Hydroponic leafy vegetable leaf rot removal device and removal method

Abstract

This application relates to a device and method for removing rotten leaves from hydroponic leafy vegetables. The device includes a frame, a movable clamping and rotating mechanism mounted on a crossbeam of the frame, and a first conveying mechanism and a second conveying mechanism arranged parallel to each other below the crossbeam. A suction-and-peeling device is located on one side of the second conveying mechanism. The first conveying mechanism is used to place and convey the hydroponic leafy vegetables to be peeled, and the second conveying mechanism is used to place and convey the hydroponic leafy vegetables with peeled leaves. The movable clamping and rotating mechanism can move horizontally and vertically, clamping and rotating the hydroponic leafy vegetables to be peeled, so that the yellowed and rotten leaves of the vegetables face the suction-and-peeling device. The suction-and-peeling device is used to peel off the yellowed and rotten leaves of the hydroponic lettuce. This application effectively solves the problems of low efficiency and high cost caused by the long-term reliance on manual removal of yellowed and rotten leaves from hydroponic lettuce.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment technology, and in particular to a device and method for removing rotten leaves from hydroponically grown leafy vegetables. Background Technology

[0002] With the gradual improvement of mechanization, automation, and intelligence in facility agriculture, related automated equipment has emerged one after another, realizing mechanized operations in key stages such as transplanting, harvesting, and packaging. However, a drawback is that the bottom leaves of hydroponically grown lettuce are prone to yellowing and rotting due to factors such as poor airflow, high humidity, and insufficient light. The remaining yellowed and rotten leaves seriously affect the smooth progress of subsequent packaging and transportation operations.

[0003] In existing research on hydroponic lettuce harvesting machines and related technologies, there is still a lack of understanding on the treatment of yellow and rotten leaves. This step relies on manual operation, which has drawbacks such as low efficiency and high cost. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a device and method for removing rotten leaves from hydroponic lettuce, which can effectively solve the problems of low efficiency and high cost caused by long-term reliance on manual removal of yellow and rotten leaves from hydroponic lettuce, and further improve the mechanization process of the entire harvesting process of hydroponic lettuce.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a hydroponic leafy vegetable rotten leaf removal device, including a frame, a movable clamping and rotating mechanism is provided on the crossbeam of the frame, a first conveying mechanism and a second conveying mechanism are provided parallel below the crossbeam, a suction clamping leaf peeling device is provided on one side of the second conveying mechanism, the first conveying mechanism is used to place and convey the hydroponic leafy vegetables to be peeled, and the second conveying mechanism is used to place and convey the hydroponic leafy vegetables that have been peeled. The movable clamping and rotating mechanism can move horizontally and vertically to clamp and rotate the hydroponic leafy vegetables to be peeled, so that the yellow and rotten leaves of the hydroponic leafy vegetables to be peeled face the suction and leaf-peeling device, which is used to peel off the yellow and rotten leaves of the hydroponic lettuce.

[0006] Furthermore, the first conveying mechanism includes a first planting plate, a first double-speed chain, and a first double-speed chain support. The first planting plate is used to place hydroponic leafy vegetables to be peeled. The two sides of the first planting plate are supported on the first double-speed chain and conveyed by the first double-speed chain along its length. The first double-speed chain is supported on the ground by the first double-speed chain support.

[0007] Furthermore, the second conveying mechanism includes a second planting plate, a second double-speed chain, and a second double-speed chain support. The second planting plate is used to place the peeled hydroponic leafy vegetables. The two sides of the second planting plate are supported on the second double-speed chain and conveyed by the second double-speed chain along its length. The second double-speed chain is supported on the ground by the second double-speed chain support.

[0008] Furthermore, the mobile clamping and rotating mechanism includes a robotic arm and a rotary motor mounted on the robotic arm. The robotic arm is used to drive the rotary motor to move in the horizontal and vertical directions, and the output shaft of the rotary motor is provided with a gripping mechanism for clamping the hydroponic leafy vegetables to be peeled. The robotic arm is a two-degree-of-freedom robotic arm, including a lateral movement module and a longitudinal movement module. The lateral movement module is set along the length of the frame beam, and the longitudinal movement module is set along the direction perpendicular to the frame beam.

[0009] Furthermore, the gripping mechanism includes a fixed frame mounted on the output shaft end of a rotary motor. A vertical moving module is mounted on the fixed frame. The vertical moving module includes a gripper opening and closing motor, a gripper screw, and a nut seat mounted on the gripper screw. The gripper opening and closing motor drives the gripper screw to rotate. The vertical moving module also includes a gripper slide rail that slides with the nut seat and is parallel to the gripper screw. A rectangular frame slide is fixed on the outside of the nut seat. Multiple horizontally arranged gripper moving guide rails are evenly distributed at the lower end of the slide rail. A gripper slider slides on the gripper moving guide rails. A connecting rod is hinged between the gripper slider and the slide frame. A flexible pneumatic finger is mounted at the lower end of the gripper slider. The air vent of the flexible pneumatic finger is connected to the air circuit system.

