CN112273059B - Harvesting device for hydroponic plants and application method of harvesting device - Google Patents
Harvesting device for hydroponic plants and application method of harvesting device Download PDFInfo
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- CN112273059B CN112273059B CN202011345082.5A CN202011345082A CN112273059B CN 112273059 B CN112273059 B CN 112273059B CN 202011345082 A CN202011345082 A CN 202011345082A CN 112273059 B CN112273059 B CN 112273059B
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- 238000003306 harvesting Methods 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000005520 cutting process Methods 0.000 claims abstract description 89
- 239000002699 waste material Substances 0.000 claims description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 description 7
- 235000015097 nutrients Nutrition 0.000 description 6
- 230000006378 damage Effects 0.000 description 5
- 239000012535 impurity Substances 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004806 packaging method and process Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000010008 shearing 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
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003102 growth factor Substances 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
- 238000003825 pressing Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
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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
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- 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 tray conveying unit, a harvesting and cutting unit and a harvesting and conveying unit, wherein the cultivation tray conveying unit comprises a cultivation tray conveying line and a positioning device, the positioning device is fixed on the cultivation tray 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 hydroponic plants of the cultivation tray on the cultivation tray conveying line, a fixed planting cup clamping jaw is fixed on the cup-removing rotating table, the fixed planting cup clamping jaw is used for clamping fixed planting cups, and the root cutting device is used for cutting root and stem bases of hydroponic plants; the harvesting and conveying unit comprises a harvesting conveying line and a collecting station, the harvesting conveying line conveys cut hydroponic plants to the collecting station, and the use method of the harvesting device is further disclosed.
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
The water planting is a novel soilless cultivation mode of plants, and is also called nutrient solution planting, and the core of the water planting method is that root and stem base parts of plants are directly soaked in the nutrient solution, and the nutrient solution can replace soil and provide growth factors such as moisture, nutrients, oxygen and the like for the plants so that the plants can grow normally. The existing plant hydroponic cultivation disc is generally provided with a field planting plate, the field planting plate is provided with a field planting hole, hydroponic plants are fixed in the field planting hole through field planting cups, the bottoms of the field planting cups are hollow structures, nutrient solution flows through the bottoms of the field planting cups, and root and stem base parts of the plants can penetrate through the bottoms of the field planting cups and are fully soaked in the nutrient solution during hydroponic cultivation, so that root and stem base parts of the hydroponic plants are developed, and after hydroponic cultivation is completed, the root and stem base parts of the plants are wound together with the bottoms of the field planting cups.
When the water planting of the plants is completed and harvesting is carried out, the root and stem base parts of the water planting plants are needed to be cut off for further packaging and collecting. At present, most harvesting steps adopt manual root cutting, which is time-consuming and labor-consuming, and greatly increases the production cost; in the existing mechanical automatic harvesting device, generally, a robot is used for grabbing hydroponic plants, a root cutting device is used for directly cutting root and stem bases of the plants, when the hydroponic plants are grabbed from a cultivation disc, the root and stem bases are generally separated from the cultivation disc together with a field planting cup, if the hydroponic plants and the field planting cup are forcedly separated by using the mechanical device, damage is caused to the plants, if manual separation is used, in the harvesting step, the working procedure steps are increased, and the production cost of enterprises is increased.
Disclosure of Invention
Therefore, a harvesting device for hydroponic plants and a use method thereof are needed, so that when hydroponic plants are harvested, the hydroponic plants can be efficiently and rapidly harvested, and the field planting cups are recycled.
In order to achieve the above object, the present invention provides a harvesting device for hydroponic plants, comprising:
the cultivation disk conveying unit comprises a cultivation disk conveying line and a positioning device, wherein the positioning device is fixed on the cultivation disk conveying line, the cultivation disk conveying line is used for conveying cultivation disks, and hydroponic plants are planted on the cultivation disks;
the harvesting and cutting unit comprises a fixed table, a harvesting robot, a cup-removing rotating table and a root cutting device, wherein the harvesting robot, the cup-removing rotating table and the root cutting device are arranged on the fixed table, the harvesting robot is used for grabbing hydroponic plants on a cultivation disc, a horizontally arranged field planting cup clamping jaw is fixed on the cup-removing rotating table and used for clamping a field planting cup on a root stock of a hydroponic plant, the root cutting device is located below the field planting cup clamping jaw, and the root cutting device is used for cutting the root stock of the hydroponic plant;
the harvesting conveying unit comprises a harvesting conveying line and a collecting station, wherein the harvesting conveying line is matched with the harvesting robot to convey hydroponic plants after the root and stem base are cut to the collecting station.
