connecting plate 232 is located to collect the mouth 211 position corresponding with useless root. The waste root collecting port 211 and the planting cup collecting port 212 are used for collecting waste roots and planting cups, respectively. A waste root collecting frame 213 and a planting cup collecting frame 214 are provided at positions corresponding to each other below the waste root collecting port 211 and the planting cup collecting port 212.
In this embodiment, the root cutting device 24 includes a fixed section 241, a movable section 242 and a root cutting cylinder 243, the fixed section 241 and the root cutting cylinder 243 are respectively fixed above the waste root collecting opening 211, the movable section 242 is fixed on the root cutting cylinder 243, the root cutting cylinder 243 drives the movable section 242 to cut the root and stem base of the hydroponic plant in cooperation with the fixed section 241, the distance between the movable section 242 and the bottom of the planting cup is controlled to be less than or equal to 5mm, when the movable section 242 and the fixed section 241 are cut, most of the root and stem base penetrating through the bottom of the planting cup can be cut off, and therefore the planting cup and the root and stem base of the plant can be separated from each other. Harvesting robot 22 includes robot main part 221, flexible clamping jaw 222 and two vision device 223, and robot main part 221 is fixed on fixed station 21, and flexible clamping jaw 222 is fixed on the movable end of robot main part 221, and robot main part 221 drives flexible clamping jaw 222 and presss from both sides and get the water planting plant, among two vision device 223, a vision device is fixed on the movable end that robot main part 221 is fixed with flexible clamping jaw 222, and another vision device 223 is fixed on the side of collecting port 211 at useless root, and two vision device 223 all are connected with robot main part 221 electricity, and vision device 223 is the camera. The flexible clamping jaw 222 can effectively avoid damaging stems and leaves of plants when being grabbed. Specifically, the robot main body 221 adopts a six-axis robot, the vision device 223 is used for detecting the descending position of the hydroponic plant clamped by the flexible clamping jaw 222 driven by the robot main body 221, so that the root cutting device 24 can accurately cut off the root and stem base of the hydroponic plant, the plant to be clamped is photographed before being clamped, the size of the canopy is analyzed through images, a proper allowance parameter is set, the data are sent to the flexible clamping jaw controller, the opening degree of the flexible clamping jaw 222 is controlled to be suitable for the clamped plant, and the phenomenon that the plant beside is clamped and injured due to clamping of the plant beside on the whole tray caused by overlarge opening degree is prevented; the phenomenon that the opening degree is too small and is not suitable for the clamped plants, so that unclamped vegetable leaves are broken and damaged is prevented; meanwhile, because the clamping position of each plant is inconsistent, the vision device 223 is required to shoot the position, the relative position of the root and stem base of the plant clamped by the robot main body 221 and the root cutting device 24 is calculated through a computer program algorithm, the robot main body 221 is guided to descend, and the residual root and stem base is accurately cut through the root cutting position 24.
Harvesting conveyor unit 3 includes harvesting transfer line 31 and collection station 34, and harvesting robot 22 is used for placing the hydroponic plant that cuts through root cutting device 24 to harvesting transfer line 31, and harvesting transfer line 31 carries the hydroponic plant after cutting to collection station 34. Gather transfer chain 31 and be annular transfer chain, fixed station 21 and collection station 34 are located the both sides limit of gathering transfer chain 31 respectively, are equipped with a plurality of boards 32 of placing on the transfer chain 31 of gathering, place board 32 and set up along the direction of delivery interval of gathering transfer chain 31, place and be equipped with the hole 33 of placing that is used for placing the water planting plant on the board 32. The collection station 34 in this embodiment is a manual collection and packaging station.