[0010] Furthermore, the suction clamp leaf-peeling device includes a leaf-peeling frame, a power mechanism mounted on the leaf-peeling frame, a five-bar linkage mounted on the leaf-peeling frame, and a suction clamping claw mounted on the five-bar linkage. The power mechanism is connected to the five-bar linkage for transmission. The power mechanism is used to drive the five-bar linkage, so that the five-bar linkage drives the suction clamping claw to peel the leaves of the hydroponic lettuce held by the moving clamping and rotating mechanism.

[0011] Furthermore, the power mechanism includes a power motor mounted on the leaf peeling frame, a crank mounted on the end of the output shaft of the power motor, and a sliding shaft mounted on the crank. A first transmission rod is hinged to the leaf peeling frame. The first transmission rod has a first waist-shaped hole that slides with the sliding shaft. A second transmission rod is hinged to the end of the first transmission rod. A ratchet screw mechanism is hinged to the free end of the second transmission rod. A third transmission rod is hinged to the second transmission rod. A fourth transmission rod is hinged to the leaf peeling frame above the first transmission rod. The third transmission rod extends into the fourth transmission rod and slides with it. A fifth transmission rod is hinged to the leaf peeling frame and is hinged to the fourth transmission rod. The ratchet screw mechanism includes a ratchet sleeve, a connecting shaft located at the front end of the ratchet sleeve, a support seat, and a linkage screw threaded through the support seat. The leaf peeling frame is provided with a second oblong hole, and the support seat is provided with a pulley that rolls with the second oblong hole. One end of the linkage screw extends into the ratchet sleeve and the extended end is provided with a pawl. The ratchet sleeve is provided with a ratchet that engages with the pawl. A transmission sleeve that is hinged to the second transmission rod is rotatably sleeved on the outside of the ratchet sleeve. A suction and clamping integrated pawl is located at the end of the connecting shaft. A thrust spring is provided between the ratchet sleeve and the support seat and sleeved on the outside of the linkage screw.

[0012] Furthermore, the integrated suction and clamping claw includes a clamping housing, a clamping frame disposed on the clamping housing, a fixed housing disposed on the clamping frame, and a fixed clamping leaf platform disposed on the fixed housing. The clamping housing is also equipped with a suction and clamping claw motor. A transmission gear is disposed on the output shaft of the suction and clamping claw motor. A half-gear transmission rod is rotatably disposed on the clamping housing. One end of the half-gear transmission rod is meshed with the transmission gear, and the other end is hinged to a transmission clamping leaf rod. A movable clamping leaf platform is disposed at the end of the transmission clamping leaf rod. An auxiliary rod is hinged to the clamping housing and hinged to the transmission clamping leaf rod. The fixed clamping platform is provided with a guide hole, and a retractable adsorption tube is provided inside the guide hole. The adsorption tube is connected to the vacuum generator and has an extended state and a retracted state. When the adsorption tube is in the extended state, the moving clamping platform and the fixed clamping platform are not in contact. When the adsorption tube is in the retracted state, the moving clamping platform and the fixed clamping platform are in contact.

[0013] Furthermore, it also includes a central processing unit and an image acquisition system. The image acquisition system is located between the first conveying mechanism and the second conveying mechanism. The image acquisition system includes a first image acquisition unit and a second image acquisition unit. The first image acquisition unit is used to acquire the plant height information of the hydroponic leafy vegetables to be peeled, and the second image acquisition unit is used to acquire the root information of the hydroponic lettuce held by the moving clamping and rotating mechanism. The central processing unit is used to identify and locate the acquired information, and control the moving clamping and rotating mechanism and the suction and leaf peeling device according to the identification and location.

[0014] This application also provides a method for removing rotten leaves from hydroponic leafy vegetables using a device, including the following steps: S1. The hydroponic leafy vegetables to be peeled, placed on the first conveying mechanism, are conveyed to the moving clamping and rotating mechanism via the first conveying mechanism. S2. The central processing unit controls the moving clamping and rotating mechanism to clamp the hydroponic leafy vegetable to be peeled according to the plant height information of the hydroponic leafy vegetable to be peeled obtained by the first image acquisition unit, and controls the moving clamping and rotating mechanism to move the hydroponic leafy vegetable to be peeled to the suction and leaf peeling device according to the root information obtained by the second image acquisition unit, and makes the yellow and rotten leaves of the hydroponic leafy vegetable to be peeled face the suction and leaf peeling device. S3. The central processing unit controls the suction clamp leaf-peeling device to remove the yellow and rotten leaves of the hydroponic lettuce to be peeled.

[0015] The beneficial effects of this application are as follows: 1. This application can realize the mechanization of removing yellow and rotten leaves from hydroponic lettuce. Its overall structure is simple and the processing cost is low. It avoids the adverse effects of yellow and rotten leaves on subsequent packaging, transportation and other activities, while improving the quality and economic value of hydroponic lettuce.