Further, the cup-removing rotary table is configured to rotate between a root cutting position and a cup-removing position, the positions of the harvesting robot and the root cutting device correspond to the root cutting position, when the cup-removing rotary table is at the root cutting position, the fixed planting cup clamping jaw clamps a fixed planting cup which is positioned on a root stock base part of a hydroponic plant, the root cutting device cuts the root stock base part of the hydroponic plant protruding out of the bottom of the fixed planting cup, then the harvesting robot moves upwards and is matched with the fixed planting cup clamping jaw to enable the residual root stock base part of the hydroponic plant to be separated from the fixed planting cup, the cup-removing rotary table drives the fixed planting cup to rotate to the cup-removing position, and the harvesting robot moves downwards and the root cutting device is matched with the residual root stock base part of the hydroponic plant.
Further, be equipped with useless root and collect mouth and field planting cup on the fixed station and collect mouthful, useless root is collected mouthful and field planting cup is collected mouthful and is corresponded with the root position of cutting of fixed revolving stage and is taken off a position, useless root is collected mouthful and field planting cup is collected mouthful below and is equipped with useless root respectively and is collected the frame and field planting cup is collected the frame, take off vertical a connecting plate that is equipped with on the cup revolving stage, field planting cup clamping jaw is fixed to be set up on the top of connecting plate, field planting cup clamping jaw protrusion connecting plate place the plane and with useless root is collected mouthful position and is corresponding. The waste root collecting opening and the field planting cup collecting opening are respectively used for collecting waste roots and field planting cups, the cup removing rotary table drives the field planting cup clamping jaws to circulate through the waste root collecting opening and the field planting cup collecting opening, when the field planting cup clamping jaws are located above the waste root collecting opening, the field planting cups on the hydroponic plants are clamped, and after the hydroponic plants are separated from the field planting cups, the field planting cup clamping jaws clamp the field planting cups to rotate to the position above the field planting cup collecting opening and release the field planting cups.
Further, the root cutting device comprises a fixed slice, a movable slice and a root cutting cylinder, wherein the fixed slice and the root cutting cylinder are fixed above the waste root collecting port, the movable slice is fixed on the root cutting cylinder, the root cutting cylinder drives the movable slice to be matched with the fixed slice to cut the root base of the hydroponic plant, the movable blade is positioned below the bottom of the fixed planting cup, and the distance between the movable slice and the bottom of the fixed planting cup is less than or equal to 5mm. When the movable slice and the fixed slice are cut, the root and stem base penetrating through the bottom of the field planting cup can be cut off, so that the field planting cup and the hydroponic plant can be smoothly separated.
Further, the harvesting robot comprises a robot main body, a flexible clamping jaw and two vision devices, wherein the robot main body is fixed on a fixed table, the flexible clamping jaw is arranged on the robot main body, the robot main body drives the flexible clamping jaw to clamp hydroponic plants, the two vision devices are respectively fixed on the robot main body and the side edge of the waste root collecting opening, and the vision devices are electrically connected with the robot main body. Photographing the plants to be clamped before clamping, analyzing the size of the crown width through an image, setting proper allowance parameters, sending the data to a flexible clamping jaw controller, controlling the opening degree of the flexible clamping jaw to enable the flexible clamping jaw to be suitable for the clamped plants, and preventing the phenomenon that the plants beside the clamping injury occur due to overlarge opening degree; the phenomenon that the unclamped vegetable leaves are broken and damaged due to the fact that the opening degree is too small and is not suitable for the clamped plants is prevented; meanwhile, the clamping positions of each plant are inconsistent, the shooting positions of the vision device are needed, the relative positions of the root base parts of the plants clamped by the current robot main body and the root cutting device are calculated through a computer program algorithm, the robot main body is guided to descend, the residual root base parts are accurately cut through the root cutting positions, the stem leaves of the plants can be damaged when the flexible clamping jaws can be effectively prevented from being clamped, and the vision device is used for detecting the descending positions of the hydroponic plants clamped by the flexible clamping jaws driven by the robot main body, so that the root cutting device can accurately cut the root base parts of the hydroponic plants.