The placing plate 32 is of a Z-shaped structure, the placing plate 32 comprises a bottom plate, a top plate and a digital plate for connecting the bottom plate and the top plate, the bottom plate of the placing plate 32 is fixed with the harvesting conveying line 31, the top plate of the placing plate 32 protrudes out of the outer side surface of the harvesting conveying line 31, and the placing hole 33 is located in the top plate of the placing plate 32. The position of placing hole 33 is protruding in the lateral surface of gathering transfer chain 31, when gathering robot 22 and placing the plant that the cutting is accomplished on placing hole 33, prevents that plant stem leaf or other impurity from dropping to in gathering transfer chain 31 and influencing its smooth operation. Reinforcing ribs are provided between the vertical plates and the bottom plate of the holding plate 32
The use method of the harvesting device for the hydroponic plants comprises the following steps:
(1) a conveying roller 12 on the mounting rack 11 rolls to convey the cultivation disc planted with the hydroponic plants to a designated position, an output shaft of a positioning cylinder 13 of the positioning device extends to fix the cultivation disc and prevent the cultivation disc from separating from the designated position;
(2) the robot body 221 rotates, the flexible clamping jaws on the robot body grasp the stems and leaves of the hydroponic plants planted on the cultivation tray, so that the hydroponic plants are separated from the cultivation tray, the hydroponic plants take the planting cups away from the cultivation tray due to developed rhizome bases of the hydroponic plants, the robot body 221 rotates to drive the hydroponic plants to be above the waste root collecting tank, and the planting cup clamping jaws 231 on the cup-removing rotating platform 23 clamp the planting cups of the hydroponic plants;
(3) the root cutting cylinder 243 of the root cutting device 24 drives the movable slice 242 to move towards the fixed slice 241, the movable slice 242 and the fixed slice 241 are matched with each other to cut the root and stem base of the hydroponic plant protruding out of the planting cup, and then the movable slice 242 returns to the initial position;
(4) the robot body 221 clamps the hydroponic plants to move upwards to separate from the planting cup, the cup-separating rotating platform 23 rotates 180 degrees, the planting cup clamping jaw 231 drives the planting cup to rotate to the position above the planting cup collecting opening 212, the planting cup clamping jaw 231 is loosened, and the planting cup falls into the planting cup collecting frame 214 to be recycled;
(5) the robot body 221 cooperates with the vision device 223 to clamp the hydroponic plants and descends to the plane of the root cutting device 24, the root cutting cylinder 243 of the root cutting device 24 drives the movable slice 242 to move towards the fixed slice 241 again, the movable slice 242 and the fixed slice 241 cooperate with each other to cut the residual root and stem bases of the hydroponic plants, and after the cutting is finished, the movable slice 242 returns to the initial position;
(6) the harvesting robot 22 places the hydroponic plants with the cut root and stem bases on a harvesting conveying line 31, and the harvesting conveying line 31 conveys the hydroponic plants to a collecting station 34;
(7) the cup-removing rotating platform 23 returns to the initial position, and the harvesting robot 22 starts to clamp the cultivated hydroponic plants again.
In this embodiment, divide into twice and cut out the rhizome basal portion of water planting plant, cut out for the first time and can make things convenient for the separation of plant cup and water planting plant, plant cup and water planting plant after the separation, have not had the hindrance of plant cup, cut out the rhizome basal portion of plant for the second time thoroughly that can be more, improved the article looks of the water planting plant after gathering, take off the separation of cup revolving stage 23 to the plant cup, can effectually retrieve the recycle to the plant cup.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.
Although the embodiments have been described, once the basic inventive concept is obtained, other variations and modifications of these embodiments can be made by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes using the contents of the present specification and drawings, or any other related technical fields, which are directly or indirectly applied thereto, are included in the scope of the present invention.
Claims (10)
1. A harvesting device for hydroponic plants, comprising:
the cultivation disc conveying unit comprises a cultivation disc conveying line and a positioning device, the positioning device is fixed on the cultivation disc conveying line, the cultivation disc conveying line is used for conveying cultivation discs, and hydroponic plants are planted on the cultivation discs;
the harvesting and cutting unit comprises a fixed table, a harvesting robot, a cup-off rotating table and a root cutting device, wherein the harvesting robot, the cup-off rotating table and the root cutting device are arranged on the fixed table, the harvesting robot is used for grabbing hydroponics plants on the cultivation disc, a horizontally-arranged planting cup clamping jaw is fixed on the cup-off rotating table and used for clamping a planting cup on a root and stem base of the hydroponics plants, the root cutting device is positioned below the planting cup clamping jaw, and the root cutting device is used for cutting the root and stem base of the hydroponics plants;
and the harvesting and conveying unit comprises a harvesting conveying line and a collecting station, wherein the harvesting conveying line and the harvesting robot are matched with each other to convey the water-cultured plants after the root stems are cut to the collecting station.