[0016] 2. This application sets up a first image acquisition unit and a second image acquisition unit to accurately identify the plant height and yellow and rotten leaf location information of hydroponic leafy vegetables. After the central processing unit comprehensively processes the information, it can control the moving clamping and rotating mechanism to flexibly adjust the gripping height and rotation angle to adapt to leafy vegetables of different plant heights and yellow and rotten leaves in different locations.

[0017] 3. The output shaft of the rotary motor of this application is equipped with a gripping mechanism for holding the hydroponic leafy vegetables to be peeled. It can rotate around the Z-axis at any angle, so that after gripping the hydroponic leafy vegetables to be peeled, it can be rotated to a suitable position according to the actual situation so that the suction and peeling device can accurately pick up the yellow and rotten leaves.

[0018] 4. In this application, the power motor of the suction clamp leaf stripping device is connected to the first transmission rod by a sliding shaft to form a swing guide rod mechanism. The constant rotation of the power motor is converted into the reciprocating swing of the first transmission rod. After being transmitted by the five-bar linkage, the constant rotation of the power motor is finally output as the translational motion of the ratchet screw structure.

[0019] 5. The ratchet screw structure in this application can ensure that when the mechanism feeds to perform the leaf-clamping action, the leaf-plucking device does not rotate with the screw, so that the suction plane is parallel to the plane of the yellow and rotten leaves, achieving a better gripping effect; while when peeling leaves backward, the suction mechanism rotates synchronously with the screw to realize the pulling, tearing and twisting action of a human hand, and removes the yellow and rotten leaves more thoroughly. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the gripping mechanism in this invention.

[0022] Figure 3 This is a schematic diagram of the image acquisition system in this invention.

[0023] Figure 4 This is a schematic diagram of the suction clamp leaf stripping device in this invention.

[0024] Figure 5 This is a schematic diagram of the ratchet screw mechanism in this invention.

[0025] Figure 6This is a schematic diagram of the integrated suction and clamping claw in this invention.

[0026] Figure 7 This is a schematic diagram of the ratchet sleeve in this invention.

[0027] Illustration labels: 1. Frame, 2. Moving clamping and rotating mechanism, 3. Suction and leaf-peeling device, 4. Peeled hydroponic leafy vegetables, 5. Image acquisition system, 6. Second conveying mechanism, 7. First conveying mechanism, 21. Rotary motor, 22. Fixed frame, 23. Gripper opening and closing motor, 24. Gripper screw, 25. Slide frame, 26. Connecting rod, 27. Gripper moving guide rail, 28. Gripper slider, 29. Flexible pneumatic fingers, 31. Leaf-peeling frame, 32. Ratchet screw mechanism, 33. Fifth transmission rod, 34. Fourth transmission rod, 35. Power motor, 36. Sliding shaft, 37. First transmission rod, 38. Third transmission rod, 39. Second transmission rod, 5 1. Second image acquisition unit; 52. First image acquisition unit; 53. Camera frame; 321. Linkage screw; 322. Pulley; 323. Support base; 324. Thrust spring; 325. Ratchet sleeve; 326. Transmission sleeve; 327. Integrated suction and clamping claw; 3251. Pawl; 3252. Thrust plate; 3253. Ratchet; 3271. Suction and clamping claw motor; 3272. Half gear transmission rod; 3273. Transmission clamping blade rod; 32731. Moving clamping blade platform; 3274. Bolt; 3275. Telescopic spring; 3276. Adsorption tube; 3277. Clamping blade platform; 3278. Auxiliary rod; 3279. Clamping frame. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that, in the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] Please see Figure 1-7This invention provides a device for removing rotten leaves from hydroponic leafy vegetables, including a frame 1. A movable clamping and rotating mechanism 2 is provided on the crossbeam of the frame 1. A first conveying mechanism 7 and a second conveying mechanism 6 are provided parallel below the crossbeam. A suction and leaf-peeling device 3 is provided on one side of the second conveying mechanism 6. The first conveying mechanism 7 is used to place and convey hydroponic leafy vegetables to be peeled, and the second conveying mechanism 6 is used to place and convey hydroponic leafy vegetables 4 that have already been peeled. The movable clamping and rotating mechanism 2 can move horizontally and vertically, and is used to clamp and rotate the hydroponic leafy vegetables to be peeled, so that the yellow and rotten leaves of the hydroponic leafy vegetables to be peeled face the suction and leaf-peeling device 3. The suction and leaf-peeling device 3 is used to peel off the yellow and rotten leaves of the hydroponic lettuce to be peeled.

[0030] Combination Figure 1 As shown, the first conveying mechanism 7 includes a first planting plate, a first double-speed chain, and a first double-speed chain support. The first planting plate is used to place hydroponic leafy vegetables whose leaves have been peeled. The two sides of the first planting plate are supported on the first double-speed chain and conveyed along its length by the first double-speed chain. The first double-speed chain is supported on the ground by the first double-speed chain support. The second conveying mechanism 6 includes a second planting plate, a second double-speed chain, and a second double-speed chain support. The second planting plate is used to place hydroponic leafy vegetables 4 whose leaves have been peeled. The two sides of the second planting plate are supported on the second double-speed chain and conveyed along its length by the second double-speed chain. The second double-speed chain is supported on the ground by the second double-speed chain support.