Further, gather the transfer chain and be annular transfer chain, fixed station and collection station are located respectively and gather the both sides limit of transfer chain, 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, be equipped with the hole of placing that is used for placing the hydroponic plant on the board of placing. The harvesting robot places the water planting plants with the root and stem bases cut on the placing holes, and the harvesting conveying line conveys the water planting plants one by one through the placing plates, so that the packaging and arrangement of the collecting stations are facilitated.
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 of placing the board is in the lateral surface of gathering the transfer chain, place the hole and be located the roof of placing the board. The position of the placing hole protrudes out of the outer side face of the harvesting conveying line, and when the harvesting robot places cut plants on the placing hole, plant stems and leaves or other impurities are prevented from falling into the harvesting conveying line to influence smooth operation of the plant stems and leaves or other impurities.
Further, reinforcing ribs are arranged between the vertical plates of the placement plates and the bottom plate.
Further, cultivation dish transfer chain includes conveying cylinder and mounting bracket, conveying cylinder sets gradually on the mounting bracket, positioner includes a plurality of positioning cylinder, and positioning cylinder installs on the both sides of mounting bracket, positioning cylinder's output direction is mutually perpendicular with conveying cylinder's direction of conveyance. When the cultivation plate is conveyed to a fixed position through the conveying roller, the positioning cylinder extends to play a role in positioning the cultivation plate.
The application method of the hydroponic plant harvesting device comprises the following steps:
(1) The cultivation tray planted with the hydroponic plants is conveyed to a designated 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 tray and transfers the hydroponic plants to the fixed table, and the fixed planting cup clamping jaw on the cup-removing rotary table clamps the fixed planting cup of the hydroponic plants;
(3) The root cutting device cuts root bases of the hydroponic plants protruding out of the bottom of the field planting cup;
(4) The harvesting robot clamps the hydroponic plant to be separated from the field planting cup upwards, the field planting cup is driven by the cup removing rotary table to rotate away from the plane where the root cutting device is located, clamping jaws of the field planting cup are loosened, and the field planting cup is recovered;
(5) The harvesting robot clamps the hydroponic plant to descend to the plane where the root cutting device is located, and the root cutting device cuts the residual root and stem base of the hydroponic plant;
(6) The harvesting robot places hydroponic plants cut out of the root base on a harvesting conveying line, and the harvesting conveying line conveys the hydroponic plants to a collecting station.
The technical scheme has the following beneficial effects:
1. according to the invention, the separation of the hydroponic plant and the field planting cup is integrated into the mechanical root cutting step, so that the manual separation of the field planting cup is avoided, the labor cost is saved, and the harvesting efficiency of the hydroponic plant is further improved.
2. According to the invention, the flexible clamping jaw made of food-grade materials is used as a medium for clamping hydroponic plants to be in direct contact, so that the hydroponic plants are safe and pollution-free, the clamping speed and the tightness can be controlled by adjusting air pressure and air flow, the hydroponic plants can be clamped better, and the damage is reduced to the greatest extent.
3. According to the invention, the mechanical arm is not directly used for forceful detachment of the hydroponic plant and the field planting cup, but a root cutting device is used for cutting out most of root and stem bases protruding from the bottom of the field planting cup, so that the obstruction of detachment of the hydroponic plant and the field planting cup is reduced, and when the hydroponic plant and the field planting cup are detached from each other, the harvesting robot clamps the stem and leaf of the hydroponic plant, and then the hydroponic plant can be driven to ascend and separate from the field planting cup with a small force, so that damage to the hydroponic plant is avoided.