2. The automatic harvesting device of claim 1, wherein the cup-removing rotating table is configured to rotate between a root cutting position and a cup-removing position, the harvesting robot and the root cutting device are positioned to correspond to the root cutting position of the cup-removing rotating table, when the cup-removing rotating table is in the root cutting position, the planting cup clamping jaw clamps the planting cup with the hydroponic plant at the root and stem base, the root cutting device cuts off the root and stem base of the hydroponic plant protruding out of the bottom of the planting cup, then the harvesting robot moves upwards and cooperates with the planting cup clamping jaw to separate the remaining root and stem base of the hydroponic plant from the planting cup, the cup-removing rotating table rotates the planting cup to the cup-removing position, and the harvesting robot moves downwards and cooperates with the root cutting device to cut off the remaining root and stem base of the hydroponic plant.
3. The automatic harvesting device according to claim 2, wherein the fixed station is provided with a waste root collecting port and a planting cup collecting port, the waste root collecting port and the planting cup collecting port correspond to a root cutting position and a cup removing position of the fixed station respectively, a waste root collecting frame and a planting cup collecting frame are arranged below the waste root collecting port and the planting cup collecting port respectively, the cup removing station is vertically provided with a connecting plate, the planting cup clamping jaw is fixedly arranged at the top end of the connecting plate, and the planting cup clamping jaw protrudes out of the plane of the connecting plate and corresponds to the position of the waste root collecting port.
4. The automatic harvesting device of claim 3, wherein the root cutting device comprises a fixed slice, a movable slice and a root cutting cylinder, the fixed slice and the root cutting cylinder are fixed above the waste root collecting opening, the movable slice is fixed on the root cutting cylinder, the root cutting cylinder drives the movable slice to cooperate with the fixed slice to cut a root and stem base of the hydroponic plant, and the movable slice is located below the bottom of the planting cup.
5. The automatic harvesting device of claim 3, wherein the harvesting robot comprises a robot body, a flexible clamping jaw and two vision devices, the robot body is fixed on the fixed table, the flexible clamping jaw is arranged on the robot body, the robot body drives the flexible clamping jaw to clamp the hydroponic plants, the two vision devices are respectively fixed on the robot body and on the side edge of the waste root collecting opening, and the two vision devices are electrically connected with the robot body.
6. The automatic harvesting device of claim 1, wherein the harvesting conveyor line is an annular conveyor line, the fixed station and the collection station are respectively located on two sides of the harvesting conveyor line, a plurality of placing plates are fixed on the harvesting conveyor line and are arranged at intervals along the conveying direction of the harvesting conveyor line, and placing holes for placing hydroponic plants are formed in the placing plates.
7. The automatic harvesting device of claim 6, wherein the placing plate is of a Z-shaped structure, a bottom plate of the placing plate is fixed with the harvesting conveying line, a top plate of the placing plate protrudes out of the outer side surface of the harvesting conveying line, and the placing hole is formed in the top plate of the placing plate.
8. The automatic harvesting device of claim 7 wherein reinforcing ribs are provided between the vertical plates and the floor of the standing plate.
9. The automatic harvesting device according to claim 1, characterized in that the cultivation tray conveyor line comprises a conveying roller and a mounting frame, the conveying roller is arranged on the mounting frame in sequence, the positioning device comprises a plurality of positioning cylinders, the positioning cylinders are arranged on two sides of the mounting frame, and the output direction of the positioning cylinders is perpendicular to the conveying direction of the conveying roller.
10. A method of using a harvesting device for hydroponic plants as defined in any one of claims 1-9, comprising the steps of:
(1) the cultivation tray with the water planting plants is conveyed to a specified position through a cultivation tray conveying line and is fixed through a positioning device;
(2) the harvesting robot clamps the hydroponic plants planted on the cultivation disc and transfers the hydroponic plants to the fixed platform, and the planting cup clamping jaw on the cup-removing rotating platform clamps the planting cup of the hydroponic plants;
(3) the root cutting device cuts the root and stem base part of the hydroponic plant protruding out of the bottom of the planting cup;
(4) the harvesting robot clamps the hydroponic plants to be separated from the planting cup upwards, the cup-separating rotating platform drives the planting cup to rotate away from the plane where the root cutting device is located, the clamping jaw of the planting cup is loosened, and the planting cup is recovered;
(5) the harvesting robot clamps the hydroponic plant and descends to the plane where the root cutting device is located, and the root cutting device cuts the base of the residual rhizome of the hydroponic plant;
(6) the robot of gathering places the water planting plant that cuts the rhizome basal portion to the transfer chain of gathering, and the transfer chain of gathering carries the water planting plant to collection station.
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| CN115581174A (en) * | 2022-10-08 | 2023-01-10 | 山东农业大学 | Automatic harvesting machine for bottle-cultivated velvet mushrooms |
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