[0031] Combination Figure 1 As shown, the movable clamping and rotating mechanism 2 includes a robotic arm and a rotary motor 21 mounted on the robotic arm. The robotic arm drives the rotary motor 21 to move in both horizontal and vertical directions. The output shaft of the rotary motor 21 is equipped with a gripping mechanism for holding the hydroponic leafy vegetables to be peeled. The robotic arm is a two-degree-of-freedom robotic arm, including a lateral movement module and a longitudinal movement module. The lateral movement module is arranged along the length of the crossbeam of the frame 1, and the longitudinal movement module is arranged perpendicular to the crossbeam of the frame 1. The robotic arm can employ any existing displacement mechanism capable of two-degree-of-freedom movement. For example, the robotic arm typically includes a horizontally extending slide rail, a motor-driven slider mounted on the slide rail, a vertically extending track on the slider, and a motor-driven slide table mounted on the track.

[0032] The slide table is equipped with a positioning plate, which is L-shaped and includes a vertical part connected to the slide table and a horizontal part connected to the vertical part. A rotary motor 21 is mounted on the horizontal part, and the output shaft of the rotary motor 21 rotates through the horizontal part. The gripping mechanism includes a fixed frame 22 mounted on the end of the output shaft of the rotary motor 21, located below the horizontal part. The fixed frame 22 is equipped with a vertical moving module, which includes a gripper opening and closing motor 23, a gripper screw 24, and a nut seat mounted on the gripper screw 24. The gripper opening and closing motor 23 drives the gripper screw 24 to rotate. The vertical moving module also includes a gripper slide rail that slides with the nut seat and is parallel to the gripper screw 24. The fixed frame 22 is L-shaped and includes a horizontal end connected to the output shaft of the rotary motor 21 and a vertical end connected to the horizontal end. The gripper slide rail and the gripper opening and closing motor 23 are mounted on the vertical end. A rectangular sliding frame 25 is fixedly mounted on the outside of the nut seat. The gripper slide rail is located inside the sliding frame 25 and slides in cooperation with it. Multiple horizontally arranged gripper moving guide rails 27 are evenly distributed at the lower end of the slide rails. Gripper sliders 28 slide on the gripper moving guide rails 27. A connecting rod 26 is hinged between the gripper sliders 28 and the sliding frame 25. Flexible pneumatic fingers 29 are located at the lower end of the gripper sliders 28, and their vents are connected to an air supply system. The air supply system includes an air pump, and the flexible pneumatic fingers 29 are connected to the air pump via air pipes. There are four gripper moving guide rails 27 arranged in a cross shape. When the sliding frame 25 moves, the gripper slider 28, together with the flexible pneumatic fingers 29, translates along the gripper moving guide rail 27, so that the four flexible fingers 29 open and close to the same degree within a certain time. Finally, through the control of the aforementioned gripper opening and closing motor 23 and rotary motor 21, the flexible pneumatic fingers 29 can perform specified opening and closing actions while rotating at any angle around the gripper screw 24. The air pump inflates the flexible fingers, causing them to bend and grasp the hydroponic leafy vegetables to be peeled.

[0033] Specifically, the suction clamp leaf peeling device 3 includes a leaf peeling frame 31, a power mechanism mounted on the leaf peeling frame 31, a five-bar linkage mounted on the leaf peeling frame 31, and a suction clamping claw 327 mounted on the five-bar linkage. The power mechanism is connected to the five-bar linkage for transmission. The power mechanism is used to drive the five-bar linkage, so that the five-bar linkage drives the suction clamping claw 327 to peel the leaves of the hydroponic lettuce held by the moving clamping and rotating mechanism 2.

[0034] Combination Figure 4As shown, the power mechanism includes a power motor 35 mounted on the leaf peeling frame 31, a crank mounted on the output shaft end of the power motor 35, and a sliding shaft 36 mounted on the crank. A first transmission rod 37 is hinged to the leaf peeling frame 31. The first transmission rod 37 has a first waist-shaped hole that slides with the sliding shaft 36. A second transmission rod 39 is hinged to the end of the first transmission rod 37. A ratchet screw mechanism 32 is hinged to the free end of the second transmission rod 39. A third transmission rod 38 is hinged to the second transmission rod 39. A fourth transmission rod 34 is hinged to the leaf peeling frame 31 above the first transmission rod 37. The third transmission rod 38 extends into the fourth transmission rod 34 and slides with the fourth transmission rod 34. A fifth transmission rod 33 is hinged to the leaf peeling frame 31 and is hinged to the fourth transmission rod 34.

[0035] The power motor 35, crank, sliding shaft 36 and first transmission rod 37 form a swing guide rod mechanism. The power motor 35 rotates at a constant angular velocity, which causes the first transmission rod 37 to swing back and forth around a fixed point through the crank. At this time, the ratchet screw mechanism 32 as a whole performs translational motion due to the traction of the second transmission rod 39.