4. According to the invention, the root and stem bases of the hydroponic plants are sheared off twice, the first shearing can facilitate the separation of the field planting cup and the hydroponic plants, the field planting cup is not blocked after the field planting cup is separated from the hydroponic plants, the second shearing can be more thorough, and the quality of the harvested hydroponic plants is improved.
Drawings
Fig. 1 is a block diagram of a recovery device according to an embodiment.
Fig. 2 is a structural view of a cultivating tray conveying unit according to an embodiment.
Fig. 3 is a block diagram of the harvesting and cutting unit according to the embodiment.
Fig. 4 is a block diagram of a recovery conveying unit according to an embodiment.
Reference numerals illustrate:
1. a cultivation tray conveying unit; 11. a mounting frame; 12. a conveying roller; 13. positioning a cylinder;
2. harvesting and cutting units; 21. a fixed table; 211. a waste root collecting port; 212. a collecting port of the planting cup; 213. a waste root collecting frame; 214. a field planting cup collecting frame; 22. a harvesting robot; 221. a robot main body; 222. a flexible jaw; 223. a vision device; 23. a cup removing rotary table; 231. planting cup clamping jaws; 232. a connecting plate; 24. root cutting device; 241. fixing and slicing; 242. movably slicing; 243. a root cutting cylinder;
3. a harvesting and conveying unit; 31. harvesting a conveying line; 32. placing a plate; 33. placing the hole; 34. and (5) a collecting station.
Detailed Description
In order to describe the technical content, constructional features, achieved objects and effects of the technical solution in detail, the following description is made in connection with the specific embodiments in conjunction with the accompanying drawings.
Referring to fig. 1-4, a harvesting device for hydroponic plants of the present embodiment includes a cultivation tray conveying unit 1, a harvesting and cutting unit 2 and a harvesting and conveying unit 3, wherein 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 planted with hydroponic plants. 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 positioning cylinder 13, and four positioning cylinder 13 two by two symmetry are installed on the both sides of mounting bracket 11, and the output direction of positioning cylinder 13 is mutually perpendicular with conveying cylinder 12's direction of delivery. When the cultivation tray is transported to a fixed position by the transport roller 12, the positioning cylinder 13 extends to position the cultivation tray. A planting plate is arranged on the general cultivation plate, a planting hole is arranged on the planting plate, a planting cup is movably arranged on the planting hole, and hydroponic plants are arranged in the planting hole. Harvesting cutting unit 2 includes fixed station 21, harvesting robot 22, take off cup revolving stage 23 and root cutting device 24 set up on fixed station 21, harvesting robot 22 is used for snatching the hydroponic plant on the cultivation dish, take off cup revolving stage 23 on be fixed with the field planting cup clamping jaw 231 that the level set up, field planting cup clamping jaw 231 is used for pressing from both sides the field planting cup on the rhizome base of water intaking plant, root cutting device 24 is located the below of field planting cup clamping jaw 231, root cutting device 24 is used for cutting the rhizome base of hydroponic. In this embodiment, the cup-removing rotary table 23 is configured to rotate between a root cutting position and a cup-removing position, the positions of the harvesting robot 22 and the root cutting device 24 correspond to the root cutting position, when the cup-removing rotary table 23 is at the root cutting position, the field planting cup clamping jaw 231 clamps the field planting cup on the hydroponic plant, the root cutting device 24 cuts off the root base of the hydroponic plant protruding from the bottom of the field planting cup, then the harvesting robot 22 moves upwards, and the residual root base of the hydroponic plant is separated from the field planting cup by matching with the field planting cup clamping jaw 231, the cup-removing rotary table 23 drives the field planting cup to rotate to the cup-removing position, and the harvesting robot 22 moves downwards to match with the root cutting device 24 to cut the residual root base of the hydroponic plant.
Further, a waste root collecting port 211 and a field planting cup collecting port 212 are arranged on the fixing table 21, the waste root collecting port 211 and the field planting cup collecting port 212 correspond to a root cutting position and a cup removing position of the cup removing rotary table 23 respectively, a connecting plate 232 is vertically arranged on the cup removing rotary table 23, a field planting cup clamping jaw 231 is fixedly arranged at the top end of the connecting plate 232, and the field planting cup clamping jaw 231 protrudes out of a plane where the connecting plate 232 is located and corresponds to the waste root collecting port 211. 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 arranged below the waste root collecting port 211 and the planting cup collecting port 212 in a corresponding position.
In this embodiment, the root cutting device 24 includes a fixed slice 241, a movable slice 242 and a root cutting cylinder 243, the fixed slice 241 and the root cutting cylinder 243 are respectively fixed above the waste root collecting port 211, the movable slice 242 is fixed on the root cutting cylinder 243, the root cutting cylinder 243 drives the movable slice 242 to cooperate with the fixed slice 241 to cut the root and stem base of the hydroponic plant, the distance between the movable slice 242 and the bottom of the planting cup is controlled to be less than or equal to 5mm, and most of the root and stem base penetrating the bottom of the planting cup can be cut when the movable slice 242 and the fixed slice 241 are cut, so that the planting cup and the root and stem base of the plant can be separated from each other. The harvesting robot 22 comprises a robot main body 221, a flexible clamping jaw 222 and two vision devices 223, wherein the robot main body 221 is fixed on the fixed table 21, the flexible clamping jaw 222 is fixed on the movable end of the robot main body 221, the robot main body 221 drives the flexible clamping jaw 222 to clamp hydroponic plants, one of the two vision devices 223 is fixed on the movable end of the robot main body 221, the other vision device 223 is fixed on the side edge of the waste root collecting opening 211, the two vision devices 223 are electrically connected with the robot main body 221, and the vision device 223 is a camera. The flexible jaw 222 can effectively avoid damaging stems and leaves of plants during grabbing. 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 accurately cuts the root and stem base parts of the hydroponic plant, photographs the plant to be clamped before clamping, analyzes the size of the crown by an image, sets proper allowance parameters, sends the data to the flexible clamping jaw controller, controls the opening degree of the flexible clamping jaw 222 to be suitable for the clamped plant, and prevents the plant beside the clamping injury caused by overlarge opening degree; the phenomenon that the unclamped vegetable leaves are broken and damaged due to the fact that the opening degree is too small and is not suitable for the clamped plants is prevented; meanwhile, because the clamping positions of each plant are inconsistent, the positions of the plants need to be shot by the vision device 223, the relative positions of the root base parts of the plants clamped by the current robot main body 221 and the root cutting device 24 are calculated through a computer program algorithm, the robot main body 221 is guided to descend, and the residual root base parts are accurately cut through the root cutting position 24.
The harvesting and conveying unit 3 comprises a harvesting conveying line 31 and a collecting station 34, the harvesting robot 22 is used for placing hydroponic plants cut by the root cutting device 24 to the harvesting conveying line 31, and the harvesting conveying line 31 conveys the cut hydroponic plants to the collecting station 34. The harvesting conveying line 31 is an annular conveying line, the fixed table 21 and the collecting station 34 are respectively located on two side edges of the harvesting conveying line 31, a plurality of placing plates 32 are arranged on the harvesting conveying line 31, the placing plates 32 are arranged at intervals along the conveying direction of the harvesting conveying line 31, and placing holes 33 for placing hydroponic plants are formed in the placing plates 32. The collection station 34 in this embodiment is a manual collection packaging station.