[0036] Combination Figure 4 and Figure 5 As shown, the ratchet screw mechanism 32 includes a ratchet sleeve 325, a connecting shaft disposed at the front end of the ratchet sleeve 325, a support seat 323, and a linkage screw 321 threaded through the support seat 323. The leaf peeling frame 31 is provided with a second oblong hole. The support seat 323 is provided with a pulley 322 that rolls with the second oblong hole. One end of the linkage screw 321 extends into the ratchet sleeve 325 and the extended end is provided with a pawl 3251. The ratchet sleeve 325 is provided with a ratchet 3253 that cooperates with the pawl 3251. A transmission sleeve 326 that is hinged to the second transmission rod 39 is rotatably sleeved on the outside of the ratchet sleeve 325. A suction and clamping integrated claw 327 is disposed at the end of the connecting shaft. A thrust spring 324 is provided between the ratchet sleeve 325 and the support seat 323 and sleeved on the outside of the linkage screw 321. The lead screw 321 has a fixed ring at its end, and the end of the pawl 3251 away from the ratchet 3253 is hinged to the fixed ring. The fixed ring has an elastic thrust plate 3252 that abuts against the pawl 3251. The ratchet 3253 and the ratchet sleeve 325 are integrally formed.

[0037] When the power motor 35 rotates at a constant speed, under the action of the five-bar linkage, it can be converted into the reciprocating translational and rotational motion of the second transmission rod 39. The transmission sleeve 326 only undergoes in-plane translation, where the horizontal left-right translation only causes the ratchet screw mechanism 32 to move horizontally left and right. When the transmission sleeve 326 and the linkage screw 321 move to the left, i.e., when the ratchet screw mechanism 32 feeds closer to the hydroponic leafy vegetables, the linkage screw 321, after being threaded into the support seat 323, will rotate clockwise. At this time, the ratchet 3253 at the lower end of the linkage screw 321 does not move the ratchet sleeve 325. Therefore, the suction clamp 327 fixed on the ratchet sleeve 325 only performs translational motion, making the suction clamp plane parallel to the plane of the rotten leaves of the hydroponic leafy vegetables, improving the success rate of suction clamping. Conversely, when the transmission sleeve 326 and the linkage screw 321 move upward, that is, when the ratchet screw mechanism 32 clamps the yellow and rotten leaves and prepares to remove them, the linkage screw 321 and the support seat 323 are threaded together, causing the linkage screw 321 to rotate counterclockwise. At this time, the pawl 3251 at the lower end of the linkage screw 321 moves the ratchet 3253 of the ratchet sleeve 325. Therefore, the suction and clamping integrated pawl 327 fixed on the ratchet sleeve 325 performs translational and rotational movements, which can simulate the combined action of "pulling, tearing and twisting" of a human hand.

[0038] Combination Figure 6 As shown, the suction and clamping integrated claw 327 includes a clamping housing, a clamping frame disposed on the clamping housing, a fixed housing 3279 disposed on the clamping frame, and a fixed clamping leaf platform 3277 disposed on the fixed housing 3279. The clamping housing is also equipped with a suction and clamping claw motor 3271. A transmission gear is disposed on the output shaft of the suction and clamping claw motor 3271. A half-gear transmission rod 3272 is rotatably disposed on the clamping housing. One end of the half-gear transmission rod 3272 is meshed with the transmission gear, and the other end is hinged to a transmission clamping leaf rod 3273. A movable clamping leaf platform 32731 is disposed at the end of the transmission clamping leaf rod 3273. An auxiliary rod 3278 is hinged to the clamping housing and is hinged to the transmission clamping leaf rod 3273. The fixed clamping platform 3277 is provided with a guide hole, and a retractable adsorption tube 3276 is provided in the guide hole. The adsorption tube 3276 is connected to the vacuum generator and has an extended state and a retracted state. When the adsorption tube 3276 is in the extended state, the movable clamping platform 32731 is not in contact with the fixed clamping platform 3277. When the adsorption tube 3276 is in the retracted state, the movable clamping platform 32731 is in contact with the fixed clamping platform 3277.

[0039] A baffle plate is installed inside the guide hole, and a bolt 3274 passes through the baffle plate. An upper nut that mates with the bolt 3274 is located at the upper end of the baffle plate, and a lower bolt that mates with the bolt 3274 is located at the lower end. A vent hole penetrating the bolt 3274 body is located along its axis in the middle of the bolt 3274. A retaining ring is installed at the upper end of the adsorption tube 3276, and the retaining ring slides in conjunction with the screw of the bolt 3274. The lower end of the screw of the bolt 3274 passes through the retaining ring and can extend into the adsorption tube 3276. A telescopic spring 3275 is fitted around the outside of the screw of the bolt 3274, and both ends of the telescopic spring 3275 are connected to the lower bolt and the retaining ring, respectively. When the adsorption tube 3276 is in the extended state, the lower end of the screw of the bolt 3274 extends into the adsorption tube 3276. The vacuum generating device is a vacuum pump, which is connected to the upper end of the guide hole via a gas pipe.