Place the board 32 and be Z type structure, place the board 32 and include bottom plate, roof and connect the digital board of both, place the bottom plate of board 32 and gather transfer chain 31 fixed, place the roof protrusion of board 32 in gathering the lateral surface of transfer chain 31, place the hole 33 and be located on the roof of placing board 32. The position of the placing hole 33 protrudes out of the outer side surface of the harvesting conveying line 31, and when the harvesting robot 22 places the cut plants on the placing hole 33, plant stems and leaves or other impurities are prevented from falling into the harvesting conveying line 31 to influence the smooth operation of the plant stems and leaves or other impurities. Between the vertical plate and the bottom plate of the placement plate 32 is provided with reinforcing ribs
The application method of the hydroponic plant harvesting device comprises the following steps:
(1) The conveying roller 12 on the mounting frame 11 rolls to convey the cultivation tray planted with the hydroponic plant to a designated position, and the output shaft of the positioning cylinder 13 of the positioning device extends to fix the cultivation tray so as to prevent the cultivation tray from being separated from the designated position;
(2) The robot main body 221 rotates, the flexible clamping jaw on the robot main body grabs the stem and leaf of the hydroponic plant planted on the cultivation disk, so that the hydroponic plant is separated from the cultivation disk, and as the root and stem base of the hydroponic plant is developed, the hydroponic plant brings a field planting cup away from the cultivation disk, the robot main body 221 rotates to drive the hydroponic plant to the position above the waste root collecting tank, and the field planting cup clamping jaw 231 on the cup removing rotary table 23 clamps the field planting cup of the hydroponic plant;
(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 stem base of the hydroponic plant protruding from the field planting cup, and then the movable slice 242 returns to the initial position;
(4) The robot main body 221 clamps the hydroponic plant to move upwards to separate from the planting cup, the cup-separating rotary table 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 for recovery;
(5) The robot main body 221 cooperates with the vision device 223 to clamp the hydroponic plant to descend to the plane where the root cutting device 24 is located, 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 base of the hydroponic plant, and after cutting, the movable slice 242 returns to the initial position;
(6) The harvesting robot 22 places the hydroponic plant with the root cut on the harvesting conveyor line 31, and the harvesting conveyor line 31 conveys the hydroponic plant to the collecting station 34;
(7) The cup-off rotary table 23 returns to the initial position, and the harvesting robot 22 resumes gripping the hydroponic plants on cultivation.
In this embodiment, divide into twice and prune the rhizome basal portion of water planting plant, prune the separation that can make things convenient for field planting cup and water planting plant for the first time, after field planting cup and water planting plant separation, no obstruction of field planting cup, the rhizome basal portion of second time prune the plant can be more thorough, has improved the looks of the water planting plant after gathering, takes off cup revolving stage 23 to the separation of field planting cup, can effectually retrieve the field planting cup and recycle.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 statement "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article or terminal device comprising the element. Further, herein, "greater than," "less than," "exceeding," and the like are understood to not include the present number; "above", "below", "within" and the like are understood to include this number.
While the embodiments have been described above, other variations and modifications will occur to those skilled in the art once the basic inventive concepts are known, and it is therefore intended that the foregoing description and drawings illustrate only embodiments of the invention and not limit the scope of the invention, and it is therefore intended that the invention not be limited to the specific embodiments described, but that the invention may be practiced with their equivalent structures or with their equivalent processes or with their use directly or indirectly in other related fields.
Claims (5)
1. A harvesting device for hydroponic plants, comprising:
the cultivation disk conveying unit comprises a cultivation disk conveying line and a positioning device, wherein the positioning device is fixed on the cultivation disk conveying line, the cultivation disk conveying line is used for conveying cultivation disks, and hydroponic plants are planted on the cultivation disks;
the harvesting and cutting unit comprises a fixed table, a harvesting robot, a cup-removing rotating table and a root cutting device, wherein the harvesting robot, the cup-removing rotating table and the root cutting device are arranged on the fixed table, the harvesting robot is used for grabbing hydroponic plants on a cultivation disc, a horizontally arranged field planting cup clamping jaw is fixed on the cup-removing rotating table and used for clamping a field planting cup on a root stock of a hydroponic plant, the root cutting device is located below the field planting cup clamping jaw, and the root cutting device is used for cutting the root stock of the hydroponic plant;