[0040] When the integrated suction gripper 327 reaches the designated position to clamp the vegetable leaf, the vacuum pump starts working, creating a negative pressure inside the suction tube 3276 to adsorb the yellow and rotten leaves. Simultaneously, the suction gripper motor 3271 rotates forward to drive the half-gear transmission rod 3272, the auxiliary rod 3278, and the transmission clamping rod 3273 to clamp the yellow and rotten leaves. The movable clamping platform 32731 on the transmission clamping rod 3273 contacts the fixed clamping platform 3277. The suction tube 3276, which is higher than the fixed clamping platform 3277, is compressed into the guide hole, and the telescopic spring 3275 is compressed. Finally, the movable clamping platform 32731 and the fixed clamping platform 3277 clamp the yellow and rotten vegetable leaf, increasing the clamping area and preventing the suction tube 3276 from puncturing the yellow and rotten leaf, thus achieving complete removal of the yellow and rotten leaf.

[0041] More specifically, it also includes a central processing unit and an image acquisition system 5. The image acquisition system 5 is located between the first conveying mechanism 7 and the second conveying mechanism 6. The image acquisition system 5 includes a first image acquisition unit 52 and a second image acquisition unit 51. The first image acquisition unit 52 is used to acquire the plant height information of the hydroponic leafy vegetables to be peeled, and the second image acquisition unit 51 is used to acquire the root information of the hydroponic lettuce held by the moving clamping and rotating mechanism 2. The central processing unit is used to identify and locate the acquired information, and control the moving clamping and rotating mechanism 2 and the suction and leaf peeling device 3 according to the identification and location.

[0042] The image acquisition system 5 also includes a camera frame 53. A first image acquisition unit 52 includes a first color camera mounted on the camera frame 53, and a second image acquisition unit 51 includes a second color camera mounted on the camera frame 53. The first and second color cameras are arranged perpendicularly to each other. The camera lens of the first color camera faces horizontally towards the first conveying mechanism 7, and the camera lens of the second color camera faces upwards. The first color camera is used to acquire image information of the plant height of the hydroponic leafy vegetables to be peeled, and the second color camera is used to acquire image information of the roots of the hydroponic leafy vegetables 4 held by the gripping mechanism. The central processing unit can comprehensively process the information, enabling the gripping mechanism to handle leafy vegetables of different heights and to rotate yellowed or rotten leaves to a suitable position so that the suction and peeling device 3 can accurately grasp the yellowed or rotten leaves.

[0043] This application also provides a method for removing rotten leaves from hydroponic leafy vegetables using a device, including the following steps: S1. The hydroponic leafy vegetables to be peeled, placed on the first conveying mechanism 7, are conveyed to the moving clamping and rotating mechanism 2 via the first conveying mechanism 7.

[0044] S2. The central processing unit controls the moving clamping and rotating mechanism 2 to clamp the hydroponic leafy vegetable to be peeled according to the plant height information of the hydroponic leafy vegetable to be peeled obtained by the first image acquisition unit 52, and controls the moving clamping and rotating mechanism 2 to move the hydroponic leafy vegetable to be peeled to the suction and leaf peeling device 3 according to the root information obtained by the second image acquisition unit 51, and makes the yellow and rotten leaves of the hydroponic leafy vegetable to be peeled face the suction and leaf peeling device 3.

[0045] S3, the central processing unit controls the suction clamp leaf peeling device 3 to peel off the yellow and rotten leaves of the hydroponic lettuce to be peeled.

[0046] During operation, the first high-speed chain first drives the hydroponic leafy vegetables on the first planting plate to move towards the robotic arm. When the first image acquisition unit 52 is reached, the first planting plate stops moving and acquires the plant height information of the hydroponic leafy vegetables. After processing by the central processing unit, a command is sent to the moving gripping and rotating mechanism 2 to move it to a position directly above the hydroponic leafy vegetables and lower it to a specified height to grab the hydroponic leafy vegetables. The longitudinal moving module lifts the hydroponic leafy vegetables to a fixed height and then stops. The lateral moving module continues to move towards the suction and leaf-peeling device. During this period, the second image acquisition unit 51 identifies and locates the yellow and rotten leaves of the hydroponic leafy vegetables passing above it. Similarly, after processing by the central processing unit, the gripping mechanism is rotated by a specified angle so that the yellow and rotten leaves to be peeled face the suction and leaf-peeling device 3. The lateral moving module stops working and stops at the leaf-peeling position. Then, the power motor 31 works, and the ratchet screw mechanism 32 feeds forward, causing the linkage... The moving screw 321 drives the pawl 3251 and the ratchet sleeve 325 to rotate freely. The thrust plate 3252 always abuts against the pawl 3251, ensuring it is always in contact with the ratchet 3253 of the ratchet sleeve 325. The integrated suction and clamping claw 327 moves to the position near the yellow and rotten leaves. The vacuum pump works, creating a negative pressure in the suction tube 3276, which adsorbs the yellow and rotten leaves. The suction and clamping claw motor 3271 works, driving the leaf clamping rod 3273 to move the leaf clamping platform 32731 and the leaf clamping platform 3277 to clamp the leaves. Vegetable leaves; the power motor 31 continues to work, the ratchet screw mechanism 32 moves backward, causing the screw 321 to drive the pawl 3251 to rotate in the opposite direction. At this time, the pawl 3251 is engaged in the groove between adjacent ratchet teeth on the ratchet 3253. The ratchet sleeve 325 and the suction clamp integrated claw 327 cooperate to clamp the yellow and rotten leaves and rotate them to completely peel them off. Finally, the horizontal moving module and the vertical moving module place the peeled hydroponic leafy vegetables on the second conveying mechanism 6 to complete all the work.

[0047] It should be noted that the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A device for removing rotten leaves from hydroponically grown leafy vegetables, characterized in that, Includes a frame (1), a movable clamping and rotating mechanism (2) is provided on the crossbeam of the frame (1), a first conveying mechanism (7) and a second conveying mechanism (6) are provided parallel below the crossbeam, and a suction clamping leaf stripping device (3) is provided on one side of the second conveying mechanism (6). The first conveying mechanism (7) is used to place and convey the hydroponic leafy vegetables to be peeled, and the second conveying mechanism (6) is used to place and convey the hydroponic leafy vegetables (4) that have already been peeled. The movable clamping and rotating mechanism (2) can move horizontally and vertically, and is used to clamp and rotate the hydroponic leafy vegetables to be peeled, so that the yellow and rotten leaves of the hydroponic leafy vegetables to be peeled face the suction and leaf-peeling device (3). The suction and leaf-peeling device (3) is used to peel off the yellow and rotten leaves of the hydroponic lettuce to be peeled.

2. The device for removing rotten leaves from hydroponically grown leafy vegetables according to claim 1, characterized in that, The first conveying mechanism (7) includes a first planting plate, a first double-speed chain and a first double-speed chain support. The first planting plate is used to place the hydroponic leafy vegetables to be peeled. The two sides of the first planting plate are placed on the first double-speed chain and conveyed by the first double-speed chain along its length. The first double-speed chain is supported on the ground by the first double-speed chain support.

3. The device for removing rotten leaves from hydroponically grown leafy vegetables according to claim 1, characterized in that, The second conveying mechanism (6) includes a second planting plate, a second double-speed chain and a second double-speed chain support. The second planting plate is used to place the peeled hydroponic leafy vegetables (4). The two sides of the second planting plate are placed on the second double-speed chain and conveyed by the second double-speed chain along its length. The second double-speed chain is supported on the ground by the second double-speed chain support.

4. The device for removing rotten leaves from hydroponically grown leafy vegetables according to claim 1, characterized in that, The mobile clamping and rotating mechanism (2) includes a mechanical arm and a rotary motor (21) mounted on the mechanical arm. The mechanical arm is used to drive the rotary motor (21) to move in the horizontal and vertical directions. The output shaft of the rotary motor (21) is provided with a gripping mechanism for clamping the hydroponic leafy vegetables to be peeled. The robotic arm is a two-degree-of-freedom robotic arm, including a lateral movement module and a longitudinal movement module. The lateral movement module is set along the length of the crossbeam of the frame (1), and the longitudinal movement module is set along the direction perpendicular to the crossbeam of the frame (1).

5. The device for removing rotten leaves from hydroponically grown leafy vegetables according to claim 1, characterized in that, The gripping mechanism includes a fixed frame (22) at the end of the output shaft of the rotary motor (21). A vertical moving module is provided on the fixed frame (22). The vertical moving module includes a gripper opening and closing motor (23), a gripper screw (24), and a nut seat provided on the gripper screw (24). The gripper opening and closing motor (23) is used to drive the gripper screw (24) to rotate. The vertical moving module also includes a gripper slide rail that slides with the nut seat and is parallel to the gripper screw (24). A rectangular frame slide (25) is fixed on the outside of the nut seat. Multiple horizontally arranged gripper moving guide rails (27) are evenly distributed at the lower end of the slide rail. A gripper slider (28) is slidably provided on the gripper moving guide rail (27). A connecting rod (26) is hinged between the gripper slider (28) and the slide frame (25). A flexible pneumatic finger (29) is provided at the lower end of the gripper slider (28). The air vent of the flexible pneumatic finger (29) is connected to the air circuit system.

6. The device for removing rotten leaves from hydroponically grown leafy vegetables according to claim 5, characterized in that, The suction clamp leaf peeling device (3) includes a leaf peeling frame (31), a power mechanism set on the leaf peeling frame (31), a five-bar linkage set on the leaf peeling frame (31), and a suction clamp integrated claw (327) set on the five-bar linkage. The power mechanism is connected to the five-bar linkage for transmission. The power mechanism is used to drive the five-bar linkage and cause the five-bar linkage to drive the suction clamp integrated claw (327) to peel the leaves of the hydroponic lettuce held by the moving clamping and rotating mechanism (2).