the harvesting and conveying unit comprises a harvesting conveying line and a collecting station, wherein the harvesting conveying line is matched with the harvesting robot to convey hydroponic plants with root and stem bases cut to the collecting station;
the application method of the harvesting device for the hydroponic plants comprises the following steps:
(1) The cultivation tray planted with the hydroponic plants is conveyed to a designated 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 tray and transfers the hydroponic plants to the fixed table, and the fixed planting cup clamping jaw on the cup-removing rotary table clamps the fixed planting cup of the hydroponic plants;
(3) The root cutting device cuts root bases of the hydroponic plants protruding out of the bottom of the field planting cup;
(4) The harvesting robot clamps the hydroponic plant to be separated from the field planting cup upwards, the field planting cup is driven by the cup removing rotary table to rotate away from the plane where the root cutting device is located, clamping jaws of the field planting cup are loosened, and the field planting cup is recovered;
(5) The harvesting robot clamps the hydroponic plant to descend to the plane where the root cutting device is located, and the root cutting device cuts the residual root and stem base of the hydroponic plant;
(6) The harvesting robot places the hydroponic plants with the root parts cut off on a harvesting conveying line, and the harvesting conveying line conveys the hydroponic plants to a collecting station;
the cup-removing rotary table is configured to rotate between a root cutting position and a cup-removing position, the positions of the harvesting robot and the root cutting device correspond to the root cutting position of the cup-removing rotary table, when the cup-removing rotary table is at the root cutting position, the planting cup clamping jaw clamps the planting cup for taking water from the root stock, the root cutting device cuts root base parts of hydroponic plants protruding out of the bottom of the field planting cup, then the harvesting robot moves upwards and cooperates with the field planting cup clamping jaw to enable the residual root base parts of hydroponic plants to be separated from the field planting cup, the field planting cup is driven to rotate to a cup removing position by the cup removing rotating table, and the harvesting robot moves downwards and is matched with the root cutting device to cut the residual root base parts of hydroponic plants;
the device comprises a fixed table, a fixed rotating table, a waste root collecting opening, a fixed planting cup clamping jaw, a waste root collecting frame, a fixed planting cup clamping jaw and a fixed planting cup clamping jaw, wherein the fixed table is provided with the waste root collecting opening and the fixed planting cup collecting opening;
the root cutting device comprises a fixed slice, a movable slice and a root cutting cylinder, wherein the fixed slice and the root cutting cylinder are fixed above the waste root collecting port, the movable slice is fixed on the root cutting cylinder, the root cutting cylinder drives the movable slice to be matched with the fixed slice to cut the root base of the hydroponic plant, and the movable slice is positioned below the bottom of the fixed planting cup;
the harvesting robot comprises a robot main body, a flexible clamping jaw and two vision devices, wherein the robot main body is fixed on a fixed table, the flexible clamping jaw is arranged on the robot main body, the robot main body drives the flexible clamping jaw to clamp hydroponic plants, the two vision devices are respectively fixed on the robot main body and the side edge of a waste root collecting opening, and the two vision devices are electrically connected with the robot main body.
2. The harvesting device for hydroponic plants according to claim 1, wherein the harvesting conveying line is an annular conveying line, the fixing table and the collecting station are respectively located on two side edges of the harvesting conveying line, a plurality of placing plates are fixed on the harvesting conveying line and are arranged at intervals along the conveying direction of the harvesting conveying line, and placing holes for placing hydroponic plants are formed in the placing plates.
3. The harvesting device of hydroponic plants of claim 2, wherein the placement plate is of a Z-shaped structure, the bottom plate of the placement plate is fixed to the harvesting conveyor line, the top plate of the placement plate protrudes out of the outer side surface of the harvesting conveyor line, and the placement holes are formed in the top plate of the placement plate.
4. A hydroponic plant harvesting device as claimed in claim 3, wherein the vertical plate of the placement plate and the bottom plate are provided with reinforcing ribs therebetween.
5. The harvesting device for hydroponic plants of claim 1, wherein the cultivation tray conveying line comprises a conveying roller and a mounting frame, the conveying roller is sequentially arranged on the mounting frame, 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.
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| CN113317035B (en) * | 2021-05-25 | 2022-07-29 | 河南科技大学 | Low-suction-and-pull stem cutting and harvesting device for water-cultured lettuce |
| CN113412728B (en) * | 2021-06-23 | 2022-09-09 | 浙江阳田农业科技股份有限公司 | Automatic saffron crocus silk collecting machine and control method thereof |
| 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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