7. The device for removing rotten leaves from hydroponically grown leafy vegetables according to claim 6, characterized in that, The power mechanism includes a power motor (35) mounted on the leaf peeling frame (31), a crank mounted on the output shaft end of the power motor (35), and a sliding shaft (36) mounted on the crank. A first transmission rod (37) is hinged on the leaf peeling frame (31). A first waist-shaped hole is provided on the first transmission rod (37) to slide with the sliding shaft (36). A second transmission rod (39) is hinged at the end of the first transmission rod (37). A ratchet screw mechanism (32) is hinged at the free end of the second transmission rod (39). A third transmission rod (38) is hinged on the second transmission rod (39). A fourth transmission rod (34) is hinged on the leaf peeling frame (31) above the first transmission rod (37). Part of the third transmission rod (38) extends into the fourth transmission rod (34) and slides with the fourth transmission rod (34). A fifth transmission rod (33) is hinged on the leaf peeling frame (31) to the fourth transmission rod (34). The ratchet screw mechanism (32) includes a ratchet sleeve (325), a connecting shaft located at the front end of the ratchet sleeve (325), a support seat (323), and a linkage screw (321) threaded into the support seat (323). The leaf-stripping frame (31) has a second oblong hole, and the support seat (323) has a pulley (322) that rolls into the second oblong hole. One end of the linkage screw (321) extends into the ratchet sleeve (325) and extends into... The end is provided with a pawl (3251), and the ratchet sleeve (325) is provided with a ratchet (3253) that cooperates with the pawl (3251). The outside of the ratchet sleeve (325) is rotatably sleeved with a transmission sleeve (326) that is hinged to the second transmission rod (39). The suction and clamping integrated claw (327) is provided at the end of the connecting shaft. A thrust spring (324) is provided between the ratchet sleeve (325) and the support seat (323) and sleeved on the outside of the linkage screw (321).

8. The device for removing rotten leaves from hydroponically grown leafy vegetables according to claim 7, characterized in that, The suction and clamping integrated claw (327) includes a clamping housing, a clamping frame disposed on the clamping housing, a fixed housing (3279) disposed on the clamping frame, and a fixed clamping blade platform (3277) disposed on the fixed housing (3279). The clamping housing is also provided with a suction and clamping claw motor (3271). A transmission gear is provided on the output shaft of the suction and clamping claw motor (3271). A half-gear transmission rod (3272) is rotatably disposed on the clamping housing. One end of the half-gear transmission rod (3272) is meshed with the transmission gear, and the other end is hinged to a transmission clamping blade rod (3273). A movable clamping blade platform (32731) is provided at the end of the transmission clamping blade rod (3273). An auxiliary rod (3278) is hinged to the clamping housing and is hinged to the transmission clamping blade rod (3273). The fixed clamping platform (3277) is provided with a guide hole, and a retractable adsorption tube (3276) is provided in the guide hole. The adsorption tube (3276) is connected to the vacuum generator. The adsorption tube (3276) has an extended state and a retracted state. When the adsorption tube (3276) is in the extended state, the movable clamping platform (32731) does not contact the fixed clamping platform (3277). When the adsorption tube (3276) is in the retracted state, the movable clamping platform (32731) contacts the fixed clamping platform (3277).

9. A device for removing rotten leaves from hydroponically grown leafy vegetables according to any one of claims 1-8, characterized in that, It also includes a central processing unit and an image acquisition system (5). The image acquisition system (5) is located between the first conveying mechanism (7) and the second conveying mechanism (6). The image acquisition system (5) includes a first image acquisition unit (52) and a second image acquisition unit (51). The first image acquisition unit (52) is used to acquire the plant height information of the hydroponic leafy vegetables to be peeled. The second image acquisition unit (51) is used to acquire the root information of the hydroponic lettuce held by the moving clamping and rotating mechanism (2). The central processing unit is used to identify and locate the acquired information and control the moving clamping and rotating mechanism (2) and the suction and leaf peeling device (3) according to the identification and location.

10. The method for removing rotten leaves from hydroponic leafy vegetables according to claim 9, characterized in that, Includes the following steps: S1. The leafy vegetables to be peeled in hydroponics placed on the first conveying mechanism (7) are conveyed to the moving clamping and rotating mechanism (2) through the first conveying mechanism (7); S2. The central processing unit controls the moving clamping and rotating mechanism (2) to clamp the hydroponic leafy vegetable to be peeled according to the plant height information of the hydroponic leafy vegetable to be peeled obtained by the first image acquisition unit (52), and controls the moving clamping and rotating mechanism (2) to move the hydroponic leafy vegetable to be peeled to the suction and leaf peeling device (3) according to the root information obtained by the second image acquisition unit (51), and makes the yellow and rotten leaves of the hydroponic leafy vegetable to be peeled face the suction and leaf peeling device (3). S3, Central processing unit controls suction clamp leaf peeling device (3) to peel off the yellow and rotten leaves of hydroponic lettuce to be peeled.

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